Control method, device and equipment of split type hovercar and medium

Abstract

The invention discloses a control method, device and equipment for a split type hovercar and a medium, and the method comprises the steps: determining the motion form information of the hovercar in response to a state control instruction; based on the motion form information, determining equipment combination information of the hovercar; determining a current connection mode of the hovercar based on the equipment combination information; after the hovercar is controlled based on the current connection mode, environment sensing information of the hovercar is obtained; the environment sensing information is obtained by performing environment sensing based on a cockpit domain of the hovercar; and determining current control information of the hovercar based on the equipment combination information and the environment perception information. According to the technical scheme, the driving cabin is used for a flying state carrier or a driving state carrier through the motion form information of the hovercar, time division multiplexing is achieved, environment sensing information is obtained based on hovercar driving cabin area sensing, then the hovercar is controlled, the accuracy of auxiliary driving is improved, and the problem of how to reduce the cost of the hovercar is solved.

Description

Technical Field

[0001] The present application relates to the field of information security technology, and in particular to a control method, device, equipment and medium for a split-type flying car. Background Art

[0002] With the rapid development of urbanization, road traffic is facing tremendous pressure and cannot meet the development needs of modern society and economy, so the low-altitude economy comes into being.

[0003] The development of low-altitude transportation vehicles meets the needs of the times. Existing technologies typically employ distributed control designs, employing different decision-making and planning systems for assisted driving. This requires a large number of sensors, resulting in complex structures and high costs. Therefore, reducing the cost of flying cars has become a pressing issue. Summary of the Invention

[0004] In order to solve the problems of the prior art, the present application provides a control method, device, equipment and medium for a split flying car. The cockpit is used as a carrier in a flying state or a driving state through the motion form information of the flying car, realizing time-sharing multiplexing. Environmental perception is performed based on the cockpit domain of the flying car to obtain environmental perception information. The current control information of the flying car is determined based on the device combination information and the environmental perception information, thereby improving the accuracy of assisted driving, providing convenience for users, and solving the problem of how to reduce the cost of flying cars.

[0005] According to one aspect of the present application, a control method for a split-type flying car is provided, the method comprising: In response to the state control instruction, determining motion form information of the flying car; Determining equipment combination information of the flying car based on the motion form information; Determining a current connection mode of the flying car based on the device combination information; After controlling the flying car based on the current connection mode, obtaining environmental perception information of the flying car; the environmental perception information is obtained based on environmental perception in a cockpit domain of the flying car; Based on the device combination information and the environment perception information, current control information for the flying car is determined.

[0006] In a possible implementation, the state control instruction includes a first control instruction and a second control instruction, the first control instruction represents a flight requirement, and the second control instruction represents a driving requirement; The step of determining the motion form information of the flying car in response to the state control instruction includes: When the state control instruction is the first control instruction, determining that the motion form information is a flight state; When the state control instruction is the first control instruction, the motion form information is determined to be a driving state.

[0007] In one possible implementation, the flying car includes a chassis domain and a flight platform, and the device combination information includes first combination information and second combination information, wherein the first combination information represents a combination of the cockpit domain and the flight platform, and the second combination information represents a combination of the cockpit domain and the chassis domain; The determining of equipment combination information of the flying car based on the motion form information includes: When the motion form information is the flight state, determining the device combination information to be the first combination information; When the motion form information is the driving state, the device combination information is determined to be the second combination information.

[0008] In a possible implementation, the current connection mode includes a first connection mode and a second connection mode, the first connection mode representing that the flight platform is mechanically and electrically connected to the cockpit domain, and the second connection mode representing that the chassis domain is mechanically and electrically connected to the cockpit domain; The determining the current connection mode of the flying car based on the device combination information includes: When the device combination information is the first combination information, determining that the current connection mode is the first connection mode; When the device combination information is the second combination information, it is determined that the current connection mode is the second connection mode.

[0009] In a possible implementation, the environmental perception information includes attitude information, heading information, altitude information, remote sensing information, and image information; The determining, based on the device combination information and the environmental perception information, current control information for the flying car includes: When the equipment combination information is the first combination information, determining control information of a power component of the flight platform based on attitude information, heading information, altitude information, remote sensing information, and image information; The power component control information is determined to be the current control information.

[0010] In a possible implementation, the method further includes: When the device combination information is the second combination information, acquiring the control-by-wire chassis state information of the chassis domain; Determining by-wire chassis control information for the chassis domain based on the attitude information, the heading information, the altitude information, the remote sensing information, the image information, and the by-wire chassis state information; The drive-by-wire chassis control information is determined to be the current control information.

[0011] In one possible implementation, after determining the current control information of the flying car, the method further includes: Controlling the flying car based on the current control information to obtain control feedback information; The control feedback information is sent to the cockpit domain, so that the cockpit domain adjusts the current control information based on the control feedback information.

[0012] In another aspect, a control device for a split-type flying car is provided, the device comprising: An instruction response module, configured to determine motion form information of the flying car in response to a state control instruction; a combination information determination module, configured to determine equipment combination information of the flying car based on the motion form information; a connection mode determination module, configured to determine a current connection mode of the flying car based on the device combination information; an environmental perception information acquisition module, configured to acquire environmental perception information of the flying car after controlling the flying car based on the current connection mode; A control information determination module is used to determine current control information for the flying car based on the device combination information and the environmental perception information.

[0013] In a possible implementation, the state control instruction includes a first control instruction and a second control instruction, the first control instruction represents a flight requirement, and the second control instruction represents a driving requirement; The instruction response module is used to: When the state control instruction is the first control instruction, determining that the motion form information is a flight state; When the state control instruction is the first control instruction, the motion form information is determined to be a driving state.

[0014] In one possible implementation, the flying car includes a chassis domain and a flight platform, and the device combination information includes first combination information and second combination information, wherein the first combination information represents a combination of the cockpit domain and the flight platform, and the second combination information represents a combination of the cockpit domain and the chassis domain; The combination information determination module is used to: When the motion form information is the flight state, determining the device combination information to be the first combination information; When the motion form information is the driving state, the device combination information is determined to be the second combination information.

[0015] In a possible implementation, the current connection mode includes a first connection mode and a second connection mode, the first connection mode representing that the flight platform is mechanically and electrically connected to the cockpit domain, and the second connection mode representing that the chassis domain is mechanically and electrically connected to the cockpit domain; The connection mode determination module is configured to: When the device combination information is the first combination information, determining that the current connection mode is the first connection mode; When the device combination information is the second combination information, it is determined that the current connection mode is the second connection mode.

[0016] In a possible implementation, the environmental perception information includes attitude information, heading information, altitude information, remote sensing information, and image information; The control information determination module is configured to: When the equipment combination information is the first combination information, determining control information of a power component of the flight platform based on attitude information, heading information, altitude information, remote sensing information, and image information; The power component control information is determined to be the current control information.

[0017] In a possible implementation, the control information determining module is further configured to: When the device combination information is the second combination information, acquiring the control-by-wire chassis state information of the chassis domain; Determining by-wire chassis control information for the chassis domain based on the attitude information, the heading information, the altitude information, the remote sensing information, the image information, and the by-wire chassis state information; The drive-by-wire chassis control information is determined to be the current control information.

[0018] In a possible implementation, the apparatus further includes a feedback module. After determining current control information of the flying car, the feedback module is configured to: Controlling the flying car based on the current control information to obtain control feedback information; The control feedback information is sent to the cockpit domain, so that the cockpit domain adjusts the current control information based on the control feedback information.

[0019] On the other hand, an electronic device is provided, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the split flying car according to any of the above aspects.

[0020] On the other hand, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the control method of the split flying car as described in any aspect above.

[0021] In another aspect, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the control method for a split-body flying vehicle according to any of the aforementioned aspects.

[0022] An embodiment of the present application provides a control method for a split-type flying car. The method comprises: determining the motion form information of the flying car in response to a state control instruction; determining the device combination information of the flying car based on the motion form information; determining the current connection mode of the flying car based on the device combination information; obtaining environmental perception information of the flying car after controlling the flying car based on the current connection mode; the environmental perception information is obtained by performing environmental perception based on the cockpit domain of the flying car; and determining current control information for the flying car based on the device combination information and the environmental perception information. The method uses the motion form information of the flying car to use the cockpit as a carrier in a flying state or a driving state, thereby achieving time-sharing multiplexing. Environmental perception information is obtained by performing environmental perception based on the cockpit domain of the flying car, and current control information for the flying car is determined based on the device combination information and the environmental perception information. This method improves the accuracy of assisted driving, provides convenience for users, and solves the problem of how to reduce the cost of flying cars. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 This is a flow chart of a control method for a split-type flying car provided in an embodiment of the present application; Figure 2 This is a first structural schematic diagram of the split flying car provided in an embodiment of the present application; Figure 3 This is a second structural schematic diagram of the split flying car provided in an embodiment of the present application; Figure 4 This is a structural block diagram of a split flying car provided in an embodiment of the present application; Figure 5 This is a structural block diagram of a control device for a split-type flying car provided in an embodiment of the present application; Among them, 1-flight platform, 2-cockpit domain, 3-chassis domain. DETAILED DESCRIPTION

[0025] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] In recent years, rapid urbanization has led to increasing urban populations and increasing road congestion. Public transportation is facing immense pressure and is unable to meet the demands of modern society and the economy. With the widespread adoption and enthusiasm of the low-altitude economy concept, efforts are underway to develop and manufacture low-altitude transportation vehicles, with flying cars being the most representative.

[0027] Currently, major manufacturers are developing eVTOL (electric vertical take-off and landing) vehicles (EVTOLs) in a flurry of development, aiming to seize the commanding heights of future urban air transportation. The technical path for eVTOL design and development is primarily determined by the intended application scenarios and target markets, requiring strong technical R&D capabilities, financing capabilities, and airworthiness.

[0028] Developing a flying car that can operate both on land and in the air requires the rational design of the mechanical structure, electrical and electronic components, and control systems to meet both flight and driving application requirements. This solution aims to meet both flight and driving requirements.

[0029] The present invention provides a control method for a split-type flying car. The method uses the flying car's motion form information to make the cockpit a carrier in either a flying state or a driving state, achieving time-sharing multiplexing. The method uses the flying car's cockpit domain to perform environmental perception to obtain environmental perception information. The method determines the current control information for the flying car based on the device combination information and the environmental perception information. This method improves the accuracy of assisted driving, provides convenience for users, and reduces the cost of flying cars. Figure 1 The control method of the split-type flying car includes steps S101 to S109.

[0030] In step S101, in response to a state control instruction, motion form information of the flying car is determined.

[0031] In a possible implementation, the state control instruction includes a first control instruction and a second control instruction, the first control instruction represents a flight requirement, and the second control instruction represents a driving requirement; The step of determining the motion form information of the flying car in response to the state control instruction includes: When the state control instruction is the first control instruction, determining that the motion form information is a flight state; When the state control instruction is the first control instruction, the motion form information is determined to be a driving state.

[0032] In one possible implementation, the flying car includes a flying platform, a chassis domain, and a cockpit domain, and the connection method of the three parts includes mechanical rigid connection and aviation plug electrical connection.

[0033] In one possible implementation, Figure 2 As shown, the flying platform 1 is responsible for carrying the cockpit area 2 to fly, which is the flying state of the flying car.

[0034] In one possible implementation, Figure 3 As shown, the chassis domain 3 is responsible for carrying the cockpit domain 2 for driving, which is the driving state of the flying car.

[0035] In a possible implementation, the first control instruction represents a flight demand, and when a user using the flying car issues the first control instruction, the motion form information is determined to be a flight state.

[0036] In a possible implementation, the second control instruction represents a driving demand, and when a user using the flying car issues the second control instruction, the motion form information is determined to be a driving state.

[0037] In this implementation, the state control instruction is determined according to the user's needs, and the motion form information of the flying car is determined to be the flying state or the driving state, which facilitates the control of the flying car into the currently required motion state and improves the accuracy of the control.

[0038] In step S103, based on the motion form information, the equipment combination information of the flying car is determined.

[0039] In one possible implementation, the flying car includes a chassis domain and a flight platform, and the device combination information includes first combination information and second combination information, wherein the first combination information represents a combination of the cockpit domain and the flight platform, and the second combination information represents a combination of the cockpit domain and the chassis domain; The determining of equipment combination information of the flying car based on the motion form information includes: When the motion form information is the flight state, determining the device combination information to be the first combination information; When the motion form information is the driving state, the device combination information is determined to be the second combination information.

[0040] In one possible implementation, Figure 2 When the motion form information is the flight state, the cockpit domain needs to be docked with the flight platform to determine that the equipment combination information of the flying car is the first combination information.

[0041] In one possible implementation, Figure 3 When the motion form information is the driving state, the cockpit domain needs to be docked with the chassis domain to determine that the equipment combination information of the flying car is the second combination information.

[0042] In this implementation, the device combination information is determined according to different motion form information, so that the cockpit domain can be connected with other devices according to the device combination information, thereby facilitating time-sharing multiplexing.

[0043] In step S105 , the current connection mode of the flying car is determined based on the device combination information.

[0044] In a possible implementation, the current connection mode includes a first connection mode and a second connection mode, the first connection mode representing that the flight platform is mechanically and electrically connected to the cockpit domain, and the second connection mode representing that the chassis domain is mechanically and electrically connected to the cockpit domain; The determining the current connection mode of the flying car based on the device combination information includes: When the device combination information is the first combination information, determining that the current connection mode is the first connection mode; When the device combination information is the second combination information, it is determined that the current connection mode is the second connection mode.

[0045] In one possible implementation, when the device combination information is the first combination information, the current connection mode is determined to be the first connection mode, so that the flight platform is mechanically and electrically connected to the cockpit domain. Specifically, the electrical connection between the cockpit domain and the flight platform is via an aviation plug cable.

[0046] In a possible implementation manner, after the flying platform is mechanically and electrically connected to the cockpit domain, the flying platform can carry the cockpit domain for flight.

[0047] In one possible implementation, when the device combination information is the second combination information, the current connection mode is determined to be the second connection mode, so that the chassis domain and the cockpit domain are mechanically and electrically connected. Specifically, the electrical connection between the cockpit domain and the chassis domain is via an aviation plug cable. An aviation plug connection refers to an electrical connection achieved using an aviation plug (aviation connector). Using an aviation plug connection ensures a stable signal and is free from interference.

[0048] In a possible implementation, after the chassis domain is mechanically and electrically connected to the cockpit domain, the chassis domain can carry the cockpit domain while driving.

[0049] In this implementation, the current connection mode of the flying car is determined based on the device combination information, so that the cockpit domain can be used for both the flying and driving state carriers, and time-sharing multiplexing is performed according to the different forms of the split flying car to reduce costs.

[0050] In step S107, after controlling the flying car based on the current connection mode, environmental perception information of the flying car is obtained; the environmental perception information is obtained based on environmental perception of the cockpit domain of the flying car.

[0051] In one possible implementation, after the flight platform of the flying car is controlled to be mechanically and electrically connected to the cockpit domain based on the first connection mode, environmental perception is performed based on the cockpit domain of the flying car to obtain environmental perception information corresponding to the first connection mode.

[0052] In one possible implementation, Figure 4 As shown, the cockpit domain includes GPS (Global Positioning System) equipment, IMU (Inertial Measurement Unit) equipment, magnetometer compass, lidar and camera, etc., for environmental perception.

[0053] In one possible implementation, Figure 4 As shown, the cockpit domain also includes an automatic driving controller.

[0054] In one possible implementation, the MCU (microcontroller unit) of the autonomous driving controller obtains location information by reading the GPS (Global Positioning System) device in the cockpit.

[0055] In one possible implementation, the MCU of the autonomous driving controller obtains attitude information by reading the IMU (Inertial Measurement Unit) device in the cockpit.

[0056] In one possible implementation, the MCU of the autonomous driving controller obtains heading information by reading the magnetometer compass in the cockpit.

[0057] In one possible implementation, the MCU of the autonomous driving controller obtains altitude information by reading the magnetometer compass in the cockpit.

[0058] In one possible implementation, the MCU of the autonomous driving controller obtains the distance information of the obstacles below by reading the magnetometer compass in the cockpit.

[0059] In one possible implementation, the autonomous driving controller's SOC (System on Chip) obtains surrounding environment perception information by reading the lidar and camera in the cockpit.

[0060] In a possible implementation, position information, attitude information, heading information, altitude information, distance information of obstacles below, and surrounding environment perception information are determined as the environment perception information corresponding to the first connection mode.

[0061] In one possible implementation, after controlling the chassis domain and the cockpit domain of the flying car to be mechanically and electrically connected based on the second connection mode, environmental perception is performed based on the cockpit domain of the flying car to obtain environmental perception information corresponding to the second connection mode.

[0062] In one possible implementation, the MCU of the autonomous driving controller obtains location information by reading the GPS in the cockpit.

[0063] In one possible implementation, the MCU of the autonomous driving controller obtains attitude information by reading the IMU in the cockpit.

[0064] In one possible implementation, the autonomous driving controller's SOC (System on Chip) obtains surrounding environment perception information by reading the lidar and camera in the cockpit.

[0065] In a possible implementation, the position information, posture information, and surrounding environment perception information are determined as the environment perception information corresponding to the second connection mode.

[0066] In step S109, current control information for the flying car is determined based on the device combination information and the environment perception information.

[0067] In a possible implementation, the environmental perception information includes attitude information, heading information, altitude information, remote sensing information, and image information; The determining, based on the device combination information and the environmental perception information, current control information for the flying car includes: When the equipment combination information is the first combination information, determining control information of a power component of the flight platform based on attitude information, heading information, altitude information, remote sensing information, and image information; The power component control information is determined to be the current control information.

[0068] In a possible implementation, the method further includes: When the device combination information is the second combination information, acquiring the control-by-wire chassis state information of the chassis domain; Determining by-wire chassis control information for the chassis domain based on the attitude information, the heading information, the altitude information, the remote sensing information, the image information, and the by-wire chassis state information; The drive-by-wire chassis control information is determined to be the current control information.

[0069] In a possible implementation, the posture information is obtained based on detection by an IMU device in the cockpit area.

[0070] In a possible implementation, the heading information is obtained based on magnetometer compass detection in the cockpit area.

[0071] In a possible implementation, the altitude information is obtained based on compass detection of a magnetometer in the cockpit area.

[0072] In a possible implementation, the remote sensing information is obtained based on detection of multiple radars within the cockpit area.

[0073] In a possible implementation, the image information is obtained based on camera detection within the cockpit area.

[0074] In one possible implementation, the MCU of the autonomous driving controller obtains location information by reading the GPS device in the cockpit.

[0075] In one possible implementation, the MCU of the autonomous driving controller obtains attitude information by reading the IMU device in the cockpit.

[0076] In one possible implementation, the MCU of the autonomous driving controller obtains heading information by reading the magnetometer compass in the cockpit.

[0077] In one possible implementation, the MCU of the autonomous driving controller obtains altitude information by reading the magnetometer compass in the cockpit.

[0078] In one possible implementation, the MCU of the autonomous driving controller obtains the distance information of the obstacles below by reading the magnetometer compass in the cockpit.

[0079] In one possible implementation, the SOC of the autonomous driving controller obtains surrounding environment perception information by reading the lidar and camera in the cockpit.

[0080] In one possible implementation, Figure 4 As shown, the flight platform includes a power assembly, which includes a motor, an ESC, and a servo. The autopilot controller's MCU is connected to the flight platform's power assembly and controls the ESC, motor, and servo via PWM (Pulse Width Modulation). Specifically, the ESC is an electronic speed controller (ESC), which controls the motor's speed. The autopilot controller's MCU sends signals to the ESC, which adjusts the motor's speed. The servo controls the control surfaces to adjust the flight attitude.

[0081] In one possible implementation, when the device combination information is the first combination information, when the flying car is in flight, the cockpit domain is integrated with the flight platform equipment. The autopilot controller's MCU obtains location information by reading the GPS device in the cockpit; obtains attitude information by reading the IMU device in the cockpit; obtains heading information by reading the magnetometer compass in the cockpit; obtains altitude information by reading the barometer in the cockpit; obtains distance information to obstacles below by reading the millimeter-wave radar mwRadar in the cockpit; and obtains surrounding environment perception information by reading the lidar and camera in the cockpit. The autopilot controller's system-on-chip (SOC) is connected to the flight platform's power components (motor, ESC, and servo), controlling the ESC motor and servo via PWM.

[0082] In one possible implementation, Figure 4 As shown, when the device combination information is the second combination information, when the flying car is in the driving state, the cockpit domain and the chassis domain are combined. The MCU of the autopilot controller obtains location information by reading the GPS in the cockpit; the MCU of the autopilot controller obtains attitude information by reading the IMU in the cockpit; the SOC of the autopilot controller obtains surrounding environment perception information by reading the lidar and camera in the cockpit; the MCU of the autopilot controller obtains the status information of the drive-by-wire chassis by reading the CAN (Controller Area Network, a serial communication protocol based on message broadcast) bus messages from the drive-by-wire chassis ECU (Engine Control Unit) and sends control instructions to the drive-by-wire chassis.

[0083] In this implementation, the current control information of the flying car is determined based on the device combination information and environmental perception information. The environmental perception information is obtained by environmental perception based on multiple sensors in the cockpit area of the flying car. It is only necessary to start the corresponding control algorithm for different motion forms, time-sharing multiplexing, and saving hardware costs.

[0084] In one possible implementation, after determining the current control information of the flying car, the method further includes: Controlling the flying car based on the current control information to obtain control feedback information; The control feedback information is sent to the cockpit domain, so that the cockpit domain adjusts the current control information based on the control feedback information.

[0085] In one possible implementation, the flying car is controlled based on the current control information to obtain control feedback information; and the control feedback information is sent to the cockpit domain, so that the cockpit domain adjusts the current control information in real time based on the control feedback information.

[0086] In one possible implementation, after the user takes over control, the motion form information of the flying car is re-acquired and determined, and the steps of determining the device combination information of the flying car based on the motion form information and determining the current control information of the flying car based on the device combination information and the environmental perception information are repeated.

[0087] In this implementation, the flying car is controlled based on the current control information to obtain control feedback information, and the control feedback information is sent to the cockpit domain, so that the cockpit domain can make real-time adjustments to the current control information based on the control feedback information, thereby improving the accuracy and efficiency of control.

[0088] Beneficial effects of the present application: The present application provides a control method for a split-type flying car, which determines the motion form information of the flying car in response to a state control instruction; determines the device combination information of the flying car based on the motion form information; determines the current connection mode of the flying car based on the device combination information; obtains environmental perception information of the flying car after controlling the flying car based on the current connection mode; the environmental perception information is obtained by performing environmental perception based on the cockpit domain of the flying car; and determines current control information for the flying car based on the device combination information and the environmental perception information. The cockpit is used as a carrier in a flying state or a driving state based on the motion form information of the flying car, achieving time-sharing multiplexing. Environmental perception information is obtained based on environmental perception in the cockpit domain of the flying car, and current control information for the flying car is determined based on the device combination information and the environmental perception information. This improves the accuracy of assisted driving, provides convenience for users, and solves the problem of how to reduce the cost of flying cars.

[0089] Figure 5 The schematic diagram of the structure of a control device 500 for a split flying car provided in an embodiment of the present application is shown. The device has the function of implementing the control method of the split flying car in the above method embodiment. The function can be implemented by hardware or by hardware executing corresponding software. Figure 5 As shown, the device may include: The instruction response module 501 is used to determine the motion form information of the flying car in response to the state control instruction; A combination information determination module 502 is configured to determine device combination information of the flying car based on the motion form information; a connection mode determination module 503, configured to determine a current connection mode of the flying car based on the device combination information; An environment perception information acquisition module 504 is configured to acquire environment perception information of the flying car after controlling the flying car based on the current connection mode; The control information determination module 505 is configured to determine current control information for the flying car based on the device combination information and the environment perception information.

[0090] In a possible implementation, the state control instruction includes a first control instruction and a second control instruction, the first control instruction represents a flight requirement, and the second control instruction represents a driving requirement; The instruction response module 501 is used to: When the state control instruction is the first control instruction, determining that the motion form information is a flight state; When the state control instruction is the first control instruction, the motion form information is determined to be a driving state.

[0091] In one possible implementation, the flying car includes a chassis domain and a flight platform, and the device combination information includes first combination information and second combination information, wherein the first combination information represents a combination of the cockpit domain and the flight platform, and the second combination information represents a combination of the cockpit domain and the chassis domain; The combination information determination module 502 is configured to: When the motion form information is the flight state, determining the device combination information to be the first combination information; When the motion form information is the driving state, the device combination information is determined to be the second combination information.

[0092] In a possible implementation, the current connection mode includes a first connection mode and a second connection mode, the first connection mode representing that the flight platform is mechanically and electrically connected to the cockpit domain, and the second connection mode representing that the chassis domain is mechanically and electrically connected to the cockpit domain; The connection mode determination module 503 is configured to: When the device combination information is the first combination information, determining that the current connection mode is the first connection mode; When the device combination information is the second combination information, it is determined that the current connection mode is the second connection mode.

[0093] In a possible implementation, the environmental perception information includes attitude information, heading information, altitude information, remote sensing information, and image information; The control information determination module 505 is configured to: When the equipment combination information is the first combination information, determining control information of a power component of the flight platform based on attitude information, heading information, altitude information, remote sensing information, and image information; The power component control information is determined to be the current control information.

[0094] In a possible implementation, the control information determining module 505 is further configured to: When the device combination information is the second combination information, acquiring the control-by-wire chassis state information of the chassis domain; Determining by-wire chassis control information for the chassis domain based on the attitude information, the heading information, the altitude information, the remote sensing information, the image information, and the by-wire chassis state information; The drive-by-wire chassis control information is determined to be the current control information.

[0095] In a possible implementation, the apparatus further includes a feedback module 506. After determining the current control information of the flying car, the feedback module 506 is configured to: Controlling the flying car based on the current control information to obtain control feedback information; The control feedback information is sent to the cockpit domain, so that the cockpit domain adjusts the current control information based on the control feedback information.

[0096] It should be noted that the apparatus provided in the above embodiments, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0097] An embodiment of the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement any one of the control methods for a split-type flying car provided in the above method embodiments.

[0098] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0099] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a control method for a split flying car. The at least one instruction or the at least one program is loaded and executed by the processor to implement any of the control methods for a split flying car provided in the above method embodiments.

[0100] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0101] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0102] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0103] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0104] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A control method for a split-type flying car, characterized in that: The method comprises: In response to the state control instruction, determining motion form information of the flying car; Determining equipment combination information of the flying car based on the motion form information; Determining a current connection mode of the flying car based on the device combination information; After controlling the flying car based on the current connection mode, obtaining environmental perception information of the flying car; the environmental perception information is obtained based on environmental perception in a cockpit domain of the flying car; Based on the device combination information and the environment perception information, current control information for the flying car is determined.

2. The control method of the split-type flying car according to claim 1, characterized in that: The state control instruction includes a first control instruction and a second control instruction, the first control instruction represents a flight requirement, and the second control instruction represents a driving requirement; The step of determining the motion form information of the flying car in response to the state control instruction includes: When the state control instruction is the first control instruction, determining that the motion form information is a flight state; When the state control instruction is the first control instruction, the motion form information is determined to be a driving state.

3. The control method of the split-type flying car according to claim 2, characterized in that: The flying car includes a chassis domain and a flight platform, and the device combination information includes first combination information and second combination information, wherein the first combination information represents a combination of the cockpit domain and the flight platform, and the second combination information represents a combination of the cockpit domain and the chassis domain; The determining of equipment combination information of the flying car based on the motion form information includes: When the motion form information is the flight state, determining the device combination information to be the first combination information; When the motion form information is the driving state, the device combination information is determined to be the second combination information.

4. The control method of the split-type flying car according to claim 3, characterized in that: The current connection mode includes a first connection mode and a second connection mode, the first connection mode representing that the flight platform is mechanically and electrically connected to the cockpit domain, and the second connection mode representing that the chassis domain is mechanically and electrically connected to the cockpit domain; The determining the current connection mode of the flying car based on the device combination information includes: When the device combination information is the first combination information, determining that the current connection mode is the first connection mode; When the device combination information is the second combination information, it is determined that the current connection mode is the second connection mode.

5. The control method of the split-type flying car according to claim 3, characterized in that: The environmental perception information includes attitude information, heading information, altitude information, remote sensing information and image information; The determining, based on the device combination information and the environmental perception information, current control information for the flying car includes: When the equipment combination information is the first combination information, determining control information of a power component of the flight platform based on attitude information, heading information, altitude information, remote sensing information, and image information; The power component control information is determined to be the current control information.

6. The control method of the split-type flying car according to claim 5, characterized in that: The method further comprises: When the device combination information is the second combination information, acquiring the control-by-wire chassis state information of the chassis domain; Determining by-wire chassis control information for the chassis domain based on the attitude information, the heading information, the altitude information, the remote sensing information, the image information, and the by-wire chassis state information; The drive-by-wire chassis control information is determined to be the current control information.

7. The control method of the split-type flying car according to claim 1, characterized in that: After determining the current control information of the flying car, the method further includes: Controlling the flying car based on the current control information to obtain control feedback information; The control feedback information is sent to the cockpit domain, so that the cockpit domain adjusts the current control information based on the control feedback information.

8. A control device for a split-type flying car, comprising: An instruction response module, configured to determine motion form information of the flying car in response to a state control instruction; a combination information determination module, configured to determine equipment combination information of the flying car based on the motion form information; a connection mode determination module, configured to determine a current connection mode of the flying car based on the device combination information; an environmental perception information acquisition module, configured to acquire environmental perception information of the flying car after controlling the flying car based on the current connection mode; A control information determination module is used to determine current control information for the flying car based on the device combination information and the environmental perception information.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the split flying car according to any one of claims 1 to 7.

10. A computer-readable storage medium, wherein the computer-readable storage medium stores at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the control method of the split-type flying car according to any one of claims 1 to 7.

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