A free steering control device, system and method for a hybrid-driven flying car

Abstract

This invention relates to the field of motor vehicle steering control technology, and more particularly to a free steering control device, system, and method for a hybrid-drive flying car, comprising: a flying car body assembly, which consists of a main body, a wheel steering auxiliary component assembly, a wheel cover assembly, and a body connecting bracket; a wheel steering auxiliary component assembly; a wheel cover assembly; a flying car wheel assembly; a flying car wheel fairing assembly; a free steering control device for free steering control of the flying car wheel assembly; a cockpit structure assembly; a cockpit connecting structure assembly for connecting the cockpit structure assembly to the flying car body assembly; and a free steering control system, which is disposed in the upper compartment of the car cockpit for free steering control of the hybrid-drive flying car. This invention enables the flying car to turn around on the spot and park horizontally through free steering control.

Description

Technical Field

[0001] The present invention relates to the technical field of motor vehicle steering control, and in particular to a free steering control device, system and method for a hybrid-drive flying car. Background Art

[0002] Flying car technology faces multiple challenges in terms of free steering on the ground. When traditional automobile steering systems are applied to flying cars, they need to overcome the problems of weight and higher center of gravity to achieve higher precision and stability control. In addition, flying cars are usually unable to turn around on the spot because their chassis design does not support large-angle steering, requiring new steering technology to solve this problem. Parallel parking also faces difficulties. Flying cars need to achieve lateral movement without changing direction, which places higher requirements on the design and control system. The integrated control system needs to monitor the vehicle status in real time. Existing algorithms and sensors may not meet the requirements of complex ground conditions, and new algorithms and high-precision sensors need to be developed. In short, the ground free steering control of flying cars requires innovative design and advanced control technology to ensure its flexibility and stability when driving on the ground.

[0003] Chinese patent publication number: CN105667578B discloses a steering gear, a vehicle steering control system and a vehicle, wherein the steering gear includes a housing, a motor, a staggered shaft transmission mechanism, two electronically controlled clutches, two gear rack mechanisms and two pull rods, the housing includes a shaft barrel portion, each pull rod portion is accommodated in one end of the shaft barrel portion; the staggered shaft transmission mechanism is connected to the driving shaft of the motor, and the staggered shaft transmission mechanism includes two first rotating shafts arranged in parallel and both perpendicular to the driving shaft; the two gear rack mechanisms are both arranged in the shaft barrel portion, each gear rack mechanism is connected to a pull rod and includes a second rotating shaft, and each second rotating shaft is coaxially connected to a first rotating shaft through an electronically controlled clutch; the driving shaft of the motor is used to drive the two first rotating shafts to rotate, and then the two first rotating shafts are connected through two electronically controlled clutches and two gear rack mechanisms, so that the two pull rods move along the central axis of the shaft barrel portion. However, this solution cannot be applied to hybrid-driven flying cars, cannot adapt to the free steering control of flying cars when they are on land, and cannot realize the in-situ U-turn and translation parking of flying cars. Summary of the invention

[0004] To this end, the present invention provides a free steering control device, system and method for a hybrid-driven flying car, so as to overcome the problem that the hybrid-driven flying car in the prior art cannot adapt to the free steering control of the flying car when it is in a land state, and cannot realize the flying car's on-the-spot U-turn and horizontal parking.

[0005] To achieve the above objectives, on the one hand, the present invention provides a free steering control device for a hybrid-driven flying car, the hybrid-driven flying car comprising:

[0006] A flying car body assembly, which is composed of a main body, a wheel steering auxiliary component assembly, a body wheel mask assembly and a body connection bracket. The flying car body assembly is made of the same material and is composed of a lightweight, high-strength, corrosion-resistant composite material. It is a mesh through-hole structure. The main body includes a protective decorative cover, a frame wing and a body door. The protective decorative cover is arranged on the upper part of the frame wing. The frame wing includes a front wing, a rear wing, a left wing section and a right wing section. The front wing is arranged at the front end of the flying car in the forward direction when the flying car is in the land state. The rear wing is arranged at the rear end of the flying car in the forward direction when the flying car is in the land state. The left wing section is arranged at the left end of the flying car in the forward direction when the flying car is in the land state. The right wing section is arranged at the right end of the flying car in the forward direction when the flying car is in the land state. The front wing, the rear wing, the left wing section and the right wing section constitute the main part of the flying car body assembly. The body connection bracket is arranged inside the flying car main body to provide support for the flying car body assembly. The body door is used to provide a passage for users to enter the upper cabin of the car cabin.

[0007] A wheel steering assist component group, which is composed of a first wheel steering assist component, a second wheel steering assist component, a third wheel steering assist component and a fourth wheel steering assist component, and is used to be folded up when the flying car is in a land state to assist the flying car wheel group in steering;

[0008] A vehicle body wheel mask panel set, which is composed of a first wheel mask panel, a second wheel mask panel, a third wheel mask panel and a fourth wheel mask panel, and is used to form a flying car body with the main vehicle body, the wheel steering auxiliary component set and the vehicle body door;

[0009] A flying car wheel assembly, which is composed of a first flying car wheel, a second flying car wheel, a third flying car wheel and a fourth flying car wheel, and is used to carry the flying car for land travel;

[0010] A flying car wheel fairing group, which is composed of a first flying car wheel fairing, a second flying car wheel fairing, a third flying car wheel fairing and a fourth flying car wheel fairing, and is used to adjust the airflow on the surface of the flying car wheel. The flying car wheel fairing group is connected to the body wheel cover plate group through a wheel fairing connecting component group, and the wheel fairing connecting component group includes a first wheel fairing connecting component, a second wheel fairing connecting component, a third wheel fairing connecting component, a fourth wheel fairing connecting component, a fifth wheel fairing connecting component, a sixth wheel fairing connecting component, a seventh wheel fairing connecting component, an eighth wheel fairing connecting component, a ninth wheel fairing connecting component, a tenth wheel fairing connecting component, an eleventh wheel fairing connecting component and a twelfth wheel fairing connecting component;

[0011] A free steering control device, used for free steering control of the flying car wheel set;

[0012] A cockpit structure group, which is composed of an upper cabin of a car cockpit, a lower cabin of a car cockpit and a cockpit door, and is used to provide a user with a riding space. The upper cabin of the car cockpit is provided with a cockpit door, and the cockpit door is close to the vehicle body door and is arranged in the same direction;

[0013] A cockpit connection structure group, which is composed of a first cockpit connection structure, a second cockpit connection structure, a third cockpit connection structure and a fourth cockpit connection structure, and is used to connect the cockpit structure group with the flying car body group;

[0014] The free steering control system is arranged in the upper cabin of the car cockpit and is used for free steering control of the hybrid drive flying car.

[0015] Furthermore, the free steering control device comprises:

[0016] A flying car wheel fairing group, which is composed of a first flying car wheel fairing, a second flying car wheel fairing, a third flying car wheel fairing and a fourth flying car wheel fairing, and is used to adjust the airflow on the surface of the flying car wheel. The flying car wheel fairing group is connected to the body wheel cover plate group through a wheel fairing connecting component group, and the wheel fairing connecting component group includes a first wheel fairing connecting component, a second wheel fairing connecting component, a third wheel fairing connecting component, a fourth wheel fairing connecting component, a fifth wheel fairing connecting component, a sixth wheel fairing connecting component, a seventh wheel fairing connecting component, an eighth wheel fairing connecting component, a ninth wheel fairing connecting component and a tenth wheel fairing connecting component. , an eleventh wheel fairing connection component and a twelfth wheel fairing connection component, wherein the first wheel cover plate is connected to the first wheel fairing connection component, the second wheel fairing connection component and the third wheel fairing connection component, the second wheel cover plate is connected to the tenth wheel fairing connection component, the eleventh wheel fairing connection component and the twelfth wheel fairing connection component, the third wheel cover plate is connected to the seventh wheel fairing connection component, the eighth wheel fairing connection component and the ninth wheel fairing connection component, the fourth wheel cover plate is connected to the fourth wheel fairing connection component, the fifth wheel fairing connection component and the sixth wheel fairing connection component, and the top of each flying car wheel fairing is connected to each free steering connection main component;

[0017] A steering control device group, which consists of a first steering control device, a first free steering connection main component, a second steering control device, a second free steering connection main component, a third steering control device, a third free steering connection main component, a fourth steering control device, and a fourth free steering connection main component, and is connected to a vehicle body connection bracket.

[0018] Furthermore, the connection points of the first free steering connection main component, the second free steering connection main component, the third free steering connection main component and the fourth free steering connection main component in the steering control device group are threaded connecting rods, and are respectively connected to the first steering control device, the second steering control device, the third steering control device and the fourth steering control device through the connection points. The first steering control device, the second steering control device, the third steering control device and the fourth steering control device are provided with a small high-speed rotating motor, and the small high-speed rotating motor drives the threaded connecting rod to perform free steering. When free steering is performed, the wheel steering auxiliary component group is a hollow structure, which is connected to the main body through The movable leaf is connected, and the outer surface of the wheel steering auxiliary component group is retracted inwardly through the movable leaf. When the wheel steering auxiliary component group is not retracted, the wheel steering auxiliary component group and the main body are connected to form a flat wing surface. The inner side of the movable leaf is connected to the automatic hydraulic support rod, and the automatic hydraulic support rod is hinged with the direction sensor. When the flying car performs free steering, the direction sensor receives the steering wheel rotation signal and quickly converts it into an electrical signal to drive the automatic hydraulic support rod to move, and drive the wheel steering auxiliary component group to retract. Each free steering connection main component in the steering control device group is connected to the center of each flying car wheel in the flying car wheel group through a hub motor.

[0019] On the other hand, the present invention also provides a free steering control system for a hybrid-driven flying car, comprising:

[0020] A morphology recognition module is used to identify the flying car's driving environment based on the environmental scene;

[0021] A power-on monitoring module is used to monitor the power-on status of the flying car according to the power-on signal of the flying car;

[0022] A pre-control module is used to pre-control the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state;

[0023] A steering analysis module, for analyzing the steering instruction and outputting a confirmation instruction, wherein the steering analysis module is provided with an instruction acquisition unit, for acquiring the user operation instruction according to the cockpit control signal, the steering analysis module is provided with a steering information acquisition unit, for acquiring the steering information, the steering analysis module is provided with a distance measurement unit, for measuring the steering distance, the steering analysis module is provided with a steering instruction generation unit, for generating the steering instruction according to the user operation instruction, the steering information and the steering distance, and the steering analysis module is provided with a modeling confirmation unit, for simulating and confirming the steering instruction according to the simulation model, and outputting a confirmation instruction;

[0024] A steering control module is used to freely control the steering of the flying car according to the confirmed instructions;

[0025] The actual measurement and correction module is used to actually measure the steering control result and to correct the steering command analysis process. The actual measurement and correction module is provided with an actual measurement unit, which is used to actually measure the steering control result according to the steering control situation. The actual measurement and correction module is provided with a correction unit, which is used to correct the steering command analysis process according to the steering control result.

[0026] Furthermore, the morphology recognition module collects environmental images through a camera, inputs the environmental images into an environmental recognition model, obtains an environmental scene output by the environmental recognition model, and recognizes the flying car's driving environment according to the environmental scene, wherein:

[0027] When the environment scene is a high-altitude scene, the morphology recognition module recognizes that the flying car driving environment is a flying environment;

[0028] When the environment scene is a land scene, the morphology recognition module recognizes that the flying car's driving environment is a land environment;

[0029] The power-on monitoring module obtains the vehicle current A, and compares the vehicle current A with the preset vehicle current A0, and monitors the power-on status of the flying car according to the comparison result, wherein:

[0030] When A≤A0, the power-on monitoring module determines that there is no power-on signal and the flying car is not in a power-on state;

[0031] When A>A0, the power-on monitoring module determines that there is a power-on signal and the flying car is in a power-on state;

[0032] The pre-control module pre-controls the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state, wherein:

[0033] When the flying car driving environment is a flight environment and the flying car is not in a power-on state, the pre-control module controls the flying car driving mode to a safe flight mode;

[0034] When the flying car's driving environment is a land environment and the flying car is in a powered-on state, the pre-control module controls the flying car's driving mode to a conventional flight mode;

[0035] When the flying car driving environment is a land driving environment and the flying car is not in a power-on state, the pre-control module controls the flying car driving mode to a waiting driving mode;

[0036] When the flying car driving environment is a flying environment and the flying car is in a powered-on state, the pre-control module controls the flying car driving mode to a conventional driving mode.

[0037] Furthermore, after the pre-control module controls the flying car driving mode to the conventional driving mode, the instruction acquisition unit acquires the user operation instruction according to the cockpit control signal, wherein:

[0038] When the cockpit control signal is automatic translation parking, the instruction acquisition unit acquires the user operation instruction as automatic translation parking;

[0039] When the cockpit control signal is manual translation parking, the instruction acquisition unit acquires the user operation instruction as non-automatic translation parking;

[0040] When the cockpit control signal is an automatic on-the-spot U-turn, the instruction acquisition unit acquires the user operation instruction as an automatic on-the-spot U-turn;

[0041] When the cockpit control signal is a manual on-the-spot U-turn, the instruction acquisition unit acquires the user operation instruction as a non-automatic on-the-spot U-turn.

[0042] Furthermore, the distance calculation unit calculates the turning distance according to the user operation instruction, wherein:

[0043] When the user operation instruction is manual translation parking, the distance measuring unit determines not to measure the turning distance;

[0044] When the user operation instruction is automatic translation parking, the distance measuring unit determines to measure the turning distance, and the turning distance during automatic translation parking is the lateral movement distance d, and d=L×sinθ is set, where d is the lateral movement distance, L is the wheelbase, and θ is the steering wheel rotation angle;

[0045] When the user operation instruction is a manual U-turn on the spot, the distance measuring unit determines not to measure the turning distance;

[0046] When the user operation instruction is to automatically turn around on the spot, the distance measuring unit determines to measure the turning distance. The turning distance during the automatic turn around on the spot is the turning radius R, and R=L / sinɑ is set, where L is the wheelbase and ɑ is the front wheel steering angle.

[0047] Further, the distance measuring unit makes a judgment according to the adjustment of the environmental obstacle in the turning information and the measuring result of the turning distance, wherein:

[0048] If there is an environmental obstacle in the turning distance of the current direction from the current position of the vehicle, the distance measuring unit determines to adjust the measurement result of the turning distance and recalculates the turning distance until there is no environmental obstacle in the turning distance of the current direction from the current position of the vehicle;

[0049] If there is no environmental obstacle within the turning distance of the current direction at the current position of the vehicle, the distance measuring unit determines not to adjust the measuring result of the turning distance;

[0050] The turning instruction generating unit uses the user operation instruction and the turning information as indexes and uses the turning distance as the content corresponding to the index to generate the turning instruction.

[0051] Furthermore, the modeling confirmation unit inputs the steering instruction into the simulation model, obtains the simulation result, performs simulation confirmation on the steering instruction according to the simulation result, and outputs the confirmation instruction, wherein:

[0052] When the simulation result shows that the steering instruction is valid, the modeling confirmation unit performs simulation confirmation on the steering instruction and outputs the steering instruction as a confirmation instruction;

[0053] When the simulation result shows that the turning instruction is invalid, the modeling confirmation unit does not output the confirmation instruction, and returns to the distance measurement unit to measure the turning distance;

[0054] The steering control module sends a confirmation instruction to the flying car controller, and the flying car controller performs free steering control on the steering control device;

[0055] The actual calculation unit actually calculates the steering control result according to the steering control situation, wherein:

[0056] When the steering control situation is normal, the steering control result is determined to be executable steering;

[0057] When the steering control situation is abnormal, the steering control result is determined to be unexecutable steering;

[0058] The correction unit corrects the steering command analysis process according to the steering control result, wherein:

[0059] When the steering control result is that the steering can be executed, the correction unit does not correct the steering instruction analysis process;

[0060] When the steering control result is that the steering cannot be executed, the correction unit corrects the steering instruction analysis process and replaces the steering distance in the steering instruction with the manual operation distance;

[0061] The correction unit obtains the number of manual operation times q of the vehicle position, compares the number of manual operation times q of the vehicle position with the preset number of manual operation times q0 of the vehicle position, and optimizes the steering instruction generation process according to the comparison result, wherein:

[0062] When q<q0, the correction unit does not optimize the steering instruction generation process;

[0063] When q≥q0, the correction unit optimizes the steering instruction generation process and replaces the steering distance in the steering instruction with the same index corresponding to the vehicle position with the manual operation distance.

[0064] On the other hand, the present invention also provides a free steering control method for a hybrid-driven flying car, comprising:

[0065] Step S1, identifying the flying car's driving environment according to the environmental scene through a morphology recognition module;

[0066] Step S2, monitoring the power-on status of the flying car according to the power-on signal of the flying car through the power-on monitoring module;

[0067] Step S3, pre-controlling the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state through a pre-control module;

[0068] Step S4, acquiring the user operation instruction according to the cockpit control signal by the instruction acquisition unit;

[0069] Step S5, collecting the turning information by a turning information collecting unit;

[0070] Step S6, calculating the turning distance by a distance measuring unit;

[0071] Step S7, generating a turning instruction according to the user operation instruction, the turning information and the turning distance by a turning instruction generating unit;

[0072] Step S8, through the modeling confirmation unit, which is used to simulate and confirm the steering instruction according to the simulation model and output a confirmation instruction;

[0073] Step S9, performing free steering control on the flying car according to the confirmation instruction through the steering control module;

[0074] Step S10, the actual measurement and correction module performs actual measurement on the steering control result and corrects the steering instruction analysis process;

[0075] Step S11, performing actual calculation on the steering control result according to the steering control situation by the actual calculation unit;

[0076] Step S12, correcting the steering command analysis process according to the steering control result by a correction unit.

[0077] Compared with the prior art, the beneficial effects of the present invention are that the system identifies the flying car driving environment according to the environmental scene through the morphology recognition module, so that the flying car can switch the morphology, thereby improving the reaction efficiency of free steering, the system monitors the power-on state of the flying car through the power-on monitoring module, so as to analyze the car use state according to the flying car power-on signal, the system pre-controls the flying car driving mode according to the flying car driving environment and the flying car power-on state through the pre-control module, so as to improve the control efficiency of the flying car driving mode, the system outputs a confirmation instruction through the steering analysis module, so as to achieve precise steering control, the system performs free steering control on the flying car according to the confirmation instruction through the steering control module, and the system also performs actual measurement of the steering control result through the actual measurement and correction module, and corrects the steering instruction analysis process, so as to improve the accuracy of the steering instruction analysis result, thereby achieving precise steering control. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 This is a schematic diagram of the structure of the hybrid-driven flying car of this embodiment;

[0079] Figure 2 This is a schematic structural diagram of a cross-section of a hybrid-driven flying car according to this embodiment;

[0080] Figure 3 This is a schematic structural diagram of the left side section of the free steering control device of the hybrid-driven flying car of this embodiment;

[0081] Figure 4 This is a schematic structural diagram of the right side cross section of the free steering control device of the hybrid-driven flying car of this embodiment;

[0082] Figure 5 This is a schematic diagram of the structure of the free steering control system of the hybrid-driven flying car of this embodiment;

[0083] Figure 6 Schematic diagram of the flow of the free steering control method of the hybrid-driven flying car of this embodiment. DETAILED DESCRIPTION

[0084] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0085] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0086] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] See also Figure 1-2 As shown, it is a schematic diagram of the structure of the hybrid-driven flying car of this embodiment, and the hybrid-driven flying car includes:

[0088] A flying car body assembly, which is composed of a main body 1, a wheel steering auxiliary component assembly, a body wheel mask assembly and a body connection bracket 13. The flying car body assembly is made of the same material and is composed of a lightweight, high-strength, corrosion-resistant composite material. It is a mesh through-hole structure. The main body 1 includes a protective decorative cover, a frame wing and a body door 9. The protective decorative cover is arranged on the upper part of the frame wing. The frame wing includes a front wing, a rear wing, a left wing section and a right wing section. The front wing is arranged at the front end of the flying car in the forward direction when the flying car is in the land state. The rear wing is arranged at the rear end of the flying car in the forward direction when the flying car is in the land state. The left wing section is arranged at the left end of the flying car in the forward direction when the flying car is in the land state. The right wing section is arranged at the right end of the flying car in the forward direction when the flying car is in the land state. The front wing, the rear wing, the left wing section and the right wing section constitute the main part of the flying car body assembly. The body connection bracket 13 is arranged inside the flying car main body to provide support for the flying car body assembly. The body door 9 is used to provide a passage for users to enter the upper cabin 10 of the car cabin;

[0089] A wheel steering assist component group, which is composed of a first wheel steering assist component 7, a second wheel steering assist component 8, a third wheel steering assist component (not shown in the figure) and a fourth wheel steering assist component 20, and is used to be folded up when the flying car is in a land state to assist the flying car wheel group in steering;

[0090] A vehicle body wheel mask panel assembly, which is composed of a first wheel mask panel 5, a second wheel mask panel 6, a third wheel mask panel (not shown in the figure) and a fourth wheel mask panel (not shown in the figure), and is used to form a flying car body with the main vehicle body 1, the wheel steering auxiliary component assembly and the vehicle body door 9;

[0091] A flying car wheel assembly, which is composed of a first flying car wheel 2, a second flying car wheel 3, a third flying car wheel 4 and a fourth flying car wheel (not shown in the figure), and is used to carry the flying car for land travel;

[0092] The flying car wheel fairing group is composed of a first flying car wheel fairing 19, a second flying car wheel fairing 18, a third flying car wheel fairing (not marked in the figure) and a fourth flying car wheel fairing (not marked in the figure), and is used to adjust the airflow on the surface of the flying car wheel. The flying car wheel fairing group is connected to the body wheel mask plate group through a wheel fairing connecting component group. The wheel fairing connecting component group includes a first wheel fairing connecting component 14, a second wheel fairing connecting component 15, a third wheel fairing connecting component 16 and a fourth wheel fairing connecting component 17. a third wheel fairing connection component (not shown in the figure), a fourth wheel fairing connection component 16, a fifth wheel fairing connection component 17, a sixth wheel fairing connection component (not shown in the figure), a seventh wheel fairing connection component (not shown in the figure), an eighth wheel fairing connection component (not shown in the figure), a ninth wheel fairing connection component (not shown in the figure), a tenth wheel fairing connection component (not shown in the figure), an eleventh wheel fairing connection component (not shown in the figure) and a twelfth wheel fairing connection component (not shown in the figure);

[0093] A free steering control device, used for free steering control of the flying car wheel set;

[0094] The cockpit structure group is composed of an upper cabin 10 of the automobile cockpit, a lower cabin (not shown in the figure) of the automobile cockpit and a cockpit door 9, and is used to provide a riding space for users. The upper cabin 10 of the automobile cockpit is provided with a cockpit door, and the cockpit door is close to the vehicle body door 9 and is arranged in the same direction;

[0095] A cockpit connection structure group, which is composed of a first cockpit connection structure 11, a second cockpit connection structure 12, a third cockpit connection structure (not shown in the figure) and a fourth cockpit connection structure (not shown in the figure), and is used to connect the cockpit structure group with the flying car body group;

[0096] The free steering control system (not shown in the figure) is arranged in the upper cabin 10 of the car cabin and is used for free steering control of the hybrid drive flying car.

[0097] It is understandable that the present embodiment does not specifically limit the connection method between the hybrid-driven flying car body groups, and those skilled in the art can freely set it according to the actual situation, as long as the assembly requirements of the flying car body groups are met, such as arranging to assemble each flying car body group after wire cutting.

[0098] Specifically, a propeller is provided on the body connection bracket 13, and the propeller is used to provide power for the flying car. The present embodiment does not limit the setting method of the propeller, and technicians in this field can freely set it according to actual conditions, as long as it meets the power requirements of the flying car. For example, four propellers can be symmetrically set on the body connection bracket 13.

[0099] See also Figure 3-4 As shown, it is a schematic structural diagram of the free steering control device of the hybrid-driven flying car of this embodiment, and the free steering control device includes:

[0100] A flying car wheel fairing assembly, which is composed of a first flying car wheel fairing 19, a second flying car wheel fairing 18, a third flying car wheel fairing (not marked in the figure) and a fourth flying car wheel fairing (not marked in the figure), and is used to adjust the airflow on the surface of the flying car wheel. The flying car wheel fairing assembly is connected to the body wheel cover assembly through a wheel fairing connecting component assembly, and the wheel fairing connecting component assembly includes a first wheel fairing connecting component (not marked in the figure), a second wheel fairing connecting component 15, a third wheel fairing connecting component 27, a fourth wheel fairing connecting component (not marked in the figure), a fifth wheel fairing connecting component 17, a sixth wheel fairing connecting component 26, a seventh wheel fairing connecting component (not marked in the figure), an eighth wheel fairing connecting component (not marked in the figure), a ninth wheel fairing connecting component (not marked in the figure), a tenth wheel fairing connecting component (not marked in the figure), and an eleventh wheel fairing connecting component (not marked in the figure) and the twelfth wheel fairing connection component (not marked in the figure), wherein the first wheel shield plate 5 is connected to the first wheel fairing connection component (not marked in the figure), the second wheel fairing connection component 15 and the third wheel fairing connection component 27, the second wheel shield plate (not marked in the figure) is connected to the tenth wheel fairing connection component (not marked in the figure), the eleventh wheel fairing connection component (not marked in the figure) and the twelfth wheel fairing connection component (not marked in the figure), the third wheel shield plate (not marked in the figure) is connected to the seventh wheel fairing connection component (not marked in the figure), the eighth wheel fairing connection component (not marked in the figure) and the ninth wheel fairing connection component (not marked in the figure), the fourth wheel shield plate 25 is connected to the fourth wheel fairing connection component (not marked in the figure), the fifth wheel fairing connection component 17 and the sixth wheel fairing connection component 26, and the top of each flying car wheel fairing is connected to each free steering connection main component;

[0101] The steering control device group consists of a first steering control device 21, a first free steering connection main component 22, a second steering control device 24, a second free steering connection main component 23, a third steering control device (not marked in the figure), a third free steering connection main component (not marked in the figure), a fourth steering control device (not marked in the figure), and a fourth free steering connection main component (not marked in the figure), and is connected to the vehicle body connection bracket 13.

[0102] Specifically, the connection parts of the first free steering connection main component 22, the second free steering connection main component 23, the third free steering connection main component (not marked in the figure) and the fourth free steering connection main component (not marked in the figure) in the steering control device group are threaded connecting rods, and are respectively connected to the first steering control device 21, the second steering control device 24, the third steering control device (not marked in the figure) and the fourth steering control device (not marked in the figure) through the connection parts. The first steering control device 21, the second steering control device 24, the third steering control device (not marked in the figure) and the fourth steering control device (not marked in the figure) are provided with small high-speed rotating motors, and the small high-speed rotating motors drive the threaded connecting rods to perform free steering. When turning, the wheel steering auxiliary component group is a hollow structure, which is connected to the main body 1 through a movable page. The outer surface of the wheel steering auxiliary component group is retracted inward through the movable page. When the wheel steering auxiliary component group is not retracted, the wheel steering auxiliary component group and the main body 1 are connected to form a flat wing surface. The inner side of the movable page is connected to an automatic hydraulic support rod, and the automatic hydraulic support rod is hinged to a direction sensor. When the flying car performs free steering, the direction sensor receives the steering wheel rotation signal and quickly converts it into an electrical signal, driving the automatic hydraulic support rod to move, and driving the wheel steering auxiliary component group to retract. Each free steering connection main component in the steering control device group is connected to the center of each flying car wheel in the flying car wheel group through a hub motor.

[0103] It can be understood that the present embodiment does not specifically limit the model of the small high-speed rotating motor, and those skilled in the art can freely set it according to actual conditions, as long as the free steering requirements of the flying car are met, such as it can be set to a switched reluctance motor. The present embodiment does not specifically limit the size of the flying car, and those skilled in the art can freely set it according to actual conditions, as long as the use requirements of the flying car are met, such as the size of the flying car can be set to a size that can carry people and fly, and the size of the flying car can also be set to the size of an entertainment toy car.

[0104] See also Figure 5 As shown, it is a schematic diagram of the structure of the free steering control system of the hybrid drive flying car in this embodiment, and the system includes:

[0105] A morphology recognition module is used to identify the flying car's driving environment based on the environmental scene;

[0106] A power-on monitoring module is used to monitor the power-on status of the flying car according to the power-on signal of the flying car;

[0107] A pre-control module is used to pre-control the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state;

[0108] A steering analysis module, for analyzing the steering instruction and outputting a confirmation instruction, wherein the steering analysis module is provided with an instruction acquisition unit, for acquiring the user operation instruction according to the cockpit control signal, the steering analysis module is provided with a steering information acquisition unit, for acquiring the steering information, the steering analysis module is provided with a distance measurement unit, for measuring the steering distance, the steering analysis module is provided with a steering instruction generation unit, for generating the steering instruction according to the user operation instruction, the steering information and the steering distance, and the steering analysis module is provided with a modeling confirmation unit, for simulating and confirming the steering instruction according to the simulation model, and outputting a confirmation instruction;

[0109] A steering control module is used to freely control the steering of the flying car according to the confirmed instructions;

[0110] The actual measurement and correction module is used to actually measure the steering control result and to correct the steering command analysis process. The actual measurement and correction module is provided with an actual measurement unit, which is used to actually measure the steering control result according to the steering control situation. The actual measurement and correction module is provided with a correction unit, which is used to correct the steering command analysis process according to the steering control result.

[0111] Specifically, the system is arranged in the upper cabin of the cockpit of the hybrid-driven flying car, and pre-controls the flying car driving mode by the flying car driving environment and the flying car power-on state, and performs free steering control on the flying car according to the confirmation instruction, so as to realize the free steering control of the hybrid-driven flying car, wherein the system recognizes the flying car driving environment according to the environmental scene through the form recognition module, so as to facilitate the flying car to switch the form, thereby improving the reaction efficiency of free steering, the system monitors the flying car power-on state through the power-on monitoring module, so as to analyze the car use state according to the flying car power-on signal, the system pre-controls the flying car driving mode according to the flying car driving environment and the flying car power-on state through the pre-control module, so as to improve the control efficiency of the flying car driving mode, the system outputs the confirmation instruction through the steering analysis module, so as to realize the precise steering control, the system performs free steering control on the flying car according to the confirmation instruction through the steering control module, the system also performs actual measurement on the steering control result through the actual measurement and correction module, and corrects the steering instruction analysis process, so as to improve the accuracy of the steering instruction analysis result, thereby realizing the precise steering control.

[0112] Specifically, the morphology recognition module collects environmental images through a camera, inputs the environmental images into an environmental recognition model, obtains an environmental scene output by the environmental recognition model, and recognizes the driving environment of the flying car according to the environmental scene, wherein:

[0113] When the environment scene is a high-altitude scene, the morphology recognition module recognizes that the flying car driving environment is a flying environment;

[0114] When the environment scene is a land scene, the morphology recognition module recognizes that the flying car's driving environment is a land environment.

[0115] This embodiment does not limit the installation position of the camera. Those skilled in the art can freely set it according to actual conditions, as long as the collection requirements of the environmental image are met. For example, the camera can be set at the bottom of the flying car. The environmental image refers to scene classification information based on the driving environment of the car, including high-altitude scenes and land scenes. The environmental recognition model refers to a model that can output scene classification after inputting the environmental image. This embodiment does not limit the construction method of the environmental recognition model. Those skilled in the art can freely set it according to actual needs, as long as the environmental recognition requirements are met. For example, the historical environmental image-scene classification data can be set as the environmental recognition model. Construct a data set, and use 70% of the environment recognition model construction data set as the environment recognition model training set, and use 30% of the environment recognition model construction data set as the environment recognition model verification set. Train the convolutional neural network model according to the environment recognition model training set, and verify the trained convolutional neural network model according to the environment recognition model verification set. When the verification accuracy reaches 98%, output the trained convolutional neural network model as the environment recognition model. Continue to train the trained convolutional neural network model whose verification accuracy does not reach 98% until the verification accuracy reaches 98%, and then output the trained convolutional neural network model as the environment recognition model.

[0116] Specifically, the power-on monitoring module obtains the vehicle current A, and compares the vehicle current A with the preset vehicle current A0, and monitors the power-on status of the flying car according to the comparison result, wherein:

[0117] When A≤A0, the power-on monitoring module determines that there is no power-on signal and the flying car is not in a power-on state;

[0118] When A>A0, the power-on monitoring module determines that there is a power-on signal and the flying car is in a power-on state.

[0119] Specifically, the power-on monitoring module collects the automobile current through a current sensor. This embodiment does not limit the installation position of the current sensor. For example, the current sensor can be installed on key components of the flying car, such as the battery, control system and engine.

[0120] Specifically, the preset car current refers to a preset value of the car current indicating that the flying car is in a powered-on state, such as setting the preset value of the car current to 30A.

[0121] Specifically, the power-on monitoring module monitors the power-on status of the flying car to analyze the use status of the flying car.

[0122] Specifically, the pre-control module pre-controls the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state, wherein:

[0123] When the flying car driving environment is a flight environment and the flying car is not in a power-on state, the pre-control module controls the flying car driving mode to a safe flight mode;

[0124] When the flying car's driving environment is a land environment and the flying car is in a powered-on state, the pre-control module controls the flying car's driving mode to a conventional flight mode;

[0125] When the flying car driving environment is a land driving environment and the flying car is not in a power-on state, the pre-control module controls the flying car driving mode to a waiting driving mode;

[0126] When the flying car driving environment is a flying environment and the flying car is in a powered-on state, the pre-control module controls the flying car driving mode to a conventional driving mode.

[0127] Specifically, the safe flight mode refers to a driving mode that requires safety management of the flying car, such as turning on the safety protection device and issuing a safety warning. The regular flight mode refers to a normal driving mode of the flying car flying in the air. The waiting driving mode refers to a driving mode in which the flying car is in a land-based state but not in a driving state. The regular driving mode refers to a driving mode in which the flying car is in a land-based state but in a driving state.

[0128] Specifically, after the pre-control module controls the flying car to be in a normal driving mode, the instruction acquisition unit acquires the user operation instruction according to the cockpit control signal, wherein:

[0129] When the cockpit control signal is automatic translation parking, the instruction acquisition unit acquires the user operation instruction as automatic translation parking;

[0130] When the cockpit control signal is manual translation parking, the instruction acquisition unit acquires the user operation instruction as non-automatic translation parking;

[0131] When the cockpit control signal is an automatic on-the-spot U-turn, the instruction acquisition unit acquires the user operation instruction as an automatic on-the-spot U-turn;

[0132] When the cockpit control signal is a manual on-the-spot U-turn, the instruction acquisition unit acquires the user operation instruction as a non-automatic on-the-spot U-turn.

[0133] Specifically, the cockpit control signal refers to a control signal obtained according to the user's operation behavior on the control button in the cockpit. For example, when the user presses the manual translation parking control button in the cockpit, the cockpit control signal is a control signal for the user to press the manual translation parking control button in the cockpit. The user operation instruction refers to an operation instruction obtained according to the cockpit control signal. The steering information includes wheelbase, turning radius, body width, steering wheel rotation angle, front wheel steering angle, vehicle current position, current direction and environmental obstacles. The wheelbase refers to the distance from the center of the front axle to the center of the rear axle of the flying car. The turning radius refers to the radius of the vehicle in the minimum turning circle. The smaller the turning radius, the more flexible the vehicle is and the easier it is to turn and turn around in a narrow space. The body width refers to the body width of the flying car. The steering information acquisition unit manually inputs the axle. The steering information acquisition unit collects the steering wheel angle, turning radius, and vehicle body width; the steering wheel rotation angle refers to the angle at which the steering wheel rotates from the middle position (straight-ahead position); the steering information acquisition unit collects the steering wheel rotation angle through a steering wheel angle sensor; the front wheel steering angle refers to the rotation angle of the front wheel relative to the longitudinal axis of the vehicle; the steering information acquisition unit collects the front wheel steering angle through a steering angle sensor; the vehicle current position refers to the position of the vehicle in reality; the steering information acquisition unit collects the vehicle current position through GPS; the current direction refers to the current driving direction of the flying car; the steering information acquisition unit collects the current direction through an electronic compass; the environmental obstacle refers to the obstacle existing in the current direction during the driving of the flying car; the steering information acquisition unit collects the current direction through an ultrasonic sensor.

[0134] Specifically, the distance calculation unit calculates the turning distance according to the user operation instruction, wherein:

[0135] When the user operation instruction is manual translation parking, the distance measuring unit determines not to measure the turning distance;

[0136] When the user operation instruction is automatic translation parking, the distance measuring unit determines to measure the turning distance, and the turning distance during automatic translation parking is the lateral movement distance d, and d=L×sinθ is set, where d is the lateral movement distance, L is the wheelbase, and θ is the steering wheel rotation angle;

[0137] When the user operation instruction is a manual U-turn on the spot, the distance measuring unit determines not to measure the turning distance;

[0138] When the user operation instruction is to automatically turn around on the spot, the distance measuring unit determines to measure the turning distance. The turning distance during the automatic turn around on the spot is the turning radius R, and R=L / sinɑ is set, where L is the wheelbase and ɑ is the front wheel steering angle.

[0139] Specifically, the turning distance refers to the distance that the flying car performs free steering control when performing automatic translation parking and automatic on-the-spot U-turn.

[0140] Specifically, the distance measuring unit makes a judgment based on the adjustment of the environmental obstacles in the turning information and the turning distance measurement result, wherein:

[0141] If there is an environmental obstacle in the turning distance of the current direction from the current position of the vehicle, the distance measuring unit determines to adjust the measurement result of the turning distance and recalculates the turning distance until there is no environmental obstacle in the turning distance of the current direction from the current position of the vehicle;

[0142] If there is no environmental obstacle within the turning distance of the current direction at the current position of the vehicle, the distance measuring unit determines not to adjust the measuring result of the turning distance.

[0143] Specifically, the distance measuring unit adjusts the measurement result of the turning distance, and recalculates the turning distance until there are no environmental obstacles in the turning distance of the current direction of the vehicle's current position, so that when there are environmental obstacles in the turning distance of the current direction, the turning distance is recalculated until there are no environmental obstacles in the turning distance of the current direction of the vehicle's current position, so that the flying car can turn freely, thereby improving the free steering efficiency of the flying car.

[0144] Specifically, the turning instruction generating unit uses the user operation instruction and the turning information as indexes and uses the turning distance as content corresponding to the index to generate the turning instruction.

[0145] Specifically, the modeling confirmation unit inputs the steering instruction into the simulation model, obtains the simulation result, performs simulation confirmation on the steering instruction according to the simulation result, and outputs the confirmation instruction, wherein:

[0146] When the simulation result shows that the steering instruction is valid, the modeling confirmation unit performs simulation confirmation on the steering instruction and outputs the steering instruction as a confirmation instruction;

[0147] When the simulation result shows that the turning instruction is invalid, the modeling confirmation unit does not output the confirmation instruction, and returns to the distance measurement unit to measure the turning distance.

[0148] Specifically, the simulation model refers to a model that performs simulation modeling based on the user operation instruction and steering information of the steering instruction, inputs the steering distance into the simulation model, and obtains a judgment result of whether the steering distance can realize the free steering of the flying car. When the steering distance can realize the free steering of the flying car, the simulation model outputs a simulation result that the steering instruction is valid. When the steering distance cannot realize the free steering of the flying car, the simulation model outputs a simulation result that the steering instruction is invalid. This embodiment does not limit the construction method of the simulation model. Those skilled in the art can freely set it according to actual conditions, and only need to meet the simulation confirmation requirements for the steering instruction, such as setting the simulation model to be built through Simulink.

[0149] Specifically, the steering control module sends a confirmation instruction to the flying car controller, and the flying car controller performs free steering control on the steering control device.

[0150] Specifically, the actual calculation unit actually calculates the steering control result according to the steering control situation, wherein:

[0151] When the steering control situation is normal, the steering control result is determined to be executable steering;

[0152] When the steering control situation is abnormal, the steering control result is determined to be incapable of executing steering.

[0153] Specifically, the steering control situation refers to whether free steering control can be achieved in the process of free steering control of the steering control device by the flying car controller. When free steering control cannot be achieved, the steering control situation is judged to be abnormal. When free steering control can be achieved, the steering control situation is judged to be normal. This embodiment does not limit the judgment method of the steering control situation. Those skilled in the art can freely set it according to actual conditions, and only need to meet the judgment requirements for the execution of the confirmation instruction. For example, it can be set that when the flying car is freely turning, there are environmental obstacles in the current direction, and the steering control device issues an abnormal steering control situation alarm and stops free steering.

[0154] Specifically, the correction unit corrects the steering instruction analysis process according to the steering control result, wherein:

[0155] When the steering control result is that the steering can be executed, the correction unit does not correct the steering instruction analysis process;

[0156] When the steering control result is that the steering cannot be executed, the correction unit corrects the steering instruction analysis process and replaces the steering distance in the steering instruction with the manual operation distance.

[0157] Specifically, the manual operation distance refers to a steering distance manually steered by a user when a steering control result indicates that steering is not executable.

[0158] Specifically, the correction unit obtains the number of manual operations of the vehicle position q, compares the number of manual operations of the vehicle position q with the preset number of manual operations of the vehicle position q0, and optimizes the steering instruction generation process according to the comparison result, wherein:

[0159] When q<q0, the correction unit does not optimize the steering instruction generation process;

[0160] When q≥q0, the correction unit optimizes the steering instruction generation process and replaces the steering distance in the steering instruction with the same index corresponding to the vehicle position with the manual operation distance.

[0161] Specifically, the number of manual operations on the vehicle position refers to the number of times the user performs manual steering within a preset correction period, and the preset correction period refers to a preset period for correction monitoring, such as 5 days. The preset number of manual operations on the vehicle position refers to a preset value of the number of manual operations on the vehicle position that reflects the optimization of the steering instruction generation process, such as 10 times.

[0162] See also Figure 6 As shown, it is a flow chart of the free steering control method of the hybrid-driven flying car of this embodiment, and the method includes:

[0163] Step S1, identifying the flying car's driving environment according to the environmental scene through a morphology recognition module;

[0164] Step S2, monitoring the power-on status of the flying car according to the power-on signal of the flying car through the power-on monitoring module;

[0165] Step S3, pre-controlling the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state through a pre-control module;

[0166] Step S4, acquiring the user operation instruction according to the cockpit control signal by the instruction acquisition unit;

[0167] Step S5, collecting the turning information by a turning information collecting unit;

[0168] Step S6, calculating the turning distance by a distance measuring unit;

[0169] Step S7, generating a turning instruction according to the user operation instruction, the turning information and the turning distance by a turning instruction generating unit;

[0170] Step S8, through the modeling confirmation unit, which is used to simulate and confirm the steering instruction according to the simulation model and output a confirmation instruction;

[0171] Step S9, performing free steering control on the flying car according to the confirmation instruction through the steering control module;

[0172] Step S10, the actual measurement and correction module performs actual measurement on the steering control result and corrects the steering instruction analysis process;

[0173] Step S11, performing actual calculation on the steering control result according to the steering control situation by the actual calculation unit;

[0174] Step S12, correcting the steering instruction analysis process according to the steering control result by a correction unit.

[0175] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A free steering control device for a hybrid-driven flying car, characterized in that: The hybrid drive flying car comprises: A flying car body assembly, which is composed of a main body, a wheel steering auxiliary component assembly, a body wheel mask assembly and a body connection bracket. The flying car body assembly is made of the same material and is composed of a lightweight, high-strength, corrosion-resistant composite material. It is a mesh through-hole structure. The main body includes a protective decorative cover, a frame wing and a body door. The protective decorative cover is arranged on the upper part of the frame wing. The frame wing includes a front wing, a rear wing, a left wing section and a right wing section. The front wing is arranged at the front end of the flying car in the forward direction when the flying car is in the land state. The rear wing is arranged at the rear end of the flying car in the forward direction when the flying car is in the land state. The left wing section is arranged at the left end of the flying car in the forward direction when the flying car is in the land state. The right wing section is arranged at the right end of the flying car in the forward direction when the flying car is in the land state. The front wing, the rear wing, the left wing section and the right wing section constitute the main part of the flying car body assembly. The body connection bracket is arranged inside the flying car main body to provide support for the flying car body assembly. The body door is used to provide a passage for users to enter the upper cabin of the car cabin. A wheel steering assist component group, which is composed of a first wheel steering assist component, a second wheel steering assist component, a third wheel steering assist component and a fourth wheel steering assist component, and is used to be folded up when the flying car is in a land state to assist the flying car wheel group in steering; A vehicle body wheel mask panel set, which is composed of a first wheel mask panel, a second wheel mask panel, a third wheel mask panel and a fourth wheel mask panel, and is used to form a flying car body with the main vehicle body, the wheel steering auxiliary component set and the vehicle body door; A flying car wheel assembly, which is composed of a first flying car wheel, a second flying car wheel, a third flying car wheel and a fourth flying car wheel, and is used to carry the flying car for land travel; A free steering control device, used for free steering control of the flying car wheel set; A cockpit structure group, which is composed of an upper cabin of a car cockpit, a lower cabin of a car cockpit and a cockpit door, and is used to provide a user with a riding space. The upper cabin of the car cockpit is provided with a cockpit door, and the cockpit door is close to the vehicle body door and is arranged in the same direction; A cockpit connection structure group, which is composed of a first cockpit connection structure, a second cockpit connection structure, a third cockpit connection structure and a fourth cockpit connection structure, and is used to connect the cockpit structure group with the flying car body group; A free steering control system, which is arranged in the upper cabin of the car cockpit and is used for free steering control of the hybrid-driven flying car; The free steering control device comprises: A flying car wheel fairing group, which is composed of a first flying car wheel fairing, a second flying car wheel fairing, a third flying car wheel fairing and a fourth flying car wheel fairing, and is used to adjust the airflow on the surface of the flying car wheel. The flying car wheel fairing group is connected to the body wheel cover plate group through a wheel fairing connecting component group, and the wheel fairing connecting component group includes a first wheel fairing connecting component, a second wheel fairing connecting component, a third wheel fairing connecting component, a fourth wheel fairing connecting component, a fifth wheel fairing connecting component, a sixth wheel fairing connecting component, a seventh wheel fairing connecting component, an eighth wheel fairing connecting component, a ninth wheel fairing connecting component and a tenth wheel fairing connecting component. , an eleventh wheel fairing connection component and a twelfth wheel fairing connection component, wherein the first wheel cover plate is connected to the first wheel fairing connection component, the second wheel fairing connection component and the third wheel fairing connection component, the second wheel cover plate is connected to the tenth wheel fairing connection component, the eleventh wheel fairing connection component and the twelfth wheel fairing connection component, the third wheel cover plate is connected to the seventh wheel fairing connection component, the eighth wheel fairing connection component and the ninth wheel fairing connection component, the fourth wheel cover plate is connected to the fourth wheel fairing connection component, the fifth wheel fairing connection component and the sixth wheel fairing connection component, and the top of each flying car wheel fairing is connected to each free steering connection main component; A steering control device group, which consists of a first steering control device, a first free steering connection main component, a second steering control device, a second free steering connection main component, a third steering control device, a third free steering connection main component, a fourth steering control device, and a fourth free steering connection main component, and is connected to a vehicle body connection bracket; The connection between the first free steering connection main component, the second free steering connection main component, the third free steering connection main component and the fourth free steering connection main component in the steering control device group is a threaded connecting rod, and is respectively connected to the first steering control device, the second steering control device, the third steering control device and the fourth steering control device through the connection. The first steering control device, the second steering control device, the third steering control device and the fourth steering control device are provided with a small high-speed rotating motor, and the small high-speed rotating motor drives the threaded connecting rod to perform free steering. When free steering is performed, the wheel steering auxiliary component group is a hollow structure, which is connected to the main body through a loose-leaf The outer surface of the wheel steering auxiliary component group is retracted inwardly through a movable page. When the wheel steering auxiliary component group is not retracted, the wheel steering auxiliary component group and the main body are connected to form a flat wing surface. The inner side of the movable page is connected to an automatic hydraulic support rod, and the automatic hydraulic support rod is hinged with a direction sensor. When the flying car performs free steering, the direction sensor receives the steering wheel rotation signal and quickly converts it into an electrical signal to drive the automatic hydraulic support rod to move and drive the wheel steering auxiliary component group to retract. Each free steering connection main component in the steering control device group is connected to the center of each flying car wheel in the flying car wheel group through a hub motor; The free steering control system of the free steering control device comprises: A morphology recognition module is used to identify the flying car's driving environment based on the environmental scene; A power-on monitoring module is used to monitor the power-on status of the flying car according to the power-on signal of the flying car; A pre-control module is used to pre-control the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state; A steering analysis module, for analyzing the steering instruction and outputting a confirmation instruction, wherein the steering analysis module is provided with an instruction acquisition unit, for acquiring the user operation instruction according to the cockpit control signal, the steering analysis module is provided with a steering information acquisition unit, for acquiring the steering information, the steering analysis module is provided with a distance measurement unit, for measuring the steering distance, the steering analysis module is provided with a steering instruction generation unit, for generating the steering instruction according to the user operation instruction, the steering information and the steering distance, and the steering analysis module is provided with a modeling confirmation unit, for simulating and confirming the steering instruction according to the simulation model, and outputting a confirmation instruction; A steering control module is used to freely control the steering of the flying car according to the confirmed instructions; An actual measurement and correction module is used to actually measure the steering control result and correct the steering command analysis process. The actual measurement and correction module is provided with an actual measurement unit, which is used to actually measure the steering control result according to the steering control situation. The actual measurement and correction module is provided with a correction unit, which is used to correct the steering command analysis process according to the steering control result; The morphology recognition module collects environmental images through a camera, inputs the environmental images into an environmental recognition model, obtains an environmental scene output by the environmental recognition model, and recognizes the flying car's driving environment according to the environmental scene, wherein: When the environment scene is a high-altitude scene, the morphology recognition module recognizes that the flying car driving environment is a flying environment; When the environment scene is a land scene, the morphology recognition module recognizes that the flying car's driving environment is a land environment; The power-on monitoring module obtains the vehicle current A, and compares the vehicle current A with the preset vehicle current A0, and monitors the power-on status of the flying car according to the comparison result, wherein: When A≤A0, the power-on monitoring module determines that there is no power-on signal and the flying car is not in a power-on state; When A>A0, the power-on monitoring module determines that there is a power-on signal and the flying car is in a power-on state; The pre-control module pre-controls the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state, wherein: When the flying car driving environment is a flight environment and the flying car is not in a power-on state, the pre-control module controls the flying car driving mode to a safe flight mode; When the flying car's driving environment is a land environment and the flying car is in a powered-on state, the pre-control module controls the flying car's driving mode to a conventional flight mode; When the flying car driving environment is a land driving environment and the flying car is not in a power-on state, the pre-control module controls the flying car driving mode to a waiting driving mode; When the flying car driving environment is a flying environment and the flying car is in a powered-on state, the pre-control module controls the flying car driving mode to a conventional driving mode.

2. The free steering control device for a hybrid-driven flying car according to claim 1, characterized in that: After the pre-control module controls the flying car to be in a normal driving mode, the instruction acquisition unit acquires the user operation instruction according to the cockpit control signal, wherein: When the cockpit control signal is automatic translation parking, the instruction acquisition unit acquires the user operation instruction as automatic translation parking; When the cockpit control signal is manual translation parking, the instruction acquisition unit acquires the user operation instruction as non-automatic translation parking; When the cockpit control signal is an automatic on-the-spot U-turn, the instruction acquisition unit acquires the user operation instruction as an automatic on-the-spot U-turn; When the cockpit control signal is a manual on-the-spot U-turn, the instruction acquisition unit acquires the user operation instruction as a non-automatic on-the-spot U-turn; The distance measuring unit measures the turning distance according to the user operation instruction, wherein: When the user operation instruction is manual translation parking, the distance measuring unit determines not to measure the turning distance; When the user operation instruction is automatic translation parking, the distance measuring unit determines to measure the turning distance, and the turning distance during automatic translation parking is the lateral movement distance d, and d=L×sinθ is set, where d is the lateral movement distance, L is the wheelbase, and θ is the steering wheel rotation angle; When the user operation instruction is a manual U-turn on the spot, the distance measuring unit determines not to measure the turning distance; When the user operation instruction is an automatic U-turn on the spot, the distance measuring unit determines to measure the turning distance, and the turning distance during the automatic U-turn on the spot is the turning radius R, and R=L / sinɑ is set, where L is the wheelbase and ɑ is the front wheel steering angle; The distance measuring unit makes a judgment based on the adjustment of the environmental obstacles in the turning information and the turning distance measurement result, wherein: If there is an environmental obstacle in the turning distance of the current direction from the current position of the vehicle, the distance measuring unit determines to adjust the measurement result of the turning distance and recalculates the turning distance until there is no environmental obstacle in the turning distance of the current direction from the current position of the vehicle; If there is no environmental obstacle within the turning distance of the current direction at the current position of the vehicle, the distance measuring unit determines not to adjust the measuring result of the turning distance; The turning instruction generating unit uses the user operation instruction and the turning information as indexes and the turning distance as the content corresponding to the index to generate the turning instruction; The modeling confirmation unit inputs the steering instruction into the simulation model, obtains the simulation result, performs simulation confirmation on the steering instruction according to the simulation result, and outputs the confirmation instruction, wherein: When the simulation result shows that the steering instruction is valid, the modeling confirmation unit performs simulation confirmation on the steering instruction and outputs the steering instruction as a confirmation instruction; When the simulation result shows that the turning instruction is invalid, the modeling confirmation unit does not output the confirmation instruction, and returns to the distance measurement unit to measure the turning distance; The steering control module sends a confirmation instruction to the flying car controller, and the flying car controller performs free steering control on the steering control device; The actual calculation unit actually calculates the steering control result according to the steering control situation, wherein: When the steering control situation is normal, the steering control result is determined to be executable steering; When the steering control situation is abnormal, the steering control result is determined to be unexecutable steering; The correction unit corrects the steering command analysis process according to the steering control result, wherein: When the steering control result is that the steering can be executed, the correction unit does not correct the steering instruction analysis process; When the steering control result is that the steering cannot be executed, the correction unit corrects the steering instruction analysis process and replaces the steering distance in the steering instruction with the manual operation distance; The correction unit obtains the number of manual operation times q of the vehicle position, compares the number of manual operation times q of the vehicle position with the preset number of manual operation times q0 of the vehicle position, and optimizes the steering instruction generation process according to the comparison result, wherein: When q<q0, the correction unit does not optimize the steering instruction generation process; When q≥q0, the correction unit optimizes the steering instruction generation process and replaces the steering distance in the steering instruction with the same index corresponding to the vehicle position with the manual operation distance.

3. A free steering control method applied to the free steering control device of the hybrid-drive flying car as claimed in claim 1, characterized in that: The method comprises: Step S1, identifying the flying car's driving environment according to the environmental scene through a morphology recognition module; Step S2, monitoring the power-on status of the flying car according to the power-on signal of the flying car through the power-on monitoring module; Step S3, pre-controlling the flying car's driving mode according to the flying car's driving environment and the flying car's power-on state through a pre-control module; Step S4, acquiring the user operation instruction according to the cockpit control signal by the instruction acquisition unit; Step S5, collecting the turning information by a turning information collecting unit; Step S6, calculating the turning distance by a distance measuring unit; Step S7, generating a turning instruction according to the user operation instruction, the turning information and the turning distance by a turning instruction generating unit; Step S8, through the modeling confirmation unit, which is used to simulate and confirm the steering instruction according to the simulation model and output a confirmation instruction; Step S9, performing free steering control on the flying car according to the confirmation instruction through the steering control module; Step S10, the actual measurement and correction module performs actual measurement on the steering control result and corrects the steering instruction analysis process; Step S11, performing actual calculation on the steering control result according to the steering control situation by the actual calculation unit; Step S12, correcting the steering command analysis process according to the steering control result by a correction unit.

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