CN114674334A - An off-road route planning method, system, storage medium and vehicle - Google Patents

Abstract

The invention provides a planning method of a cross-country route, which comprises the steps of obtaining vehicle information, controlling an unmanned aerial vehicle to fly to a target area according to the vehicle information, shooting to obtain a target picture, planning a safe traveling route according to the target picture, judging whether the vehicle is in a traveling state or not, if so, obtaining a traveling track of the vehicle in a working state of the unmanned aerial vehicle, judging whether the vehicle travels towards the direction of the safe route or not according to the traveling track, if so, indicating that a driver is going out of trouble according to requirements, predicting a to-be-traveled area through which the vehicle is going to pass according to the traveling track, obtaining the position of the to-be-traveled area, controlling the unmanned aerial vehicle to fly to the to-be-traveled area, monitoring road conditions in real time, preventing safety risks brought by blind areas of the driver, driving through the planned safe route, and simultaneously knowing the front real-time road conditions in the driving process, thereby achieving the purpose of getting rid of poverty.

Description

An off-road route planning method, system, storage medium and vehicle

technical field

The invention belongs to the technical field of automobiles, and in particular relates to an off-road route planning method, system, storage medium and vehicle.

Background technique

With the development of society, people's living standards have been greatly improved, and more and more off-road enthusiasts drive to the wild to carry out driving challenges in different road conditions, which brings great driving pleasure to drivers, but off-road also faces challenges. There is a greater risk, especially for novices without off-road experience, it is easy to get lost, get stuck, etc. during driving.

Under normal circumstances, when the vehicle is driving in complex road conditions, especially when the vehicle is off-road, the safety of the vehicle will be greatly affected by the blind spot of road conditions, bad weather, etc. Although the current vehicle has the auxiliary support of high-definition maps or on-board cameras However, the above imaging assistance cannot be used to get out of trouble, resulting in the driver's life safety cannot be guaranteed.

SUMMARY OF THE INVENTION

Based on this, the embodiments of the present invention provide an off-road route planning method, system, storage medium, and vehicle, aiming to solve the problem that drivers need to get out of trouble when walking on an unfamiliar off-road section.

A first aspect of the embodiments of the present invention provides a method for planning an off-road route, which is characterized in that, when applied to a vehicle carrying an unmanned aerial vehicle, the method includes:

Obtain vehicle information, and control the drone to fly to the target area according to the vehicle information, and shoot to obtain the target image;

According to the target screen, plan a safe route for travel, and determine whether the vehicle is in a driving state;

If so, obtain the driving track of the vehicle in the working state of the drone, and determine whether the vehicle is traveling in the direction of the safe route according to the driving track;

If so, predict the to-be-traveled area that the vehicle will pass through according to the travel trajectory;

Acquire the position of the to-be-traveled area, control the drone to fly to the to-be-traveled area, and perform real-time monitoring of road conditions.

In addition, the method for planning an off-road route according to the above-mentioned embodiment of the present invention may also have the following additional technical features:

Further, the vehicle information includes at least outdoor temperature, tire pressure, vehicle width, lateral wind speed and position information of the flight target of the drone.

Further, the step of obtaining the vehicle information, controlling the drone to fly to the target area according to the vehicle information, and photographing, and obtaining the target image includes:

Determine whether the vehicle is in a potentially dangerous state according to the outdoor temperature, the tire pressure and the lateral wind speed;

If so, control the drone to fly to the target area, and take pictures to obtain the target picture.

Further, when it is judged that the vehicle is in a potentially dangerous state, the drone is controlled to fly to the target area and photographed, and the steps of obtaining the target picture include:

Acquire the flight target position information of the UAV, and control the UAV to fly to the target area according to the UAV flight target position information, wherein the UAV flight target position information includes the flight target position information of the UAV to the target area. Height information from the vehicle and UAV aerial photography flight rule information.

Further, according to the target screen, the steps of planning a safe route for travel and judging whether the vehicle is in a driving state include:

obtaining the target picture, and marking the passable road by identifying the road features in the target picture;

According to the passable road, determine whether there is a first preferred road with a road width greater than or equal to the vehicle width in the passable road;

If so, obtain the first preferred road, and determine whether the road surface flatness of the first preferred road is greater than the road surface flatness threshold according to the first preferred road;

If so, send out prompt information for prompting that the optimal route has been found.

Further, the vehicle information also includes remaining mileage information, and the judging that the road surface flatness of the first preferred road is greater than the road surface flatness threshold value will send out prompt information, and the prompt information is used to prompt those who have found the optimal route. The steps are followed by:

Obtain the remaining mileage information and the distance of the current vehicle from the optimal route, and determine whether the remaining mileage is greater than the number of kilometers;

If not, a warning message is issued, and the route is re-planned according to the remaining mileage information.

Further, after the step of judging whether the vehicle is traveling in the direction of the safe route according to the traveling track, the step further includes:

When it is determined that the vehicle is not traveling in the direction of the safe route, the resistance of the steering wheel to the opposite direction of the safe route is increased, accompanied by a feeling of hitting.

A second aspect of the embodiments of the present invention provides an off-road route planning system, which is applied to a vehicle carrying an unmanned aerial vehicle. The system includes:

a first control module, configured to acquire vehicle information, and control the drone to fly to a target area according to the vehicle information, and shoot to obtain a target image;

a first judging module, configured to plan a safe travel route according to the target screen, and judge whether the vehicle is in a driving state;

a second judging module, configured to obtain the driving track of the vehicle in the working state of the drone when it is judged that the vehicle is in a driving state, and judge whether the vehicle is driving in the direction of the safe route according to the driving track;

a prediction module, used for predicting the waiting area that the vehicle will pass through according to the driving track when it is judged that the vehicle is traveling in the direction of the safe route;

The second control module is used to obtain the position of the to-be-traveled area, to control the drone to fly to the to-be-traveled area, and to monitor road conditions in real time.

A third aspect of the embodiments of the present invention provides a vehicle, including:

one or more processors;

A storage device for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement an off-road route as described in any of the above planning method.

A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the method for planning an off-road route as described above.

Implementing an off-road route planning method, system, storage medium, and vehicle provided in the embodiments of the present invention has the following beneficial effects:

By obtaining the vehicle information, according to the vehicle information, control the drone to fly to the target area, and take pictures, get the target picture, plan the safe route according to the target picture, and judge whether the vehicle is in a driving state, and if so, get the vehicle in no state. The driving trajectory of the man-machine working state, according to the driving trajectory, and determine whether the vehicle is driving in the direction of the safe route, if so, it means that the driver is driving out of trouble as required, and then according to the driving trajectory, the vehicle is about to pass through the waiting area. Make predictions, obtain the location of the area to be traveled, control the drone to fly to the area to be traveled, and monitor the road conditions in real time to prevent the safety risks caused by the driver's blind spot. During the driving process, you can understand the real-time road conditions ahead, so as to achieve the purpose of getting out of trouble.

Description of drawings

Fig. 1 is the realization flow chart of a kind of off-road route planning method provided by the first embodiment of the present invention;

FIG. 2 is a structural block diagram of an off-road route planning system provided by a third embodiment of the present invention.

The following specific embodiments will be further described with reference to the above drawings.

Detailed ways

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the related drawings. Several embodiments of the invention are presented in the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Please refer to FIG. 1 . FIG. 1 shows a flowchart of an implementation of an off-road route planning method provided by the first embodiment of the present invention, which is applied to a vehicle carrying an unmanned aerial vehicle. The method specifically includes steps S10 to S14 .

In step S10, vehicle information is acquired, and according to the vehicle information, the drone is controlled to fly to a target area, and photographed to obtain a target image.

In this embodiment, the vehicle is equipped with a drone and is connected to the drone, that is, the data on the vehicle and the data of the drone communicate with each other. When the driver judges that he is lost or encounters some When dangerous, the drone can be actively controlled to fly to the target area. The driver needs to operate the vehicle so that the drone receives the take-off command. When the drone obtains the take-off command, the preset parameters are called. The preset parameters include the position information of the UAV flight target, and the UAV flight target position information includes the height information of the UAV flying to the vehicle and the UAV aerial photography flight rule information, so that the UAV does not reach the target. area.

It is understandable that when the drone receives the take-off command, it will fly to the specified altitude according to the flight target position information of the drone, and take aerial photos in a certain area. The purpose is to shoot the target image and send it back. In addition, the drone has certain waterproof, night vision and obstacle avoidance functions. When it encounters an obstacle before flying to the designated height, it will take the initiative to avoid it.

Step S11 , plan a safe travel route according to the target screen, and determine whether the vehicle is in a driving state, and if so, execute step S12 .

Among them, during the aerial photography of the drone, images will be taken, the captured images will be identified, and the target picture will be obtained. The target picture is mainly the picture of the road. The purpose is to guide the vehicle to the correct road, so as to get out of trouble. It is understood that the target picture captured by the drone is sent back to the vehicle for image processing, and the road information in the target picture is mainly processed through the relevant identification information in the target picture. For example, it can be grayscale processing of the image, generally In other words, the contrast of the road is higher; it can be used for the identification of road signs and road signs in the image; it can be used for the identification of other vehicle trajectories.

It should be noted that, because the drone is an aerial photography, when the high-altitude field of view is better, the point position is photographed, and there may be several passable safe roads identified. At this time, the driver can perform according to their own needs Select, when the route is selected, the drone will return to the vicinity of the vehicle. If the vehicle is in a moving state, the drone will follow. The speed of the vehicle will also be limited to prevent the drone from being unable to follow due to excessive speed. on to disconnect.

In step S12, the driving trajectory of the vehicle in the working state of the drone is acquired, and according to the driving trajectory, it is determined whether the vehicle is driving in the direction of the safe route, and if so, step S13 is performed.

Step S13 , predicting the waiting area that the vehicle will pass through according to the traveling trajectory.

It is understandable that the drone follows the vehicle and will record the trajectory of the vehicle. Through the starting point of the existing driving trajectory and the end point of the current driving trajectory, the direction in which the vehicle will travel can be predicted. The selection of the direction can be There are many, but the combination of these directions will make up an area, and that area is the to-go area.

In step S14, the position of the to-be-traveled area is acquired, the drone is controlled to fly to the to-be-traveled area, and real-time monitoring of road conditions is performed.

Specifically, the drone will fly to the waiting area for scanning and shooting, scan the 3D road condition information through the high-definition camera carried by the drone, and then send it back to the vehicle. After background data processing, the off-road route planning and navigation will be projected to the central control. screen or instrument to realize off-road AR professional navigation.

To sum up, the method for planning an off-road route proposed by the present invention controls the drone to fly to the target area according to the vehicle information by acquiring the vehicle information, and takes a picture to obtain the target picture, and plans the safe travel route according to the target picture, And determine whether the vehicle is in a driving state, if so, obtain the driving trajectory of the vehicle in the working state of the drone, and determine whether the vehicle is driving in the direction of the safe route according to the driving trajectory. If so, it means that the driver is getting out of trouble as required Driving, and then according to the driving trajectory, predict the waiting area that the vehicle will pass through, obtain the position of the waiting area, control the drone to fly to the waiting area, and conduct real-time monitoring of road conditions to prevent the driver's blind spot. The driver travels through the planned safe route, and at the same time, during the driving process, he can understand the real-time road conditions ahead, so as to achieve the purpose of getting out of trouble.

Embodiment 2

A method for planning an off-road route provided by the second embodiment of the present invention is applied to a vehicle carrying an unmanned aerial vehicle, and the method specifically includes steps S20 to S27.

In step S20, vehicle information is acquired, and according to the vehicle information, the drone is controlled to fly to a target area, and photographed to obtain a target image.

Specifically, the vehicle information includes at least outdoor temperature, tire pressure, vehicle width, lateral wind speed, and information on the flight target position of the drone. It is understandable to judge whether the vehicle is in a potentially dangerous state according to the outdoor temperature, tire pressure, and lateral wind speed. , when the outdoor temperature changes sharply, severe weather such as rain and hail may occur; when the tire pressure decreases rapidly, the tire may burst; when the lateral wind speed is suddenly strong, it may encounter strong convective weather, passing through These signals obtained by the vehicle are used to determine whether the vehicle is in a potentially dangerous state.

Step S21 , according to the target screen, plan a safe travel route, and determine whether the vehicle is in a driving state, and if so, execute step S22 .

It should be noted that, according to the image processing of the target screen, the passable road is marked by identifying the road features in the target screen. It is understandable that when there are several passable roads, the passable road is judged according to all passable roads. Whether there is a first preferred road with a road width greater than or equal to the vehicle width in the road, the purpose is to screen out a spacious avenue, if so, obtain the first preferred road, and according to the first preferred road, determine the road surface flatness of the first preferred road Whether it is greater than the road surface flatness threshold, if so, a prompt message will be issued, and the prompt message will be used to prompt that the optimal route has been found.

Specifically, after the planned optimal route, that is, the safe route, is obtained, the remaining mileage information of the vehicle and the distance of the current vehicle from the optimal route are obtained. Generally speaking, the remaining mileage information of the vehicle is determined by the driver's driving habits ( That is, fuel consumption) and the remaining fuel volume of the vehicle. The current distance between the vehicle and the optimal route can be obtained through the drone aerial survey, and it is judged whether the remaining mileage is greater than the number of kilometers. If not, a warning message will be issued, and according to the remaining mileage information Re-planning the route, wherein, in other embodiments, the setting of the parameter of the number of roads may be larger than the measured value of the aerial survey by the drone in a certain proportion, because the accuracy of the real-time aerial survey is slightly insufficient.

In step S22, the driving track of the vehicle in the working state of the drone is obtained, and according to the driving track, it is judged whether the vehicle is driving in the direction of the safe route, if so, step S23 is performed; if not, step S23 is performed Step S24.

Step S23, predicting the to-be-traveled area that the vehicle will pass through according to the traveling trajectory.

In step S24, the resistance of the steering wheel to the opposite direction of the safety route is increased, accompanied by a feeling of hitting.

Specifically, other reminder methods, such as voice broadcast methods, may also be added, in order to correct the driver's dangerous behavior.

In step S25, the location of the to-be-traveled area is acquired, the drone is controlled to fly to the to-be-traveled area, and real-time monitoring of road conditions is performed.

Embodiment 3

Another aspect of an embodiment of the present invention provides an off-road route planning system 200, which is applied to a vehicle carrying an unmanned aerial vehicle. Please refer to FIG. 2. The system 200 includes:

The first control module 21 is used for acquiring vehicle information, and according to the vehicle information, controlling the drone to fly to a target area, and photographing, to obtain a target image;

The first judging module 22 is used for planning a safe travel route according to the target screen, and judging whether the vehicle is in a driving state;

The second judging module 23 is configured to, when judging that the vehicle is in a driving state, obtain the driving track of the vehicle in the working state of the drone, and determine whether the vehicle is driving in the direction of the safe route according to the driving track ;

The prediction module 24 is used for predicting the waiting area that the vehicle will pass through according to the driving track when it is judged that the vehicle is traveling in the direction of the safe route;

The second control module 25 is configured to acquire the position of the to-be-traveled area, to control the drone to fly to the to-be-traveled area, and to monitor road conditions in real time.

Further, the first control module 21 includes:

A potentially dangerous judging unit, configured to judge whether the vehicle is in a potentially dangerous state according to the outdoor temperature, the tire pressure and the lateral wind speed.

Further, the first control module 21 also includes:

a first acquiring unit, configured to acquire the flight target position information of the UAV, and control the UAV to fly to the target area according to the UAV flight target position information, wherein the UAV flight target position The information includes the altitude information of the drone flying to the vehicle and the drone aerial photography flight rule information.

Further, the first judgment module 22 includes:

an identification unit, configured to acquire the target picture, and mark a passable road by identifying road features in the target picture;

a road width judgment unit, configured to judge, according to the passable road, whether there is a first preferred road with a road width greater than or equal to the vehicle width in the passable road;

The flatness judgment unit is configured to obtain the first preferred road when it is judged that there is a first preferred road with a road width greater than or equal to the vehicle width in the passable road, and determine according to the first preferred road Whether the road surface flatness of the first preferred road is greater than the road surface flatness threshold;

a prompting unit, configured to issue prompt information when it is judged that the road surface flatness of the first preferred road is greater than the road surface flatness threshold, the prompt information is used to prompt that the optimal route has been found;

A kilometer judgment unit, configured to obtain the remaining mileage information and the distance between the current vehicle and the optimal route, and determine whether the remaining mileage is greater than the kilometer;

The warning unit is configured to issue warning information when it is judged that the remaining mileage is not greater than the number of kilometers, and re-plan a route according to the remaining mileage information.

Further, the system 200 further includes:

The steering wheel resistance control module is configured to increase the resistance of the steering wheel to the opposite direction of the safety route when it is judged that the vehicle is not driving in the direction of the safe route, accompanied by a feeling of hitting.

To sum up, the planning system of the off-road route in the above-mentioned embodiments of the present invention controls the drone to fly to the target area according to the vehicle information by acquiring the vehicle information, and takes pictures to obtain the target picture, and plans the safe route according to the target picture. , and determine whether the vehicle is in a driving state, if so, obtain the driving trajectory of the vehicle in the working state of the drone, and determine whether the vehicle is driving in the direction of the safe route according to the driving trajectory. Drive out of trouble, and then predict the waiting area that the vehicle will pass through according to the driving trajectory, obtain the position of the waiting area, control the drone to fly to the waiting area, and monitor the road conditions in real time to prevent the driver from being caught in the blind spot. To avoid the safety risks, the driver drives through the planned safe route, and at the same time, during the driving process, he can understand the real-time road conditions ahead, so as to achieve the purpose of getting out of trouble. The degree of recognition provides a more stable planning path for the driver, and when the driver yaw, the increased error correction setting improves the ability to get out of trouble.

Embodiment 4

According to an embodiment of the present application, the present application further provides a vehicle, comprising:

one or more processors;

A storage device for storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement an off-road route as described in any of the above planning method.

Embodiment 5

The present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the above-mentioned off-road route planning method provided by the present disclosure. Those skilled in the art will appreciate that logic and/or steps represented in flowcharts or otherwise described herein, for example, may be considered an ordered listing of executable instructions for implementing logical functions, may be embodied in in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or Used in conjunction with these instruction execution systems, apparatus or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or apparatus.

More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections with one or more wiring (electronic devices), portable computer disk cartridges (magnetic devices), random access memory (RAM), Read Only Memory (ROM), Erasable Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program may be printed, as the paper or other medium may be optically scanned, for example, followed by editing, interpretation, or other suitable medium as necessary process to obtain the program electronically and then store it in computer memory.

It should be understood that various parts of the present invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, Programmable Gate Arrays (PGA), Field Programmable Gate Arrays (FPGA), etc.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can also be made, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims (10)

1. a planning method of off-road route, is characterized in that, is applied in the vehicle carrying unmanned aerial vehicle, described method comprises: Obtain vehicle information, and control the drone to fly to the target area according to the vehicle information, and shoot to obtain the target image; According to the target screen, plan a safe route for travel, and determine whether the vehicle is in a driving state; If so, obtain the driving track of the vehicle in the working state of the drone, and determine whether the vehicle is traveling in the direction of the safe route according to the driving track; If so, predict the to-be-traveled area that the vehicle will pass through according to the travel trajectory; Acquire the position of the to-be-traveled area, control the drone to fly to the to-be-traveled area, and perform real-time monitoring of road conditions. 2 . The planning method of an off-road route according to claim 1 , wherein the vehicle information at least includes information on outdoor temperature, tire pressure, vehicle width, lateral wind speed, and UAV flight target position information. 3 . 3. The planning method of an off-road route according to claim 2, wherein the obtaining vehicle information, according to the vehicle information, controls the drone to fly to the target area, and shoots, to obtain the target picture. Steps include: Determine whether the vehicle is in a potentially dangerous state according to the outdoor temperature, the tire pressure and the lateral wind speed; If so, control the drone to fly to the target area, and take pictures to obtain the target picture. 4. The planning method of an off-road route according to claim 3, wherein when the vehicle is judged to be in a potentially dangerous state, the drone is controlled to fly to the target area and photographed to obtain the target image. include: Acquire the flight target position information of the UAV, and control the UAV to fly to the target area according to the UAV flight target position information, wherein the UAV flight target position information includes the flight target position information of the UAV to the target area. Height information from the vehicle and UAV aerial photography flight rule information. 5. The planning method of an off-road route according to claim 1, wherein the step of planning a safe route for traveling according to the target screen and judging whether the vehicle is in a driving state comprises: obtaining the target picture, and marking the passable road by identifying the road features in the target picture; According to the passable road, determine whether there is a first preferred road with a road width greater than or equal to the vehicle width in the passable road; If so, obtain the first preferred road, and determine whether the road surface flatness of the first preferred road is greater than the road surface flatness threshold according to the first preferred road; If so, send out prompt information for prompting that the optimal route has been found. 6 . The planning method of an off-road route according to claim 5 , wherein the vehicle information further includes remaining mileage information, and the judging that the road surface smoothness of the first preferred road is greater than a road surface smoothness threshold value is sent out. 6 . Prompt information, the prompt information is used to prompt that the optimal route has been found after the steps include: Obtain the remaining mileage information and the distance of the current vehicle from the optimal route, and determine whether the remaining mileage is greater than the number of kilometers; If not, a warning message is issued, and the route is re-planned according to the remaining mileage information. 7 . The planning method of an off-road route according to claim 1 , wherein after the step of judging whether the vehicle is traveling in the direction of the safe route according to the driving track, the method further comprises: 8 . When it is determined that the vehicle is not traveling in the direction of the safe route, the resistance of the steering wheel to the opposite direction of the safe route is increased, accompanied by a feeling of hitting. 8. A planning system for an off-road route, applied in a vehicle carrying an unmanned aerial vehicle, wherein the system comprises: a first control module, configured to acquire vehicle information, and control the drone to fly to a target area according to the vehicle information, and shoot to obtain a target image; a first judging module, configured to plan a safe travel route according to the target screen, and judge whether the vehicle is in a driving state; a second judging module, configured to obtain the driving track of the vehicle in the working state of the drone when it is judged that the vehicle is in a driving state, and judge whether the vehicle is driving in the direction of the safe route according to the driving track; a prediction module, used for predicting the waiting area that the vehicle will pass through according to the driving track when it is judged that the vehicle is traveling in the direction of the safe route; The second control module is used to obtain the position of the to-be-traveled area, to control the drone to fly to the to-be-traveled area, and to monitor road conditions in real time. 9. A vehicle, characterized in that, comprising: one or more processors; A storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement any one of claims 1-7 The planning method of the off-road route. 10. A computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the method for planning an off-road route according to any one of claims 1-7 is implemented.

Images