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CN-121979237-A - Control method of vehicle-mounted unmanned aerial vehicle and vehicle

CN121979237ACN 121979237 ACN121979237 ACN 121979237ACN-121979237-A

Abstract

The invention discloses a control method of a vehicle-mounted unmanned aerial vehicle and a vehicle, wherein the control method of the vehicle-mounted unmanned aerial vehicle comprises the steps of obtaining the running state of the vehicle and the information of the surrounding environment of the running vehicle; judging whether the vehicle has collision risk according to the running state of the vehicle and the surrounding environment information of the running, and controlling the vehicle-mounted unmanned aerial vehicle to put in the safety airbag at the collision prediction position when the vehicle has collision risk. Therefore, the vehicle-mounted unmanned aerial vehicle is controlled to throw the safety airbag at the collision prediction position when the collision risk exists in the vehicle, so that the position limitation of the fixed airbag in the prior art can be solved, the safety airbag can be suitable for being used in an all-round collision scene, the protection of vehicle passengers and the vehicle can be enhanced, the damage to the vehicle when the collision occurs is reduced, and the vehicle maintenance cost is reduced.

Inventors

  • LI XUEKAI
  • LIU ZHONGYI
  • Yang Huoquan
  • LU JIE
  • QIU XUBO

Assignees

  • 比亚迪股份有限公司

Dates

Publication Date
20260505
Application Date
20260112

Claims (10)

  1. 1. A control method of a vehicle-mounted unmanned aerial vehicle, comprising: acquiring running state and running surrounding environment information of a vehicle (1000); judging whether the vehicle (1000) has collision risk according to the running state of the vehicle (1000) and the running surrounding environment information; when the vehicle (1000) has collision risk, the vehicle-mounted unmanned aerial vehicle (100) is controlled to put in the safety airbag (200) at the collision prediction position.
  2. 2. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 1, wherein the step of controlling the vehicle-mounted unmanned aerial vehicle (100) to deliver the airbag (200) at the collision predicted position when the vehicle (1000) is at risk of collision comprises: controlling the vehicle-mounted unmanned aerial vehicle (100) to move to a release prediction position; controlling the airbag (200) to pop out from the bottom of the vehicle-mounted unmanned aerial vehicle (100), wherein the airbag (200) is inflated at the collision prediction position; The vehicle-mounted unmanned aerial vehicle (100) is controlled to lift and patrol around the vehicle (1000).
  3. 3. The control method of an in-vehicle unmanned aerial vehicle according to claim 2, wherein the step of controlling the in-vehicle unmanned aerial vehicle (100) to rise and patrol around the vehicle (1000) further comprises: controlling the vehicle-mounted unmanned aerial vehicle (100) to acquire at least one of information of a collision process, damage of the vehicle (1000), personnel states and surrounding environment of the vehicle (1000); the alarm lamp (10) is controlled to flash and play the alarm sound.
  4. 4. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 1, wherein the step of controlling the vehicle-mounted unmanned aerial vehicle (100) to deliver the airbag (200) at the collision predicted position when the vehicle (1000) is at risk of collision comprises: reminding a driver of the direction of delivery of the airbag (200).
  5. 5. The control method of an in-vehicle unmanned aerial vehicle according to claim 1, wherein the step of determining whether the vehicle (1000) is at risk of collision based on the running state of the vehicle (1000) and the running ambient information includes: Predicting an expected running track of the vehicle (1000) and a multi-modal probability track distribution map of a dynamic target around the vehicle (1000) within a first preset time by using a space-time diagram neural network model; calculating a minimum distance, a relative velocity, and a collision time between the vehicle (1000) and all potential collision targets in the multimodal probability trajectory profile; And judging whether the vehicle (1000) has collision risk according to the collision time.
  6. 6. The control method of an in-vehicle unmanned aerial vehicle according to claim 5, wherein the step of determining whether the vehicle (1000) is at risk of collision according to the collision time includes: When the collision time is longer than a first preset time, judging that the degree of collision of the vehicle (1000) is low risk, wherein the vehicle-mounted unmanned aerial vehicle (100) is not started; When the collision time is smaller than the first preset time and larger than the second preset time, judging that the degree of collision of the vehicle (1000) is medium risk, and controlling the vehicle-mounted unmanned aerial vehicle (100) to rise and patrol the periphery of the vehicle (1000); When the collision time is smaller than a second preset time, judging that the degree of collision of the vehicle (1000) is high risk, and controlling the vehicle-mounted unmanned aerial vehicle (100) to put in the safety airbag (200), wherein the second preset time is smaller than the first preset time, and the first preset time is smaller than the second preset time.
  7. 7. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 6, wherein before the step of determining whether the vehicle (1000) is at risk of collision according to the collision time, further comprises: A collision predicted position is derived based on an intersection of an expected travel trajectory of the vehicle (1000) and a multimodal probability trajectory profile of dynamic objects surrounding the vehicle (1000).
  8. 8. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 7, wherein the step of controlling the vehicle-mounted unmanned aerial vehicle (100) to rise and patrol around the vehicle (1000) includes, when the collision time is less than a first preset time and greater than a second preset time, judging that the degree of collision of the vehicle (1000) is a medium risk: reminding a driver of a direction in which the collision predicted position of the vehicle (1000) is located.
  9. 9. The control method of an in-vehicle unmanned aerial vehicle according to claim 1, wherein the step of acquiring the running state of the vehicle (1000) and the running ambient information includes: at least one of a gear, a vehicle speed and a power supply of the vehicle (1000) and a history of collision accident recordings of other vehicles (1000), pedestrians, static obstacles, road information and surrounding environment around the vehicle (1000) is acquired.
  10. 10. A vehicle adapted to the control method of an on-board unmanned aerial vehicle (100) according to any one of claims 1 to 9, comprising: a vehicle (1000) perception module; the vehicle-mounted system central control module is electrically connected with the vehicle (1000) sensing module; the vehicle-mounted unmanned aerial vehicle (100), wherein the vehicle-mounted unmanned aerial vehicle (100) is in communication connection with the vehicle system central control module; and the safety airbag (200) is arranged at the bottom of the vehicle-mounted unmanned aerial vehicle (100).

Description

Control method of vehicle-mounted unmanned aerial vehicle and vehicle Technical Field The invention relates to the technical field of vehicles, in particular to a control method of a vehicle-mounted unmanned aerial vehicle and a vehicle. Background Along with the high-speed development of the automobile industry, the air bags are not only used for guaranteeing the safety of personnel in the automobile, a part of automobiles are designed below the head of the automobile so as to reduce injuries to the front of the automobile when the automobile collides, and a part of automobiles are provided with unmanned aerial vehicles to patrol the running road conditions of the automobile so as to estimate the possible collision situation of the automobile. The air bag in the prior art is fixed in setting position, and mobility is poor, and maintenance cost is higher after the vehicle collision damage, and in addition, current on-vehicle unmanned aerial vehicle only plays the effect of cruising. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a control method of the vehicle-mounted unmanned aerial vehicle, which can enable the use maneuverability of the safety airbag. The invention further proposes a vehicle. The control method of the vehicle-mounted unmanned aerial vehicle comprises the steps of obtaining vehicle running state and driving surrounding environment information, judging whether the vehicle has collision risk according to the vehicle running state and the driving surrounding environment information, and controlling the vehicle-mounted unmanned aerial vehicle to put in an air bag at a collision prediction position when the vehicle has collision risk. Therefore, the vehicle-mounted unmanned aerial vehicle is controlled to throw the safety airbag at the collision prediction position when the collision risk exists in the vehicle, so that the position limitation of the fixed airbag in the prior art can be solved, the safety airbag can be suitable for being used in an all-round collision scene, the protection of vehicle passengers and the vehicle can be enhanced, the damage to the vehicle when the collision occurs is reduced, and the vehicle maintenance cost is reduced. According to some embodiments of the invention, when the vehicle is at collision risk, the step of controlling the vehicle-mounted unmanned aerial vehicle to put in the safety air bag at the collision prediction position comprises the steps of controlling the vehicle-mounted unmanned aerial vehicle to move to the put-in prediction position, controlling the safety air bag to pop out of the bottom of the vehicle-mounted unmanned aerial vehicle, inflating and expanding the safety air bag at the collision prediction position, and controlling the vehicle-mounted unmanned aerial vehicle to lift and patrol around the vehicle. According to some embodiments of the invention, the step of controlling the vehicle-mounted unmanned aerial vehicle to lift and patrol the surrounding of the vehicle further comprises controlling the vehicle-mounted unmanned aerial vehicle to acquire at least one of information of a collision process, vehicle damage, personnel status and surrounding environment of the vehicle, and controlling the alarm lamp to flash and play an alarm sound. According to some embodiments of the invention, when the vehicle is at risk of collision, the step of controlling the vehicle-mounted unmanned aerial vehicle to deliver the air bag at the predicted position of collision comprises reminding a driver of the delivering direction of the air bag. According to some embodiments of the invention, the step of judging whether the vehicle has collision risk according to the running state of the vehicle and the running surrounding environment information comprises the steps of predicting a multi-modal probability track distribution diagram of an expected running track of the vehicle and dynamic targets around the vehicle in a first preset time by using a space-time diagram neural network model, calculating the minimum distance, the relative speed and the collision time between the vehicle and all potential collision targets in the multi-modal probability track distribution diagram, and judging whether the vehicle has collision risk according to the collision time. According to some embodiments of the invention, the step of judging whether the vehicle has collision risk according to the collision time comprises judging that the degree of collision of the vehicle is low risk when the collision time is larger than a first preset time, judging that the vehicle is not started, judging that the degree of collision of the vehicle is medium risk when the collision time is smaller than the first preset time and larger than a second preset time, controlling the vehicle to lift and patrol the surrounding of the vehicle, judging that the degree of collision of