Flying car, docking control method, device, equipment and readable storage medium

Abstract

This application relates to a flying car, a docking control method, apparatus, device, and readable storage medium. The flying car includes: a flight module, a chassis, a docking device, and a controller. The flight module includes an aircraft and a cockpit; the chassis includes a mobile platform and a base, with the mobile platform including a pair of strip-shaped grooves; the tops of a first connecting plate and a second connecting plate in the docking device are respectively connected to the cockpit; the controller controls the descent of the flight module until the distances between the bottoms of the first and second connecting plates and the center point of the chassis are both within a preset distance range; control gain parameters of the mobile platform are determined, and the mobile platform is moved based on these control gain parameters; after the mobile platform has moved, the bottoms of the first and second connecting plates are respectively docked with the pair of strip-shaped grooves in the mobile platform. This method enables precise docking, thereby improving docking safety.

Description

Technical Field

[0001] This application relates to the field of flying car technology, and in particular to a flying car, docking control method, apparatus, device and readable storage medium. Background Technology

[0002] With the rapid advancements in autonomous driving and flight technologies, modular flying cars, as a mode of transportation capable of both ground and air travel, are gradually becoming a research focus in the field of flying cars. The structure of a modular flying car consists of three main parts: the aircraft, the cockpit, and the chassis. Its operating modes are flexible and versatile, allowing it to fly in the air or drive on the ground. In flight, the aircraft and cockpit work together to form a flight module; while on the ground, the cockpit and chassis combine to form a ground driving module. Compared to integrated flying cars, the modular design effectively reduces overall weight and volume, significantly improving operational efficiency in both the air and on the ground. Therefore, switching between driving modes involves the interaction between the three mechanisms.

[0003] For docking between the cockpit and chassis, factors such as safety and comfort must be considered, thus requiring precise and rapid docking. The rationality and reliability of the docking system directly determine whether safe docking and locking between modules can be achieved. Traditional docking technologies such as rotary self-locking and heterogeneous isomorphic docking cannot be adjusted according to the working conditions at the time of docking, resulting in very high docking accuracy requirements, poor environmental adaptability, and significant safety risks. Summary of the Invention

[0004] Therefore, it is necessary to provide a flying car, docking control method, device, computer equipment, computer-readable storage medium, and computer program product that can achieve precise docking and thus improve docking safety, in order to address the above-mentioned technical problems.

[0005] This application provides a flying car, including:

[0006] Flight module, including the aircraft and cockpit;

[0007] The chassis includes a mobile platform and a base, wherein the mobile platform includes a pair of strip-shaped grooves;

[0008] The docking device consists of a first connecting plate and a second connecting plate, with the top of the first connecting plate and the top of the second connecting plate respectively connected to the cabin;

[0009] The controller is used to control the descent of the flight module until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis; determine the control gain parameters of the mobile platform, and control the movement of the mobile platform based on the control gain parameters; after the mobile platform has moved, align the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform.

[0010] In one embodiment, the bottom of the first connecting plate and the bottom of the second connecting plate both have a bottom locking structure; the controller is also used to open the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate after the moving platform has moved; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and docked with a pair of strip grooves in the moving platform through the bottom locking structure.

[0011] In one embodiment, the controller is further configured to control the chassis to move to a preset docking position when the flight module flies to a preset position range; acquire the positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

[0012] In one embodiment, a speed sensor is installed in the chassis to detect the moving speed of the mobile platform; the controller is also used to acquire the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at multiple time points; determine a speed gain parameter based on a preset state feedback control equation and the speed function, and use the speed gain parameter as the control gain parameter of the mobile platform; determine a desired speed function based on the speed gain parameter and the speed function, and perform speed control on the mobile platform based on the desired speed function.

[0013] In one embodiment, an angle sensor is installed in the chassis to detect the movement angle of the mobile platform; the controller is also used to acquire the movement angle detected by the angle sensor at multiple time points, and obtain an angle function based on the movement angle at multiple time points; determine an angle gain parameter based on a preset state feedback control equation and the angle function, and use the angle gain parameter as the control gain parameter of the mobile platform; determine a desired angle function based on the angle gain parameter and the angle function, and perform angle control on the mobile platform based on the desired angle function.

[0014] This application provides a docking control method, including:

[0015] The flight module is controlled to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0016] Determine the control gain parameters of the mobile platform, and perform motion control on the mobile platform based on the control gain parameters;

[0017] After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform.

[0018] In one embodiment, after the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform, including:

[0019] After the mobile platform has moved, the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate are activated; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and connected with a pair of strip grooves in the mobile platform through the bottom locking structure.

[0020] This application also provides a docking control device, including:

[0021] The first control module is used to control the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

[0022] The second control module is used to determine the control gain parameters of the mobile platform and to perform mobile control on the mobile platform based on the control gain parameters.

[0023] The docking module is used to dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform after the mobile platform has moved.

[0024] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0025] The flight module is controlled to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0026] Determine the control gain parameters of the mobile platform, and perform motion control on the mobile platform based on the control gain parameters;

[0027] After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform.

[0028] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0029] The flight module is controlled to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0030] Determine the control gain parameters of the mobile platform, and perform motion control on the mobile platform based on the control gain parameters;

[0031] After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform.

[0032] This application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0033] The flight module is controlled to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0034] Determine the control gain parameters of the mobile platform, and perform motion control on the mobile platform based on the control gain parameters;

[0035] After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform.

[0036] The aforementioned flying car, docking control method, device, computer equipment, computer-readable storage medium, and computer program products involve a flight module docking with a chassis via a docking device. The docking device consists of a first connecting plate and a second connecting plate, with the tops of the first and second connecting plates respectively connected to the cockpit. Thus, during the descent of the flight module, the controller causes the aircraft, cockpit, and docking device to descend together. When the distances between the bottom of the first and second connecting plates and the center point of the chassis are both within a preset range, docking between the flight module and the chassis begins. During docking, the mobile platform is controlled based on its control gain parameters, enabling adaptive movement and ensuring precise docking between the docking device and the groove in the mobile platform, thereby improving docking accuracy and safety. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a top view of the chassis in one embodiment;

[0039] Figure 2 This is a front view of the docking device in one embodiment;

[0040] Figure 3 This is a schematic diagram of the docking control process in one embodiment;

[0041] Figure 4 This is a schematic diagram of the overall process of the docking control method in one embodiment;

[0042] Figure 5 This is a structural block diagram of the docking control device in one embodiment;

[0043] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] Compared to integrated flying cars, the design of split-type flying cars effectively reduces overall weight and size, both in the air and on the ground, thus significantly improving operational efficiency. Therefore, switching driving modes involves the interaction between three mechanisms.

[0046] For docking between the cockpit and chassis, safety and comfort must be considered, requiring precise and rapid docking. The rationality and reliability of the docking system directly determine whether secure docking and locking between modules can be achieved. Traditional methods typically employ rotary self-locking or heterogeneous isomorphic docking devices. Rotary self-locking docking devices, used for docking and separating flying vehicles, achieve tightening and separation through the rotation of two upper and lower latches. This device is simple in structure and lightweight; however, it typically employs complex mechanical structures and precision manufacturing processes, resulting in relatively high manufacturing costs. Furthermore, its complex structure makes maintenance relatively difficult, and the high precision and low redundancy requirements lead to low reliability. Heterogeneous isomorphic docking refers to the docking mechanisms on the tracking and target aircraft being identical in construction (unlike "rod-cone" docking mechanisms), with no active or passive distinction. This device provides unobstructed access and high load-bearing capacity after docking. However, heterogeneous isomorphic technology involves multiple complex fields, including mechanical, electrical, and control systems. The integration and coordination of these technologies requires high accuracy and reliability, making it technically challenging and exhibiting poor environmental adaptability. Therefore, traditional docking technologies such as rotational self-locking and heterogeneous isomorphism cannot be adjusted according to the working conditions at the time of docking, resulting in very high docking accuracy requirements, poor environmental adaptability, and high safety risks.

[0047] Based on this, this application proposes a flying car and a docking control method. The flight module docks with the chassis via a docking device, which consists of a first connecting plate and a second connecting plate. The tops of the first and second connecting plates are respectively connected to the cockpit. Thus, during the descent of the flight module, the controller drives the aircraft, cockpit, and docking device to descend together. When the distances between the bottom of the first and second connecting plates and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis begins. During the docking process, the mobile platform is moved based on the control gain parameters of the mobile platform to achieve adaptive movement of the mobile platform, ensuring precise docking between the docking device and the strip groove in the mobile platform, thereby improving docking accuracy and safety.

[0048] The flying car provided in this application includes a flight module, a chassis, and a docking device. The flight module includes an aircraft and a cockpit; the chassis includes a mobile platform and a base, and the mobile platform includes a pair of strip-shaped grooves; the docking device consists of a first connecting plate and a second connecting plate, the top of the first connecting plate and the top of the second connecting plate being connected to the cockpit respectively; a controller is used to control the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis; the control gain parameters of the mobile platform are determined, and the mobile platform is moved based on the control gain parameters; after the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are docked with the pair of strip-shaped grooves in the mobile platform respectively.

[0049] The flight module consists of an aircraft and a cockpit. When the flying car is in flight, the flight module flies in the air. When the flying car is driving on the ground, the cockpit in the flight module needs to be docked with the chassis and combined to form a ground driving module.

[0050] like Figure 1 The diagram shows a top view of the chassis in one embodiment. The chassis 100 includes a movable platform 101 and a base 102. The movable platform 101 is a movable platform on the surface of the base 102. The movable platform 101 includes a pair of strip-shaped grooves 103. Four wheels 104 are mounted at the four corners of the base 102.

[0051] like Figure 2 The diagram shows a front view of the docking device in one embodiment. The docking device 200 is connected to the bottom of the cabin 300. The docking device 200 consists of a first connecting plate 201 and a second connecting plate 202. The tops of the first connecting plate 201 and the second connecting plate 202 are respectively connected to the bottom of the cabin 300. In some embodiments, the tops of both the first connecting plate 201 and the second connecting plate 202 have a top locking structure. Both the first connecting plate 201 and the second connecting plate 202 are connected to the bottom of the cabin 300 through their respective top locking structures, thereby improving the connection security between the docking device 200 and the cabin 300.

[0052] The preset distance range refers to a semi-circular area with the center point of the chassis 100 as the center and a preset distance R as the radius. For example, R is 10cm. When the distances between the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 and the center point of the chassis 100 are both within the preset distance range, it indicates that the docking error is within the preset distance range. Within this error range, adaptive adjustment of the mobile platform can reduce the lateral swaying of the cabin at low altitudes, improve information accuracy, enhance comfort, and ensure that the docking device 200 is perfectly aligned with the chassis 100.

[0053] Control gain parameters are used to adaptively adjust the speed, angle, or displacement of the mobile platform during its movement. These include speed gain parameters, angle gain parameters, and displacement gain parameters. The mobile platform can move within the chassis 300, and its speed, angle, and displacement during movement can be adaptively adjusted using their respective control gain parameters. For example, a Lyapunov function can be used to determine the control gain function of the mobile platform.

[0054] In some embodiments, the controller is further configured to control the flight module to descend at a preset speed until the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 both contact the chassis 100 when the distance between them and the center point of the chassis 100 is within a preset distance range, and to determine the control gain parameters of the mobile platform.

[0055] After the mobile platform is moved and adjusted, the controller controls the bottom of the first connecting plate 201 and the bottom of the second connecting plate 202 to dock with a pair of strip grooves in the mobile platform, thereby achieving precise docking of the cockpit 300 and the chassis 100.

[0056] In the aforementioned flying car, the flight module docks with the chassis via a docking device, which consists of a first connecting plate and a second connecting plate. The tops of the first and second connecting plates are respectively connected to the cockpit. Thus, during the descent of the flight module, the controller lowers the aircraft, cockpit, and docking device together. When the distances between the bottom of the first and second connecting plates and the center point of the chassis are within a preset range, the docking between the flight module and the chassis begins. During the docking process, the mobile platform is moved based on the control gain parameters of the mobile platform, enabling adaptive movement of the mobile platform and ensuring precise docking between the docking device and the groove in the mobile platform, thereby improving docking accuracy and safety.

[0057] In an exemplary embodiment, the bottom of both the first connecting plate and the bottom of the second connecting plate have bottom locking structures; the controller is further configured to, after the mobile platform has moved, open the bottom locking structures of the first connecting plate and the second connecting plate; and lock the bottom of the first connecting plate and the bottom of the second connecting plate to a pair of strip grooves in the mobile platform through the bottom locking structures.

[0058] The bottom locking structure is a locking structure installed on the bottom of the first connecting plate and the bottom of the second connecting plate. The bottom locking structure is used to lock and connect the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the moving platform, so as to improve the stability and safety of the docking.

[0059] In some embodiments, the controller opens the bottom locking structure after the mobile platform has moved. When the bottom of the first connecting plate and the bottom of the second connecting plate are fully inserted into the corresponding strip grooves, the corresponding bottom locking structure closes, completing the locking docking.

[0060] In this embodiment, the connecting plate of the docking device is locked and docked with a pair of strip grooves of the moving platform by a bottom locking structure. The docking device has a simple structure, complete functions, and can quickly achieve accurate docking, reducing energy loss and wear of parts.

[0061] In an exemplary embodiment, the controller is further configured to control the chassis to move to a preset docking position when the flight module flies to a preset position range; acquire the positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

[0062] The preset position range refers to the pre-specified hovering position range of the flight module, and the docking position refers to the pre-specified docking position between the flight module and the chassis. When the flight module flies within the preset position range, it is controlled to hover, and the chassis is controlled to move to the preset docking position, so that the flight module hovers above the chassis.

[0063] Positioning information refers to the flight module's location in the air, which can be detected by a pre-installed positioning unit within the flight module. Based on this positioning information, the controller determines the flight module's descent speed and descends from its current location according to that speed.

[0064] In some embodiments, the two connecting plates of the docking device are folded before the docking operation. During the descent of the flight module, the controller acquires the positioning information of the flight module in real time. When the flight module descends to a preset altitude, the first and second connecting plates of the docking device are unfolded to prepare for the docking operation.

[0065] After the docking device is deployed, the controller controls the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0066] In this embodiment, by controlling the flight module to fly to a preset position range and controlling the chassis to move to a preset docking position, it is possible to ensure that the flight module hovers above the chassis and then descends from the hovering position, which helps to improve docking accuracy. The docking device is usually in a folded state. When the flight module descends to a preset height, the docking device is unfolded and then the flight module is controlled to descend, avoiding the safety risks caused by unfolding the docking device at high altitude, which helps to ensure the safety of the flight module and the docking device.

[0067] In an exemplary embodiment, a speed sensor is installed in the chassis to detect the moving speed of the mobile platform; the controller is also used to acquire the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at multiple time points; determine a speed gain parameter based on a preset state feedback control equation and the speed function, and use the speed gain parameter as the control gain parameter of the mobile platform; determine a desired speed function based on the speed gain parameter and the speed function, and perform speed control on the mobile platform based on the desired speed function.

[0068] The controller adaptively controls the moving speed of the mobile platform based on the moving speed detected by the speed sensor, which helps to improve the stability of docking and avoid the cabin swaying from side to side at low altitude during docking.

[0069] In some embodiments, the state feedback control equations used by the control system are as follows:

[0070]

[0071] in, Represents the state vector. Indicates control output. Indicates system output, This represents the perturbation vector. An idealized generalized system is chosen to minimize other interfering factors.

[0072] Adjusted by the aforementioned adaptive control system, the moving platform can move with a preset precision (e.g., 10cm) until the docking device is fully aligned with the strip groove, thus completing the docking operation.

[0073] The specific control method is as follows: design a... The state feedback controller first gives Definition:

[0074] Given scalar The above system is random and allows and has performance If the perturbation vector At that time, the system is stably permissible under zero initial state and satisfies the following stability equation:

[0075]

[0076] The controller takes the following form: for a given The state feedback controller is The following conditional equations are selected for study:

[0077]

[0078] in:

[0079]

[0080]

[0081]

[0082]

[0083]

[0084]

[0085] in ,matrix All are positive definite matrices. Differentiating the above conditional equations, the corresponding control gain parameters are determined when the derivative of each conditional equation is less than 0. The control gain parameter and state vector , obtain control output .

[0086] In some embodiments, control output Substituting into the stability equation, the computational performance is calculated. Performance Determine the stability of the state feedback controller.

[0087] When controlling the speed of a mobile platform, the speed function can be used as a state vector. Based on the above state feedback control equations and state vectors Determine the control gain parameters This is also known as the speed gain parameter. Control output. Desired speed function. The controller controls the speed of the mobile platform according to the desired speed function.

[0088] In this embodiment, the velocity function is used as the state vector. The velocity gain parameter is determined by the preset state feedback control equation and condition equation. The desired velocity function is determined by the velocity gain parameter and the velocity function. This achieves adaptive stability control of the mobile platform's velocity, enhancing docking stability and user comfort.

[0089] In an exemplary embodiment, an angle sensor is installed in the chassis to detect the movement angle of the mobile platform; the controller is also used to acquire the movement angle detected by the angle sensor at multiple time points, and obtain an angle function based on the movement angle at multiple time points; determine an angle gain parameter based on a preset state feedback control equation and the angle function, and use the angle gain parameter as the control gain parameter of the mobile platform; determine a desired angle function based on the angle gain parameter and the angle function, and perform angle control on the mobile platform based on the desired angle function.

[0090] The controller adaptively controls the movement angle of the mobile platform based on the movement angle detected by the angle sensor, which helps improve docking stability and prevents the cabin from swaying left and right at low altitudes during docking.

[0091] In some embodiments, angle control may employ the same state feedback control equations, stability equations, and condition equations as speed control, and angle control may be performed with reference to the speed control method.

[0092] Specifically, when controlling the angle of a mobile platform, the angle function can be used as a state vector. Based on the above state feedback control equations and state vectors Determine the control gain parameters This is the angle gain parameter. Control output. Desired angle function. The controller performs angular and velocity control on the mobile platform according to the desired angle function.

[0093] In other embodiments, the controller may also perform displacement control on the mobile platform by referring to the above method to improve the stability of displacement control.

[0094] In this embodiment, the angle function is used as the state vector. The angle gain parameter is determined by the preset state feedback control equation and condition equation. The desired angle function is determined by the angle gain parameter and the angle function. This achieves adaptive stability control of the mobile platform's angle, enhancing docking stability and user comfort.

[0095] The docking control method provided in this application is illustrated using an example of its application to a controller in a flying car. Figure 3 As shown, the docking control method includes steps 302 to 306. Wherein:

[0096] Step 302: Control the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0097] Step 304: Determine the control gain parameters of the mobile platform, and perform motion control on the mobile platform based on the control gain parameters.

[0098] Step 306: After the mobile platform has moved, align the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform.

[0099] The preset distance range refers to a semi-circular area with the center point of the chassis as the center and a preset distance R as the radius. For example, R is 10cm. When the distances between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within the preset distance range, it indicates that the docking error is within the preset distance range. Within this error range, adaptive adjustments can be made to the mobile platform to reduce the lateral swaying of the cabin at low altitudes, improve information accuracy, enhance comfort, and ensure perfect alignment between the docking device and the chassis.

[0100] Control gain parameters are used to adaptively adjust the speed, angle, or displacement of a mobile platform during its movement. These include speed gain parameters, angle gain parameters, and displacement gain parameters. The mobile platform can move within a chassis, and its speed, angle, and displacement during movement can be adaptively adjusted using their respective control gain parameters. For example, a Lyapunov function can be used to determine the control gain function of the mobile platform.

[0101] In some embodiments, the controller is further configured to control the flight module to descend at a preset speed until the bottom of the first connecting plate and the bottom of the second connecting plate both contact the chassis, provided that the distances between them and the center point of the chassis are within a preset distance range, and to determine the control gain parameters of the mobile platform.

[0102] After the mobile platform is moved and adjusted, the controller controls the bottom of the first connecting plate and the bottom of the second connecting plate to align with a pair of strip grooves in the mobile platform, thereby achieving precise docking between the cabin and the chassis.

[0103] In the above docking control method, the flight module docks with the chassis via a docking device, which consists of a first connecting plate and a second connecting plate. The tops of the first and second connecting plates are respectively connected to the cockpit. Thus, during the descent of the flight module, the controller drives the aircraft, cockpit, and docking device to descend together. When the distances between the bottom of the first and second connecting plates and the center point of the chassis are both within a preset distance range, the docking between the flight module and the chassis begins. During the docking process, the mobile platform is moved based on the control gain parameters of the mobile platform to achieve adaptive movement of the mobile platform, ensuring precise docking between the docking device and the strip groove in the mobile platform, thereby improving docking accuracy and safety.

[0104] In an exemplary embodiment, after the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively engaged with a pair of strip grooves in the mobile platform, including: after the mobile platform has moved, opening the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate; and locking the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform through the bottom locking structure.

[0105] The controller activates the bottom locking structure after the mobile platform has moved. When the bottom of the first connecting plate and the bottom of the second connecting plate are fully inserted into their corresponding strip grooves, the corresponding bottom locking structure closes, completing the locking and docking.

[0106] In this embodiment, the connecting plate of the docking device is locked and docked with a pair of strip grooves of the moving platform by a bottom locking structure. The docking device has a simple structure, complete functions, and can quickly achieve accurate docking, reducing energy loss and wear of parts.

[0107] In one exemplary embodiment, controlling the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis includes: when the flight module flies to a preset position range, controlling the chassis to move to a preset docking position; acquiring the positioning information of the flight module, and controlling the flight module to descend according to the positioning information; when the flight module descends to a preset height, controlling the docking device to unfold the first and second connecting plates, and controlling the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

[0108] The preset position range refers to the pre-specified hovering position range of the flight module, and the docking position refers to the pre-specified docking position between the flight module and the chassis. When the flight module flies within the preset position range, it is controlled to hover, and the chassis is controlled to move to the preset docking position, so that the flight module hovers above the chassis.

[0109] Positioning information refers to the flight module's location in the air, which can be detected by a pre-installed positioning unit within the flight module. Based on this positioning information, the controller determines the flight module's descent speed and descends from its current location according to that speed.

[0110] In some embodiments, the two connecting plates of the docking device are folded before the docking operation. During the descent of the flight module, the controller acquires the positioning information of the flight module in real time. When the flight module descends to a preset altitude, the first and second connecting plates of the docking device are unfolded to prepare for the docking operation.

[0111] After the docking device is deployed, the controller controls the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within the preset distance range from the center point of the chassis.

[0112] In this embodiment, by controlling the flight module to fly to a preset position range and controlling the chassis to move to a preset docking position, it is possible to ensure that the flight module hovers above the chassis and then descends from the hovering position, which helps to improve docking accuracy. The docking device is usually in a folded state. When the flight module descends to a preset height, the docking device is unfolded and then the flight module is controlled to descend, avoiding the safety risks caused by unfolding the docking device at high altitude, which helps to ensure the safety of the flight module and the docking device.

[0113] In an exemplary embodiment, determining the control gain parameter of the mobile platform includes: acquiring the movement speed detected by the speed sensor at multiple time points, and obtaining a speed function based on the movement speed at the multiple time points; determining the speed gain parameter based on a preset state feedback control equation and the speed function, and using the speed gain parameter as the control gain parameter of the mobile platform; correspondingly, performing movement control on the mobile platform based on the control gain parameter includes: determining a desired speed function based on the speed gain parameter and the speed function, and performing speed control on the mobile platform based on the desired speed function.

[0114] The controller adaptively controls the moving speed of the mobile platform based on the moving speed detected by the speed sensor, which helps to improve the stability of docking and avoid the cabin swaying from side to side at low altitude during docking.

[0115] In some embodiments, the state feedback control equations used by the control system are as follows:

[0116]

[0117] in, Represents the state vector. Indicates control output. Indicates system output, This represents the perturbation vector. An idealized generalized system is chosen to minimize other interfering factors.

[0118] Adjusted by the aforementioned adaptive control system, the moving platform can move with a preset precision (e.g., 10cm) until the docking device is fully aligned with the strip groove, thus completing the docking operation.

[0119] The specific control method is as follows: design a... The state feedback controller first gives Definition:

[0120] Given scalar The above system is random and allows and has performance If the perturbation vector At that time, the system is stably permissible under zero initial state and satisfies the following stability equation:

[0121]

[0122] The controller takes the following form: for a given The state feedback controller is The following conditional equations are selected for study:

[0123]

[0124] in:

[0125]

[0126]

[0127]

[0128]

[0129]

[0130]

[0131] in ,matrix All are positive definite matrices. Differentiating the above conditional equations, the corresponding control gain parameters are determined when the derivative of each conditional equation is less than 0. The control gain parameter and state vector , obtain control output .

[0132] In some embodiments, control output Substituting into the stability equation, the computational performance is calculated. Performance Determine the stability of the state feedback controller.

[0133] When controlling the speed of a mobile platform, the speed function can be used as a state vector. Based on the above state feedback control equations and state vectors Determine the control gain parameters This is also known as the speed gain parameter. Control output. Desired speed function. The controller controls the speed of the mobile platform according to the desired speed function.

[0134] In this embodiment, the velocity function is used as the state vector. The velocity gain parameter is determined by the preset state feedback control equation and condition equation. The desired velocity function is determined by the velocity gain parameter and the velocity function. This achieves adaptive stability control of the mobile platform's velocity, enhancing docking stability and user comfort.

[0135] In an exemplary embodiment, determining the control gain parameter of the mobile platform includes: acquiring the movement angle detected by the angle sensor at multiple time points, and obtaining an angle function based on the movement angle at the multiple time points; determining the angle gain parameter based on the preset state feedback control equation and the angle function, and using the angle gain parameter as the control gain parameter of the mobile platform; correspondingly, performing movement control on the mobile platform based on the control gain parameter includes: determining a desired angle function based on the angle gain parameter and the angle function, and performing angle control on the mobile platform based on the desired angle function.

[0136] The controller adaptively controls the movement angle of the mobile platform based on the movement angle detected by the angle sensor, which helps improve docking stability and prevents the cabin from swaying left and right at low altitudes during docking.

[0137] In some embodiments, angle control may employ the same state feedback control equations, stability equations, and condition equations as speed control, and angle control may be performed with reference to the speed control method.

[0138] Specifically, when controlling the angle of a mobile platform, the angle function can be used as a state vector. Based on the above state feedback control equations and state vectors Determine the control gain parameters This is the angle gain parameter. Control output. Desired angle function. The controller performs angular and velocity control on the mobile platform according to the desired angle function.

[0139] In other embodiments, the controller may also perform displacement control on the mobile platform by referring to the above method to improve the stability of displacement control.

[0140] In this embodiment, the angle function is used as the state vector. The angle gain parameter is determined by the preset state feedback control equation and condition equation. The desired angle function is determined by the angle gain parameter and the angle function. This achieves adaptive stability control of the mobile platform's angle, enhancing docking stability and user comfort.

[0141] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0142] To illustrate in detail the method and effects of the flying car and docking control in this solution, a detailed embodiment is described below:

[0143] The flying car includes a flight module, a chassis, a docking device, and a controller. The flight module includes an aircraft and a cockpit; the chassis includes a mobile platform and a base, with the mobile platform containing a pair of strip-shaped grooves; the chassis also houses at least one of a speed sensor and an angle sensor; the speed sensor detects the mobile platform's speed; the angle sensor detects the mobile platform's angle of movement; the docking device consists of a first connecting plate and a second connecting plate, with the tops of the first and second connecting plates respectively connected to the cockpit; both the tops of the first and second connecting plates have top locking structures; and both the bottoms of the first and second connecting plates have bottom locking structures.

[0144] The controller is used to execute docking control methods. For example... Figure 4The diagram shows the overall flow of the docking control method in one embodiment. The controller controls the cockpit to hover above the chassis, the chassis skids to guide the cockpit to descend, the mobile platform in the chassis performs adaptive calibration, and after calibration, the cockpit and chassis are locked and docked.

[0145] Specifically, when the flight module flies to a preset position range, the controller controls the chassis to move to a preset docking position; it acquires the positioning information of the flight module and controls the flight module to descend based on the positioning information; when the flight module descends to a preset height, it controls the docking device to unfold the first connecting plate and the second connecting plate, and controls the flight module to continue descending until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range; it determines the control gain parameters of the mobile platform and performs movement control on the mobile platform based on the control gain parameters; after the mobile platform has moved, it opens the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate; the bottom locking structures lock and dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform.

[0146] The state feedback control equations used in the control system are as follows:

[0147]

[0148] in, Represents the state vector. Indicates control output. Indicates system output, This represents the perturbation vector. An idealized generalized system is chosen to minimize other interfering factors.

[0149] Adjusted by the aforementioned adaptive control system, the moving platform can move with a preset precision (e.g., 10cm) until the docking device is fully aligned with the strip groove, thus completing the docking operation.

[0150] The specific control method is as follows: design a... The state feedback controller first gives Definition:

[0151] Given scalar The above system is random and allows and has performance If the perturbation vector At that time, the system is stably permissible under zero initial state and satisfies the following stability equation:

[0152]

[0153] The controller takes the following form: for a given The state feedback controller is The following conditional equations are selected for study:

[0154]

[0155] in:

[0156]

[0157]

[0158]

[0159]

[0160]

[0161]

[0162] in ,matrix All are positive definite matrices. Differentiating the above conditional equations, the corresponding control gain parameters are determined when the derivative of each conditional equation is less than 0. The control gain parameter and state vector , obtain control output .

[0163] In some embodiments, control output Substituting into the stability equation, the computational performance is calculated. Performance Determine the stability of the state feedback controller.

[0164] When controlling the speed of a mobile platform, the speed function can be used as a state vector. Based on the above state feedback control equations and state vectors Determine the control gain parameters This is also known as the speed gain parameter. Control output. Desired speed function. The controller controls the speed of the mobile platform according to the desired speed function.

[0165] In some embodiments, angle control may employ the same state feedback control equations, stability equations, and condition equations as speed control, and angle control may be performed with reference to the speed control method.

[0166] Specifically, when controlling the angle of a mobile platform, the angle function can be used as a state vector. Based on the above state feedback control equations and state vectors Determine the control gain parameters This is the angle gain parameter. Control output. Desired angle function. The controller performs angular and velocity control on the mobile platform according to the desired angle function.

[0167] In other embodiments, the controller may also perform displacement control on the mobile platform by referring to the above method to improve the stability of displacement control.

[0168] Furthermore, the aforementioned stability control system employs a relatively simple generalized system. It is possible to explore incorporating more factors, such as nonlinearity, uncertainty, Markov property, and fuzziness, and to design dissipative control mechanisms. Controllers, such as those for control, enable more precise control.

[0169] The aforementioned flying car and docking control method involve the flight module docking with the chassis via a docking device. This device consists of a first connecting plate and a second connecting plate, with the tops of both connected to the cockpit. During the descent of the flight module, the controller moves the aircraft, cockpit, and docking device together. Docking begins when the distances between the bottom of the first and second connecting plates and the center point of the chassis are within a preset range. During docking, the mobile platform is controlled based on its control gain parameters, enabling adaptive movement and ensuring precise docking between the docking device and the grooves in the mobile platform, thus improving docking accuracy and safety. Furthermore, the docking device has a simple structure, complete system functions, and can achieve rapid and precise docking, reducing energy loss and component wear.

[0170] Based on the same inventive concept, this application also provides a docking control device for implementing the docking control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more docking control device embodiments provided below can be found in the limitations of the docking control method described above, and will not be repeated here.

[0171] In one exemplary embodiment, such as Figure 5 As shown, a docking control device 500 is provided, including: a first control module 520, a second control module 540, and a docking module 560, wherein:

[0172] The first control module 520 is used to control the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

[0173] The second control module 540 is used to determine the control gain parameters of the mobile platform and to perform mobile control on the mobile platform based on the control gain parameters.

[0174] The docking module 560 is used to dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform after the mobile platform has moved.

[0175] The aforementioned docking control device allows the flight module to dock with the chassis via a docking device composed of a first connecting plate and a second connecting plate. The tops of the first and second connecting plates are respectively connected to the cockpit. Thus, during the descent of the flight module, the controller causes the aircraft, cockpit, and docking device to descend together. When the distances between the bottom of the first and second connecting plates and the center point of the chassis are both within a preset range, docking between the flight module and the chassis begins. During docking, the mobile platform is moved based on the control gain parameters of the mobile platform, enabling adaptive movement of the mobile platform and ensuring precise docking between the docking device and the groove in the mobile platform, thereby improving docking accuracy and safety.

[0176] In one embodiment, after the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively docked with a pair of strip grooves in the mobile platform. The docking module 560 is further configured to: after the mobile platform has moved, open the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate; and lock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform through the bottom locking structure.

[0177] In one embodiment, the control module 520 controls the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis. The first control module 520 is further configured to: control the chassis to move to a preset docking position when the flight module flies to a preset position range; acquire the positioning information of the flight module and control the flight module to descend according to the positioning information; control the docking device to unfold the first and second connecting plates when the flight module descends to a preset height, and control the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

[0178] In one embodiment, to determine the control gain parameter of the mobile platform, the second control module 540 is further configured to: acquire the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at the multiple time points; determine the speed gain parameter based on the preset state feedback control equation and the speed function, and use the speed gain parameter as the control gain parameter of the mobile platform; accordingly, to perform motion control on the mobile platform based on the control gain parameter, the second control module 540 is further configured to: determine the desired speed function based on the speed gain parameter and the speed function, and perform speed control on the mobile platform based on the desired speed function.

[0179] In one embodiment, to determine the control gain parameter of the mobile platform, the second control module 540 is further configured to: acquire the movement angle detected by the angle sensor at multiple time points, and obtain an angle function based on the movement angle at multiple time points; determine the angle gain parameter based on the preset state feedback control equation and the angle function, and use the angle gain parameter as the control gain parameter of the mobile platform; accordingly, to perform movement control on the mobile platform based on the control gain parameter, the second control module 540 is further configured to: determine the desired angle function based on the angle gain parameter and the angle function, and perform angle control on the mobile platform based on the desired angle function.

[0180] Each module in the aforementioned docking control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0181] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a docking control method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0182] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0183] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0184] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0185] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0186] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0187] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0189] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A flying car, characterized in that, The flying car includes: Flight module, including the aircraft and cockpit; The chassis includes a mobile platform and a base, wherein the mobile platform includes a pair of strip-shaped grooves; The docking device consists of a first connecting plate and a second connecting plate, the top of the first connecting plate and the top of the second connecting plate being connected to the cabin respectively; The controller is used to control the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis; determine the control gain parameters of the mobile platform, and perform movement control on the mobile platform based on the control gain parameters; after the mobile platform has moved, align the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform. A speed sensor is installed in the chassis to detect the moving speed of the mobile platform. The controller is also used to acquire the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at multiple time points; determine a speed gain parameter based on a preset state feedback control equation and the speed function, and use the speed gain parameter as the control gain parameter of the mobile platform; determine a desired speed function based on the speed gain parameter and the speed function, and perform speed control on the mobile platform based on the desired speed function.

2. The flying car according to claim 1, characterized in that, The bottom of the first connecting plate and the bottom of the second connecting plate both have a bottom locking structure; the controller is also used to open the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate after the mobile platform has moved; the bottom locking structure locks the bottom of the first connecting plate and the bottom of the second connecting plate to a pair of strip grooves in the mobile platform respectively.

3. The flying car according to claim 1, characterized in that, The controller is also configured to, when the flight module flies to a preset position range, control the chassis to move to a preset docking position; acquire the positioning information of the flight module, and control the flight module to descend according to the positioning information; when the flight module descends to a preset height, control the docking device to unfold the first connecting plate and the second connecting plate, and control the flight module to continue descending until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis.

4. The flying car according to any one of claims 1 to 3, characterized in that, An angle sensor is installed in the chassis to detect the movement angle of the mobile platform. The controller is also used to acquire the movement angle detected by the angle sensor at multiple time points, and obtain an angle function based on the movement angle at multiple time points; determine an angle gain parameter based on a preset state feedback control equation and the angle function, and use the angle gain parameter as the control gain parameter of the mobile platform; determine a desired angle function based on the angle gain parameter and the angle function, and perform angle control on the mobile platform based on the desired angle function.

5. A docking control method, characterized in that, The method, applied to any one of claims 1 to 4, comprises: The flight module is controlled to descend until the distance between the bottom of the first connecting plate and the bottom of the second connecting plate and the center point of the chassis are both within a preset distance range. Determine the control gain parameters of the mobile platform, and perform motion control on the mobile platform based on the control gain parameters; After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform. Determining the control gain parameters of the mobile platform includes: The movement speed detected by the speed sensor at multiple time points is obtained, and a speed function is obtained based on the movement speed at multiple time points; a speed gain parameter is determined according to a preset state feedback control equation and the speed function, and the speed gain parameter is used as the control gain parameter of the mobile platform. The motion control of the mobile platform based on the control gain parameter includes: Based on the speed gain parameter and the speed function, a desired speed function is determined, and the speed of the mobile platform is controlled based on the desired speed function.

6. The method according to claim 5, characterized in that, After the mobile platform has moved, the bottom of the first connecting plate and the bottom of the second connecting plate are respectively aligned with a pair of strip grooves in the mobile platform, including: After the mobile platform has moved, the bottom locking structure of the first connecting plate and the bottom locking structure of the second connecting plate are activated; the bottom of the first connecting plate and the bottom of the second connecting plate are respectively locked and connected to a pair of strip grooves in the mobile platform through the bottom locking structure.

7. A docking control device, characterized in that, The device, applied to any one of claims 1 to 4, comprises: The first control module is used to control the flight module to descend until the bottom of the first connecting plate and the bottom of the second connecting plate are both within a preset distance range from the center point of the chassis. The second control module is used to determine the control gain parameters of the mobile platform and perform motion control on the mobile platform based on the control gain parameters; The docking module is used to dock the bottom of the first connecting plate and the bottom of the second connecting plate with a pair of strip grooves in the mobile platform after the mobile platform has moved. The second control module is further configured to acquire the moving speed detected by the speed sensor at multiple time points, and obtain a speed function based on the moving speed at multiple time points; determine a speed gain parameter based on a preset state feedback control equation and the speed function, and use the speed gain parameter as the control gain parameter of the mobile platform; The second control module is further configured to determine a desired speed function based on the speed gain parameter and the speed function, and to perform speed control on the mobile platform based on the desired speed function.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 5 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 5 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 5 to 6.

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