Emergency landing system and method for hovercar

Abstract

The invention relates to the technical field of low-altitude aircrafts, in particular to an emergency landing system and method for an aerocar, and ensures stable operation of a parachute in emergency through accurate opening judgment, starting, unfolding control and wind resistance adjustment functions of a parachute module. Secondly, the low-altitude sensing and obstacle avoidance module realizes real-time monitoring of the surrounding environment of the hovercar and formulation of an obstacle avoidance strategy by integrating various sensors and intelligent algorithms. And the emergency landing safety air bag module is used for rapidly unfolding a safety air bag before landing, so that an effective buffer layer is formed, and the impact force during landing is reduced. And the precise flight control module is responsible for keeping the stable attitude and precise path planning of the hovercar in the landing process. And finally, the power management module is automatically switched to the standby power supply when the main power supply fails, so that the continuous operation of the key system is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude aircraft, and more specifically, to an emergency landing system and method for a flying car. Background Art

[0002] For a long time, urban vehicle traffic has played an important role in the daily travel of residents. To solve the congestion of urban traffic, driverless flying cars are undoubtedly a solution and also a future development trend. During the development of driverless flying cars, safety issues must be a problem that must be considered. A flying car may encounter various emergencies during flight, such as insufficient power, system failures, or sudden obstacles, etc. These situations may cause the flying car to be unable to continue flying safely. At this time, an effective emergency landing system is crucial for ensuring the safety of passengers and vehicles.

[0003] However, existing emergency landing systems for flying cars often have many deficiencies, such as insufficient stability of the parachute system, limited low-altitude perception and obstacle avoidance capabilities, poor landing buffer effect, inaccurate flight attitude and path control, and non-intelligent power management, etc. These problems not only affect the safety of flying cars but also limit their popularization and application in actual use.

[0004] To solve this problem, the present invention proposes an emergency landing system and method for a flying car. Summary of the Invention

[0005] The purpose of the present invention is to provide an emergency landing system and method for a flying car to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: An emergency landing system for a flying car, the system includes a parachute module, a low-altitude perception and obstacle avoidance module, an emergency landing airbag module, an accurate flight control module, and a power management module; The parachute module is used for judging the opening of the parachute, starting, deploying control, and wind resistance adjustment to ensure the stable operation of the parachute; The low-altitude perception and obstacle avoidance module is responsible for real-time monitoring of the obstacles and terrain information around the flying car to ensure flight safety; The emergency landing airbag module is responsible for deploying the airbag when the flying car is about to land to form a buffer layer to reduce the impact force during landing; The accurate flight control module is responsible for the attitude control and path planning of the flying car; The power management module is responsible for detecting the status of the main and auxiliary power supplies to ensure the stable operation of the system; The parachute module specifically includes: a start judgment sub-module, a parachute deployment control sub-module, and an air resistance adjustment sub-module; The start judgment sub-module determines whether the parachute start condition is met according to the height, speed, and fault status information of the flying car. If it is met, a start instruction is generated and sent to the parachute deployment control sub-module; The parachute deployment control sub-module is responsible for receiving the start instruction and controlling the deployment speed and angle of the parachute after receiving the start instruction to ensure stable deployment; The air resistance adjustment sub-module is responsible for adjusting the deployment state of the parachute during the descent process and controlling the air resistance to further adjust the descent speed and direction.

[0007] A further technical solution of the present application: The low-altitude perception and obstacle avoidance module specifically includes a sensor array sub-module, a data processing and analysis sub-module, and an obstacle avoidance strategy execution sub-module; The sensor array sub-module includes an integrated radar, a lidar, and a camera, which are used to comprehensively perceive the surrounding environment of the flying car and generate environment information; The data processing and analysis sub-module is responsible for receiving the environment information, performing preprocessing and feature extraction, determining potential obstacles on the flight path through algorithm analysis, and generating analysis data at the same time; The obstacle avoidance strategy execution sub-module is responsible for receiving the analysis data, generating an obstacle avoidance instruction at the same time, and adjusting the flight trajectory of the flying car through the precise flight control module to avoid collision with obstacles.

[0008] A further technical solution of the present application: The emergency landing airbag module specifically includes a height monitoring sub-module, an airbag deployment control sub-module, and an airbag recovery and reset sub-module; The height monitoring sub-module is used to monitor the height of the flying car in real time after the parachute is deployed, determine whether the triggering condition of the airbag is reached, and generate a triggering instruction; The airbag deployment control sub-module is used to receive the triggering instruction and control the deployment of the airbag; The airbag recovery and reset sub-module is used to control the recovery and reset of the airbag after landing.

[0009] A further technical solution of the present application: The precise flight control module specifically includes an attitude control sub-module, a path planning sub-module, and an actuator control sub-module; The attitude control sub-module monitors the attitude and position information of the flying car in real time through the sensor array sub-module, and maintains a stable flying attitude through a control algorithm. The control algorithm includes a PID control algorithm for adjusting the deployment speed of the parachute and an algorithm for adjusting the length and tension of the parachute ropes, and finally realizes the control of the deployment angle of the parachute, as well as a feedback control algorithm for the landing attitude and landing distance of the flying car. The path planning sub-module is used to generate an optimal flight path based on the position information and the target position, and adjusts it in real time to adapt to environmental changes. The actuator control sub-module is used to control the propellers and rudder surface actuators of the flying car to achieve precise adjustment of the flying attitude and path.

[0010] A further technical solution of the present application: The power management module specifically includes a power monitoring sub-module, a power switching sub-module, and a power management sub-module. The power monitoring sub-module is used to monitor the status information of the main and auxiliary power supplies in real time. The status information includes voltage, current, and remaining power. The power switching sub-module is used to automatically switch to the backup power supply when the main power supply fails or the power is lower than the set threshold. The power management sub-module is responsible for the intelligent management of the backup power supply, including charging, discharging, and power distribution.

[0011] The present application also provides a method for the emergency landing of a flying car. The method includes the following steps: S1. During the flight, the low-altitude perception and obstacle avoidance module monitors the surrounding environment in real time to avoid collisions with obstacles. S2. If an emergency such as insufficient power or system failure occurs, the parachute module is activated. S3. The parachute module determines whether to deploy the parachute based on the height and speed information, and controls the deployment speed and angle of the parachute. S4. If the height is lower than the preset safety threshold, the emergency landing airbag module is activated to ensure the formation of a buffer layer before impact. S5. The precise flight control module maintains the attitude and path planning of the flying car during the entire landing process and controls the landing distance. S6. The power management module automatically switches to the backup power supply when the main power supply fails to ensure the continuous operation of the critical systems.

[0012] A further technical solution of the present application: The specific steps in step S5 are as follows: S51. When a start command is received, the control algorithm is started. S52. Speed control, adjust the deployment state of the parachute through the target speed calculation formula. S53. Adjust the deployment speed of the parachute through the PID control algorithm; S54. Adjust the length and tension of the parachute ropes through the feedback control algorithm, and finally achieve the control of the deployment angle of the parachute, as well as the control of the landing attitude and landing distance of the flying car.

[0013] A further technical solution of the present application: The specific formula for the target speed in step S52 is as follows: ; is the target speed, is the total mass of the parachute and the load, is the acceleration due to gravity, is the desired air resistance coefficient, which can be changed by adjusting the deployment state of the parachute, value; The specific formula of the PID control algorithm in step S53 is as follows: ; Among them, is the air resistance coefficient varying with time, which is dynamically adjusted by controlling the deployment speed of the parachute, is the differential of the speed , is the differential of time ; The specific formula for adjusting the length of the parachute ropes by the feedback control algorithm in step S54 and achieving the control of the landing attitude of the flying car is as follows: ; Among them is the released length of the parachute rope, is the lateral force coefficient of the parachute system, and are the preset influence coefficient and correction coefficient. The lateral force coefficient can be calculated according to the speed of the parachute and the angle of attack by the following formula: ; Among them , , , and are the preset influence coefficients.

[0014] A further technical solution of the present application: The specific formula for controlling the landing distance in step S54 by the feedback control algorithm is as follows: ; Among them is the total mass of the parachute and the load, is the acceleration due to gravity, is the air resistance coefficient, is time.

[0015] Adopting the technical solution provided by the present invention, compared with the prior art, it has the following beneficial effects: By setting up an integrated parachute module, low-altitude perception and obstacle avoidance module, emergency landing airbag module, precise flight control module, and power management module, these modules cooperate with each other to jointly achieve all-round protection of the flying car in case of emergency; the parachute module ensures the stable operation of the parachute in case of emergency through precise opening judgment, startup, deployment control, and wind resistance adjustment functions. Secondly, the low-altitude perception and obstacle avoidance module realizes real-time monitoring of the surrounding environment of the flying car and formulates obstacle avoidance strategies by integrating a variety of sensors and intelligent algorithms. The emergency landing airbag module quickly deploys the airbag before landing to form an effective buffer layer, reducing the impact force during landing. The precise flight control module is responsible for maintaining the stable attitude and precise path planning of the flying car during the landing process. Finally, the power management module automatically switches to the backup power supply in case of main power failure, ensuring the continuous operation of key systems; the method of the present invention realizes fast and stable landing in case of emergency by integrating the functions of the above-mentioned multiple modules. At the same time, this method also introduces advanced control methods such as PID control algorithm and feedback control algorithm to achieve precise control of the deployment speed and angle of the parachute, flight speed, attitude, and landing distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the system block diagram of the present invention; Figure 2 is the method flow chart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The present invention will be further described below with reference to the embodiments.

[0018] Please refer to Figure 1 and Figure 2, in the embodiments of the present application, an emergency landing system for a flying car, the system includes a parachute module, a low-altitude perception and obstacle avoidance module, an emergency landing airbag module, an accurate flight control module, and a power management module; The parachute module is used for the opening judgment, startup, deployment control, and air resistance adjustment of the parachute to ensure the stable operation of the parachute; The low-altitude perception and obstacle avoidance module is responsible for real-time monitoring of the obstacles and terrain information around the flying car to ensure flight safety; The emergency landing airbag module is responsible for deploying the airbag when the flying car is about to land to form a buffer layer and reduce the impact force during landing; The accurate flight control module is responsible for the attitude control and path planning of the flying car; The power management module is responsible for detecting the status of the main and auxiliary power supplies to ensure the stable operation of the system.

[0019] Further, the parachute module specifically includes: a startup judgment sub-module, a parachute deployment control sub-module, and an air resistance adjustment sub-module; The startup judgment sub-module judges whether the parachute startup conditions are met according to the height, speed, and fault status information of the flying car, and after generating a startup instruction, sends the startup instruction to the parachute deployment control sub-module; The parachute deployment control sub-module is responsible for receiving the startup instruction and controlling the deployment speed and angle of the parachute after receiving the startup instruction to ensure stable deployment; The air resistance adjustment sub-module is responsible for adjusting the deployment state of the parachute during the descent process and controlling the air resistance to further adjust the descent speed and direction.

[0020] Further, the low-altitude perception and obstacle avoidance module specifically includes a sensor array sub-module, a data processing and analysis sub-module, and an obstacle avoidance strategy execution sub-module; The sensor array sub-module includes multiple sensors such as an integrated radar, a lidar (LiDAR), and a camera, which are used to comprehensively perceive the environment around the flying car and generate environment information; The data processing and analysis sub-module is responsible for receiving the environment information, performing preprocessing and feature extraction, determining potential obstacles on the flight path through algorithm analysis, and generating analysis data at the same time; The obstacle avoidance strategy execution sub-module is responsible for receiving the analysis data, generating an obstacle avoidance instruction at the same time, and adjusting the flight trajectory of the flying car through the accurate flight control module to avoid collision with obstacles.

[0021] Further, the emergency landing airbag module specifically includes a height monitoring sub-module, an airbag deployment control sub-module, and an airbag recovery and reset sub-module; The height monitoring sub-module is used to monitor the height of the flying car in real time, determine whether the triggering condition of the airbag is reached, and generate a triggering instruction; The airbag deployment control sub-module is used to receive the triggering instruction and control the deployment of the airbag; The airbag recovery and reset sub-module is used to control the recovery and reset of the airbag after landing.

[0022] Furthermore, the precise flight control module specifically includes an attitude control sub-module, a path planning sub-module, and an actuator control sub-module; The attitude control sub-module, through the sensor array sub-module, monitors the attitude and position information of the flying car in real time, and maintains a stable flight attitude through a control algorithm; The path planning sub-module is used to generate an optimal flight path based on the position information and the target position, and adjust it in real time to adapt to environmental changes; The actuator control sub-module is used to control the propellers and rudder surface actuators of the flying car to achieve precise adjustment of the flight attitude and path.

[0023] Furthermore, the power management module specifically includes a power monitoring sub-module, a power switching sub-module, and a power management sub-module; The power monitoring sub-module is used to monitor the status information of the main and auxiliary power supplies in real time, and the status information includes voltage, current, and remaining power; The power switching sub-module is used to automatically switch to the backup power supply when the main power supply fails or the power is lower than the set threshold; The power management sub-module is responsible for the intelligent management of the backup power supply, including charging, discharging, and power distribution.

[0024] Specifically, in this embodiment, the parachute module is the core part of the emergency landing system, and is used to provide a stable landing when the flying car encounters an emergency. This module specifically includes a start judgment sub-module, a parachute deployment control sub-module, and a wind resistance adjustment sub-module. The start judgment sub-module: Through the integrated height, speed sensors and fault detection module, it monitors the flight state of the flying car in real time. When the height of the flying car is lower than the safety threshold, the speed exceeds the normal range, or a serious fault is detected, the start judgment sub-module will generate a start instruction and send it to the parachute deployment control sub-module.

[0025] The parachute deployment control sub-module: After receiving the start instruction, it controls the deployment speed and angle of the parachute. Through the integrated motor and transmission mechanism, it precisely controls the deployment process of the parachute to ensure stable deployment.

[0026] The wind resistance adjustment sub-module: During the descent process, by adjusting the deployment state of the parachute, such as changing the angle and shape of the parachute surface, it controls the wind resistance size to further adjust the descent speed and direction.

[0027] The low-altitude perception and obstacle avoidance module is responsible for real-time monitoring of obstacles and terrain information around the flying car to ensure flight safety. This module specifically includes a sensor array sub-module, a data processing and analysis sub-module, and an obstacle avoidance strategy execution sub-module.

[0028] Among them, the sensor array sub-module is responsible for integrating various sensors such as radar, lidar (LiDAR), and cameras to comprehensively perceive the surrounding environment of the flying car. The sensor array sub-module sends the generated environmental information to the data processing and analysis sub-module; the data processing and analysis sub-module: after receiving the environmental information, it performs preprocessing and feature extraction. By algorithm analysis, potential obstacles on the flight path are determined, and analysis data is generated. The analysis data includes information such as the position, size, and moving speed of the obstacles.

[0029] The obstacle avoidance strategy execution sub-module generates obstacle avoidance instructions after receiving the analysis data. It adjusts the flight trajectory of the flying car through the flight control system to avoid collisions with obstacles. The obstacle avoidance strategy execution sub-module works in coordination with the precise flight control module to ensure that the flying car can safely avoid obstacles.

[0030] The emergency landing airbag module is responsible for deploying the airbag when the flying car is about to land, forming a buffer layer to reduce the impact force during landing. This module specifically includes an altitude monitoring sub-module, an airbag deployment control sub-module, and an airbag recovery and reset sub-module.

[0031] Among them, the altitude monitoring sub-module real-time monitors the altitude of the flying car through the integrated altitude sensor. When the altitude is lower than the airbag trigger threshold, a trigger instruction is generated and sent to the airbag deployment control sub-module.

[0032] The airbag deployment control sub-module: after receiving the trigger instruction, it controls the rapid deployment of the airbag. Through components such as the integrated gas generator, airbag fabric, and deployment mechanism, the rapid deployment and stable inflation of the airbag are achieved.

[0033] Among them, the airbag recovery and reset sub-module controls the recovery and reset of the airbag through the integrated recovery mechanism and reset mechanism after landing. Ensure that the airbag can be used normally in the next emergency.

[0034] The precise flight control module is responsible for the attitude control and path planning of the flying car. This module specifically includes an attitude control sub-module, a path planning sub-module, and an actuator control sub-module.

[0035] The attitude control sub-module: real-time monitors the attitude and position information of the flying car through the sensor array sub-module. It maintains a stable flight attitude through control algorithms to ensure that the flying car can maintain a smooth flight in case of an emergency.

[0036] Path planning sub-module: Generates the optimal flight path based on the position information and the target position. Meanwhile, adjusts the flight path in real time to adapt to environmental changes, such as avoiding obstacles and adjusting the flight altitude, etc.

[0037] Actuator control sub-module: Achieves precise adjustment of the flight attitude and path by controlling the actuators such as the propellers and control surfaces of the flying car. Ensures that the flying car can land safely along the planned path in case of an emergency.

[0038] The power management module is responsible for detecting the status of the main and auxiliary power supplies to ensure the stable operation of the system. This module specifically includes a power monitoring sub-module, a power switching sub-module, and a power management sub-module.

[0039] Power monitoring sub-module: Monitors the status information of the main and auxiliary power supplies in real time, including voltage, current, and remaining power. When the main power supply fails or the power is lower than the set threshold, generates an alarm signal and sends it to the power switching sub-module.

[0040] Power switching sub-module: After receiving the alarm signal, automatically switches to the backup power supply. Ensures that the system can continue to supply power in case of an emergency and guarantees the normal operation of each module.

[0041] Power management sub-module: Conducts intelligent management of the backup power supply, including charging, discharging, and power distribution. Real-time monitors the power status of the backup power supply through the integrated battery management system (BMS) and performs charging or discharging operations as needed. Meanwhile, reasonably distributes the power according to the power consumption requirements of each module to ensure the efficient operation of the system.

[0042] This application also provides a method for the emergency landing of a flying car. The method includes the following steps: S1. During the flight, the low-altitude perception and obstacle avoidance module monitors the surrounding environment in real time to avoid collisions with obstacles; S2. If an emergency such as insufficient power or system failure occurs, activates the parachute module according to the judgment conditions; S3. The parachute module determines whether to deploy the parachute based on the height and speed information and controls its deployment speed and angle; S4. If the height is relatively low (below the safety threshold), activates the emergency landing airbag module to ensure the formation of an effective buffer layer before impact; S5. The precise flight control module maintains the stable attitude and path planning of the flying car throughout the landing process and controls the landing distance; S6. The power management module automatically switches to the backup power supply when the main power supply fails to ensure the continuous operation of the key systems.

[0043] Specifically, during flight, the low-altitude perception and obstacle avoidance module uses a variety of sensors such as integrated radar, lidar (LiDAR), and cameras to continuously monitor the environment around the flying car. When an obstacle is detected, the module immediately generates an obstacle avoidance instruction and adjusts the flight trajectory of the flying car through the flight control system to avoid collisions with obstacles.

[0044] If an emergency situation such as insufficient battery power or system failure occurs during the flight of the flying car, according to preset judgment conditions (such as altitude below the safety threshold, speed exceeding the normal range, etc.), the system will immediately activate the parachute module. At this time, the activation judgment sub-module generates an activation instruction and sends it to the parachute deployment control sub-module.

[0045] After receiving the activation instruction, the parachute module determines whether to deploy the parachute based on the altitude and speed information of the flying car. If deployment is required, the module controls the deployment speed and angle of the parachute to ensure a stable deployment. During this process, the air resistance adjustment sub-module continuously adjusts the deployment state of the parachute to control the air resistance, further regulating the descent speed and direction.

[0046] When the altitude of the flying car is too low to continue relying on the parachute for a safe landing, the system immediately activates the emergency landing airbag module. This module quickly deploys the airbag before impact, forming an effective buffer layer to reduce the impact force during landing and protect the safety of passengers and the vehicle.

[0047] During the entire landing process, the precise flight control module is responsible for maintaining the stable attitude and path planning of the flying car and controlling the landing distance.

[0048] A further technical solution of this application: The specific steps in step S5 are as follows: S51. When receiving the activation instruction, start the control algorithm; S52. Speed control, adjust the deployment state of the parachute through the target speed calculation formula; S53. Adjust the deployment speed of the parachute through the PID control algorithm; S54. Adjust the length and tension of the parachute ropes through the feedback control algorithm, and finally achieve the control of the deployment angle of the parachute, as well as the control of the landing attitude and landing distance of the flying car.

[0049] A further technical solution of this application: The specific target speed calculation formula in step S52 is as follows: ; is the total mass of the parachute and the load, is the acceleration due to gravity, is the desired air resistance coefficient. By adjusting the deployment state of the parachute, it is possible to change the value; In the step S53, the specific formula of the PID control algorithm is as follows: ; wherein, is the air resistance coefficient that changes with time and is dynamically adjusted by controlling the deployment speed of the parachute, is the differential of the speed , is the differential of the time ; In the step S54, the specific formula for adjusting the length of the suspension lines by the feedback control algorithm and achieving the landing attitude control of the flying car is as follows: ; wherein is the released length of the suspension lines, is the lateral force coefficient of the parachute system, and are the preset influence coefficient and correction coefficient. The lateral force coefficient can be calculated according to the speed of the parachute and the angle of attack through the following formula: ; wherein , , , and are the preset influence coefficients.

[0050] Specifically, in the step S54, the specific formula for controlling the landing distance by the feedback control algorithm is as follows: ; wherein is the total mass of the parachute and the load, is the acceleration due to gravity, is the air resistance coefficient, is the time.

[0051] In summary, the present invention integrates multiple functional modules including a parachute module, a low-altitude sensing and obstacle avoidance module, an emergency landing airbag module, an accurate flight control module, and a power management module. These modules cooperate with each other to jointly achieve all-round protection for the flying vehicle in emergency situations. The parachute module ensures the stable operation of the parachute in emergency situations through accurate opening judgment, activation, deployment control, and air resistance adjustment functions. Secondly, the low-altitude sensing and obstacle avoidance module realizes real-time monitoring of the environment around the flying vehicle and formulates obstacle avoidance strategies by integrating multiple sensors and intelligent algorithms. The emergency landing airbag module quickly deploys the airbag before landing to form an effective buffer layer, reducing the impact force during landing. The accurate flight control module is responsible for maintaining the stable attitude and accurate path planning of the flying vehicle during landing. Finally, the power management module automatically switches to the backup power supply in case of main power failure, ensuring the continuous operation of critical systems. The method of the present invention realizes fast and stable landing in emergency situations by integrating the functions of the above multiple modules. At the same time, this method also introduces advanced control methods such as PID control algorithm and feedback control algorithm to achieve accurate control of the deployment speed and angle of the parachute, flight speed, attitude, and landing distance.

[0052] The above schematically describes the present invention and its implementation manners. This description is not restrictive. What is shown in the drawings is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and design similar structural manners and embodiments to this technical solution without creative efforts without departing from the purpose of the present invention, they shall fall within the protection scope of the present invention.

[0053] In addition, it should be understood that although this specification is described according to implementation manners, not every implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation manners understandable by those skilled in the art.

Claims

1. A flying car emergency landing system, characterized in that: The system includes a parachute module, a low-altitude sensing and obstacle avoidance module, an emergency landing airbag module, a precision flight control module, and a power management module; The parachute module is used to determine the opening, start, and deploy the parachute, as well as adjust the wind resistance, to ensure the stable operation of the parachute; The low-altitude perception and obstacle avoidance module is responsible for real-time monitoring of obstacles and terrain information around the flying car to ensure flight safety; The emergency landing airbag module is responsible for deploying the airbag when the flying car is about to land, forming a buffer layer to reduce the impact force during landing; The precise flight control module is responsible for the attitude control and path planning of the flying car; The power management module is responsible for detecting the status of the main and auxiliary power supplies to ensure stable operation of the system; The parachute module specifically includes: a start judgment submodule, a parachute deployment control submodule and a wind resistance adjustment submodule; The start judgment submodule judges whether the parachute start condition is met according to the altitude, speed and fault status information of the flying car, and if so, generates a start instruction and sends the start instruction to the parachute deployment control submodule; The parachute deployment control submodule is responsible for receiving the start command, and after receiving the start command, controls the deployment speed and angle of the parachute to ensure stable deployment; The wind resistance adjustment submodule is responsible for adjusting the deployment state of the parachute during the descent process and controlling the wind resistance to further adjust the descent speed and direction.

2. The flying car emergency landing system according to claim 1, characterized in that: The low-altitude perception and obstacle avoidance module specifically includes a sensor array submodule, a data processing and analysis submodule, and an obstacle avoidance strategy execution submodule; The sensor array submodule includes integrated radar, lidar and camera, which are used to fully perceive the surrounding environment of the flying car and generate environmental information; The data processing and analysis submodule is responsible for receiving the environmental information, performing preprocessing and feature extraction, determining potential obstacles on the flight path through algorithm analysis, and generating analysis data; The obstacle avoidance strategy execution submodule is responsible for receiving the analysis data and generating obstacle avoidance instructions, and adjusting the flight trajectory of the flying car through the precise flight control module to avoid collision with obstacles.

3. The flying car emergency landing system according to claim 1, characterized in that: The emergency landing airbag module specifically includes a height monitoring submodule, an airbag deployment control submodule, and an airbag recovery and reset submodule; The altitude monitoring submodule is used to monitor the altitude of the flying car in real time after the parachute is deployed, determine whether the triggering condition of the airbag is met, and generate a triggering instruction; The airbag deployment control submodule is used to receive a trigger instruction and control the deployment of the safety airbag; The airbag recovery and reset submodule is used to control the recovery and reset of the safety airbag after landing.

4. The flying car emergency landing system according to claim 2, characterized in that: The precise flight control module specifically includes an attitude control submodule, a path planning submodule and an actuator control submodule; The attitude control submodule monitors the attitude and position information of the flying car in real time through the sensor array submodule, and maintains a stable flight attitude through a control algorithm, wherein the control algorithm includes a PID control algorithm for adjusting the deployment speed of the parachute and a control algorithm for adjusting the length and tension of the parachute rope, and finally realizing the deployment angle control of the parachute, as well as a feedback control algorithm for the landing attitude and landing distance of the flying car; The path planning submodule is used to generate the optimal flight path based on the location information and target location, and adjust it in real time to adapt to environmental changes; The actuator control submodule is used to control the propeller and rudder actuators of the flying car to achieve precise adjustment of the flight attitude and path.

5. The flying car emergency landing system according to claim 1, characterized in that: The power management module specifically includes a power monitoring submodule, a power switching submodule and a power management submodule; The power monitoring submodule is used to monitor the status information of the main and auxiliary power supplies in real time, and the status information includes voltage, current and remaining power; The power switching submodule is used to automatically switch to the backup power supply when the main power supply fails or the power level falls below a set threshold; The power management submodule is responsible for intelligent management of the backup power supply, including charging, discharging and power distribution.

6. A method for emergency landing of a flying car, characterized in that: The flying car emergency landing system according to any one of claims 1 to 5, wherein the method comprises the following steps: S1. During flight, the low-altitude perception and obstacle avoidance module monitors the surrounding environment in real time to avoid collision with obstacles; S2: If an emergency occurs such as insufficient power or system failure, activate the parachute module; S3, the parachute module determines whether the parachute needs to be deployed according to the altitude and speed information, and controls the deployment speed and angle of the parachute; S4. If the height is lower than the preset safety threshold, the emergency landing airbag module is activated to ensure that a buffer layer is formed before impact; S5, the precise flight control module maintains the attitude and path planning of the flying car during the entire landing process and controls the landing distance; S6, the power management module automatically switches to the backup power supply when the main power supply fails, ensuring the continuous operation of key systems.

7. The method for emergency landing of a flying car according to claim 6, characterized in that: The specific steps in step S5 are as follows: S51, when receiving a start instruction, starting a control algorithm; S52, speed control, adjusting the deployment state of the parachute by using a target speed calculation formula; S53, adjusting the deployment speed of the parachute through a PID control algorithm; S54. The length and tension of the parachute rope are adjusted through a feedback control algorithm, and finally the deployment angle of the parachute, as well as the landing posture and landing distance of the flying car are controlled.

8. The method for emergency landing of a flying car according to claim 7, characterized in that: The target speed calculation formula in step S52 is as follows: ； is the target speed, is the total mass of the parachute and its payload, is the acceleration due to gravity, is the desired drag coefficient, which is changed by adjusting the deployment state of the parachute The value of The specific formula of the PID control algorithm in step S53 is as follows: ； in, is the air resistance coefficient that changes with time and is dynamically adjusted by controlling the deployment speed of the parachute. The speed of the parachute The differential of It's about time The differential of In step S54, the feedback control algorithm adjusts the parachute rope length and realizes the specific formula of the landing attitude control of the flying car as follows: ； in is the line release length, is the side force coefficient of the parachute system, and is the preset influence coefficient and correction coefficient, lateral force coefficient Depending on the speed of the parachute and angle of attack Calculated by the following formula: ； in , , , and is the preset influence coefficient.

9. The method for emergency landing of a flying car according to claim 7, characterized in that: In step S54, the feedback control algorithm performs landing distance The specific control formula is as follows: ； in is the total mass of the parachute and its payload, is the acceleration due to gravity, is the air resistance coefficient and t is the time.

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