Control method of hovercar, hovercar and storage medium

Abstract

The invention provides a control method of a hovercar, the hovercar and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring current flight information of the hovercar; if the current flight information meets a preset coordinated turning triggering condition, entering a coordinated turning corridor, and acquiring first operation information of an operating lever; determining whether to switch to a coordinated turning mode according to the first operation information of the joystick; and if yes, switching to a coordinated turning mode, and controlling the hovercar to be in the coordinated turning mode according to the first operation information of the joystick and the current flight state of the hovercar. According to the scheme, automatic switching between the course keeping function and the turning coordinating function can be achieved according to the joystick instruction input by a driver, the switching process is stable and free of the oscillation phenomenon, and therefore the flight requirements of the hovercar in different states can be met.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a flying car control method, a flying car and a storage medium. Background Art

[0002] Flying cars have the advantages of being feasible on land and in the air and being highly efficient. Therefore, as people have higher and higher requirements for convenient transportation, flying cars in the air will definitely become a trend in future transportation, which can not only alleviate the current situation of traffic congestion but also improve transportation efficiency.

[0003] At present, most flying cars are similar to drones, which use rotors on the roof to achieve vertical takeoff and flight. Among them, coordinated turning is a very important horizontal maneuver during the flight of drones. The drone needs to switch from level flight mode to coordinated turning mode, and then switch from coordinated turning mode to level flight mode.

[0004] However, the control systems and components used by drones and cars are different, and the operating habits are also quite different. If the flight control algorithm provided by the drone is directly transplanted to the flying car, there is a problem that it cannot meet the flight requirements of the flying car under different conditions. Summary of the invention

[0005] The purpose of the present invention is to provide a flying car control method, a flying car and a storage medium to address the deficiencies in the prior art, so as to solve the technical problems existing in the prior art.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for controlling a flying car, the method comprising:

[0008] Acquire current flight information of the flying car, the flight information including: flight speed, flight position or flight attitude;

[0009] If the current flight information meets the preset coordinated turn triggering condition, the coordinated turn enabling corridor is entered, and first operation information of the joystick is obtained, where the first operation information includes: operation direction and operation amount;

[0010] determining whether to switch to a coordinated turning mode according to first operation information of the joystick;

[0011] If yes, the coordinated turning mode is switched to, and the flying car is controlled to be in the coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car.

[0012] Optionally, determining whether to switch to the coordinated turning mode according to the first operation information of the joystick includes:

[0013] If the operation direction in the first operation information is a left turn or a right turn, it is determined to switch to the coordinated turning mode.

[0014] Optionally, controlling the flying car to be in a coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car includes:

[0015] Generate a first flight instruction according to the operation direction and the operation amount in the first operation information, wherein the first flight instruction includes: a yaw angle instruction and a roll angle instruction;

[0016] According to the current flight state of the flying car and the first flight instruction, the flying car is controlled to be in a coordinated turning mode.

[0017] Optionally, generating a first flight instruction according to an operation direction and an operation amount in the first operation information includes:

[0018] The roll angle instruction and the yaw angle instruction in the first flight instruction are obtained according to the pre-constructed coordinated turning formula, the operation direction and the operation amount in the first operation information.

[0019] Optionally, it also includes:

[0020] Acquiring current turning information when the flying car is in a coordinated turning mode, the turning information including: turning speed, turning position or turning posture;

[0021] If the current turning information satisfies a preset heading keeping trigger condition, obtaining second operation information of the joystick;

[0022] determining whether to continue in the coordinated turning mode according to the second operation information of the joystick;

[0023] If the coordinated turning mode is not continued, determining whether the current turning information satisfies a preset coordinated turning deactivation condition;

[0024] If the preset coordinated turn deactivation condition is met, the coordinated turn corridor is exited and the heading hold mode is switched to control the flying car to be in the heading hold state according to the second operation information of the joystick and the current flight state of the flying car.

[0025] Optionally, determining whether to continue in the coordinated turning mode according to the second operation information of the joystick includes:

[0026] If the operation direction in the second operation information is neither a left turn nor a right turn, determining not to continue in the coordinated turning mode;

[0027] The method of controlling the flying car to be in a heading holding state according to the second operation information of the joystick and the current flight state of the flying car comprises:

[0028] Generate a second flight instruction according to the operation direction, operation amount and the current flight state in the second operation information, wherein the second flight instruction includes: a yaw angle instruction, a roll angle instruction and a pitch angle instruction;

[0029] The flying car is controlled to be in a heading holding state through the second flight instruction.

[0030] Optionally, generating a second flight instruction according to the operation direction, the operation amount and the current flight state in the second operation information includes:

[0031] Inputting the operation amount in the second operation information into a pre-built instruction shaping model to obtain a smoothed operation amount output by the instruction shaping model;

[0032] A second flight instruction is generated according to the smoothed operation amount and the current flight state.

[0033] Optionally, it also includes:

[0034] If the current flight information does not meet the preset coordinated turn triggering condition, the coordinated turn corridor is not entered, and the third operation information of the joystick is obtained;

[0035] According to the third operation information and the current flight state of the flying car, the flying car is controlled to be in a heading keeping mode.

[0036] In a second aspect, an embodiment of the present application further provides a flying car, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the flying car is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the method provided in the first aspect.

[0037] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method provided in the first aspect is executed.

[0038] The beneficial effects of this application are:

[0039] The present application provides a control method for a flying car, a flying car and a storage medium, the method comprising: obtaining the current flight information of the flying car; if the current flight information satisfies the preset coordinated turning trigger condition, obtaining the first operation information of the joystick, the first operation information including: operation direction and operation amount; determining whether to switch to the coordinated turning mode according to the first operation information of the joystick; if so, switching to the coordinated turning mode, and controlling the flying car to be in the coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car. In this scheme, the current flight information of the flying car is used as a discrimination condition to determine whether the preset coordinated turning trigger condition is met, if it is met, and it is determined to switch to the coordinated turning mode according to the first operation information of the joystick, then switching to the coordinated turning mode, and according to the first operation information of the joystick and the current flight state of the flying car, calculating the roll angle and yaw angle of the flying car when it is in the coordinated turning, and based on the roll angle and yaw angle of the flying car when it is in the coordinated turning, controlling the flying car to be in the coordinated turning mode, that is, entering the coordinated turning enabling corridor. Therefore, this solution can realize automatic switching between heading keeping and coordinated turning functions according to the joystick command input by the driver, and the switching process is smooth and without oscillation, thereby meeting the flight requirements of the flying car in different states. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic diagram of a flow chart of a method for controlling a flying car provided in an embodiment of the present application;

[0042] Figure 2 A schematic flow chart of another flying car control method provided in an embodiment of the present application;

[0043] Figure 3 A schematic flow chart of another flying car control method provided in an embodiment of the present application;

[0044] Figure 4 A schematic flow chart of another flying car control method provided in an embodiment of the present application;

[0045] Figure 5 A schematic flow chart of another flying car control method provided in an embodiment of the present application;

[0046] Figure 6A schematic flow chart of another flying car control method provided in an embodiment of the present application;

[0047] Figure 7 A schematic diagram of a flying car entering (or exiting) a coordinated turning-enabled corridor provided in an embodiment of the present application;

[0048] Figure 8 A schematic diagram of the overall control scheme of a flying car provided in an embodiment of the present application;

[0049] Fig. 9 A schematic diagram of the time hysteresis zone for entering or exiting the coordinated turn-enabled corridor;

[0050] Fig.10 A schematic diagram of the structure of a flying car provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0052] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0053] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0054] First, the professional terms involved in this application are introduced.

[0055] The flying car includes two aspects: heading hold (DH) mode and coordinated turning mode.

[0056] 1. Heading hold (DH) mode means that the flying car can autonomously maintain the current heading without the driver issuing a turning command.

[0057] 2. Coordinated turning mode: when the driver controls the flying car to turn, the system can Generate corresponding roll angle and yaw rate instructions to ensure the flight quality during cornering (for example, sideslip angle ≯5°, lateral overload ≯0.05g).

[0058] The following will illustrate the implementation principles and corresponding beneficial effects of the control method steps of the flying car provided in this application through multiple specific embodiments.

[0059] refer to Figure 1 As shown, it is a flowchart of a method for controlling a flying car provided in an embodiment of the present application; optionally, the execution subject of the method may be a control unit on the flying car. It should be understood that in other embodiments, the order of some steps in the method for controlling a flying car may be interchanged according to actual needs, or some steps may be omitted or deleted. Figure 1 As shown, the method includes:

[0060] S101. Obtain current flight information of the flying car.

[0061] The flight information includes: flight speed, flight position or flight attitude. For example, the flight information of the flying car can be collected through hardware devices such as GNSS, IMU, pitot tube, laser radar and visual sensor installed on the flying car, and the flight information can be used as a signal input for threshold judgment.

[0062] For example, the current flight speed V of the flying car is 30 km / h. For example, the current flight speed V of the flying car can be collected in real time by a speed sensor provided on the flying car, and the current flight speed V is sent to the control unit of the flying car.

[0063] S102: If the current flight information meets the preset coordinated turn triggering condition, enter the coordinated turn enabling corridor and obtain the first operation information of the joystick.

[0064] The first operation information includes: operation direction and operation amount. For example, if the operation direction is right and the operation amount is +0.5, the operation intention is to control the flying car to translate to the right, and the translation amount to the right is 50% of the corresponding translation amount when the gear is fully engaged; for another example, if the operation direction is left and the operation amount is -0.7, the operation intention is to control the flying car to translate to the left, and the translation amount to the left is 70% of the corresponding translation amount when the gear is fully engaged.

[0065] In this embodiment, the current flight speed is used as a judgment condition to determine whether the preset coordinated turn trigger condition is met. For example, the preset coordinated turn trigger condition is that the flight speed is greater than 28KM / h. If the current flight speed is 30KM / h, that is, 30KM / h>28KM / h, it is determined that the flying car enters the coordinated turn enabling corridor, and at the same time, the first operation information of the joystick is obtained. For example, the operation direction in the first operation information can be forward, backward, left, right, left rotation or right rotation, that is, different operation directions indicate different operation intentions.

[0066] In addition, in order to ensure the flight quality of the flying car when switching driving modes, the coordinated entry and exit of the turning function should have a smooth transition effect, and its implementation method may include but is not limited to faders and weight factors.

[0067] S103: Determine whether to switch to the coordinated turning mode according to the first operation information of the joystick.

[0068] In this embodiment, for example, if the current flight speed meets the preset coordinated turn trigger condition, and the operation intention indicated by the operation direction in the first operation information of the joystick is turning, it is determined to switch to the coordinated turn mode; if the current flight speed meets the preset coordinated turn trigger condition, but the operation intention indicated by the operation direction in the first operation information of the joystick is not to turn, it is determined not to switch to the coordinated turn mode, that is, the current heading is continued to be maintained.

[0069] S104: If yes, switch to the coordinated turning mode, and control the flying car to be in the coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car.

[0070] Optionally, if it is determined to switch to the coordinated turning mode, the roll angle and yaw angle of the flying car when it is in the coordinated turning are calculated according to the first operation information of the joystick and the current flight state of the flying car, and the flying car is controlled to be in the coordinated turning mode based on the roll angle and yaw angle of the flying car when it is in the coordinated turning. That is, this solution can realize automatic switching between the heading holding and coordinated turning functions according to the joystick command input by the driver, and the switching process is smooth and without oscillation, so as to meet the flight requirements of the flying car in different states and has wider applicability.

[0071] In summary, the embodiment of the present application provides a control method for a flying car, the method comprising: obtaining the current flight information of the flying car; if the current flight information meets the preset coordinated turning trigger condition, obtaining the first operation information of the joystick, the first operation information including: operation direction and operation amount; according to the first operation information of the joystick, determining whether to switch to the coordinated turning mode; if so, switching to the coordinated turning mode, and controlling the flying car to be in the coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car. In this scheme, the current flight information of the flying car is used as a discrimination condition to determine whether the preset coordinated turning trigger condition is met, if it is met, and it is determined to switch to the coordinated turning mode according to the first operation information of the joystick, then switching to the coordinated turning mode, and according to the first operation information of the joystick and the current flight state of the flying car, calculating the roll angle and yaw angle of the flying car when it is in the coordinated turning, and based on the roll angle and yaw angle of the flying car when it is in the coordinated turning, controlling the flying car to be in the coordinated turning mode, that is, entering the coordinated turning enabling corridor. Therefore, this solution can realize automatic switching between heading keeping and coordinated turning functions according to the joystick command input by the driver, and the switching process is smooth and without oscillation, thereby meeting the flight requirements of the flying car in different states.

[0072] Optionally, the above step S103 includes:

[0073] If the operation direction in the first operation information is a left turn or a right turn, it is determined to switch to the coordinated turning mode.

[0074] In one achievable manner, for example, if the operation direction in the first operation information is left rotation or right rotation, it can be determined that the current operation intention is to turn, that is, the current heading hold mode needs to be switched to the coordinated turn mode.

[0075] In another achievable manner, for example, if the operation direction in the first operation information is left or right, the current operation intention is determined to be lateral movement to the left or right, that is, there is no need to switch the current heading hold mode to the coordinated turn mode.

[0076] Optionally, refer to Figure 2 As shown, S104 includes:

[0077] S201. Generate a first flight instruction according to the first operation information and the current flight state of the flying car.

[0078] The first flight instruction includes: a yaw angle instruction and a roll angle instruction.

[0079] S202: According to the current flight state of the flying car and the first flight instruction, the flying car is controlled to be in a coordinated turning mode.

[0080] In this embodiment, for example, if the operation direction in the first operation information is right rotation and the operation amount is +0.5, the first flight instruction corresponding to the first operation information can be found from the pre-constructed mapping table between the operation information and the flight instruction; and based on the current flight state of the flying car, the current flight instruction of the flying car is determined, and then, based on the first flight instruction and the current flight instruction, the target flight instruction is obtained, and based on the target flight instruction, the flying car is controlled to be in the coordinated turning mode. Therefore, in this solution, the flight instruction for the flying car to switch to the coordinated turning mode is calculated based on the joystick instruction input by the driver and the current flight state of the flying car, so as to ensure that the switching process of the flying car is smooth and without oscillation.

[0081] Optionally, the above step S201 includes:

[0082] According to the pre-constructed coordinated turning formula, the operation direction and the operation amount in the first operation information, the roll angle instruction and the yaw angle instruction in the first flight instruction are obtained.

[0083] For example, the pre-built coordinated turning formula is as shown in the following formula (1):

[0084]

[0085] Among them, is the yaw angular velocity, φ is the roll angle, g is the gravitational acceleration, and V is the flight speed.

[0086] In this example, for example, the yaw angular velocity corresponding to the first operation information can be obtained according to the mapping relationship between the first operation information and the pre-constructed operation information and the yaw angular velocity. For example, if the operation direction in the first operation information is left and the operation amount is -1, that is, the joystick is fully turned to the left, then according to the mapping relationship between the pre-constructed operation information and the yaw angle, it can be determined that the yaw angle corresponding to the first operation information is the maximum yaw angular velocity to the left; for another example, if the operation direction in the first operation information is right and the operation amount is +1, that is, the joystick is fully turned to the right, then it can be determined that the yaw angle corresponding to the first operation information is the maximum yaw angular velocity to the right.

[0087] Therefore, after determining the yaw angular velocity corresponding to the first operation information, the yaw angular velocity corresponding to the first operation information is substituted into the above formula (1), and the roll angle can be calculated; then, according to the yaw angular velocity and the roll angle, a yaw angle command and a roll angle command, i.e., the first flight command, are generated.

[0088] Optionally, refer to Figure 3 As shown, the method also includes:

[0089] S301, obtaining current flight turning information when the flying car is in a coordinated turning mode.

[0090] The turning information includes: turning speed, turning position or turning posture.

[0091] S302: If the current flight turn information satisfies the preset heading hold trigger condition, the second operation information of the joystick is obtained.

[0092] In one achievable manner, for example, when the flying car is in the coordinated turning mode, if it is necessary to switch to the heading holding mode, the current turning speed can be used as a judgment condition to determine whether the current operation intention is to switch out of the coordinated turning mode. For example, the preset heading holding trigger condition is that the turning speed is lower than 26KM / h. If the current turning speed is 20KM / h, that is, 20KM / h<26KM / h, it is determined that the preset heading holding trigger condition is met, and the second operation information of the joystick is obtained at the same time.

[0093] S303: Determine whether to continue in the coordinated turning mode according to the second operation information of the joystick.

[0094] In one feasible manner, for example, if the operation direction in the second operation information is forward, it can be judged that the operation intention is to fly forward, that is, to switch out of the coordinated turning mode; for another example, if the operation direction in the second operation information is to turn left, it can be judged that the operation intention is to turn left, that is, to continue in the coordinated turning mode.

[0095] S304: If the coordinated turning mode is not continued, determine whether the current turning information satisfies a preset coordinated turning deactivation condition.

[0096] S305: If the preset coordinated turn deactivation condition is met, exit the coordinated turn corridor and switch to the heading hold mode, and control the flying car to be in the heading hold state according to the second operation information of the joystick and the current flight state of the flying car.

[0097] In one achievable manner, if it is determined that the current operation intention is not to continue in the coordinated turning mode, that is, it is necessary to switch to the heading holding mode, at this time, it can be determined whether the current turning speed meets the preset coordinated turning deactivation condition. For example, the preset heading holding trigger condition is that the turning speed is lower than 24KM / h. If the current turning speed is 20KM / h, that is, 20KM / h<24KM / h, it can be determined that the preset heading holding trigger condition is met, that is, switch out of the coordinated turning enabling corridor, switch the flying car from the coordinated turning mode to the heading holding mode, and control the flying car to be in the heading holding mode.

[0098] Optionally, in this solution, in order to ensure the flight quality when the flying car switches the driving mode, the cut-in and cut-out of the coordinated turning mode should have a smooth transition effect, and its implementation method may include but is not limited to faders and weight factors, etc., and may also include the setting of different coordinated turning trigger conditions and coordinated turning deactivation conditions proposed in this application. At the same time, in order to avoid the phenomenon of frequent switching of coordinated turning modes, there are differences between the coordinated turning trigger conditions and the coordinated turning deactivation conditions to ensure that there is a hysteresis zone when entering and exiting the function, which fundamentally avoids the problem of heading oscillation when switching between coordinated turning and heading assurance.

[0099] Optionally, in order to enrich driving options, the coordinated turn trigger conditions and coordinated turn deactivation conditions can be quickly configured through the menu on the driver's screen to adapt to different driving styles and flight scenarios, and the usage status of the coordinated turn mode can be observed in real time through the driver's screen.

[0100] In another feasible manner, for example, if the current turning speed does not satisfy the preset heading hold trigger condition, it continues to determine whether the current turning speed satisfies the preset coordinated turn deactivation condition; if the coordinated turn deactivation condition is satisfied, it switches to the heading hold mode, thereby avoiding the problem of heading oscillation caused by direct mode switching, and improving the flight quality of the flying car during flight; for another example, if it is determined that the current turning speed does not satisfy the preset coordinated turn deactivation condition, it continues to be in the coordinated turn mode.

[0101] Optionally, the flight attitude or position information of the flying car can be collected and used as a coordinated turn trigger condition (or a coordinated turn deactivation condition), not limited to the above embodiment in which the flight speed is used as a coordinated turn trigger condition (or a coordinated turn deactivation condition).

[0102] Optionally, the above step S303 includes:

[0103] If the operation direction in the second operation information is neither a left turn nor a right turn, it is determined that the coordinated turning mode is not continued.

[0104] Among them, if the operation direction is left rotation or right rotation, it can be determined that the current operation intention is to turn left or turn right.

[0105] In this embodiment, for example, if the operation direction in the second operation information of the joystick is neither left rotation nor right rotation, that is, the current operation intention is to stop turning, it is determined not to continue in the coordinated turning mode.

[0106] refer to Figure 4 As shown, in the above step S305, according to the second operation information of the joystick and the current flight state of the flying car, the flying car is controlled to be in a heading holding state, including:

[0107] S401. Generate a second flight instruction according to the operation direction, operation amount and current flight status in the second operation information.

[0108] The second flight instruction includes: a yaw angle instruction, a roll angle instruction and a pitch angle instruction.

[0109] S402: Control the flying car to be in a heading holding state through a second flight instruction.

[0110] In this embodiment, for example, the yaw angle, roll angle and pitch angle corresponding to the second operation information can be determined based on the mapping relationship between the pre-constructed flight instruction and the operation information, the operation direction and the operation amount in the second operation information. For example, if the operation direction in the second operation information is forward and the operation amount is +1, the pitch angle can be determined to be the maximum forward pitch angle; for another example, if the operation direction in the second operation information is backward and the operation amount is -1, the pitch angle can be determined to be the maximum backward pitch angle; then, according to the yaw angle, roll angle and pitch angle corresponding to the second operation information, the second flight instruction is generated, and the flying car is controlled to be in the heading holding mode through the second flight instruction, so as to achieve the smooth control of the flying car in the heading holding mode, and there is no oscillation phenomenon in the whole process, so as to ensure the flight quality of the flying car.

[0111] Optionally, refer to Figure 5 As shown, the above step S401 includes:

[0112] S501. Input the operation amount in the second operation information into a pre-built instruction shaping model to obtain a smoothed operation amount output by the instruction shaping model.

[0113] Exemplarily, for example, the instruction shaping model may be a first-order response.

[0114] S502: Generate a second flight instruction according to the smoothed operation amount and the current flight state.

[0115] Optionally, in this solution, in order to ensure the riding quality of the flying car, both the coordinated turning mode and the heading keeping mode should have the ability of command shaping. This function requires the ability to shape the joystick command input by the driver so that the time domain response of the driver's control can be realized according to a specific expected mode (such as a first-order response, etc.), effectively avoiding the large-scale attitude change of the flying car due to abnormal operation. Specifically, the operation amount in the second operation information is input into the first-order response function to obtain the smoothed operation amount output by the first-order response function. For example, if the input operation amount is +1, the smoothed operation amount is 0.5, 0.7, 0.9 and 1. Therefore, in this solution, the coordinated turning command shaping function is designed to ensure the expected driving characteristics and flight quality, and avoid the heading oscillation problem when switching between coordinated turning and heading guarantee from the root.

[0116] Optionally, when the coordinated turning mode is switched to the heading hold mode, it should be ensured that the yaw rate after shaping does not exceed the set threshold, fundamentally avoiding the heading oscillation problem caused by the switch. In addition, the coordinated turning command shaping function requires that during the turning process, the flight control system can dynamically limit the amplitude and change rate of the command according to the actual flight state to prevent the actual flight state of the flying car from exceeding the flight envelope and the coordination boundary.

[0117] Optionally, refer to Figure 6 As shown, the method also includes:

[0118] S601: If the current flight information does not meet the preset coordinated turn triggering condition, the coordinated turn enabling corridor is not entered, and the third operation information of the joystick is obtained.

[0119] S602: Control the flying car to be in a heading holding state according to the third operation information and the current flight state of the flying car.

[0120] In this embodiment, for example, if the current flight speed is 26KM / h, it can be determined that the current flight speed does not meet the preset coordinated turn trigger condition, that is, it does not enter the coordinated turn enable corridor, that is, it continues to be in the current flight mode, such as fixed point mode, fixed altitude mode, attitude mode and angular rate mode, etc., and generates a third flight instruction based on the third operation information and the current flight status of the flying car, and based on the third flight instruction, the flying car is controlled to be in a heading holding state.

[0121] Optionally, in order to achieve diversified choices of flying car driving modes, this solution proposes to design a coordinated turning enabling corridor for the coordinated turning mode, that is, to set a specific logic, including a trigger threshold and a deactivation threshold. Only when the preset logical conditions are met, the flying car has the coordinated turning function.

[0122] Optionally, refer to Figure 7As shown, it is a schematic diagram of a flying car entering (or exiting) a coordinated turning-enabled corridor provided by an embodiment of the present application, and the method includes:

[0123] In this embodiment, the flying speed of the flying car is used as a judgment condition to determine whether the flying car enters (or exits) the coordinated turning corridor. If so, it is determined whether to switch to the coordinated turning mode based on the operation information input by the driver. The details are as follows:

[0124] The first step is initialization;

[0125] Step 2: When the flying car is outside the coordinated turning enabling corridor, the flying car is in the classic control mode, and it is determined whether the flying speed of the flying car meets the preset coordinated turning mode activation threshold. If so, it enters the coordinated turning enabling corridor;

[0126] The coordinated turning mode activation threshold is the coordinated turning mode triggering condition in the above embodiment.

[0127] The third step is to determine whether to switch to the coordinated turning state based on the operation information input by the driver.

[0128] 1. If the operation direction in the first operation information is left rotation or right rotation, determine to switch to the coordinated turning mode, and control the flying car to be in the coordinated turning state based on the first operation information and the current flight state;

[0129] In the process of being in the coordinated turning state, the current turning speed of the flying car is collected in real time, and it is determined whether the current turning speed meets the preset heading keeping threshold; if so, the second operation information input by the driver is obtained, and according to the second operation information, it is determined whether to continue in the coordinated turning state; if not, it is determined whether to switch to the heading keeping state according to the second operation information.

[0130] 2. If the operation direction in the first operation information is neither a left rotation nor a right rotation, the coordinated turning mode is not switched, that is, the heading is kept, and it is determined whether the flying speed of the flying car meets the preset coordinated turning mode deactivation threshold. If so, the coordinated turning enabling corridor is exited.

[0131] The coordinated turning mode deactivation threshold is the coordinated turning mode deactivation condition in the above embodiment.

[0132] Optionally, refer to Figure 8 FIG. 1 is a schematic diagram of an overall control scheme for a flying car provided in an embodiment of the present application. The method includes:

[0133] The first step is to obtain the operation information input by the driver.

[0134] The operation information is obtained through the push rod amount.

[0135] The second step is to perform command shaping processing on the operation information input by the pilot to generate a pitch stick mapping, and then generate a pitch command based on the pitch stick mapping and the current flight status;

[0136] Step 3: Determine whether the flying speed of the flying car meets the preset threshold for enabling the coordinated turning mode;

[0137] If so, it enters the coordinated turning enable corridor and determines whether to switch to the coordinated turning state based on the operation information input by the driver. If so, it generates a yaw angle command and a roll angle command based on the operation information input by the driver and the current flight state, and controls the flying car to be in a coordinated turning state according to the yaw angle command, the roll angle command and the pitch angle command.

[0138] If not, it is outside the coordinated turn enable corridor, and the operation information input by the driver is shaped by command, and a roll bar mapping and a yaw bar command are generated. Then, based on the roll bar mapping and the yaw bar command, a roll angle command and a yaw angle command are generated. Then, according to the yaw angle command, the roll angle command and the pitch angle command, the flying car is controlled to be in a heading holding state.

[0139] Optionally, refer to Fig. 9 As shown, it is a schematic diagram of the hysteresis zone when entering or exiting the coordinated turn enabling corridor. Specifically, when the flight speed meets the coordinated turn enabling threshold, it enters the coordinated turn corridor; if the flight speed meets the coordinated turn disabling threshold, it exits the coordinated turn corridor. Among them, in order to avoid the phenomenon of frequent entry and exit of the corridor, there is a difference between the enabling threshold and the disabling threshold of the coordinated turn enabling corridor. In this way, it can be ensured that there is a hysteresis zone when entering and exiting, so that the coordinated turn function should have a smooth transition effect when cutting in and out, which fundamentally avoids the heading oscillation problem when switching between coordinated turning and heading assurance.

[0140] Optionally, refer to Fig.10 , which is a schematic diagram of the structure of a flying car provided in an embodiment of the present application, wherein the flying car includes: a processor 1001 and a memory 1002.

[0141] The memory 1002 is used to store programs, and the processor 1001 calls the programs stored in the memory 1002 to execute the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0142] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, comprising a program, which is used to execute the above method embodiment when executed by a processor.

[0143] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0144] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0146] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

Claims

1. A method for controlling a flying car, characterized in that: The method comprises: Acquire current flight information of the flying car, the flight information including: flight speed, flight position or flight attitude; If the current flight information meets the preset coordinated turn triggering condition, the coordinated turn enabling corridor is entered, and first operation information of the joystick is obtained, where the first operation information includes: operation direction and operation amount; determining whether to switch to a coordinated turning mode according to first operation information of the joystick; If yes, the coordinated turning mode is switched to, and the flying car is controlled to be in the coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car.

2. The method according to claim 1, characterized in that The step of determining whether to switch to the coordinated turning mode according to the first operation information of the joystick includes: If the operation direction in the first operation information is a left turn or a right turn, it is determined to switch to the coordinated turning mode.

3. The method according to claim 1, characterized in that The step of controlling the flying car to be in a coordinated turning mode according to the first operation information of the joystick and the current flight state of the flying car comprises: Generate a first flight instruction according to the operation direction and the operation amount in the first operation information, wherein the first flight instruction includes: a yaw angle instruction and a roll angle instruction; According to the current flight state of the flying car and the first flight instruction, the flying car is controlled to be in a coordinated turning mode.

4. The method according to claim 3, characterized in that The step of generating a first flight instruction according to the operation direction and the operation amount in the first operation information includes: The roll angle instruction and the yaw angle instruction in the first flight instruction are obtained according to the pre-constructed coordinated turning formula, the operation direction and the operation amount in the first operation information.

5. The method according to claim 1, characterized in that: Also includes: Acquiring current turning information when the flying car is in a coordinated turning mode, the turning information including: turning speed, turning position or turning posture; If the current turning information satisfies a preset heading keeping trigger condition, obtaining second operation information of the joystick; determining whether to continue in the coordinated turning mode according to the second operation information of the joystick; If the coordinated turning mode is not continued, determining whether the current turning information satisfies a preset coordinated turning deactivation condition; If the preset coordinated turn deactivation condition is met, the coordinated turn corridor is exited and the heading hold mode is switched to control the flying car to be in the heading hold state according to the second operation information of the joystick and the current flight state of the flying car.

6. The method according to claim 5, characterized in that The step of determining whether to continue in the coordinated turning mode according to the second operation information of the joystick includes: If the operation direction in the second operation information is neither a left turn nor a right turn, determining not to continue in the coordinated turning mode; The method of controlling the flying car to be in a heading holding state according to the second operation information of the joystick and the current flight state of the flying car comprises: Generate a second flight instruction according to the operation direction, operation amount and the current flight state in the second operation information, wherein the second flight instruction includes: a yaw angle instruction, a roll angle instruction and a pitch angle instruction; The flying car is controlled to be in a heading holding state through the second flight instruction.

7. The method according to claim 6, characterized in that The generating a second flight instruction according to the operation direction, the operation amount and the current flight state in the second operation information includes: Inputting the operation amount in the second operation information into a pre-built instruction shaping model to obtain a smoothed operation amount output by the instruction shaping model; A second flight instruction is generated according to the smoothed operation amount and the current flight state.

8. The method according to claim 1, characterized in that: Also includes: If the current flight information does not meet the preset coordinated turn triggering condition, the coordinated turn corridor is not entered, and the third operation information of the joystick is obtained; According to the third operation information and the current flight state of the flying car, the flying car is controlled to be in a heading keeping mode.

9. A flying car, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the flying car is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1-8.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is executed.

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