Flying car meeting control method and device, electronic equipment and storage medium
By obtaining obstacle information during the flying car meeting process and entering the space meeting mode, determining and executing the space meeting route, the problems of insufficient safety and low efficiency of flying car meeting in the existing technology are solved, and safety and meeting efficiency are improved.
Patent Information
- Application Number
- CN202510717279.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-09-19
AI Technical Summary
Existing technologies make it difficult to effectively avoid the risk of vehicle collision during flying car passing, especially in complex road environments, resulting in insufficient safety and low passing efficiency.
By acquiring obstacle information within the target monitoring range, the system enters the space-meeting mode when the plane drivability does not meet the plane-meeting conditions. The system determines the target plane distance and flight altitude of the target flying car. If the preset takeoff distance and flight altitude are met, the system determines the space-meeting route and controls the flying car to conduct the space-meeting process.
It effectively avoids collisions between flying cars and surrounding obstacles, improves driving safety, and reduces time delays and improves meeting efficiency through spatial meeting processing.
Smart Images
Figure CN120669744A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and storage medium for controlling a flying car's approach to another vehicle. Background Art
[0002] With accelerating urbanization and growing transportation demands, traditional ground transportation systems are facing severe congestion during meeting traffic. To alleviate this problem, a new type of transportation, flying cars, is being used for meeting traffic. Flying cars combine ground travel and aerial flight capabilities, effectively utilizing three-dimensional space and improving traffic efficiency. However, in actual meeting traffic, especially in complex road environments, flying cars can pose a risk of collision, threatening driver safety.
[0003] Existing vehicle passing control methods are primarily based on the same road-level driving rules as on ground roads, such as slowing down, changing lanes, or stopping to yield. However, flying cars may face situations such as insufficient ground space or obstacles when passing. Relying solely on ground-level passing methods can lead to reduced efficiency, time delays, and safety issues. Summary of the Invention
[0004] This application provides a method, device, electronic device, and storage medium for controlling a flying vehicle during a meeting process, aiming to at least address the related art issue of improving the efficiency of a target flying vehicle during a meeting process. The technical solution of this application is as follows: According to a first aspect of an embodiment of the present application, a method for controlling a flying car meeting another flying car is provided, comprising: Obtain obstacle information within the target monitoring range; the target monitoring range is the monitoring range of the target flying car on the plane; When the obstacle information indicates that the planar drivable condition does not meet the planar meeting conditions, the system enters the spatial meeting mode; Determine a target plane vehicle distance corresponding to the target flying car and a flyable altitude corresponding to the target flying car; the target plane vehicle distance includes a first vehicle distance and a second vehicle distance; the first vehicle distance is the distance between the target flying car and a front obstacle; the second vehicle distance is the distance between the target flying car and a rear obstacle; When the first vehicle distance and the second vehicle distance meet a preset takeoff distance condition, and the flyable altitude meets a preset flight altitude condition, determining a spatial meeting route corresponding to the target flying car; According to the space meeting route, the target flying car is controlled to perform space meeting processing.
[0005] According to a second aspect of an embodiment of the present application, a flying car meeting control device is provided, comprising: The acquisition module is used to obtain obstacle information within the target monitoring range; the target monitoring range is the monitoring range of the target flying car on the plane; A meeting mode determination module is used to enter the spatial meeting mode when the obstacle information indicates that the planar drivable condition does not meet the planar meeting conditions; A distance determination module is configured to determine a target plane vehicle distance and a flyable altitude corresponding to the target flying vehicle; the target plane vehicle distance includes a first vehicle distance and a second vehicle distance; the first vehicle distance is the distance between the target flying vehicle and a front obstacle; the second vehicle distance is the distance between the target flying vehicle and a rear obstacle; A meeting route determination module is used to determine a spatial meeting route corresponding to the target flying car when the first vehicle distance and the second vehicle distance meet a preset takeoff distance condition and the flight altitude meets a preset flight altitude condition; The space meeting module is used to control the target flying car to perform space meeting processing according to the space meeting route.
[0006] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a method as described in any one of the first aspects above.
[0007] According to the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of an electronic device, the electronic device can execute any method described in the first aspect of the embodiments of the present application. According to a fifth aspect of an embodiment of the present application, a computer program product is provided, comprising computer instructions, which, when executed by a processor, enable a computer to execute any one of the methods according to the first aspect of the embodiment of the present application.
[0008] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.
[0009] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects: By acquiring obstacle information within the target monitoring range, if the obstacle information indicates that the plane drivable condition does not meet the plane passing conditions, the system enters the space passing mode, which can effectively avoid collisions between the target flying car and surrounding obstacles, thereby improving driving safety. When the first and second vehicle distances meet preset flight conditions and the flyable altitude meets the preset flight altitude condition, a spatial meeting route of the target flying car is determined; based on the spatial meeting route, the target flying car is controlled to perform spatial meeting processing, thereby avoiding the problem of surface traffic congestion and impassability, reducing time delays, and improving meeting efficiency; The spatial meeting route is determined according to the target plane vehicle distance and the flyable altitude, which enhances the flexibility and accuracy of the target flying car meeting.
[0010] Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] In order to more clearly illustrate the technical solutions and advantages of the embodiments of this specification or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0012] Figure 1 The present invention is a flowchart showing a method for controlling a flying car meeting another flying car according to an exemplary embodiment.
[0013] Figure 2 It is a schematic diagram showing an entry into a space meeting mode according to an exemplary embodiment.
[0014] Figure 3 is a schematic diagram showing a planar detour route according to an exemplary embodiment.
[0015] Figure 4 The figure is a schematic diagram of a planar yield route according to an exemplary embodiment.
[0016] Figure 5 It is a schematic diagram showing a spatial detour route according to an exemplary embodiment.
[0017] Figure 6 The figure is a schematic diagram of a space-yielding route according to an exemplary embodiment.
[0018] Figure 7 The present invention is a device block diagram showing a flying car meeting control device according to an exemplary embodiment.
[0019] Figure 8 This is a frame diagram of an electronic device for controlling a flying car according to an exemplary embodiment. Figure 1 .
[0020] Figure 9This is a frame diagram of an electronic device for controlling a flying car according to an exemplary embodiment. Figure 2 . DETAILED DESCRIPTION
[0021] In order to enable ordinary persons in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of the specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary persons in the art without making any creative work shall fall within the scope of protection of this invention.
[0022] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0023] Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.
[0024] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as being superior or better than other embodiments. The term "and / or" herein is merely a description of an association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of items. For example, at least one of A, B, and C may represent any one or more elements selected from the set consisting of A, B, and C.
[0025] Unless otherwise specified, the directions in this document should be understood as follows: the direction closer to the user is the front, and the direction away from the user is the rear.
[0026] In addition, numerous specific details are provided in the following detailed description to better illustrate the present application. Those skilled in the art will appreciate that the present application can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.
[0027] It should be noted that the following diagrams illustrate a possible sequence of steps and are not intended to be strictly followed. Some steps can be performed in parallel without relying on each other.
[0028] Before introducing the method embodiments provided in the present application, a brief introduction is first given to the application scenarios, relevant terms or nouns that may be involved in the method embodiments of the present application to facilitate understanding by technical personnel in the field of the present application.
[0029] A flying car is a vehicle that combines ground travel and air flight capabilities, primarily used to address urban traffic congestion and expand three-dimensional travel options. Flying cars come in two types: integrated and split. Integrated flying cars integrate both ground travel and air flight capabilities into a single vehicle, allowing for switching between modes without requiring separate components. Split flying cars primarily consist of a detachable land module and a flight module, requiring assembly or docking for use, resulting in independent aircraft. Preferably, this application is primarily applied to integrated flying cars.
[0030] Figure 1 FIG. 1 is a flow chart showing a method for controlling a flying car meeting another flying car according to an exemplary embodiment. Figure 1 As shown, the following steps may be included.
[0031] In step S101, obstacle information within a target monitoring range is obtained.
[0032] In the embodiments of this specification, the target monitoring range may refer to the monitoring range of the target flying vehicle on a plane. The target flying vehicle may be any flying vehicle that combines ground travel and aerial flight capabilities. Obstacle information may include information about objects within the target monitoring range that may obstruct the normal operation of the flying vehicle. Examples include pedestrians, cars, two-wheeled vehicles, three-wheeled vehicles, cones, water barriers, etc., although this application does not limit this.
[0033] In one possible implementation, the target flying vehicle uses onboard radar and sensors to collect real-time obstacle information within its target monitoring range. For example, the target monitoring range can be defined as a circle with a radius of 30 meters, centered on the target flying vehicle. This application does not limit the specific value of the target monitoring range. Sensors such as millimeter-wave radar, ultrasonic radar, and cameras on the target flying vehicle collect obstacle information within the target monitoring range and transmit this information to the target flying vehicle's control unit for analysis and processing.
[0034] In step S103, when the obstacle information indicates that the planar drivable condition does not meet the planar meeting condition, the spatial meeting mode is entered.
[0035] In the embodiments of this specification, the "plane drivable condition" may refer to the state of the target flying vehicle on a plane. The "plane meeting condition" may refer to the conditions under which the target flying vehicle can normally meet on a plane. The "space meeting mode" may represent a mode of meeting in space when the target flying vehicle cannot safely pass on a plane according to the plane meeting conditions.
[0036] In one possible implementation, when the obstacle information indicates that a front obstacle blocks the target flying car's planar detour route and a rear obstacle blocks the target flying car's planar yield route, the target flying car is controlled to enter a spatial meeting mode.
[0037] A front obstacle may refer to an obstacle in front of the target flying vehicle within the target monitoring range. A rear obstacle may refer to an obstacle behind the target flying vehicle within the target monitoring range. A planar detour route may refer to a route that the target flying vehicle detours from the front. A planar yield route may refer to a route that the target vehicle yields from the rear.
[0038] Figure 2 FIG. 1 is a schematic diagram showing a mode of entering a space meeting mode according to an exemplary embodiment. Figure 2 As shown, obstacle 1 is the front obstacle, and obstacle 2 is the rear obstacle; the plane driving direction of the target flying car and the plane driving direction of obstacle 1 can be opposite, and the plane driving direction of the target flying car and the plane driving direction of obstacle 2 can be the same. This application does not limit this. When obstacle 1 blocks the target flying car's planar detour route, that is, there is no planar passing width in front of the target flying car, and the detour process is carried out from the front, and obstacle 2 blocks the target flying car's planar yield route, that is, there is no planar passing width behind the target flying car, and the reverse yield process is carried out from the rear, the target flying car enters the space passing mode.
[0039] In one possible implementation, when obstacle information indicates that there is an obstacle ahead on the target driving route, the corresponding forward drivable width of the target flying car is obtained; when the forward drivable width is greater than a preset plane meeting width, the plane meeting mode is entered, and a plane detour route corresponding to the target flying car is determined; and according to the plane detour route, the target flying car is controlled to perform a plane detour process.
[0040] In the embodiments of this specification, the target driving route may refer to the route traveled by the target flying vehicle. The forward drivable width may refer to the lateral distance the target flying vehicle can safely pass along the target driving route. The preset plane meeting width may refer to the preset lateral distance a plane can pass through. The plane meeting mode may refer to the mode in which the target flying vehicle passes other vehicles on a plane. The plane detour route may refer to the driving path calculated based on the location of the forward obstacle and the forward drivable width.
[0041] Figure 3 FIG. 1 is a schematic diagram showing a planar detour route according to an exemplary embodiment. Figure 3 As shown, the target flying car can be calculated based on the road width at the i-th segment. , the total width occupied by obstacle 1 at the i-th segment , determine the drivable width ahead of the target flying car Specifically, the front drivable width The solution formula is: = ).
[0042] Where i is a longitudinal segment index along a reference line, such as a lane centerline. The segment interval is typically 0.1 m to 1 m, and this application does not impose a limitation on the segment interval. is the road width at the i-th segment; is the total width occupied by obstacle 1 at the i-th segment; The target flying car's front drivable width.
[0043] When there is an obstacle ahead on the target driving route of the target flying car, obtain the corresponding forward drivable width of the target flying car. = road width at segment i -The total width occupied by obstacle 1 at the i-th segment Furthermore, the front drivable width Analyze and judge the drivable width ahead If the platform width is greater than the preset planar approach width, for example, the preset platform width can be the width of the target flying car + 0.3 meters, which is not limited in this application. At this point, the target flying car enters planar approach mode and determines a corresponding planar detour route. Based on the planar detour route, the target flying car performs a planar detour to the right and forward.
[0044] In one possible implementation, when obstacle information indicates that there is an obstacle ahead on the target driving route and the front drivable width is less than a preset plane passing width, the rear of the target flying car is monitored; when the monitoring shows that the rear drivable width of the target flying car is greater than the preset plane passing width, the target flying car enters a plane passing mode and determines a plane yielding route corresponding to the target flying car; and according to the plane yielding route, the target flying car is controlled to reverse and yield.
[0045] In the embodiments of this specification, the plane yielding route may refer to the route that the target flying car yields to on the plane. The rear drivable width may refer to the width that the target flying car can move backward.
[0046] Figure 4 FIG. 1 is a schematic diagram of a plane yield route according to an exemplary embodiment. Figure 4 As shown, there is an obstacle 1 in front of the target flying car, and the detected drivable width in front is less than the preset planar passing width, meaning the target flying car cannot bypass it. At this point, the target flying car's rearward position is detected. If no vehicle is detected behind the target flying car and the target flying car's rearward drivable width is greater than the preset planar passing width, the target flying car enters planar passing mode and determines a planar yield route for the target flying car. Based on this planar yield route, the target flying car is controlled to reverse and yield to the right rear.
[0047] In step S105 , the target plane vehicle distance corresponding to the target flying car and the flyable altitude corresponding to the target flying car are determined.
[0048] In the embodiments of this specification, the target horizontal distance may include a first distance and a second distance. The target horizontal distance may refer to the distance between the target flying vehicle and the obstacle in front and the obstacle behind. The first distance refers to the distance between the target flying vehicle and the obstacle in front. The second distance may refer to the distance between the target flying vehicle and the obstacle behind. The flyable altitude may refer to the actual flyable altitude of the target flying vehicle.
[0049] In one possible implementation, if there are obstacles ahead and behind the target flying vehicle within the target monitoring range, and if the target flying vehicle's drivability does not meet the drivability conditions, the target horizontal distances corresponding to the target flying vehicle, namely, the first and second distances, as well as the target flying vehicle's flyable altitude, are determined. For example, the first distance, i.e., the distance between the target flying vehicle and the obstacle ahead, may be 0.5 meters; the second distance, i.e., the distance between the target flying vehicle and the obstacle behind, may be 0.6 meters; and the flyable altitude may be 50 meters.
[0050] In step S107, when the first vehicle distance and the second vehicle distance meet the preset vehicle distance condition, and the flyable altitude meets the preset flight altitude condition, a spatial meeting route corresponding to the target flying car is determined.
[0051] In the embodiments of this specification, a spatial meeting route may refer to the target flying vehicle's meeting route when a flat surface is impassable. A preset flight altitude may refer to a preset safe flight altitude for the target flying vehicle. A preset takeoff distance condition may refer to a preset distance from obstacles ahead and behind.
[0052] In one possible implementation, when the first vehicle distance and the second vehicle distance meet a preset takeoff distance condition and the flyable altitude meets a preset flight altitude condition, the number of obstacles ahead within the target monitoring range is obtained; when the number of obstacles ahead is less than a preset number, a spatial detour route is determined.
[0053] In the embodiments of this specification, the spatial meeting route includes a spatial detour route. The spatial detour route may refer to a detour route taken by the target flying car in space when a flat surface is impassable.
[0054] Figure 5 FIG. 1 is a schematic diagram showing a space detour route according to an exemplary embodiment. Figure 5 As shown, the preset takeoff distance condition is 0.5 meters, the first vehicle distance is 0.6 meters, the second vehicle distance is 0.7 meters, the preset flight altitude is 8 meters, and the flyable altitude is 20 meters. The number of obstacles ahead is 2, namely, obstacle 3 and obstacle 4, and the preset number is 10. Accordingly, the first vehicle distance of 0.6 meters is greater than the preset takeoff distance condition, and the second vehicle distance of 0.7 meters is greater than the preset takeoff distance condition. This ensures that the target flying car will not contact the vehicles in front and behind during the space meeting process, improving the stability and safety of the target flying car in space meeting. The flyable altitude of 20 meters is greater than the preset flight altitude of 8 meters. This setting can avoid the presence of obstacles in space and other dangerous situations.
[0055] When the first vehicle distance and the second vehicle distance meet the preset takeoff distance conditions, and the flight altitude meets the preset flight altitude, the number of obstacles ahead within the target monitoring range is obtained to be 2, which is less than the preset number 10, that is, the number of obstacles ahead is small. At this time, the target flying car can safely enter the flat road after passing the other vehicles, and then determine the spatial detour route of the target flying car. For example, Figure 5 The dotted arrow corresponds to the route.
[0056] In a possible implementation, when the number of obstacles ahead exceeds a preset number, a space-yielding route is determined.
[0057] In the embodiments of this specification, the spatial passing route also includes a spatial yielding route. The spatial yielding route may refer to a route for yielding in the air when the ground is impassable.
[0058] In one possible implementation, the first vehicle distance and the second vehicle distance of the target flying car do not meet the preset take-off distance condition. For example, the distance between the obstacle in front and the target flying car is 0.2 meters, which is less than the preset take-off distance condition of 0.5 meters. This application does not limit this. Or the flyable altitude does not meet the preset flight altitude condition. For example, the target flying car is in a tunnel and the flyable altitude is only five meters, which is less than the preset flight altitude of 8 meters. At this time, the space meeting condition is not met, and the target flying car stops on the plane and waits for processing.
[0059] Figure 6 FIG. 1 is a schematic diagram showing a space giving way route according to an exemplary embodiment. Figure 6 As shown, there are multiple obstacles in front of the target vehicle, for example, there are 50 obstacles in front. At this time, when the number of obstacles in front exceeds the preset number, the space yielding route corresponding to the target flying car is determined.
[0060] In step S109, the target flying car is controlled to perform space meeting processing according to the space meeting route.
[0061] In one possible implementation, the target flying car is controlled to perform a spatial bypass process according to the spatial bypass route, that is, when the number of obstacles in front is less than a preset number, it bypasses the obstacles in front from above.
[0062] In another possible implementation, the target flying car is controlled to perform space giving way according to the space giving way route. That is, when the number of obstacles ahead is greater than a preset number, the target flying car is controlled to fly directly upward and hover, waiting for the obstacle ahead to pass, and then it is determined that the space passing mission is completed. That is, when the target flying car has no obstacles ahead and can pass normally on the plane, it is determined that the space passing mission is completed.
[0063] In a possible implementation, when the target flying car completes the space meeting mission, the target flying car is controlled to exit the space meeting mode and perform plane driving according to the target driving information corresponding to the target flying car.
[0064] In the embodiments of this specification, the space meeting mission may refer to a driving mission of the target flying car in space.
[0065] When the target flying car completes the meeting mission, the target flying car is immediately controlled to enter the plane driving according to the target driving information.
[0066] Figure 7 This is a block diagram of a device for controlling a flying car meeting another vehicle according to an exemplary embodiment. Figure 7 , the apparatus may include: The acquisition module 701 is used to obtain obstacle information within the target monitoring range; the target monitoring range is the monitoring range of the target flying car on the plane.
[0067] The meeting mode determination module 703 is configured to enter the spatial meeting mode when the obstacle information indicates that the planar drivable condition does not meet the planar meeting condition.
[0068] In a possible implementation, the meeting mode determination module 703 includes: The space meeting mode control module controls the target flying car to enter the space meeting mode when the obstacle information indicates that the obstacle in front blocks the target flying car's planar detour route and the obstacle behind blocks the target flying car's planar yield route.
[0069] The distance determination module 705 is used to determine the target plane vehicle distance corresponding to the target flying vehicle and the corresponding flyable altitude of the target flying vehicle. The target plane vehicle distance includes a first vehicle distance and a second vehicle distance. The first vehicle distance is the distance between the target flying vehicle and the obstacle in front; the second vehicle distance is the distance between the target flying vehicle and the obstacle behind.
[0070] In one possible implementation, the distance determination module 705 includes: The number acquisition module is used to obtain the number of obstacles ahead within the target monitoring range when the first vehicle distance and the second vehicle distance meet the preset take-off distance condition and the flight altitude meets the preset flight altitude condition.
[0071] The spatial detour route determination module is used to determine the spatial detour route when the number of obstacles ahead is less than a preset number.
[0072] In a possible implementation, the distance determining module 705 further includes: The space yield route determination module is used to determine the space yield route when the number of obstacles ahead exceeds a preset number.
[0073] The space yield processing module is used to control the target flying car to perform space yield processing according to the space yield route.
[0074] A meeting route determination module 707 is configured to determine a spatial meeting route corresponding to the target flying car when the first vehicle distance and the second vehicle distance meet a preset takeoff distance condition and the flight altitude meets a preset flight altitude condition; The space meeting module 709 is used to control the target flying car to perform space meeting processing according to the space meeting route.
[0075] In one possible implementation, the flying car's meeting control device further includes: The meeting mode exit module is used to control the target flying car to exit the space meeting mode when the target flying car completes the space meeting mission, and to perform plane driving according to the target driving information corresponding to the target flying car.
[0076] In one possible implementation, the flying car's meeting control device further includes: A forward drivable width acquisition module is used to obtain the forward drivable width corresponding to the target flying car when the obstacle information indicates that there is an obstacle ahead on the target driving route; A planar detour route determination module is used to enter a planar meeting mode and determine a planar detour route corresponding to the target flying car when the drivable width ahead is greater than a preset planar meeting width; The plane detour module is used to control the target flying car to perform plane detour processing according to the plane detour route.
[0077] In one possible implementation, the flying car's meeting control device further includes: The rear monitoring module is used to monitor the rear of the target flying car when the obstacle information indicates that there is an obstacle ahead on the target driving route and the front drivable width is less than the preset plane meeting width; a plane yield route determination module, configured to enter the plane meeting mode and determine a plane yield route corresponding to the target flying car when it is detected that the rear drivable width of the target flying car is greater than a preset plane meeting width; The reversing and yielding module controls the target flying car to reverse and yield according to the plane yielding route.
[0078] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0079] Figure 8 This is a block diagram of an electronic device for meeting control of a flying car according to an exemplary embodiment. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The electronic device includes a processor, memory, network interface, display screen and input device connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for controlling the meeting of a flying car is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a key, trackball or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad or mouse. Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.
[0080] Figure 9 This is a block diagram of an electronic device for meeting control of a flying car according to an exemplary embodiment. The electronic device may be a server, and its internal structure diagram may be as shown in FIG. Figure 9 As shown. The electronic device includes a processor, memory, and a network interface connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal via a network connection. When executed by the processor, the computer program implements a method for controlling a flying car meeting another vehicle. Those skilled in the art will understand that Figure 9The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components shown in the figure, or combine certain components, or have a different component arrangement. In an exemplary embodiment, an electronic device is also provided, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the flying car meeting control method as in the embodiment of the present application.
[0081] In an exemplary embodiment, a computer-readable storage medium is also provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the flying car meeting control method described in the embodiments of the present application. The computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, or the like.
[0082] In an exemplary embodiment, a computer program product including instructions is also provided. When the computer program product is run on a computer, the computer is caused to execute the flying car meeting control method in the embodiment of the present application.
[0083] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, which can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
[0084] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.
[0085] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.
Claims
1. A flying car meeting control method, characterized in that: include: Obtain obstacle information within the target monitoring range; The target monitoring range is the monitoring range of the target flying car on the plane; When the obstacle information indicates that the planar drivable condition does not meet the planar meeting condition, entering the spatial meeting mode; Determining a target horizontal distance between the target flying car and a flyable altitude corresponding to the target flying car; the target horizontal distance between the target flying car includes a first distance between the target flying car and a front obstacle and a second distance between the target flying car and a rear obstacle; When the first vehicle distance and the second vehicle distance satisfy a preset takeoff distance condition, and the flyable altitude satisfies a preset flight altitude condition, determining a spatial meeting route corresponding to the target flying car; According to the space meeting route, the target flying car is controlled to perform space meeting processing.
2. The vehicle-meeting control method according to claim 1, characterized in that: When the obstacle information indicates that the planar drivable condition does not meet the planar meeting condition, entering the spatial meeting mode includes: When the obstacle information indicates that the front obstacle blocks the planar detour route of the target flying car and the rear obstacle blocks the planar yield route of the target flying car, the target flying car is controlled to enter the spatial meeting mode.
3. The vehicle-meeting control method according to claim 1, characterized in that: The method further comprises: The obstacle information indicates that the obstacle ahead exists on the target driving route, and obtains a corresponding forward drivable width of the target flying car; When the drivable width ahead is greater than the preset plane meeting width, entering the plane meeting mode and determining a plane detour route corresponding to the target flying car; According to the planar detour route, the target flying car is controlled to perform a planar detour process.
4. The vehicle-meeting control method according to claim 3, characterized in that: The method further comprises: When the obstacle information indicates that the obstacle is present in front of the target driving route and the front drivable width is smaller than the preset plane meeting width, monitoring the rear of the target flying car; When it is detected that the rear drivable width of the target flying car is greater than the preset plane passing width, the planar passing mode is entered and a plane yielding route corresponding to the target flying car is determined; According to the planar yield route, the target flying car is controlled to perform reverse yielding processing.
5. The vehicle-meeting control method according to claim 1, characterized in that: The method further comprises: When the target flying car completes the space meeting mission, the target flying car is controlled to exit the space meeting mode and perform plane driving according to the target driving information corresponding to the target flying car.
6. The vehicle-meeting control method according to claim 1, characterized in that: The spatial meeting route includes a spatial detour route. When the first vehicle distance and the second vehicle distance satisfy a preset takeoff distance condition and the flyable altitude satisfies a preset flight altitude condition, determining the spatial meeting route corresponding to the target flying car includes: When the first vehicle distance and the second vehicle distance satisfy a preset takeoff distance condition, and the flyable altitude satisfies a preset flight altitude condition, obtaining the number of the front obstacles within the target monitoring range; When the number of the obstacles ahead is less than a preset number, the spatial detour route is determined.
7. The vehicle-meeting control method according to claim 6, characterized in that: The spatial meeting route also includes a spatial yielding route, and the method further includes: When the number of obstacles ahead exceeds the preset number, determining the space yielding route; According to the space yielding route, the target flying car is controlled to perform space yielding processing.
8. A flying car meeting control device, characterized in that: include: Acquisition module, used to obtain obstacle information within the target monitoring range; The target monitoring range is the monitoring range of the target flying car on the plane; a meeting mode determination module, configured to enter a spatial meeting mode when the obstacle information indicates that the planar drivable condition does not satisfy a planar meeting condition; a distance determination module, configured to determine a target plane vehicle distance corresponding to the target flying vehicle and a corresponding flyable altitude of the target flying vehicle; the target plane vehicle distance includes a first vehicle distance and a second vehicle distance; the first vehicle distance is the distance between the target flying vehicle and a front obstacle; the second vehicle distance is the distance between the target flying vehicle and a rear obstacle; a meeting route determination module, configured to determine a spatial meeting route corresponding to the target flying car when the first vehicle distance and the second vehicle distance satisfy a preset takeoff distance condition and the flyable altitude satisfies a preset flight altitude condition; The space meeting module is used to control the target flying car to perform space meeting processing according to the space meeting route.
9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the flying car meeting control method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the flying car meeting control method according to any one of claims 1 to 7.