Flying car flight assistance method, device, flying car and medium

Abstract

The embodiment of the present invention provides a flight assistance method, device, flying car and medium for a flying car, which are applied to a flying system. The method includes: obtaining a flight mission, and a working mode and / or guidance type of the flight mission; the working mode and / or guidance type are used to limit the control information under the corresponding working mode and / or corresponding guidance type that must be satisfied for executing the flight mission; according to the control information under the corresponding working mode and / or corresponding guidance type that must be satisfied for the flight mission, the guidance information for the flight mission is displayed to guide the driving user to perform corresponding operations on the flying car. By guiding the driving user according to the working mode and guidance type of the flight mission, the flight operations required by the driving user are directly guided, the driving difficulty of the flying car is effectively reduced, the workload of the driving user is reduced, the training cost of the driving user of the flying car is saved, and the training efficiency and convenience of the driving user are improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a flight assistance method for a flying car, a flight assistance device for a flying car, a corresponding flying car, and a corresponding computer-readable storage medium. Background Art

[0002] A flying car is a vehicle that is a combination of a car and an airplane. It usually has the characteristics of vertical take-off and landing and altitude maintenance. The flight control method for a flying car is somewhat different from that of a traditional airplane. For example, due to the aircraft configuration, driving difficulty, and passenger comfort, a flying car usually does not need to control the pitch attitude to climb, nor does it need to control the roll attitude to yaw. That is, the flight guidance method of a traditional airplane is not suitable for the flight assistance of a flying car.

[0003] The flight guidance method of traditional aircraft requires pilots to be familiar with the guidance that needs to be paid attention to in different flight phases and monitor various different flight guidance. However, this traditional flight training method places high demands on the theoretical knowledge, flight driving skills and physical fitness of the driving user, and requires a large amount of time, infrastructure and manpower costs. It is not suitable for the guidance of flying cars for a wide user market, and is not conducive to the convenience of auxiliary teaching for flying car users. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a flying car flight assistance method, a flying car flight assistance device, a corresponding flying car, and a corresponding computer-readable storage medium that overcome the above problems or at least partially solve the above problems.

[0005] The embodiment of the present invention discloses a flight assistance method for a flying car, which is applied to a flying system. The method includes:

[0006] Acquire a flight mission, and a working mode and / or guidance type of the flight mission; the working mode and / or guidance type are used to limit control information under a corresponding working mode and / or corresponding guidance type that must be satisfied to execute the flight mission;

[0007] According to the control information under the corresponding working mode and / or corresponding guidance type that the flight mission needs to meet, the guidance information for the flight mission is displayed to guide the driving user to perform corresponding operations on the flying car.

[0008] Optionally, it also includes:

[0009] According to the working mode and / or guidance type of the flight mission, control information under the corresponding working mode and / or corresponding guidance type that must be met to execute the flight mission is generated; wherein the working mode of the flight mission includes a manual control guidance mode, a target state guidance mode and a combined guidance mode, and the combined guidance mode includes a combination mode of the manual control guidance mode and the target state guidance mode; the guidance types include a comfort guidance type, an economic guidance type and an efficiency guidance type.

[0010] Optionally, generating control information for limiting a corresponding working mode to be satisfied for executing the flight mission according to the working mode of the flight mission includes:

[0011] In the manual manipulation guidance mode, generating control column manipulation amount input information satisfying the manual manipulation guidance mode, wherein the control column manipulation amount input information is determined based on the displacement manipulation amount, including longitudinal manipulation displacement, lateral manipulation displacement, heading manipulation displacement and altitude manipulation displacement;

[0012] And / or, in the target state guidance mode, flight state information that satisfies the target state guidance mode is generated, and the flight state information is determined based on the control amount obtained by converting the flight state, including a horizontal speed control amount for indicating the target speed, a heading control amount required for indicating the target track, and an altitude control amount required for indicating the target altitude.

[0013] Optionally, generating control information under a corresponding guidance type that needs to be met for executing the flight mission according to the guidance type of the flight mission includes:

[0014] Under the comfort guidance type, the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car within the preset range when performing the flight mission are converted into the required control amount;

[0015] and / or, under the economic guidance type, generating a control amount that satisfies a longest flight trajectory when performing the flight mission;

[0016] And / or, under the efficiency guidance type, generating a control amount that satisfies the shortest flight time trajectory when executing the flight mission.

[0017] Optionally, according to the working mode and guidance type of the flight mission, generating control information for limiting the corresponding working mode and corresponding guidance type to be satisfied for executing the flight mission includes:

[0018] generating control information according to the working mode of the flight mission when the guidance type is met;

[0019] The step of generating control information according to the working mode of the flight mission when the guidance type is met includes:

[0020] If the guidance type is a comfort guidance type, under the condition that the preset ranges of the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car are met, the control stick control amount input information satisfying the manual control guidance mode and / or the flight state information satisfying the target state guidance mode are generated;

[0021] If the guidance type is an economic guidance type, under the condition that the longest flight path is met, generating joystick control amount input information that meets the manual control guidance mode and / or flight status information that meets the target state guidance mode;

[0022] If the guidance type is an efficiency guidance type, under the condition of satisfying the shortest flight time track, the joystick control input information satisfying the manual control guidance mode and / or the flight status information satisfying the target status guidance mode are generated.

[0023] Optionally, the control information under the corresponding working mode and / or corresponding guidance type is determined based on the manipulated amount, and the guidance information is obtained based on the guidance used to indicate the manipulated amount conforming to the displayed guidance position;

[0024] The displaying guidance information for the flight mission according to the control information under the corresponding working mode and / or corresponding guidance type that the flight mission needs to meet includes:

[0025] Under any guidance type, if the working mode is the manual control guidance mode, the displacement control amount in the manual control guidance mode moves to the recommended position corresponding to the displacement control amount through the guidance symbols of the recommended position of the steering column, the rotation position of the steering lever and the height control dial position to form guidance information;

[0026] Under any guidance type, if the working mode is the target state guidance mode, the control amount obtained based on the flight state conversion in the target state guidance mode moves to the recommended position corresponding to the control amount through the guidance symbols of speed guidance, heading guidance, and altitude guidance to form guidance information.

[0027] Optionally, the method further comprises:

[0028] In response to the driving user's operating instructions for the flying car, if the operating instructions are consistent with the guidance information of the flight mission, a feedback guidance is generated to inform the driving user to complete the flight mission; wherein the operating instructions are instructions generated by the driving user to control the flying car accordingly based on the guidance information of the flight mission.

[0029] Optionally, the method further comprises:

[0030] In response to the operating instruction of the driving user to the flying car, operation information of the operating instruction is recorded, and an evaluation result is generated according to the operation information for the driving user to view.

[0031] The embodiment of the present invention further discloses a flight assistance device for a flying car, which is applied to a flying system. The device includes:

[0032] A flight mission acquisition module, used to acquire a flight mission, and a working mode and / or guidance type of the flight mission; the working mode and / or the guidance type are used to limit control information under a corresponding working mode and / or corresponding guidance type that must be satisfied to execute the flight mission;

[0033] The mission guidance module is used to display guidance information for the flight mission according to the corresponding working mode and / or control information under the corresponding guidance type that the flight mission needs to meet, so as to guide the driving user to perform corresponding operations on the flying car.

[0034] Optionally, the device further comprises:

[0035] A control information generation module is used to generate control information under a corresponding working mode and / or corresponding guidance type that must be met to limit the execution of the flight mission according to the working mode and / or guidance type of the flight mission; wherein the working mode of the flight mission includes a manual control guidance mode, a target state guidance mode and a combined guidance mode, and the combined guidance mode includes a combination mode of the manual control guidance mode and the target state guidance mode; the guidance types include a comfort guidance type, an economic guidance type and an efficiency guidance type.

[0036] Optionally, the control information generating module is specifically used to generate joystick control amount input information satisfying the manual control guidance mode in the manual control guidance mode, the joystick control amount input information is determined based on the displacement control amount, including longitudinal control displacement, lateral control displacement, heading control displacement and altitude control displacement; used to generate flight state information satisfying the target state guidance mode in the target state guidance mode, the flight state information is determined based on the control amount obtained by the flight state conversion, including the horizontal speed control amount for indicating the target speed, the heading control amount required for indicating the target track, and the altitude control amount required for indicating the target altitude; used to convert the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car that meet the preset range when performing the flight mission into the required control amount under the comfort guidance type; used to generate the control amount that meets the longest flight track when performing the flight mission under the economic guidance type; used to generate the control amount that meets the shortest flight track when performing the flight mission under the efficiency guidance type; used to generate control information according to the working mode of the flight mission when the guidance type is met.

[0037] Wherein, when the guidance type is met, control information is generated according to the working mode of the flight mission, including if the guidance type is a comfort guidance type, under the condition that the preset ranges of the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car are met, the control stick control amount input information that meets the manual control guidance mode and / or the flight state information that meets the target state guidance mode is generated; if the guidance type is an economic guidance type, under the condition that the longest flight track is met, the control stick control amount input information that meets the manual control guidance mode and / or the flight state information that meets the target state guidance mode is generated; if the guidance type is an efficiency guidance type, under the condition that the shortest flight time track is met, the control stick control amount input information that meets the manual control guidance mode and / or the flight state information that meets the target state guidance mode is generated.

[0038] Optionally, the control information under the corresponding working mode and / or corresponding guidance type is determined based on the manipulation amount, and the guidance information is obtained based on the guidance used to indicate the manipulation amount conforming to the displayed guidance position; the task guidance module includes:

[0039] A guidance information generating submodule is used for, under any guidance type, if the working mode is a manual control guidance mode, the displacement control amount in the manual control guidance mode is moved to a recommended position corresponding to the displacement control amount through the guidance symbols of the recommended position of the steering column, the rotation position of the steering lever and the height control dial position, so as to form guidance information;

[0040] It is also used in any guidance type, if the working mode is the target state guidance mode, the control amount obtained based on the flight state conversion in the target state guidance mode is moved to the recommended position corresponding to the control amount through the guidance symbols of speed guidance, heading guidance and altitude guidance to form guidance information.

[0041] Optionally, the device further comprises:

[0042] A feedback guidance display module is used to respond to the driving user's operating instructions for the flying car. If the operating instructions are consistent with the guidance information of the flight mission, feedback guidance is generated to inform the driving user to complete the flight mission; wherein the operating instructions are instructions generated by the driving user to control the flying car accordingly based on the guidance information of the flight mission.

[0043] Optionally, the device further comprises:

[0044] The evaluation result generating module is used to respond to the operation instruction of the driving user to the flying car, record the operation information of the operation instruction, and generate the evaluation result according to the operation information for the driving user to view.

[0045] An embodiment of the present invention also discloses a flying car, comprising: a flight assistance device of the flying car, a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of any one of the flight assistance methods of the flying car are implemented.

[0046] An embodiment of the present invention further discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the flying car flight assistance methods are implemented.

[0047] The embodiments of the present invention include the following advantages:

[0048] In the embodiment of the present invention, the control information under the corresponding working mode and / or corresponding guidance type that must be satisfied for executing the flight mission is obtained based on the working mode and / or guidance type of the flight mission, and the guidance information for the flight mission is displayed according to the control information under the corresponding working mode and / or corresponding guidance type that must be satisfied by the flight mission, so as to guide the driving user to perform corresponding operations on the flying car. That is, by guiding the driving user according to the working mode and guidance type of the flight mission, the flight operations required by the driving user are directly guided, the driving difficulty of the flying car is effectively reduced, the workload of the driving user is reduced, the training cost of the driving user of the flying car is saved, and the training efficiency and convenience of the driving user are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a schematic diagram of the architecture of a flight system provided by an embodiment of the present invention;

[0050] Figure 2 is a flowchart of steps of an embodiment of a flying car flight assistance method of the present invention;

[0051] Figure 3 is a schematic diagram of the working mode and guidance type of the flight mission provided by an embodiment of the present invention;

[0052] Figure 4 It is a structural block diagram of an embodiment of a flight assistance device for a flying car of the present invention. DETAILED DESCRIPTION

[0053] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Flying cars are vehicles that combine cars and flying. The flight guidance method of traditional aircraft is not suitable for flying assistance of flying cars. The flight guidance system of traditional aircraft includes flight trajectory guidance, speed / altitude guidance, takeoff guidance, landing guidance, performance guidance and navigation guidance. Pilots need to be familiar with the guidance that needs to be paid attention to in different flight stages, set parameters such as performance data, flight plan and target flight status in advance, and use the required flight driving technology to track, complete, or monitor various flight guidance in the corresponding flight stage. This flight guidance method places high demands on the theoretical knowledge, flight driving skills and physical fitness of the driving user. For flying cars that are aimed at a wide user market, it is necessary to reduce the driving difficulty of flying cars and the workload of driving users in a certain way.

[0055] In addition, traditional flight training includes a lot of hours of theoretical learning, instructor-led flying and student solo flying. This flight training process requires time costs such as student learning, infrastructure costs such as site occupation, and manpower costs such as flight instructors. In order to capture the user market for flying cars, the flight assistance and training methods for flying cars, while serving as flight training guidelines to assist teaching, also need to reduce the various costs required for flight training.

[0056] One of the core ideas of the embodiment of the present invention is to guide the driving user according to the working mode and guidance type of the flight mission, directly guide the flight operation required by the driving user, effectively reduce the driving difficulty of the flying car, reduce the workload of the driving user, save the training cost of the driving user of the flying car, and improve the training efficiency and convenience of the driving user. Further, based on the guidance method of the working mode and guidance type, the embodiment of the present invention can propose a speed control guidance method for indicating the horizontal speed control amount required for capturing the target speed for the driving user, propose a heading control guidance method for indicating the heading control amount required for capturing the target track for the driving user, propose an altitude control guidance method for indicating the altitude control amount required for capturing the target altitude for the driving user, propose a performance guidance method that can achieve different guidance types of comfort, economy and efficiency respectively, and can also provide the driving user with a guidance method that meets the driving skill level and habits by providing manual control guidance, target state guidance and a combination of the above two guidance methods respectively, and provide warning suggestions for the safe flight of the driving user based on the difference between the flight state and the flight envelope, and evaluate the proficiency of the driving user's flight driving technology by comparing the driving user's control amount and the target flight state to achieve the evaluation of the driving technology and flight training effect of the flying car.

[0057] Reference Figure 1 , showing a schematic diagram of the architecture of the flight system provided by an embodiment of the present invention. The flight assistance method of a flying car provided by an embodiment of the present invention can be applied to the flight system of a flying car, and its flight system may include a joystick, a control panel, a display, a processor, a memory, an inertial measurement device, a satellite positioning device, a radio measurement device, and an atmospheric data acquisition device, etc.

[0058] Among them, the signals controlled and input by the joystick and the control panel can be processed by the processor, and the data measured and collected by the inertial measurement device, the satellite positioning device, the radio measurement device and the atmospheric data acquisition device can also be processed by the processor. The data or information processed by the processor can be transmitted to the display for display, and the processed data or information can be stored in the memory. In addition to storing the data or information, the processor can also obtain the data or information required for processing from the memory.

[0059] Specifically, the joystick can be mainly used to collect the control variables of the driving user, and the collected control variables may include longitudinal control variables, lateral control variables, heading control variables and altitude control variables. The longitudinal control variables can be used to change the longitudinal movement (such as pitch) of the flying car, which is mainly achieved by pushing or pulling the joystick to deflect the elevator or the all-moving horizontal tail downward or upward to generate a pitch moment for pitch movement; the lateral control variable can be used to control the flying car to rotate around the longitudinal axis of the fuselage, which is mainly achieved by the deflection of the wings; the heading control variable can be used to change the heading movement of the flying car, which is mainly achieved by the driving user controlling the deflection of the rudder.

[0060] The control panel can be mainly used to receive input instructions from the driving user. For example, the driving user can input the usage mode of the guidance system, select the guidance type, edit the flight mission, etc. through the control panel.

[0061] The display can be mainly used to display flight data or information. In the embodiment of the present invention, it can be manifested as displaying data or information during the flight assistance process of the flying car, such as providing flight assistance guidance and training guidance.

[0062] The processor can mainly process flight data or information. As an example, it can receive data from the cockpit, control panel settings, inertial measurement device, satellite positioning device, radio measurement device, and atmospheric data acquisition device, and read and write data stored in the memory, and calculate guidance data or guidance information for flight assistance in combination with the body state, target state and the driving user's manipulation amount, and can indicate the guidance data or guidance information to the driving user through the display. Among them, the inertial measurement device can be used to collect the attitude, heading, directional speed, directional acceleration and angular motion rate of the flying car, the satellite positioning device can be used to collect the position of the flying car, the radio measurement device can be used to collect the height of the flying car relative to the ground below, and the atmospheric data acquisition device can be used to measure the airspeed, pressure altitude, ascent and descent speed and atmospheric temperature of the flying car.

[0063] The memory can be mainly used to store flight data or information. In the embodiment of the present invention, it can be manifested as storing data or information in the flight assistance process of the flying car, such as storing the flight missions edited by the driving user, storing the performance data of the flying car, etc.

[0064] It should be noted that the flying system of a flying car may include Figure 1In addition to the hardware system shown, a software platform for realizing flight assistance of the flying car may also be included. This software platform may be a guidance system. That is, the flight assistance method for the flying car provided in the embodiment of the present invention needs to be implemented in combination with the hardware and software systems. For example, the instructions or information input of the driving user provided on the control panel needs to be implemented with the help of the guidance system, so as to input the usage mode of the guidance system, select the guidance type, edit the flight mission, etc. on the guidance system. That is, the data or information actually processed by the processor may be input by the driving user based on the software platform of the guidance system, and the guidance data or information used for flight assistance needs to be obtained through processing by the processor and transmitted to the display for guidance display.

[0065] Reference Figure 2 , shows a flowchart of a flying car flight assistance method embodiment of the present invention, which is applied to a flying system and may specifically include the following steps:

[0066] Step 201, obtaining a flight mission, and a working mode and / or guidance type of the flight mission;

[0067] In the embodiment of the present invention, by guiding the driving user according to the working mode and guidance type of the flight mission, the flight operation required by the driving user is directly guided, thereby effectively reducing the driving difficulty of the flying car.

[0068] The flight mission of the flying car can be edited by the driving user through the control panel of the flight system. The flight mission may include certain specific tasks for the flying car, such as a landing mission of gradually descending the flying car to the ground, a return mission of returning the flying car to the take-off origin, a route mission of allowing the flying car to fly according to a series of waypoints, in which the distance of the waypoints may be planned, an intelligent flight mission of allowing the flying car to fly at a constant altitude above the ground based on a terrain map, a failed hovering mission of maintaining a certain altitude position triggered by the flying car in a failed state, and an emergency landing of the flying car in a failed state to return to the emergency landing point, and this emergency landing mission requires the emergency landing point to be set in advance, etc., and this embodiment of the present invention is not limited to this.

[0069] The working mode and / or guidance type of the flight mission can be used to limit the control information under the corresponding working mode and / or corresponding guidance type that needs to be satisfied for executing the flight mission. The working mode of the flying car can be used to indicate the control mode of the driving user when controlling the flying car to execute the flight mission. The guidance mode of the flying car can be used to indicate the vehicle performance that the flying car needs to satisfy when executing the flight mission. In practical applications, control information under the corresponding working mode and / or corresponding guidance type that needs to be satisfied for executing the flight mission can be generated according to the working mode and / or guidance type of the flight mission. The working mode and guidance type of the guidance system can also be obtained by the driving user through the control panel of the flight system input and selection, which can be selected by the driving user based on the needs of each flight mission, and this is not limited by the embodiment of the present invention.

[0070] Reference Figure 3 , showing a schematic diagram of the working modes and guidance types of the flight mission provided by an embodiment of the present invention, the working modes of the guidance system include a manual control guidance mode, a target state guidance mode and a combined guidance mode. Among them, the combined guidance mode includes a combination mode of the manual control guidance mode and the target state guidance mode, and the manual control guidance and the target state guidance can be used for flight auxiliary guidance when the driving user manually drives the flying car; in the combined guidance mode, the system can provide two indication methods at the same time, so that the driving user can better perceive the state of the flying car and understand the flying performance of the flying car such as maneuverability and stability. It can usually be used for flight training guidance to train the driving user. That is, based on the different working modes of the above-mentioned guidance system, a guidance method that meets the driving skill level and habits is provided to the driving user, so that the driving user can understand the performance of the flying car and conduct effective flight training.

[0071] like Figure 3 As shown, the guidance type can include comfort guidance type, economic guidance type and efficiency guidance type. Among them, the comfort guidance mainly needs to ensure the human comfort of the user in the flying car. It needs to provide small overload maneuvering guidance, give priority to ensuring that the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car are within a small range of human comfort, and do not take the flight trajectory, turning radius, climb / descent gradient as the primary indicators; the economic guidance type needs to ensure that the driving user completes the flight mission with the lowest energy consumption. It will usually provide the longest flight guidance, so that the system can calculate the guidance of the achievable flight mission under the premise of ensuring the flight envelope; the efficiency guidance type mainly ensures that the driving user can complete the flight mission in the shortest time. It will usually provide the shortest flight time guidance, so that the system can calculate the guidance of completing the flight mission in the shortest time under the premise of ensuring the flight envelope.

[0072] The process of generating control information for limiting the corresponding working mode and / or corresponding guidance type that must be met to execute the flight mission according to the working mode and / or guidance type of the flight mission may include the following three situations: generating control information for limiting the corresponding working mode that must be met to execute the flight mission according to the working mode of the flight mission, generating control information for limiting the corresponding guidance type that must be met to execute the flight mission according to the guidance type of the flight mission, and generating control information for limiting the corresponding working mode and corresponding guidance type that must be met to execute the flight mission according to the working mode and guidance type of the flight mission.

[0073] Specifically, in the first case, it can also be divided into cases where control information is generated based on manual control guidance mode, target state guidance mode and combined guidance mode, wherein the difference between manual control guidance and target state guidance is that manual control guidance needs to indicate the control amount that the driving user needs to input into the joystick, while the target state guidance needs to indicate the state that the driving user needs to make the flying car reach in order to complete the flight mission, such as speed, altitude and heading.

[0074] Specifically, it can be manifested as generating joystick control amount input information that meets the manual control guidance mode in the manual control guidance mode, and the joystick control amount input information can be mainly determined based on the displacement control amount, for example, including longitudinal control displacement, lateral control displacement, heading control displacement and altitude control displacement; generating flight state information that meets the target state guidance mode in the target state guidance mode, and the flight state information can be determined based on the control amount obtained by flight state conversion, including the horizontal speed control amount for indicating the target speed, the heading control amount required for indicating the target track, and the altitude control amount required for indicating the target altitude, that is, in the target state guidance mode, speed control guidance, heading control guidance and altitude control guidance methods suitable for flying cars can be proposed, mainly by calculating the horizontal speed control amount required to capture the target speed, indicating the horizontal speed control amount required to capture the target speed to the driving user, by calculating the heading control amount required to capture the target heading, indicating the heading control amount required to capture the target track to the driving user, and by calculating the altitude control amount required to capture the target altitude, indicating the altitude control amount required to capture the target altitude to the driving user.

[0075] It should be noted that, in the combined mode, the control information generation method of the above-mentioned manual control guidance mode and the target state guidance mode can be combined, which is manifested in generating the joystick control amount input information and the control amount obtained based on the flight state conversion.

[0076] In the second case, it can also be divided into situations where control information is generated based on comfort guidance type, economic guidance type and efficiency guidance type. Based on this, it can mainly propose a performance guidance method suitable for flying cars, by calculating the small overload maneuvering trajectory and flight plan, the longest range trajectory and flight plan, the shortest flight time trajectory and flight plan, and converting them into the required control amount to indicate to the driving user, so as to achieve comfortable, economical and efficient flight guidance respectively.

[0077] Specifically, under the comfort guidance type, the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car that meet the preset range when performing the flight mission are converted into the required control amount. The preset range required to be met can be a range that makes the human body of the user in the flying car comfortable. The preset range can be determined based on experience. This is not limited by the embodiment of the present invention. Under the economic guidance type, the control amount that meets the longest flight track when performing the flight mission can be generated to ensure that the driving user completes the flight mission with the lowest energy consumption. Under the efficiency guidance type, the control amount that meets the shortest flight time track when performing the flight mission can be generated to ensure that the driving user can complete the flight mission in the shortest time.

[0078] In the third case, under the requirements of different guidance types, in order to complete the execution of the flight mission, the requirements for related operations of the working mode that need to be met are different, which can be specifically manifested as different task-related control quantities. At this time, the control quantity can be determined based on the specific requirements of the guidance type. Specifically, it can be manifested as generating control information according to the working mode of the flight mission when the guidance type is met.

[0079] As an example, if the guidance type is a comfort guidance type, the joystick control amount input information that satisfies the manual control guidance mode and / or the flight status information that satisfies the target state guidance mode can be generated while satisfying the preset ranges of the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car; as another example, if the guidance type is an economic guidance type, the joystick control amount input information that satisfies the manual control guidance mode and / or the flight status information that satisfies the target state guidance mode can be generated while satisfying the longest flight track; as another example, if the guidance type is an efficiency guidance type, the joystick control amount input information that satisfies the manual control guidance mode and / or the flight status information that satisfies the target state guidance mode can be generated while satisfying the shortest flight time track.

[0080] Step 202: display guidance information for the flight mission according to the control information under the corresponding working mode and / or corresponding guidance type that the flight mission needs to meet, so as to guide the driving user to perform corresponding operations on the flying car.

[0081] In order to provide direct guidance on the flight operations required by the driving user, guidance information for the flight mission can be displayed based on the control information to guide the driving user to perform corresponding operations on the flying car. In practical applications, the display can provide flight auxiliary guidance and training guidance, that is, display guidance information for the flight mission.

[0082] Specifically, the control information under the corresponding working mode and / or the corresponding guidance type can be determined based on the manipulation amount, and the guidance information can be obtained based on the guidance position displayed based on the guidance used to indicate the manipulation amount.

[0083] Then, in any guidance type, that is, whether it is the comfort guidance type, the economy guidance type, or the efficiency guidance type, if the working mode is the manual control guidance mode, the displacement control amount in the manual control guidance mode can be moved to the recommended position corresponding to the displacement control amount through the guidance symbols of the recommended position of the steering column, the rotation position of the steering feel lever, and the height control dial position to form guidance information.

[0084] In actual applications, since the joystick control input information generated to meet the manual control guidance mode can be mainly determined based on the displacement control amount, and can include longitudinal control displacement, lateral control displacement, heading control displacement and altitude control displacement, the manual control guidance can specifically include horizontal speed control guidance, heading control displacement guidance and altitude control displacement guidance.

[0085] Among them, (1) horizontal speed control can affect the horizontal flight speed and direction of the flying car at the current altitude. Its horizontal flight speed is mainly related to the displacement of the joystick, and the slope of the relationship curve is positive. The direction of the horizontal flight speed is consistent with the displacement direction of the joystick, and the heading is not changed. When the joystick is in the neutral position, it means that the flying car is hovering.

[0086] Then the guidance information formed by the movement of the guidance symbol based on the recommended position of the joystick to the recommended position corresponding to the displacement control amount can be expressed as the guidance symbol consisting of the origin symbol representing the neutral position of the joystick, the symbol of the full deviation control limit, the symbol representing the current position of the joystick, the symbol representing the recommended position of the joystick, and the symbols representing different speed envelopes. Among them, the origin symbol representing the neutral position of the joystick and the symbol of the full deviation control limit are fixed and static symbols are used; the symbol representing the current position of the joystick is consistent with the joystick offset and the convenient direction; the radial distance between the symbol representing the recommended position of the joystick and the origin is related to the level flight speed, and the slope of the relationship curve is positive; the radial line and azimuth of the heading of the symbol representing the recommended position of the joystick and the origin are consistent with the azimuth of the movement direction and the heading; the symbols representing different speed envelopes are dynamically updated with the performance database of the flying car, including but not limited to the normal envelope, the operating envelope and the limit envelope. When the flying car needs to capture a certain flight speed and direction, the guidance symbol of the recommended position of the joystick will move to the recommended position to form guidance.

[0087] (2) The heading control displacement guidance can affect the heading control of the flying car. The heading control is achieved by rotating the joystick. Its yaw rate is related to the angular displacement of the joystick rotation, and the slope of the relationship curve is positive.

[0088] Then the guidance information formed by the movement of the guidance symbol based on the rotation position of the steering column to the recommended position corresponding to the displacement control amount can be expressed as the guidance symbol consisting of a symbol indicating the real-time rotation position of the steering column, a symbol indicating the rotation back to the center position, a symbol indicating the recommended rotation position, and a symbol indicating the rotation direction. Among them, the symbol of the real-time rotation position of the steering column is dynamically consistent with the real-time rotation angular displacement of the steering column; the symbol indicating the rotation back to the center position is stationary at the rotation back to the center position of the steering column; the symbol indicating the recommended rotation position is dynamically consistent with the heading control offset recommended by the guidance system; the symbol indicating the rotation direction indicates the direction of rotation required to reach the recommended angular displacement from the current rotation angular displacement of the steering column.

[0089] (3) The altitude control displacement guidance can affect the altitude control of the flying car. The altitude control is achieved through the altitude control dial. When the dial returns to the center position, the flying car maintains its altitude. When the dial deflects upward, the flying car increases its altitude. When the dial fluctuates downward, the flying car decreases its altitude. The ascending and descending speed is related to the dial displacement, and the slope of the relationship curve is positive.

[0090] Then the guidance information formed by the movement of the guidance symbol of the height control knob position to the recommended position corresponding to the displacement manipulation amount can be expressed as the height manipulation guidance symbol is composed of a symbol indicating the height knob return to the center position, a symbol indicating the height knob real-time position, and a symbol indicating the height knob recommended position. Among them, the symbol of the height knob return to the center position is static; the symbol of the height knob real-time position is dynamically consistent with the height knob real-time position; the symbol indicating the height knob recommended position is dynamically consistent with the height knob recommended position.

[0091] In a preferred embodiment, the horizontal speed, heading control and altitude control guidance provide a flight envelope warning in the form of symbols or color changes by calculating the difference between the expected flight state obtained by the current control amount and the flight envelope. That is, by calculating the difference between the stable flight state and the flight envelope that will be caused by the control amount indicated to the driving user, warning suggestions are provided for the driving user's safe flight.

[0092] Also, for the target state guidance mode, in any guidance type, that is, whether it is the comfort guidance type, the economy guidance type, or the efficiency guidance type, if the working mode is the target state guidance mode, the control amount obtained based on the flight state conversion in the target state guidance mode can be moved to the recommended position corresponding to the control amount through the guidance symbols of speed guidance, heading guidance, and altitude guidance to form guidance information.

[0093] In actual applications, since the flight status information generated that meets the target status guidance mode can be mainly determined based on the control amount obtained by the flight status conversion, the flight status includes speed, altitude and heading, and the control amount obtained based on the flight status conversion may include the horizontal speed control amount for indicating the target speed, the heading control amount required for indicating the target track, and the altitude control amount required for indicating the target altitude, then the manual control guidance can specifically include speed guidance, heading guidance, and altitude guidance.

[0094] Among them, the guidance information generated by the guidance symbol based on speed guidance moving to the recommended position corresponding to the control amount can be expressed as a symbol located on the speed band. When the recommended guidance speed is outside the speed band, the symbol is at the upper limit or lower limit position corresponding to the speed band; the guidance information generated by the guidance symbol based on heading guidance moving to the recommended position corresponding to the control amount can be expressed as a symbol located in the attitude display area that moves horizontally. When the recommended guidance heading deviation is too large, the symbol is fixed at the extreme position and no longer moves; the guidance information generated by the guidance symbol based on altitude guidance moving to the recommended position corresponding to the control amount can be expressed as a symbol located in the altitude band. When the recommended guidance altitude is outside the altitude band, the symbol is at the extreme position corresponding to the altitude band.

[0095] It should be noted that all guidance of the guidance system is calculated by the processor. The processor reads the flight mission plan and flight performance data stored in the memory, and calculates the required flight trajectory in combination with the current position, heading and speed of the flying car. In combination with the attitude, heading, directional speed, directional acceleration, angular motion rate, position, altitude below, airspeed, pressure altitude and lifting speed of the flying car received by the processor, the current required maneuvers and required flight operations of the flying car are calculated in real time, and guidance data is generated.

[0096] Specifically, the target speed guidance can be calculated by the horizontal flight plan, the performance database and the guidance type. The driving user can keep the flying car at the target speed to obtain the comfortable speed, economic speed or efficiency speed corresponding to the selected guidance type; the speed control guidance can be calculated by the processor in combination with the target speed and the performance database. The driving user can push the joystick to the offset position of the guidance to make the flying car capture the required speed. The target heading guidance can be calculated by the horizontal flight plan, the current horizontal coordinates of the flying car, the current heading, and the horizontal offset of the track. The driving user aligns the aircraft heading with the heading guidance symbol to make the flying car capture the required horizontal track; the heading control guidance can be calculated by the processor in combination with the heading guidance offset and the performance database. The driving user can rotate the joystick to the offset of the guidance to make the flying car capture the required track. The target altitude guidance can be calculated by the vertical flight plan, the current altitude of the flying car, and the ascent and descent speed. The driving user aligns the altitude of the flying car with the altitude guidance symbol to enable the flying car to capture the desired vertical track. The altitude control guidance can be calculated by the processor based on the altitude guidance offset, current altitude, ascent and descent speed, and performance database. The driving user slides the altitude dial to the indicated position to enable the flying car to capture the desired vertical track.

[0097] As for the display of the guidance information in the combined mode under any guidance type, it can be obtained by combining the display method of the guidance information in the manual operation mode and the display method of the guidance information in the target state, which will not be elaborated here.

[0098] In actual applications, when responding to the operating instructions of the driving user to the flying car, if the operating instructions are consistent with the guidance information of the flight mission, feedback guidance can also be generated to inform the driving user to complete the flight mission. Among them, the operating instructions can be instructions generated by the driving user to control the flying car accordingly based on the guidance information of the flight mission, such as the corresponding pitch control of the flying car generated by the manipulation amount of the push and pull operation of the joystick.

[0099] For the feedback guidance display generated by the guidance information that meets the flight mission, as an example, in the manual control mode, if the driving user manipulates the joystick according to the guidance so that the joystick is always kept in the position recommended by the guidance, it means that the flight mission is completed. Then, when the driving user manipulates the joystick to enter the position recommended by the guidance, the manual driving guidance can inform the driving user of this status through changes in the displayed icon; as another example, in the target state guidance mode, if the driving user keeps the speed, altitude and heading of the flying car consistent with the guidance according to the guidance, it means that the flight mission is completed. Then, when the aircraft reaches the recommended state, the target state guidance informs the driving user of this state through changes in the displayed icon.

[0100] In a preferred embodiment, the flying driving skill proficiency of the driving user can also be evaluated by comparing the driving user's control amount and the target flight state. Specifically, the evaluation result can be generated based on the operation information of the driving user and the operation instructions of the flying car, so as to provide the driving user with a review.

[0101] In practical applications, the processor can receive and record the control amount of the driving user, and evaluate the flying skill proficiency of the driving user by comparing the response delay of the driving user's control action, the accuracy of the control amount, and the time and overshoot times required to capture the target flight state. In addition, the evaluation results can generate an evaluation report and record it in the memory, which is convenient for the driving user to retrieve, view and download after the flight.

[0102] In the embodiment of the present invention, the control information under the corresponding working mode and / or corresponding guidance type that must be satisfied for executing the flight mission is obtained based on the working mode and / or guidance type of the flight mission, and the guidance information for the flight mission is displayed according to the control information under the corresponding working mode and / or corresponding guidance type that must be satisfied by the flight mission, so as to guide the driving user to perform corresponding operations on the flying car. That is, by guiding the driving user according to the working mode and guidance type of the flight mission, the flight operations required by the driving user are directly guided, the driving difficulty of the flying car is effectively reduced, the workload of the driving user is reduced, the training cost of the driving user of the flying car is saved, and the training efficiency and convenience of the driving user are improved.

[0103] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0104] Reference Figure 4 , showing a structural block diagram of an embodiment of a flight assistance device for a flying car of the present invention, which is applied to Figure 1 The flight system shown may specifically include the following modules:

[0105] The flight mission acquisition module 401 is used to acquire the flight mission, and the working mode and / or guidance type of the flight mission; the working mode and / or the guidance type are used to limit the control information under the corresponding working mode and / or the corresponding guidance type that must be satisfied when executing the flight mission;

[0106] The mission guidance module 402 is used to display guidance information for the flight mission according to the corresponding working mode and / or control information under the corresponding guidance type that the flight mission needs to meet, so as to guide the driving user to perform corresponding operations on the flying car.

[0107] In one embodiment of the present invention, the device may further include the following modules:

[0108] A control information generation module is used to generate control information under a corresponding working mode and / or corresponding guidance type that must be met to limit the execution of the flight mission according to the working mode and / or guidance type of the flight mission; wherein the working mode of the flight mission includes a manual control guidance mode, a target state guidance mode and a combined guidance mode, and the combined guidance mode includes a combination mode of the manual control guidance mode and the target state guidance mode; the guidance types include a comfort guidance type, an economic guidance type and an efficiency guidance type.

[0109] In one embodiment of the present invention, the control information generation module is specifically used to generate joystick control input information that satisfies the manual control guidance mode in the manual control guidance mode, the joystick control input information is determined based on the displacement control amount, including longitudinal control displacement, lateral control displacement, heading control displacement and altitude control displacement; used to generate flight state information that satisfies the target state guidance mode in the target state guidance mode, the flight state information is determined based on the control amount obtained by the flight state conversion, including a horizontal speed control amount for indicating the target speed, a heading control amount required for indicating the target track, and an altitude control amount required for indicating the target height; used to convert the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car that meet the preset range when performing the flight mission into the required control amount under the comfort guidance type; used to generate the control amount that satisfies the longest flight track when performing the flight mission under the economic guidance type; used to generate the control amount that satisfies the shortest flight track when performing the flight mission under the efficiency guidance type; used to generate control information according to the working mode of the flight mission when the guidance type is met.

[0110] Wherein, when the guidance type is met, control information is generated according to the working mode of the flight mission, including if the guidance type is a comfort guidance type, under the condition that the preset ranges of the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car are met, the control stick control amount input information that meets the manual control guidance mode and / or the flight state information that meets the target state guidance mode is generated; if the guidance type is an economic guidance type, under the condition that the longest flight track is met, the control stick control amount input information that meets the manual control guidance mode and / or the flight state information that meets the target state guidance mode is generated; if the guidance type is an efficiency guidance type, under the condition that the shortest flight time track is met, the control stick control amount input information that meets the manual control guidance mode and / or the flight state information that meets the target state guidance mode is generated.

[0111] In an embodiment of the present invention, the control information under the corresponding working mode and / or the corresponding guidance type is determined based on the manipulation amount, and the guidance information is obtained based on the guidance used to indicate the manipulation amount conforming to the displayed guidance position; the task guidance module 402 may include the following submodules:

[0112] A guidance information generating submodule is used for, under any guidance type, if the working mode is a manual control guidance mode, the displacement control amount in the manual control guidance mode is moved to a recommended position corresponding to the displacement control amount through the guidance symbols of the recommended position of the steering column, the rotation position of the steering lever and the height control dial position, so as to form guidance information;

[0113] It is also used in any guidance type, if the working mode is the target state guidance mode, the control amount obtained based on the flight state conversion in the target state guidance mode is moved to the recommended position corresponding to the control amount through the guidance symbols of speed guidance, heading guidance and altitude guidance to form guidance information.

[0114] In one embodiment of the present invention, the device may further include the following modules:

[0115] A feedback guidance display module is used to respond to the driving user's operating instructions for the flying car. If the operating instructions are consistent with the guidance information of the flight mission, feedback guidance is generated to inform the driving user to complete the flight mission; wherein the operating instructions are instructions generated by the driving user to control the flying car accordingly based on the guidance information of the flight mission.

[0116] In one embodiment of the present invention, the device may further include the following modules:

[0117] The evaluation result generating module is used to respond to the operation instruction of the driving user to the flying car, record the operation information of the operation instruction, and generate the evaluation result according to the operation information for the driving user to view.

[0118] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0119] An embodiment of the present invention further provides a flying car, comprising:

[0120] The invention comprises the flight assistance device of the flying car, a processor, a memory and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, each process of the embodiment of the flight assistance method of the flying car is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0121] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each process of the above-mentioned flying car flight assistance method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0122] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0123] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0124] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0128] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0129] The above describes in detail a flying car flight assistance method, a flying car flight assistance device, a corresponding flying car and a corresponding computer-readable storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A flying car flight assistance method, characterized in that: Applied to a flight system, the method comprises: Acquire a flight mission, and a working mode and / or guidance type of the flight mission; the working mode and / or the guidance type are used to limit control information under a corresponding working mode and / or corresponding guidance type that must be satisfied to execute the flight mission, wherein the working mode of the flight mission includes a manual control guidance mode, a target state guidance mode, and a combined guidance mode, and the combined guidance mode includes a combined mode of the manual control guidance mode and the target state guidance mode; the guidance types include a comfort guidance type, an economic guidance type, and an efficiency guidance type; According to the working mode and / or guidance type of the flight mission, generating control information for limiting the corresponding working mode and / or corresponding guidance type that must be met for executing the flight mission; According to the control information under the corresponding working mode and / or corresponding guidance type that the flight mission needs to meet, the guidance information for the flight mission is displayed to guide the driving user to perform corresponding operations on the flying car; under any guidance type, the guidance information in the manual control guidance mode is formed based on the guidance symbols of the recommended position of the joystick, the rotation position of the joystick, and the position of the altitude control dial button moving to the recommended position corresponding to the displacement control amount; under any guidance type, the guidance information in the target state guidance mode is formed based on the guidance symbols of the speed guidance, heading guidance, and altitude guidance moving to the recommended position corresponding to the control amount.

2. The method according to claim 1, characterized in that Generate control information for limiting the corresponding working mode to be satisfied for executing the flight mission according to the working mode of the flight mission, including: In the manual manipulation guidance mode, generating control column manipulation amount input information satisfying the manual manipulation guidance mode, wherein the control column manipulation amount input information is determined based on the displacement manipulation amount, including longitudinal manipulation displacement, lateral manipulation displacement, heading manipulation displacement and altitude manipulation displacement; And / or, in the target state guidance mode, flight state information that satisfies the target state guidance mode is generated, and the flight state information is determined based on the control amount obtained by converting the flight state, including a horizontal speed control amount for indicating the target speed, a heading control amount required for indicating the target track, and an altitude control amount required for indicating the target altitude.

3. The method according to claim 1, characterized in that Generating control information under a corresponding guidance type that needs to be met for limiting the execution of the flight mission according to the guidance type of the flight mission, including: Under the comfort guidance type, the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car within the preset range when performing the flight mission are converted into the required control amount; and / or, under the economic guidance type, generating a control amount that satisfies a longest flight trajectory when performing the flight mission; And / or, under the efficiency guidance type, generating a control amount that satisfies the shortest flight time trajectory when executing the flight mission.

4. The method according to claim 1, 2 or 3, characterized in that: According to the working mode and guidance type of the flight mission, control information for limiting the corresponding working mode and corresponding guidance type to be satisfied for executing the flight mission is generated, including: generating control information according to the working mode of the flight mission when the guidance type is met; The step of generating control information according to the working mode of the flight mission when the guidance type is met includes: If the guidance type is a comfort guidance type, under the condition that the preset ranges of the longitudinal overload, lateral overload, heading overload and yaw acceleration of the flying car are met, the control stick control amount input information satisfying the manual control guidance mode and / or the flight state information satisfying the target state guidance mode are generated; If the guidance type is an economic guidance type, under the condition that the longest flight path is met, generating joystick control amount input information that meets the manual control guidance mode and / or flight status information that meets the target state guidance mode; If the guidance type is an efficiency guidance type, under the condition of satisfying the shortest flight time track, the joystick control input information satisfying the manual control guidance mode and / or the flight status information satisfying the target status guidance mode are generated.

5. The method according to claim 1, characterized in that The control information under the corresponding working mode and / or corresponding guidance type is determined based on the manipulation amount, and the guidance information is obtained based on the guidance position displayed based on the guidance for indicating the manipulation amount.

6. The method according to claim 1, characterized in that The method further comprises: In response to the driving user's operating instructions for the flying car, if the operating instructions are consistent with the guidance information of the flight mission, a feedback guidance is generated to inform the driving user to complete the flight mission; wherein the operating instructions are instructions generated by the driving user to control the flying car accordingly based on the guidance information of the flight mission.

7. The method according to claim 1 or 6, characterized in that: The method further comprises: In response to the operating instructions of the driving user to the flying car, operation information of the operating instructions is recorded, and an evaluation result is generated according to the operation information for the driving user to view.

8. A flight assist device for a flying car, characterized in that: Applied to a flight system, the device comprises: a flight mission acquisition module, used for acquiring a flight mission, and a working mode and / or guidance type of the flight mission; the working mode and / or the guidance type are used for limiting the control information under the corresponding working mode and / or the corresponding guidance type that must be satisfied for executing the flight mission, wherein the working mode of the flight mission includes a manual control guidance mode, a target state guidance mode, and a combined guidance mode, and the combined guidance mode includes a combined mode of the manual control guidance mode and the target state guidance mode; the guidance types include a comfort guidance type, an economic guidance type, and an efficiency guidance type; A control information generation module, used for generating control information for limiting the corresponding working mode and / or corresponding guidance type to be satisfied for executing the flight mission according to the working mode and / or guidance type of the flight mission; The task guidance module is used to display guidance information for the flight mission according to the control information under the corresponding working mode and / or corresponding guidance type that the flight mission needs to meet, so as to guide the driving user to perform corresponding operations on the flying car. Under any guidance type, the guidance information in the manual control guidance mode is formed based on the guidance symbols of the recommended position of the joystick, the rotation position of the joystick, and the position of the altitude control dial button moving to the recommended position corresponding to the displacement control amount; under any guidance type, the guidance information in the target state guidance mode is formed based on the guidance symbols of the speed guidance, heading guidance, and altitude guidance moving to the recommended position corresponding to the control amount.

9. A flying car, characterized in that: include: The flight assistance device of the flying car as claimed in claim 8, the processor, the memory and the computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the flight assistance method of the flying car as claimed in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the flight assistance method for a flying car as described in any one of claims 1 to 7 are implemented.

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