Flying car control method, flying car and storage medium

Abstract

The present application provides a control method for a flying car, a flying car, and a storage medium, relating to the field of vehicle control technology. The method comprises: obtaining the current flight information of the flying car; if the current flight information meets a preset coordinated turn trigger condition, entering a coordinated turn corridor and obtaining first operation information of a joystick; determining whether to switch to a coordinated turn mode based on the first operation information of the joystick; if so, switching to the coordinated turn mode and controlling the flying car in the coordinated turn mode based on the first operation information of the joystick and the current flight status of the flying car. This solution can automatically switch between heading hold and coordinated turn functions based on joystick commands input by the driver, and the switching process is smooth and oscillation-free, thereby meeting the flight requirements of the flying car in different states.

Description

Technical Field

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

[0002] Flying cars have the advantages of being both airborne and land-based, and highly efficient. Therefore, as people's demand for convenient transportation continues to rise, flying cars will inevitably become a trend in future transportation, alleviating current traffic congestion while improving transportation efficiency.

[0003] Currently, most flying cars utilize roof-mounted rotors, similar to drones, to achieve vertical takeoff and flight. Coordinated turns are a crucial horizontal maneuver during drone flight, requiring the drone to switch from level flight mode to coordinated turns and then back to level flight.

[0004] However, drones and cars use different control systems and components, and their 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 in different states. Summary of the Invention

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

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are 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] Obtaining 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 so, 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 left turn or 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] generating 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 the operation direction and 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 of the flying car when it is in a coordinated turning mode, the turning information including: turning speed, turning position, or turning attitude;

[0021] If the current turning information satisfies a preset heading hold 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 turn mode is not continued, determining whether the current turn information satisfies a preset coordinated turn 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. 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 the heading hold state.

[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 step 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 includes:

[0028] generating a second flight instruction according to the operation direction, the 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, 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 conditions, then the aircraft does not enter the coordinated turn corridor and obtains third operation information of the joystick;

[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 holding 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. 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. 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 comprises: obtaining current flight information of the flying car; if the current flight information satisfies a preset coordinated turn trigger condition, obtaining first operation information of a joystick, the first operation information including an operation direction and an operation amount; determining whether to switch to a coordinated turn mode based on the first operation information of the joystick; if so, switching to the coordinated turn mode, and controlling the flying car to be in the coordinated turn mode based on the first operation information of the joystick and the current flight state of the flying car. In this solution, the current flight information of the flying car is used as a judgment condition to determine whether the preset coordinated turn trigger condition is satisfied; if so, and switching to the coordinated turn mode is determined based on the first operation information of the joystick, switching to the coordinated turn mode, and calculating the roll angle and yaw angle of the flying car when the flying car is in the coordinated turn based on the first operation information of the joystick and the current flight state of the flying car. Based on the roll angle and yaw angle of the flying car when the flying car is in the coordinated turn, the flying car is controlled to be in the coordinated turn mode, i.e., to enter the coordinated turn enabled corridor. Therefore, this solution can automatically switch between heading hold and coordinated turn functions according to the joystick commands input by the driver, and the switching process is smooth and without oscillation, thus meeting the flight needs 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 following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

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

[0042] Figure 2 A 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 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 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 turn-enabled corridor provided in an embodiment of the present application;

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

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

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

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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 illustration 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 to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, 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 of the embodiments. The components of the embodiments of the present application generally 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 claimed application, but merely represents 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 are within 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 its 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 commands to ensure 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 in FIG, a flow chart of a method for controlling a flying car provided in an embodiment of the present application is provided; 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] Flight information includes flight speed, flight position, or flight attitude. For example, the flight information can be collected by hardware devices such as GNSS, IMU, pitot tube, lidar, and visual sensors installed on the flying car, and used as a signal input for threshold judgment.

[0062] For example, if the current flight speed V of the flying car is 30 km / h, 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 can be 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 first operation information of the joystick.

[0064] The first operation information includes: the operation direction and the 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 move to the right, and the rightward translation amount is 50% of the translation amount corresponding to the full translation amount. 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 move to the left, and the leftward translation amount is 70% of the translation amount corresponding to the full translation amount.

[0065] In this embodiment, the current flight speed is used as a criterion to determine whether a preset coordinated turn trigger condition is met. For example, the preset coordinated turn trigger condition is a flight speed greater than 28 km / h. If the current flight speed is 30 km / h (i.e., 30 km / h > 28 km / h), the flying vehicle is determined to have entered the coordinated turn-enabled corridor. Simultaneously, first joystick operation information is obtained. For example, the operation direction in the first operation information can be forward, backward, left, right, left rotation, or right rotation. Different operation directions indicate different operational intentions.

[0066] In addition, to ensure the flight quality of the flying car when switching driving modes, the entry and exit of the coordinated turning function should have a smooth transition effect, and its implementation methods may include but are not limited to faders and weighting 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 turning, it is determined not to switch to the coordinated turn mode, that is, to continue to maintain the current heading.

[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 the decision is to switch to coordinated turning mode, the roll and yaw angles of the flying vehicle during the coordinated turn are calculated based on the first joystick operation information and the current flight state of the flying vehicle. Based on these roll and yaw angles, the flying vehicle is controlled to enter the coordinated turning mode. This solution automatically switches between heading hold and coordinated turning based on joystick commands input by the pilot, and the switching process is smooth and oscillatory. This solution can meet the flight requirements of the flying vehicle in different states and has wider applicability.

[0071] In summary, an embodiment of the present application provides a method for controlling a flying vehicle, the method comprising: obtaining current flight information of the flying vehicle; if the current flight information satisfies a preset coordinated turn trigger condition, obtaining first operation information of a joystick, the first operation information including an operation direction and an operation amount; determining whether to switch to a coordinated turn mode based on the first operation information of the joystick; if so, switching to the coordinated turn mode, and controlling the flying vehicle to be in the coordinated turn mode based on the first operation information of the joystick and the current flight state of the flying vehicle. In this embodiment, the current flight information of the flying vehicle is used as a judgment condition to determine whether the preset coordinated turn trigger condition is satisfied; if so, and switching to the coordinated turn mode is determined based on the first operation information of the joystick, switching to the coordinated turn mode, and calculating the roll angle and yaw angle of the flying vehicle when in the coordinated turn based on the first operation information of the joystick and the current flight state of the flying vehicle. Based on the roll angle and yaw angle of the flying vehicle when in the coordinated turn, the flying vehicle is controlled to be in the coordinated turn mode, i.e., to enter the coordinated turn enabled corridor. Therefore, this solution can automatically switch between heading hold and coordinated turn functions according to the joystick commands input by the driver, and the switching process is smooth and without oscillation, thus meeting the flight needs 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 turning, that is, the current heading hold mode needs to be switched to the coordinated turning 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 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: Control the flying car to be in a coordinated turning mode according to the current flight state of the flying car and the first flight instruction.

[0080] In this embodiment, for example, if the first operation information indicates a right turn and an operation amount of +0.5, the first flight instruction corresponding to the first operation information can be retrieved from a pre-established mapping table between operation information and flight instructions. Based on the current flight state of the flying vehicle, the current flight instruction for the flying vehicle is determined. Then, based on the first and current flight instructions, a target flight instruction is derived, and the flying vehicle is controlled to enter coordinated turning mode based on the target flight instruction. Therefore, in this solution, the flight instruction for switching the flying vehicle to coordinated turning mode is calculated based on the joystick instruction input by the driver and the current flight state of the flying vehicle, ensuring a smooth and oscillating switching process.

[0081] Optionally, the above step S201 includes:

[0082] 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.

[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 acceleration of gravity, and V is the flight speed.

[0086] In this embodiment, for example, the yaw angular velocity corresponding to the first operation information can be obtained based on the mapping relationship between the first operation information and the pre-established operation information and 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 pressed to the left, then based on the pre-established mapping relationship between the operation information and the yaw angle, the yaw angle corresponding to the first operation information can be determined to be 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 pressed to the right, then the yaw angle corresponding to the first operation information can be determined to be 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) to calculate the roll angle; then, based on 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 further includes:

[0089] S301: Acquire 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 a preset heading hold trigger condition, obtain second operation information of the joystick.

[0092] In one conceivable implementation, for example, when a flying car is in coordinated turning mode and needs to switch to heading hold mode, the current turning speed can be used as a criterion to determine whether the current operation intention is to exit coordinated turning mode. For example, if the preset heading hold trigger condition is a turning speed below 26 km / h, and the current turning speed is 20 km / h (i.e., 20 km / h < 26 km / h), the preset heading hold trigger condition is determined to be met, and the second joystick operation information is simultaneously obtained.

[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 example, if the operation direction in the second operation information is to rotate 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 meets 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. According to the second operation information of the joystick and the current flight status of the flying car, the flying car is controlled to be in the heading hold state.

[0097] In one achievable approach, if the current operational intention is determined to be discontinuing the coordinated turn mode, i.e., switching to the heading hold mode is required, then it can be determined whether the current turning speed satisfies a preset coordinated turn deactivation condition. For example, the preset heading hold trigger condition is a turning speed below 24 km / h. If the current turning speed is 20 km / h, i.e., 20 km / h < 24 km / h, then it can be determined that the preset heading hold trigger condition is satisfied, i.e., the aircraft is switched out of the coordinated turn enable corridor, and the aircraft is switched from the coordinated turn mode to the heading hold mode, controlling the aircraft to remain in the heading hold mode.

[0098] Optionally, in this solution, to ensure flight quality when switching between driving modes, the coordinated turning mode should have a smooth transition between entering and exiting. This implementation may include, but is not limited to, faders and weighting factors. It may also include setting different coordinated turning trigger conditions and coordinated turning deactivation conditions, as proposed in this application. Furthermore, to avoid frequent switching between coordinated turning modes, the coordinated turning trigger conditions and coordinated turning deactivation conditions are differentiated to ensure a hysteresis zone between entering and exiting the function, fundamentally avoiding the heading oscillation problem when switching between coordinated turning and heading assurance.

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

[0100] In another feasible manner, for example, if the current turning speed does not meet the preset heading hold trigger condition, it is further determined whether the current turning speed meets the preset coordinated turn deactivation condition. If the coordinated turn deactivation condition is met, 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 meet 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 coordinated turn deactivation condition), which is not limited to the above embodiment in which the flight speed is used as the coordinated turn trigger condition (or 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 that the coordinated turning mode is not to be continued.

[0106] refer to Figure 4 As shown, in the above step S305, 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 includes:

[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 a pre-established mapping relationship between flight instructions and operation information, and the operation direction and 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, based on the yaw angle, roll angle, and pitch angle corresponding to the second operation information, a second flight instruction is generated. This second flight instruction is used to control the flying vehicle in heading hold mode, achieving smooth control of the flying vehicle in heading hold mode without oscillation throughout the entire process, thereby ensuring the flying vehicle's flight quality.

[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 ride quality of the flying car, both the coordinated turning mode and the heading hold mode should have the ability to perform 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 achieved according to a specific expected pattern (such as a first-order response, etc.), effectively avoiding large-scale attitude changes 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 to fundamentally avoid the heading oscillation problem when switching between coordinated turning and heading assurance.

[0116] Optionally, when switching from coordinated turn mode to heading hold mode, the shaped yaw rate should be ensured to not exceed a set threshold, fundamentally avoiding the heading oscillation problem caused by the switch. Furthermore, the coordinated turn command shaping function requires that during the turn, the flight control system dynamically limit the amplitude and rate of change of the command based on the actual flight state, preventing the actual flight state of the flying car from exceeding the flight envelope and coordination boundaries.

[0117] Optionally, refer to Figure 6 As shown, the method further 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 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 26 km / 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, 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, controls the flying car 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-based corridor, including a trigger threshold and a deactivation threshold. Only when the preset logical conditions are met, the flying car will have the coordinated turning function.

[0122] Optionally, refer to Figure 7FIG. 1 is a schematic diagram of a flying car entering (or exiting) a coordinated turn-enabled corridor according to an embodiment of the present application. The method includes:

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

[0124] The first step is initialization;

[0125] Step 2: When the flying car is outside the coordinated turn corridor, the flying car is in the classic control mode and determines whether the flying car's flight speed meets the preset coordinated turn mode activation threshold. If so, the flying car enters the coordinated turn 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 a left turn or a right turn, 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] During 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 holding threshold; if so, the second operation information input by the driver is obtained, and based on 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 holding state based on the second operation information.

[0130] 2. If the operation direction in the first operation information is neither a left turn nor a right turn, the coordinated turn mode is not switched to, that is, the heading is maintained, and a determination is made as to whether the flying car's flight speed meets a preset coordinated turn mode deactivation threshold. If so, the coordinated turn enable 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 according to 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 on the operation information input by the pilot to generate a pitch stick map, and then generate a pitch command based on the pitch stick map and the current flight status;

[0136] Step 3: Determine whether the flying car's flight speed 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 the coordinated turning state according to the yaw angle command, roll angle command and pitch angle command.

[0138] If not, it is outside the coordinated turn enable corridor, and the operation information input by the driver is shaped into a command to generate a roll bar mapping and a yaw bar command. 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 Figure 9 The figure shows a schematic diagram of the hysteresis zone when entering or exiting the coordinated turn corridor. Specifically, when the flight speed meets the coordinated turn activation threshold, the aircraft enters the coordinated turn corridor; if the flight speed meets the coordinated turn deactivation threshold, the aircraft exits the coordinated turn corridor. To avoid frequent entry and exit of the corridor, the activation threshold and deactivation threshold of the coordinated turn corridor are different. This ensures that there is a hysteresis zone when entering and exiting, and thus the coordinated turn function should have a smooth transition effect when entering and exiting, thus fundamentally avoiding the heading oscillation problem when switching between coordinated turn and heading assurance.

[0140] Optionally, refer to Figure 10 , which is a schematic structural diagram of a flying car provided in an embodiment of the present application, and 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 further provides a program product, such as a computer-readable storage medium, comprising a program, which is used to perform 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 merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0145] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or 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 and includes a number of instructions for causing a computer device (which can be a personal computer, server, or 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: a USB flash drive, a mobile hard disk, a read-only memory (English: Read-Only Memory, abbreviated: ROM), a random access memory (English: Random Access Memory, abbreviated: RAM), a magnetic disk or an optical disk, and other media that can store program code.

Claims

1. A method for controlling a flying car, characterized in that: The method comprises: Obtaining 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 so, 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 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 left turn or 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 includes: generating 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 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, wherein Also includes: Acquiring current turning information of the flying car when it is in a coordinated turning mode, the turning information including: turning speed, turning position, or turning attitude; If the current turning information satisfies a preset heading hold 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 turn mode is not continued, determining whether the current turn information satisfies a preset coordinated turn 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. 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 the heading hold state.

6. The method according to claim 5, characterized in that The determining, based on the second operation information of the joystick, whether to continue in the coordinated turning mode 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 step 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 includes: generating a second flight instruction according to the operation direction, the 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 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 conditions, the coordinated turn corridor is not entered, and 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 holding 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 and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method according to 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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