CN114674334A - Off-road route planning method and system, storage medium and vehicle - Google Patents
Off-road route planning method and system, storage medium and vehicle Download PDFInfo
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- CN114674334A CN114674334A CN202210296173.7A CN202210296173A CN114674334A CN 114674334 A CN114674334 A CN 114674334A CN 202210296173 A CN202210296173 A CN 202210296173A CN 114674334 A CN114674334 A CN 114674334A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 238000004590 computer program Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
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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
Technical Field
The invention belongs to the technical field of automobiles, and particularly relates to a method and a system for planning a cross-country route, a storage medium and a vehicle.
Background
Along with the development of society, people's living standard promotes greatly, and more cross-country fan drives to come the field, carries out the driving challenge of different road conditions, has brought very big driving enjoyment for the driver, but cross-country also faces great risk, especially to the new hand that does not have cross-country experience, appears getting lost, the condition such as car in the driving process very easily.
Generally, when a vehicle runs under a complex road condition, especially when the vehicle is off-road, the safety of the vehicle can be greatly influenced by a blind area of the road condition, severe weather and the like, and although the current vehicle has auxiliary support of a high-definition map or imaging assistance of a vehicle-mounted camera, the vehicle cannot get out of position according to the imaging assistance, so that the life safety of a driver cannot be guaranteed.
Disclosure of Invention
Based on this, the embodiment of the invention provides a method, a system, a storage medium and a vehicle for planning an off-road route, aiming at solving the problem that a driver needs to get rid of difficulties when traveling on an unfamiliar off-road section.
A first aspect of an embodiment of the present invention provides a method for planning an off-road route, which is applied to a vehicle carrying an unmanned aerial vehicle, and includes:
acquiring vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture;
planning a safe advancing route according to the target picture, and judging whether the vehicle is in a running state;
if so, acquiring a running track of the vehicle in the working state of the unmanned aerial vehicle, and judging whether the vehicle runs towards the direction of the safe route according to the running track;
if so, predicting a to-be-driven area through which the vehicle is about to pass according to the driving track;
and acquiring the position of the to-be-driven area, controlling the unmanned aerial vehicle to fly to the to-be-driven area, and monitoring the road condition in real time.
In addition, the method for planning an off-road route according to the above embodiment of the present invention may further have the following additional technical features:
further, the vehicle information at least comprises outdoor temperature, tire pressure, vehicle width, lateral wind speed and unmanned aerial vehicle flying target position information.
Further, the step of obtaining vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture includes:
judging whether the vehicle is in a potential danger state or not according to the outdoor temperature, the tire pressure and the lateral wind speed;
if yes, controlling the unmanned aerial vehicle to fly to a target area, and shooting to obtain a target picture.
Further, when the vehicle is judged to be in a potential danger state, the unmanned aerial vehicle is controlled to fly to a target area and shoot, and the step of obtaining a target picture comprises the following steps:
acquiring the flying target position information of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a target area according to the flying target position information of the unmanned aerial vehicle, wherein the flying target position information of the unmanned aerial vehicle comprises the height information of the unmanned aerial vehicle flying to the vehicle and the aerial photography flying rule information of the unmanned aerial vehicle.
Further, the step of planning a safe route according to the target picture and determining whether the vehicle is in a driving state includes:
acquiring the target picture, and marking a passable road by identifying the road characteristics in the target picture;
judging whether a first preferred road with the road width larger than or equal to the vehicle width exists in the passable road according to the passable road;
if so, acquiring the first preferred road, and judging whether the road surface flatness of the first preferred road is greater than a road surface flatness threshold value according to the first preferred road;
and if so, sending out prompt information, wherein the prompt information is used for prompting that the optimal route is found.
Further, the vehicle information further includes remaining mileage information, and the step of sending a prompt message for prompting that the optimal route has been found includes:
acquiring the remaining mileage information and the kilometer number of the current vehicle from the optimal route, and judging whether the remaining mileage is greater than the kilometer number;
if not, warning information is sent out, and the route is re-planned according to the remaining mileage information.
Further, after the step of determining whether the vehicle is traveling in the direction of the safe route according to the traveling track, the method further includes:
and when the vehicle is judged not to be driven towards the direction of the safe route, the resistance of the steering wheel towards the direction opposite to the safe route is increased, and the steering wheel is accompanied by a hand feeling.
A second aspect of an embodiment of the present invention provides a system for planning an off-road route, which is applied to a vehicle carrying an unmanned aerial vehicle, and includes:
the first control module is used for acquiring vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture;
the first judgment module is used for planning a safe travelling route according to the target picture and judging whether the vehicle is in a running state or not;
the second judging module is used for acquiring a running track of the vehicle in the working state of the unmanned aerial vehicle when the vehicle is judged to be in the running state, and judging whether the vehicle runs towards the direction of the safe route or not according to the running track;
the prediction module is used for predicting a to-be-driven area through which the vehicle is about to pass according to the driving track when the vehicle is judged to be driven towards the direction of the safe route;
and the second control module is used for acquiring the position of the to-be-driven area, controlling the unmanned aerial vehicle to fly to the to-be-driven area and monitoring road conditions in real time.
A third aspect of an embodiment of the present invention provides a vehicle, including:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a method of planning an off-road route as claimed in any preceding claim.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of planning an off-road route as set forth in any one of the above.
The implementation of the method, the system, the storage medium and the vehicle for planning the off-road route provided by the embodiment of the invention has the following beneficial effects:
by acquiring the vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information and shooting to obtain a target picture, planning a safe advancing route according to the target picture, judging whether the vehicle is in a running state, if so, acquiring a running track of the vehicle in the working state of the unmanned aerial vehicle, according to the running track, judging whether the vehicle runs towards the direction of the safe route, if so, indicating that the driver is running without difficulty according to the requirement, then according to the running track, predicting the area to be driven through which the vehicle is going to pass, acquiring the position of the area to be driven, controlling the unmanned aerial vehicle to fly to the area to be driven, monitoring the road condition in real time, in case of safety risk brought by blind areas of drivers, the drivers drive through the planned safe routes, meanwhile, in the driving process, the real-time road condition in front can be known, so that the purpose of getting rid of difficulties is achieved.
Drawings
FIG. 1 is a flow chart of an implementation of a method for planning an off-road route according to a first embodiment of the present invention;
fig. 2 is a block diagram of a system for planning an off-road route according to a third embodiment of the present invention.
The following detailed description will be further described in conjunction with the above-identified drawing figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured 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 the like as used herein are for illustrative purposes only.
Unless defined otherwise, 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 terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
Referring to fig. 1, fig. 1 shows a flowchart of an implementation of a method for planning an off-road route according to a first embodiment of the present invention, which is applied to a vehicle equipped with an unmanned aerial vehicle, and the method specifically includes steps S10 to S14.
And step S10, acquiring vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture.
In the middle of this embodiment, the vehicle is last to be loaded with unmanned aerial vehicle, and with unmanned aerial vehicle communication connection, data on the vehicle and unmanned aerial vehicle's data intercommunication promptly, when the driver judges oneself lost the direction or meet some dangers, can the initiative control unmanned aerial vehicle fly to the target area, wherein, the driver need operate the vehicle, so that unmanned aerial vehicle receives the instruction of taking off, when unmanned aerial vehicle acquires the instruction of taking off, call preset parameter, unmanned aerial vehicle flight target position information has been contained in the preset parameter, unmanned aerial vehicle flight target position information includes that unmanned aerial vehicle flies to leaving the height information and the unmanned aerial vehicle flight rule information of vehicle, make unmanned aerial vehicle non-to the target area.
It can be understood that, when unmanned aerial vehicle received the instruction of taking off, can fly to appointed height according to unmanned aerial vehicle flight target position information to take photo by plane in certain area, the purpose is in order to shoot the target picture, and carry out the passback and handle, and in addition, unmanned aerial vehicle possesses certain waterproof, night vision and keeps away the barrier function, when before flying to appointed height, runs into the barrier, can carry out the initiative and dodge.
And step S11, planning a safe traveling route according to the target picture, judging whether the vehicle is in a traveling state, and if so, executing step S12.
The unmanned aerial vehicle is used for shooting images in the aerial shooting process, identifying the shot images and acquiring target images, wherein the target images are mainly images of roads, the purpose is to guide vehicles to correct roads so as to get rid of difficulties, and the target images shot by the unmanned aerial vehicle are returned to the vehicles for image processing, and road information in the target images is mainly processed through related identification information in the target images, for example, the road information can be subjected to gray level processing of the images, and generally the contrast of the roads is higher; can be used for identifying the guideboard and the road marker in the image; identification of other vehicle trajectories, etc.
It should be noted that, because unmanned aerial vehicle is for taking photo by plane, the shooting to the position department is carried out in the better condition of high altitude field of vision condition, the safe road that can pass of discernment may have a plurality of, the driver can select according to self demand this moment, when the route of selection, unmanned aerial vehicle is close to the vehicle of returning to, if the vehicle is in the mobile state, unmanned aerial vehicle is followed, wherein, the speed of traveling of vehicle also will be restricted, prevent that the unmanned aerial vehicle that the speed of a motor vehicle leads to from following, thereby the disconnection.
And step S12, acquiring a driving track of the vehicle in the working state of the unmanned aerial vehicle, judging whether the vehicle drives towards the direction of the safe route according to the driving track, and if so, executing step S13.
And step S13, predicting the area to be driven through by the vehicle according to the driving track.
It can be understood that, when the drone follows the vehicle, the track of the vehicle will be recorded, and the direction in which the vehicle will travel can be predicted from the starting point of the existing travel track and the ending point of the current travel track, where the direction can be selected many, but the combination of the directions will form a region, and the region is the region to be traveled.
And step S14, acquiring the position of the area to be driven, controlling the unmanned aerial vehicle to fly to the area to be driven, and monitoring the road condition in real time.
Specifically, unmanned aerial vehicle will fly to the area of waiting to go and scan the shooting, through high definition that unmanned aerial vehicle carried on make a video recording scan 3D road conditions information after the retransmission to the car machine to behind background data processing with cross-country route planning navigation projection to well accuse screen or instrument, in order to realize cross-country AR professional navigation.
To sum up, the invention provides a method for planning a cross-country route, comprising 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, 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 according to the traveling track, if so, indicating that a driver is traveling without trouble according to requirements, predicting a to-be-traveled area through which the vehicle is about 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 during driving, the real-time road condition in front can be known, so that the purpose of getting rid of difficulties is achieved.
Example two
The off-road route planning method provided by the second embodiment of the invention is applied to a vehicle carrying an unmanned aerial vehicle, and specifically comprises the steps S20 to S27.
And step S20, acquiring vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture.
Specifically, the vehicle information at least comprises outdoor temperature, tire pressure, vehicle width, lateral wind speed and unmanned aerial vehicle flying target position information, and whether the vehicle is in a potential danger state or not is judged according to the outdoor temperature, the tire pressure and the lateral wind speed, so that it can be understood that when the outdoor temperature changes rapidly, severe weather conditions such as rainfall, hail and the like can occur; when the tire pressure is rapidly reduced, the possibility of tire burst can occur; when the lateral wind speed is suddenly strong, strong convection weather can be met, and whether the vehicle is in a potential dangerous state or not is judged through signals acquired by the vehicle.
And step S21, planning a safe traveling route according to the target picture, judging whether the vehicle is in a traveling state, and if so, executing 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 characteristics in the target screen, and it can be understood that, when there are a plurality of passable roads, it is determined according to all the passable roads whether there is a first preferred road with a road width greater than or equal to the vehicle width in the passable road, so as to screen out a spacious lane, if so, the first preferred road is acquired, and according to the first preferred road, it is determined whether the road surface flatness of the first preferred road is greater than the road surface flatness threshold value, if so, prompt information is sent out, and the prompt information is used for prompting that an optimal route is found.
Specifically, after a planned optimal route, namely a safe route, is obtained, the remaining mileage information of the vehicle and the kilometer number of the current vehicle from the optimal route are obtained, generally, the remaining mileage information of the vehicle is determined by the driving habit (namely fuel consumption) of a driver and the remaining fuel amount of the vehicle, the kilometer number of the current vehicle from the optimal route can be obtained by unmanned aerial vehicle aerial survey, whether the remaining mileage is greater than the kilometer number or not is judged, if not, warning information is sent, and the route is re-planned according to the remaining mileage information, wherein in other embodiments, the setting of the road number parameter can be greater than an actual measurement value of the unmanned aerial vehicle aerial survey according to a certain proportion, because the real-time aerial survey accuracy is slightly insufficient.
Step S22, acquiring a driving track of the vehicle in the working state of the unmanned aerial vehicle, judging whether the vehicle drives towards the direction of the safe route according to the driving track, and if so, executing step S23; if not, step S24 is executed.
And step S23, predicting the area to be driven through by the vehicle according to the driving track.
Step S24, increasing the resistance of the steering wheel in the direction opposite to the safe route, and accompanying the feeling of hitting.
Specifically, other reminding modes, such as a voice broadcasting mode, can be added to correct dangerous behaviors of the driver.
And step S25, acquiring the position of the area to be driven, controlling the unmanned aerial vehicle to fly to the area to be driven, and monitoring road conditions in real time.
EXAMPLE III
In another aspect, an embodiment of the present invention provides a system 200 for planning a cross-country route, which is applied to a vehicle carrying an unmanned aerial vehicle, and referring to fig. 2, the system 200 includes:
the first control module 21 is configured to acquire vehicle information, control the unmanned aerial vehicle to fly to a target area according to the vehicle information, and perform shooting to obtain a target picture;
the first judgment module 22 is used for planning a safe travelling route according to the target picture and judging whether the vehicle is in a running state;
the second judging module 23 is configured to, when it is judged that the vehicle is in a driving state, obtain a driving trajectory of the vehicle in the working state of the unmanned aerial vehicle, and judge whether the vehicle is driving in the direction of the safe route according to the driving trajectory;
the prediction module 24 is configured to predict a to-be-driven area through which the vehicle is about to pass according to the driving track when it is determined that the vehicle is driven in the direction of the safe route;
and the second control module 25 is configured to acquire the position of the to-be-driven area, control the unmanned aerial vehicle to fly to the to-be-driven area, and monitor the road condition in real time.
Further, the first control module 21 includes:
and the potential danger judging unit is used for judging whether the vehicle is in a potential danger state or not according to the outdoor temperature, the tire pressure and the lateral wind speed.
Further, the first control module 21 further includes:
the first acquisition unit is used for acquiring the flying target position information of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to a target area according to the flying target position information of the unmanned aerial vehicle, wherein the flying target position information of the unmanned aerial vehicle comprises the flying height information of the unmanned aerial vehicle to the vehicle and the aerial vehicle aerial photography flying rule information.
Further, the first determining module 22 includes:
the identification unit is used for acquiring the target picture and marking a passable road by identifying the road characteristics in the target picture;
the road width judging unit is used for judging whether a first preferred road with the road width being more than or equal to the vehicle width exists in the passable road or not according to the passable road;
the flatness judging unit is used for acquiring a first preferred road when judging that the passable road has a first preferred road with a road width larger than or equal to the vehicle width, and judging whether the road surface flatness of the first preferred road is larger than a road surface flatness threshold value or not according to the first preferred road;
the prompting unit is used for sending out prompting information when the road surface flatness of the first preferred road is judged to be larger than a road surface flatness threshold value, and the prompting information is used for prompting that an optimal route is found;
the kilometer number judging unit is used for acquiring the remaining mileage information and the kilometer number of the current vehicle from the optimal route and judging whether the remaining mileage is greater than the kilometer number;
and the warning unit is used for sending warning information when the remaining mileage is judged not to be more than the kilometer number, and replanning a route according to the remaining mileage information.
Further, the system 200 further comprises:
and the steering wheel resistance control module is used for increasing the resistance of the steering wheel to the direction opposite to the safe route and accompanying the hitting hand feeling when judging that the vehicle does not run towards the direction of the safe route.
To sum up, in the planning system for the off-road route in the above embodiment of the present invention, by obtaining vehicle information, the unmanned aerial vehicle is controlled to fly to a target area according to the vehicle information, and shooting is performed to obtain a target picture, a safe traveling route is planned according to the target picture, and whether the vehicle is in a traveling state is determined, if yes, a traveling track of the vehicle in a working state of the unmanned aerial vehicle is obtained, and whether the vehicle is traveling in a direction of the safe route is determined according to the traveling track, if yes, it indicates that a driver is traveling without difficulty as required, and then a waiting area through which the vehicle is about to pass is predicted according to the traveling track, a position of the waiting area is obtained, the unmanned aerial vehicle is controlled to fly to the waiting area, and real-time monitoring of road conditions is performed to prevent a safety risk caused by a blind area of the driver, the driver travels through the planned safe route, and simultaneously during driving, can understand the real-time road conditions in the place ahead to reach the purpose of getting rid of poverty, it is specific, through the discernment to vehicle continuation of the journey mileage, road width and flatness, for the driver provides more reliable planning route, and when driver's off-course, the error correction of increase sets up, has improved the ability of getting rid of poverty.
Example four
According to an embodiment of the present application, there is also provided a vehicle including:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a method of planning an off-road route as claimed in any preceding claim.
EXAMPLE five
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-mentioned off-road route planning method provided by the present disclosure. Those of skill in the art will understand that the logic and/or steps illustrated in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the 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, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above 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 express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for planning an off-road route is applied to a vehicle carrying an unmanned aerial vehicle, and comprises the following steps:
acquiring vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture;
planning a safe advancing route according to the target picture, and judging whether the vehicle is in a running state;
if so, acquiring a running track of the vehicle in the working state of the unmanned aerial vehicle, and judging whether the vehicle runs towards the direction of the safe route according to the running track;
if so, predicting a to-be-driven area through which the vehicle is about to pass according to the driving track;
and acquiring the position of the to-be-driven area, controlling the unmanned aerial vehicle to fly to the to-be-driven area, and monitoring the road condition in real time.
2. A method of planning an off-road route according to claim 1, wherein the vehicle information includes at least outdoor temperature, tire pressure, vehicle width, lateral wind speed, and drone flight target location information.
3. The off-road route planning method according to claim 2, wherein the step of obtaining vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and taking a picture to obtain a target picture comprises:
judging whether the vehicle is in a potential danger state or not according to the outdoor temperature, the tire pressure and the lateral wind speed;
if yes, controlling the unmanned aerial vehicle to fly to a target area, and shooting to obtain a target picture.
4. The off-road route planning method according to claim 3, wherein the step of controlling the unmanned aerial vehicle to fly to a target area and shoot to obtain a target picture when the vehicle is determined to be in a potentially dangerous state comprises:
acquiring unmanned aerial vehicle flight target position information, according to unmanned aerial vehicle flight target position information, control unmanned aerial vehicle flies to the target area, wherein, unmanned aerial vehicle flight target position information includes that unmanned aerial vehicle flies to leaving the altitude information and the unmanned aerial vehicle flight rule information of taking photo by plane of vehicle.
5. The off-road route planning method according to claim 1, wherein the step of planning a safe route to travel and determining whether the vehicle is in a driving state according to the target screen comprises:
acquiring the target picture, and marking a passable road by identifying the road characteristics in the target picture;
judging whether a first preferred road with the road width being more than or equal to the vehicle width exists in the passable road according to the passable road;
if so, acquiring the first preferred road, and judging whether the road surface flatness of the first preferred road is greater than a road surface flatness threshold value according to the first preferred road;
if yes, sending out prompt information, wherein the prompt information is used for prompting that the optimal route is found.
6. The off-road route planning method according to claim 5, wherein the vehicle information further includes remaining mileage information, and the step of determining that the road surface flatness of the first preferred road is greater than a road surface flatness threshold value, issuing a prompt message for prompting that an optimal route has been found, includes:
acquiring the remaining mileage information and the kilometer number of the current vehicle from the optimal route, and judging whether the remaining mileage is greater than the kilometer number;
if not, warning information is sent out, and the route is re-planned according to the remaining mileage information.
7. The off-road route planning method according to claim 1, wherein the step of determining whether the vehicle is traveling in the direction of the safe route according to the travel track further comprises:
and when the vehicle is judged not to be driven towards the direction of the safe route, the resistance of the steering wheel towards the direction opposite to the safe route is increased, and the steering wheel is accompanied by a hand feeling.
8. A planning system of cross-country route is applied to the vehicle carrying unmanned aerial vehicle, which is characterized in that the system comprises:
the first control module is used for acquiring vehicle information, controlling the unmanned aerial vehicle to fly to a target area according to the vehicle information, and shooting to obtain a target picture;
the first judgment module is used for planning a safe travelling route according to the target picture and judging whether the vehicle is in a running state or not;
the second judging module is used for acquiring a running track of the vehicle in the working state of the unmanned aerial vehicle when the vehicle is judged to be in the running state, and judging whether the vehicle runs towards the direction of the safe route or not according to the running track;
the prediction module is used for predicting a to-be-driven area through which the vehicle is about to pass according to the driving track when the vehicle is judged to drive towards the direction of the safe route;
and the second control module is used for acquiring the position of the to-be-driven area, controlling the unmanned aerial vehicle to fly to the to-be-driven area and monitoring road conditions in real time.
9. A vehicle, characterized by comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a method of planning an off-road route as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of planning an off-road route according to any one of claims 1 to 7.
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