Flying car control method, device, flying car and storage medium

Abstract

Embodiments of the present invention provide a control method and device for a flying car, a flying car, and a storage medium. The method comprises: obtaining the driving state of the flying car during its operation; determining whether the overall state of the flying car meets preset flight requirements when the driving state of the flying car meets the preset flight requirements; and controlling the flying car to enter flight mode if the internal state and external signals of the flying car meet the preset flight requirements. Switching between flight modes based on the driving state and overall state of the flying car allows the flying car to simply and safely switch from land mode to flight mode without the driver removing their hands from the steering wheel, thus meeting the need for switching from land mode to flight mode and achieving a seamless transition between land mode and flight during operation.

Description

Technical Field

[0001] The present invention relates to the technical field of flying cars, and in particular to a flying car control method, a flying car control device, a corresponding flying car, and a corresponding computer storage medium. Background Art

[0002] A flying car is a vehicle that is a combination of a car and an airplane. This type of vehicle can be a manned flying car equipped with fixed wings or composite wings. A manned flying car can achieve land driving or air flight based on mode switching, but the switching between the land driving mode and the air flight mode is usually based on a control system. It is difficult for a flying car to switch to flight mode while driving in land mode. Summary of the Invention

[0003] In view of the above problems, the embodiments of the present invention are proposed to provide a method for controlling a flying car, a control device for a flying car, and a method for controlling a flying car.

[0004] A device, a corresponding flying car and a corresponding computer storage medium.

[0005] An embodiment of the present invention discloses a method for controlling a flying car, the method comprising:

[0006] During the driving of the flying car, obtaining the driving state of the flying car;

[0007] When the driving state of the flying car meets the preset flight mode switching condition, determining whether the entire state of the flying car meets the preset flight requirements; the entire state of the flying car includes the internal state of the entire car and external signals;

[0008] If the internal state and external signals of the flying car meet the preset flight requirements, the flying car is controlled to enter the flight mode.

[0009] Optionally, the driving state of the flying car includes the depth of the accelerator pedal of the flying car, and the preset flight mode switching condition includes turning on a takeoff switch of the accelerator pedal; the driving state of the flying car satisfies the preset flight mode switching condition, including:

[0010] When the accelerator pedal depth of the flying car reaches a preset depth threshold, it is determined that the accelerator pedal depth of the flying car meets a preset flight mode switching condition; wherein the preset depth threshold is used to indicate that the accelerator pedal triggers the start of the flight mode.

[0011] Optionally, if the internal state and external signals of the flying car meet preset flight requirements, controlling the flying car to enter flight mode includes:

[0012] If the internal state of the flying car satisfies the system state required for entering flight mode, and the external signal of the flying car satisfies the environmental conditions required for entering flight mode, then upon receiving a confirmation signal for entering flight mode, the flying car is controlled to enter flight mode.

[0013] Optionally, the internal state of the entire vehicle includes a power state, an arm activity state, and a system and device operation state. The internal state of the entire vehicle satisfies the system state when entering flight mode, including:

[0014] When the battery level is sufficient, the arms are fully extended and locked, and the systems and equipment are operating without any faults, it is determined that the internal state of the flying car meets the system state required for entering flight mode.

[0015] Optionally, the external signals include aircraft takeoff range information, airspace permission information, platform communication signals, environmental information, and aviation weather forecast light signals. The external signals of the flying car meeting the environmental conditions for entering flight mode include:

[0016] The external signal of the flying car is determined to meet the environmental conditions for entering flight mode when there are no obstacles within the entire aircraft takeoff range information, the airspace permission information indicates that flight is permitted, there is no fault in the platform communication signal, the environmental information meets the required light intensity and ambient temperature, and the aviation weather forecast light signal meets the flight conditions.

[0017] Optionally, after receiving a confirmation signal for entering the flight mode, controlling the flying car to enter the flight mode includes:

[0018] When a touch operation and / or a non-touch operation for entering the flight mode is received, it is determined that a confirmation signal for entering the flight mode is received, and the flying car is controlled to enter the flight mode.

[0019] Optionally, after controlling the flying car to enter the flight mode, the method further includes:

[0020] The flying car that has entered the flight mode is controlled to unfold its wings, and when the flight state of the flying car meets a preset take-off condition, the flying car that has entered the flight mode is controlled to perform a take-off operation.

[0021] The embodiment of the present invention further discloses a control device for a flying car, the device comprising:

[0022] A driving state acquisition module, configured to acquire the driving state of the flying car during its driving process;

[0023] a whole vehicle state confirmation module, configured to determine whether the whole vehicle state of the flying vehicle meets preset flight requirements when the flying vehicle's driving state meets preset flight mode switching conditions; the whole vehicle state of the flying vehicle includes the whole vehicle's internal state and external signals;

[0024] The flight mode switching module is used to control the flying car to enter the flight mode when the internal state and external signals of the flying car meet the preset flight requirements.

[0025] Optionally, the driving state of the flying car includes the depth of the accelerator pedal of the flying car, and the preset flight mode switching condition includes the turning on of the takeoff switch of the accelerator pedal; the whole machine state confirmation module includes:

[0026] The flight mode switching determination submodule is configured to determine whether the accelerator pedal depth of the flying car meets a preset flight mode switching condition when the accelerator pedal depth of the flying car reaches a preset depth threshold; wherein the preset depth threshold is used to indicate that the accelerator pedal triggers the entry into flight mode.

[0027] Optionally, the flight mode switching module includes:

[0028] The flight mode switching submodule is used to control the flying car to enter the flight mode after receiving a confirmation signal for entering the flight mode when the internal state of the flying car meets the system state required for entering the flight mode and the external signal of the flying car meets the environmental conditions required for entering the flight mode.

[0029] Optionally, the internal state of the entire aircraft includes a power state, an arm activity state, and a system and device operation state, and the flight mode switching submodule includes:

[0030] The whole-machine internal state determination unit is used to determine whether the whole-machine internal state of the flying car meets the system state required for entering the flight mode when the battery state is sufficient, the movable state of the aircraft arm is fully extended and locked, and the operating state of the system and equipment is fault-free.

[0031] Optionally, the external signal includes aircraft takeoff range information, airspace permission information, platform communication signal, environmental information, and aviation weather forecast light signal, and the flight mode switching submodule includes:

[0032] The external signal determination unit is configured to determine that the external signal of the flying car meets the environmental conditions for entering flight mode when there are no obstacles within the entire aircraft takeoff range information, the airspace permission information indicates that flight is permitted, there are no faults in the platform communication signal, the environmental information meets the required light intensity and ambient temperature, and the aviation weather forecast light signal meets the flight conditions.

[0033] Optionally, the flight mode switching submodule includes:

[0034] The confirmation signal receiving unit is used to determine that a confirmation signal for entering the flight mode is received when a touch operation and / or a non-touch operation for entering the flight mode is received, and control the flying car to enter the flight mode.

[0035] Optionally, after controlling the moving flying car to enter the flight mode, the device further includes:

[0036] The takeoff operation module is used to control the flying car in flight mode to unfold its wings, and when the flight state of the flying car meets the preset takeoff conditions, control the flying car in flight mode to perform a takeoff operation.

[0037] An embodiment of the present invention also discloses a flying car, comprising: a control 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 flying car control methods are implemented.

[0038] 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 control methods are implemented.

[0039] The embodiments of the present invention include the following advantages:

[0040] In an embodiment of the present invention, during the driving process of the flying car, when the driving state of the flying car meets preset flight mode switching conditions and the internal state and external signals of the flying car meet preset flight requirements, the flying car can be controlled to enter the flight mode. The flight mode switching based on the driving state of the flying car and the overall state of the flying car can achieve a simple and safe switch from the driving state of the flying car to the flight mode without the driver taking his hands off the steering wheel. This meets the driving scenario requirement of switching to flight mode while driving in land mode, realizes a seamless connection between land driving and flight during driving, and while improving the driver's driving experience, it can also avoid the waste of energy and time caused by braking, deceleration, and stopping before taking off. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a flowchart of steps in an embodiment of a method for controlling a flying car according to the present invention;

[0042] Figure 2 is a flowchart of another embodiment of a method for controlling a flying car according to the present invention;

[0043] Figure 3 This is a schematic diagram of a flying car control process according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of a scenario for controlling a flying car provided by an embodiment of the present invention;

[0045] Figure 5 This is a structural block diagram of an embodiment of a control device for a flying car of the present invention. DETAILED DESCRIPTION

[0046] 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.

[0047] A manned flying car equipped with fixed wings or composite wings can support taxiing takeoff. At the same time, the flying car itself also has car attributes. Therefore, when the flying car is driving in land mode, if the driver wants to switch the flying car from land mode to flight mode, he needs to control the flying car to switch between land and air modes in a safe and convenient way.

[0048] One of the core concepts of the embodiments of the present invention is to switch the flight mode based on the driving status and overall status of the flying car. This allows the driver to switch between land and air modes without taking their hands off the steering wheel or looking away, ensuring high safety for the driver when operating the flying car. It can also meet the driving scenario requirements of switching to flight during land mode, achieving a seamless connection between land and flight during acceleration, increasing the driver's driving pleasure and improving the product's strength. It can also avoid the waste of energy and time caused by braking, deceleration, and then taking off again. In addition, it can avoid misidentification based on double confirmation, thereby ensuring the control accuracy of the flying car.

[0049] Reference Figure 1 , shows a flowchart of a method for controlling a flying car according to an embodiment of the present invention, which may specifically include the following steps:

[0050] Step 101, while the flying car is traveling, obtaining the driving state of the flying car;

[0051] In order to achieve the land-to-air state switching of a manned flying car equipped with folding fixed wings or composite wings while ensuring the safety and convenience of the flying car, the flying car can be switched to flight mode while driving without the driver's hands leaving the steering wheel or the driver's sight being diverted.

[0052] Specifically, the driving state of a flying vehicle can be acquired, and the flying vehicle's flight mode can be switched directly based on the determination of the flying vehicle's driving state and overall vehicle status, without removing hands from the steering wheel, for example, by using buttons on a control panel or controls on an interactive interface, or by manipulating a joystick on the flying vehicle. It should be noted that the acquired driving state of the flying vehicle may include the status of any vehicle sensors and hardware possessed by the flying vehicle during driving, such as the current speed, location, brake pedal depth, accelerator pedal depth, etc., and this is not limited in this embodiment of the present invention.

[0053] Step 102: When the flying car's driving state meets the preset flight mode switching conditions, determine whether the flying car's overall state meets the preset flight requirements. Switching the flight mode based on the flying car's driving state and overall state can be performed by determining whether the flying car's overall state meets the preset flight requirements when the flying car's driving state meets the preset flight mode switching conditions. The overall state to be determined includes the overall internal state and external signals of the overall vehicle, so that the flight mode is switched when both the overall internal state and external signals of the flying car meet the flight requirements.

[0054] In another case, if the acquired driving state of the flying car does not meet the preset flight mode switching conditions, then there is no need to determine the overall state of the flying car, that is, the flying car cannot be controlled to enter the flight mode, but the flying car is controlled to continue to maintain the land driving state, that is, its land state is not switched.

[0055] Among them, the preset flight mode switching condition can be expressed as a touch operation and / or non-touch operation that can be achieved without the driver's hands leaving the steering wheel and his eyes wandering, which is not limited by the embodiment of the present invention.

[0056] Step 103: If the internal state and external signals of the flying car meet the preset flight requirements, the flying car is controlled to enter the flight mode.

[0057] The flight mode is switched based on the driving state and the state of the entire aircraft. When the driving state of the flying car meets the preset flight mode switching conditions, if the internal state of the entire flying car and the external signals meet the preset flight requirements, the flying car is controlled to enter the flight mode, so that the flying car can be simply and safely switched to the flight mode when in the land mode, meeting the driving scenario requirements of switching to flight while driving in land mode, and realizing seamless connection between land driving and flight during driving.

[0058] In an embodiment of the present invention, during the driving process of the flying car, when the driving state of the flying car meets preset flight mode switching conditions and the internal state and external signals of the flying car meet preset flight requirements, the flying car can be controlled to enter the flight mode. The flight mode switching based on the driving state of the flying car and the overall state of the flying car can achieve a simple and safe switch from the driving state of the flying car to the flight mode without the driver taking his hands off the steering wheel. This meets the driving scenario requirement of switching to flight mode while driving in land mode, realizes a seamless connection between land driving and flight during driving, and while improving the driver's driving experience, it can also avoid the waste of energy and time caused by braking, deceleration, and stopping before taking off.

[0059] Reference Figure 2 , shows a flowchart of another embodiment of a method for controlling a flying car according to the present invention, which may specifically include the following steps:

[0060] Step 201: When the accelerator pedal depth of the flying car meets the preset flight mode switching condition, determine whether the internal state and external signals of the flying car meet the preset flight requirements;

[0061] In order to achieve the land-to-air state switching of a manned flying car equipped with folding fixed wings or composite wings while ensuring the safety and convenience of the flying car, the flying car can be switched to flight mode while driving without the driver's hands leaving the steering wheel or the driver's sight being diverted.

[0062] In an embodiment of the present invention, the flight mode can be switched between the land and air states based on the driving state and the state of the entire flying car.

[0063] Specifically, refer to Figure 3, showing a schematic flow chart of a flying car control process provided by an embodiment of the present invention. The preset flight mode switching condition may include the activation of a takeoff switch for the accelerator pedal. When determining the flight mode switching based on the driving state, the acquired driving state may refer to the state of the accelerator pedal of the flying car. The state of the accelerator pedal may be determined based on the accelerator pedal depth. That is, at this time, the accelerator pedal depth of the flying car may be used to determine whether to trigger the activation of the takeoff switch for the accelerator pedal, thereby determining whether to switch the flying car between the ground and air modes.

[0064] In a specific implementation, when switching the land-to-air state of a flying car based on the accelerator pedal depth of the flying car, the accelerator pedal can be associated, and a takeoff switch for the flying car can be set on the accelerator pedal. When the accelerator pedal depth of the flying car reaches a preset depth threshold, it is determined that the accelerator pedal depth of the flying car meets the preset flight mode switching condition. The preset depth threshold is used to indicate the triggering of the takeoff switch for the accelerator pedal, which can usually be manifested as pressing the accelerator pedal to the bottom. At this time, the accelerator pedal takeoff switch signal can be identified as a control signal for the land-to-air switching of the flying car.

[0065] It should be noted that the preset depth threshold indicating that the accelerator pedal triggers the activation of flight mode is generally the pedal depth corresponding to fully depressing the accelerator pedal. However, flying cars all have a maximum speed limit function, that is, their speed does not increase indefinitely. Therefore, the preset depth threshold is mainly based on the pedal depth corresponding to the maximum speed limit of the flying car, and this embodiment of the present invention does not impose any restrictions on this.

[0066] Among them, the takeoff switch for the accelerator pedal can be expressed in a virtual form or a physical form, that is, it can be expressed as a virtual takeoff switch associated with the accelerator pedal through software settings, such as a virtual takeoff switch formed based on the accelerator pedal opening, or a physical takeoff switch installed at the bottom of the accelerator pedal.

[0067] In actual applications, when driving in land mode, the driver finds that there are obstacles or congestion on the road ahead, or the driver simply intends to switch to flying, etc., the driver can step on the accelerator pedal deeply in real time by walking, for example, pressing the accelerator pedal to the bottom to switch the intention. At this time, the driver's hands do not need to leave the steering wheel, and the driver's line of sight does not need to be diverted. While meeting the driving scenario requirements of switching to flying while driving in land mode, the land and flight are seamlessly connected during the acceleration process, which increases the driver's driving pleasure and improves product strength. In addition, the seamless connection between land and flight can avoid the waste of energy and time due to braking and deceleration to stop and then take off.

[0068] When the driver steps deeply on the accelerator pedal in real time, Figure 4 The pedal land-to-air switching control module shown has a Takeoff switch recognition module a that can recognize the activation trigger of the takeoff Takeoff switch of the accelerator pedal.

[0069] In one embodiment of the present invention, when the accelerator pedal depth of the flying car meets the preset flight mode switching condition, that is, when the takeoff switch of the accelerator pedal is identified to be triggered, it can also be determined whether the flying car meets the preset flight requirements.

[0070] Specifically, the entire state of the flying car can be obtained, and the obtained entire state includes the internal state of the entire car and external signals. At this time, the obtained internal state of the entire car and external signals can be judged respectively to see whether they meet the preset flight requirements. It can mainly be judged whether the internal state of the entire flying car meets the system state when entering the flight mode, and whether the external signals of the flying car meet the environmental conditions when entering the flight mode.

[0071] In step 202, if the internal state of the flying car satisfies the system state required for entering flight mode, and the external signal of the flying car satisfies the environmental conditions required for entering flight mode, then upon receiving a confirmation signal for entering flight mode, the flying car is controlled to enter flight mode.

[0072] When the state of the entire vehicle meets the preset flight requirements, that is, the internal state of the flying car meets the system state when entering flight mode, and the external signal of the flying car meets the environmental conditions when entering flight mode, the signal for entering flight mode can be reconfirmed to avoid misidentification based on double confirmation and ensure the accuracy of control of the flying car.

[0073] Among them, the judged internal state of the whole machine may refer to the internal situation of the flying car, including the power state, the arm activity state, and the system and equipment operation state, etc. The system and equipment operation state may include whether there are faults in components such as the power system, electronic and electrical system, avionics system, and safety equipment. When the power state is sufficient, the arm activity state is in a fully extended and locked state, and the system and equipment operation state is fault-free, it can be determined that the internal state of the whole machine of the flying car meets the system state when entering the flight mode; if it is not met, take-off is not allowed, that is, the flying car is not allowed to switch to the flight mode.

[0074] The external signals being judged can refer to the external conditions of the flying car, such as the surrounding environment. These can include takeoff range information, airspace clearance information, platform communication signals, environmental information, and aviation weather forecast light signals. If there are no obstacles within the takeoff range information, the airspace clearance information indicates flight is permitted, the platform communication signals are not faulty, the environmental information meets the required light intensity and ambient temperature, and the aviation weather forecast light signals meet flight conditions, the flying car's external signals can be determined to meet the environmental conditions for entering flight mode. In practical applications, the absence of obstacles within the takeoff range information ensures a suitable environment for wing deployment to prevent wing damage and surrounding hazards. Satisfying flight conditions with aviation weather forecast light signals can mean that the aviation weather forecast light signals must meet flight conditions within a certain period of time. If these conditions are not met, takeoff is not permitted, meaning the flying car is not allowed to switch to flight mode.

[0075] In practical applications, after the takeoff switch is identified as being triggered, that is, the takeoff switch signal is identified, the following steps can be performed: Figure 4 The whole-machine state confirmation module b shown confirms the whole-machine state, that is, whether the internal state of the whole-machine and the external signal meet the preset flight requirements. In one case, if the whole-machine state meets the preset flight requirements, the instruction to enter the flight mode can be reconfirmed. In another case, if the whole-machine state does not meet the preset flight requirements, the control of the flying car to switch to the flight mode is not allowed at this time, and the flying car will continue to travel in the land mode.

[0076] Specifically, if the overall state of the flying car meets preset flight requirements, upon receiving a confirmation signal for entering flight mode, the flying car can be controlled to enter flight mode. In this case, upon receiving a touch operation and / or a non-touch operation for entering flight mode, it can be determined that a confirmation signal for entering flight mode has been received. The touch operation and / or non-touch operation for entering flight mode can be performed while the driver's hands remain on the steering wheel and their line of sight remain focused. The embodiments of the present invention do not impose any limitations on the touch operation and / or non-touch operation that triggers the activation of flight mode.

[0077] The touch operation for entering the flight mode can be manifested as a touch operation on the physical buttons on the steering wheel, a lifting action on the steering wheel, etc. For example, a function button for entering the flight mode can be set on the steering wheel, or the lifting action of the steering wheel can be associated with the function of entering the flight mode, so that when the function button is touched or the steering wheel is lifted, a confirmation signal for entering the flight mode is generated and issued; the non-touch operation for entering the flight mode can be manifested as voice recognition, face or body movement recognition, etc. Taking voice recognition as an example, when the flying car receives the voice of "entering flight mode" issued by the driver, the user's voice can be recognized as a confirmation signal for entering the flight mode, or when the steering wheel recognizes a pre-set gesture for entering the flight mode, it can confirm that the flying car has entered the flight mode.

[0078] In actual application, after the whole machine status is confirmed, Figure 4 The Takeoff switch recognition module a of the pedal land-to-air switching control module shown issues a secondary confirmation reminder, which can remind the driver in the form of sound, text, vibration, etc. After reminding the driver to reconfirm whether to enter flight mode, the driver can perform an operation to confirm without removing his hands from the steering wheel or looking away, such as by pressing a physical button on the steering wheel, lifting the square dial, voice recognition, facial or body movement recognition, etc., thereby issuing a secondary confirmation signal for the flying car to enter flight mode. In one case, the switching secondary confirmation module c can confirm the confirmation and control the flying car to enter flight mode. In another case, if the switching secondary confirmation module c does not receive the driver's secondary confirmation signal, it means that the previous Takeoff switch signal was a signal triggered by the driver in error. At this time, the driver did not intend to switch the flying car's driving state to flight mode. In this case, the flying car is not allowed to switch to flight mode, and the flying car will continue to drive in land mode.

[0079] In a specific implementation, after controlling a flying car in motion to enter flight mode, the flying car in flight mode can be controlled to unfold its wings. Specifically, the wing control system is responsible for unfolding the wings of the flying car, and when the flight state of the flying car meets the preset take-off conditions, the flying car in flight mode is controlled to perform a take-off operation, that is, the flying car is controlled to lift or retract the wheels, and the flight control system is used to control the entire flying car to achieve take-off.

[0080] In a preferred embodiment, the flying car can not only switch the flying car from the land mode to the flight mode based on the accelerator pedal Takeoff signal and the secondary confirmation signal without the driver taking his hands off the steering wheel or looking away, but also realize the land-to-air switching by sequentially adjusting the triggering of the accelerator pedal Takeoff signal and the secondary confirmation signal to adjust the conversion form.

[0081] As an example, when a flying car in flight mode needs to switch to land mode, this can be achieved through touch operations and / or non-touch operations to trigger exiting flight mode or entering land mode without the driver taking his hands off the steering wheel or looking away.

[0082] The touch operation for exiting airplane mode / entering land mode can be manifested as a touch operation on a physical button on the steering wheel, a lowering action of the steering wheel, etc. For example, a function button for exiting airplane mode / entering land mode can be set on the steering wheel, or the lowering action of the steering wheel can be associated with the function of exiting airplane mode / entering land mode, so that when the function button is touched or the steering wheel is lowered, a confirmation signal for exiting airplane mode is generated and issued; the non-touch operation for exiting airplane mode / entering land mode can be manifested as voice recognition, facial or body movement recognition, etc. Taking voice recognition as an example, when the flying car receives the driver's voice command of "exit airplane mode" or "enter land driving", the user's voice can be recognized as a confirmation signal for exiting airplane mode / entering land mode, or when the steering wheel recognizes a pre-set gesture for exiting airplane mode / entering land mode, it can confirm that the flying car has exited airplane mode / entered land mode.

[0083] At this time, the received touch operation and / or non-touch operation for triggering the exit of flight mode or entry into land mode can be used as a primary control signal for the land-to-air switch. The system then performs a whole-machine status confirmation, that is, confirms whether the internal status of the flying car and the external signals meet the preset driving requirements. To prevent false triggering not intended by the driver, the system uses another secondary confirmation signal, such as an associated brake pedal. The brake pedal is provided with a switch for the flying car. When the driver presses the brake pedal to a certain degree, the switch signal of the brake pedal is recognized, which can indicate that the secondary confirmation signal for entering land mode has been received. After confirmation, the flying car can be controlled to fold or retract the wings and unfold the wheels after landing. After the landing driving conditions are met, the flying car can start land driving.

[0084] It should be noted that the above example is only a simple example of switching from flight mode to land mode. The principle of land-to-air switching achieved by sequentially adjusting the transformation form still falls within the scope of the embodiments disclosed in the embodiments of the present invention. For other land-to-air switching schemes based on this principle, the embodiments of the present invention will not elaborate on them.

[0085] In an embodiment of the present invention, during the driving process of the flying car, when the driving state of the flying car meets preset flight mode switching conditions and the internal state and external signals of the flying car meet preset flight requirements, the flying car can be controlled to enter the flight mode. The flight mode switching based on the driving state of the flying car and the overall state of the flying car can achieve a simple and safe switch from the driving state of the flying car to the flight mode without the driver taking his hands off the steering wheel. This meets the driving scenario requirement of switching to flight mode while driving in land mode, realizes a seamless connection between land driving and flight during driving, and while improving the driver's driving experience, it can also avoid the waste of energy and time caused by braking, deceleration, and stopping before taking off.

[0086] It should be noted that for the sake of simplicity, the method embodiments are described as a series of actions. However, 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 this specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0087] Reference Figure 5 , shows a structural block diagram of an embodiment of a control device for a flying car of the present invention, which may specifically include the following modules:

[0088] A driving state acquisition module 501 is used to acquire the driving state of the flying car during the driving of the flying car;

[0089] The whole vehicle state confirmation module 502 is used to determine whether the whole vehicle state of the flying vehicle meets the preset flight requirements when the driving state of the flying vehicle meets the preset flight mode switching conditions; the whole vehicle state of the flying vehicle includes the whole vehicle internal state and external signals;

[0090] The flight mode switching module 503 is used to control the flying car to enter the flight mode when the internal state and external signals of the flying car meet the preset flight requirements.

[0091] In one embodiment of the present invention, the driving state of the flying car includes the accelerator pedal depth of the flying car, and the preset flight mode switching condition includes the activation of a takeoff switch for the accelerator pedal; the whole vehicle state confirmation module 502 may include the following submodules:

[0092] The flight mode switching determination submodule is configured to determine whether the accelerator pedal depth of the flying car meets a preset flight mode switching condition when the accelerator pedal depth of the flying car reaches a preset depth threshold; wherein the preset depth threshold is used to indicate that the accelerator pedal triggers the entry into flight mode.

[0093] In one embodiment of the present invention, the flight mode switching module 503 may include the following submodules:

[0094] The flight mode switching submodule is used to control the flying car to enter the flight mode after receiving a confirmation signal for entering the flight mode when the internal state of the flying car meets the system state required for entering the flight mode and the external signal of the flying car meets the environmental conditions required for entering the flight mode.

[0095] In one embodiment of the present invention, the internal state of the entire aircraft includes the battery state, the arm activity state, and the system and device operation state. The flight mode switching submodule may include the following units:

[0096] The whole-machine internal state determination unit is used to determine whether the whole-machine internal state of the flying car meets the system state required for entering the flight mode when the battery state is sufficient, the movable state of the aircraft arm is fully extended and locked, and the operating state of the system and equipment is fault-free.

[0097] In one embodiment of the present invention, the external signal includes aircraft takeoff range information, airspace permission information, platform communication signal, environmental information, and aviation weather forecast light signal. The flight mode switching submodule may include the following units:

[0098] The external signal determination unit is configured to determine that the external signal of the flying car meets the environmental conditions for entering flight mode when there are no obstacles within the entire aircraft takeoff range information, the airspace permission information indicates that flight is permitted, there are no faults in the platform communication signal, the environmental information meets the required light intensity and ambient temperature, and the aviation weather forecast light signal meets the flight conditions.

[0099] In one embodiment of the present invention, the flight mode switching submodule may include the following units:

[0100] The confirmation signal receiving unit is used to determine that a confirmation signal for entering the flight mode is received when a touch operation and / or a non-touch operation for entering the flight mode is received, and control the flying car to enter the flight mode.

[0101] In one embodiment of the present invention, after controlling the flying car to enter the flight mode, the device may further include the following modules:

[0102] The takeoff operation module is used to control the flying car in flight mode to unfold its wings, and when the flight state of the flying car meets the preset takeoff conditions, control the flying car in flight mode to perform a takeoff operation.

[0103] 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.

[0104] An embodiment of the present invention further provides a flying car, comprising:

[0105] The system includes the control device of the above-mentioned 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, the various processes of the embodiment of the control method of the above-mentioned flying car are implemented and can achieve the same technical effect. To avoid repetition, they are not described here.

[0106] 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, the various processes of the above-mentioned flying car control method embodiment are implemented, and the same technical effects can be achieved. To avoid repetition, they are not described here.

[0107] 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.

[0108] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, 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 magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0109] 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 produce 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 process 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.

[0110] These computer program instructions may also be stored in a computer readable memory that can direct 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 The function specified in one or more boxes.

[0111] 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 A step that specifies a function in one or more boxes.

[0112] 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 become aware of the basic creative concepts. 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.

[0113] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0114] The above describes in detail a flying car control method, a flying car control device, a corresponding flying car, and a corresponding computer 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 intended to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling a flying car, characterized in that: The method comprises: During the driving of the flying car, obtaining the driving state of the flying car; the driving state of the flying car includes the accelerator pedal depth of the flying car; When the driving state of the flying car satisfies a preset flight mode switching condition, determining whether the entire state of the flying car satisfies a preset flight requirement is performed, wherein the preset flight mode switching condition includes turning on a takeoff switch of an accelerator pedal. The driving state of the flying car satisfies the preset flight mode switching condition, including: when the depth of the accelerator pedal of the flying car reaches a preset depth threshold, determining that the depth of the accelerator pedal of the flying car satisfies the preset flight mode switching condition; wherein the preset depth threshold is used to indicate that the accelerator pedal triggers the turning on of the flight mode; the entire state of the flying car includes an internal state of the entire car and an external signal; If the internal state and external signals of the flying car meet the preset flight requirements, the flying car is controlled to enter the flight mode.

2. The method according to claim 1, characterized in that If the internal state and external signals of the flying car meet the preset flight requirements, the flying car is controlled to enter the flight mode, including: If the internal state of the flying car satisfies the system state required for entering flight mode, and the external signal of the flying car satisfies the environmental conditions required for entering flight mode, then upon receiving a confirmation signal for entering flight mode, the flying car is controlled to enter flight mode.

3. The method according to claim 2, characterized in that The internal state of the entire vehicle includes the battery state, the arm activity state, and the system and equipment operation state. The internal state of the entire flying vehicle satisfies the system state when entering flight mode, including: When the battery level is sufficient, the arms are fully extended and locked, and the systems and equipment are operating without any faults, it is determined that the internal state of the flying car meets the system state required for entering flight mode.

4. The method according to claim 2, characterized in that The external signals include takeoff range information, airspace permission information, platform communication signals, environmental information, and aviation weather forecast light signals. The external signals of the flying car meet the environmental conditions for entering flight mode, including: The external signal of the flying car is determined to meet the environmental conditions for entering flight mode when there are no obstacles within the entire aircraft takeoff range information, the airspace permission information indicates that flight is permitted, there is no fault in the platform communication signal, the environmental information meets the required light intensity and ambient temperature, and the aviation weather forecast light signal meets the flight conditions.

5. The method according to claim 2, characterized in that After receiving the confirmation signal for entering the flight mode, controlling the flying car to enter the flight mode includes: When a touch operation and / or a non-touch operation for entering the flight mode is received, it is determined that a confirmation signal for entering the flight mode is received, and the flying car is controlled to enter the flight mode.

6. The method according to claim 2, characterized in that After controlling the flying car to enter the flight mode, the method further includes: The flying car that has entered the flight mode is controlled to unfold its wings, and when the flight state of the flying car meets a preset take-off condition, the flying car that has entered the flight mode is controlled to perform a take-off operation.

7. A control device for a flying car, characterized in that: The device comprises: A driving state acquisition module, configured to acquire the driving state of the flying car during the driving of the flying car; the driving state of the flying car includes the accelerator pedal depth of the flying car; a whole vehicle state confirmation module, configured to determine whether the whole vehicle state of the flying vehicle meets preset flight requirements when the driving state of the flying vehicle meets preset flight mode switching conditions, and comprising: a flight mode switching determination submodule, configured to determine whether the accelerator pedal depth of the flying vehicle meets the preset flight mode switching conditions when the accelerator pedal depth of the flying vehicle reaches a preset depth threshold; wherein the preset flight mode switching conditions include the activation of a takeoff switch for the accelerator pedal; the preset depth threshold is used to indicate that the accelerator pedal has triggered the activation of flight mode; the whole vehicle state of the flying vehicle includes the whole vehicle internal state and external signals; The flight mode switching module is used to control the flying car to enter the flight mode when the internal state and external signals of the flying car meet the preset flight requirements.

8. A flying car, characterized in that: include: The control device, processor, memory, and computer program stored in the memory and capable of running on the processor of the flying car according to claim 7, wherein when the computer program is executed by the processor, the steps of the flying car control method according to any one of claims 1 to 6 are implemented.

9. 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 flying car control method according to any one of claims 1 to 6 are implemented.

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