Flying car assisted parking methods, devices, equipment and computer program products

Abstract

This invention discloses a method, apparatus, device, and computer program product for assisted parking of flying cars, comprising: responding to an assisted parking command from a target flying car; acquiring three-dimensional environmental perception data of the target parking area through a perception module; identifying multiple available parking spaces based on the three-dimensional environmental perception data; determining the parking space location information and spatial dimension information of each available parking space; selecting a target parking space from the available parking spaces based on the parking space location information and spatial dimension information; performing path planning based on the current air position of the target flying car and the parking space location information of the target parking space to obtain a target parking path; controlling the target flying car to move above the target parking space and hover according to the target parking path; controlling the target flying car to descend vertically in a stable attitude until the target flying car smoothly parks in the target parking space. This invention improves the safety, accuracy, and convenience of flying car parking and can be applied to the field of flying car technology.

Description

Technical Field

[0001] This invention relates to the field of flying car technology, and in particular to a method, apparatus, equipment, and computer program product for assisting in parking a flying car. Background Technology

[0002] With the rapid development of the low-altitude economy, flying cars, as a new type of transportation combining ground driving and low-altitude flight capabilities, are finding increasingly wider applications. Assisted parking, as a core module for improving the safety and convenience of flying cars, faces technological challenges far exceeding those of traditional automobiles.

[0003] Traditional car parking assistance systems rely on single or limited sensor combinations, only meeting the needs of obstacle detection and parking space recognition in ground-level scenarios. Flying cars, however, require four core stages for parking: low-altitude hovering, attitude adjustment, precise landing, and fine-tuning of the parking space. This involves three-dimensional environmental perception, requiring not only the detection of ground parking space boundaries and low-lying obstacles, but also real-time monitoring of dynamic targets (such as low-altitude aircraft and falling objects) and their altitude in the high-altitude hovering area. Furthermore, it must address the impact of complex weather conditions such as rain, fog, and strong sunlight on perception accuracy.

[0004] In existing technologies, while LiDAR alone can achieve high-precision 3D modeling, it is costly and has blind spots at close range. Visual cameras are easily limited by lighting conditions, and their recognition accuracy drops significantly in adverse weather. Millimeter-wave radar has strong anti-interference capabilities but insufficient resolution, making it difficult to identify small obstacles. Ultrasonic radar is only suitable for extremely short-range detection and cannot meet the long-range perception requirements of the low-altitude transition phase. Neither single-sensor nor simple sensor combinations can fully cover the full-scene perception needs of flying car assisted parking, leading to safety hazards during parking and compromising parking efficiency and accuracy.

[0005] Therefore, there is an urgent need for a flying car assisted parking solution that can adapt to the three-dimensional parking scenario of flying cars, integrate the advantages of multiple sensors, and achieve accurate environmental perception and intelligent control throughout the entire process. Summary of the Invention

[0006] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0007] Therefore, one objective of this invention is to provide a method for assisted parking of flying cars. This method achieves accurate environmental scanning, dynamic target tracking, and optimal parking path planning throughout the entire parking process using multi-sensor collaborative perception, thereby improving the safety, accuracy, and convenience of flying car parking.

[0008] Another objective of this invention is to provide a parking assistance device for flying cars.

[0009] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include: On one hand, embodiments of the present invention provide a method for assisted parking of a flying car, comprising the following steps: In response to the assisted parking command of the target flying car, the three-dimensional environmental perception data of the target parking area is acquired through the perception module. Based on the three-dimensional environmental perception data, multiple available parking spaces are identified, and the parking space location information and spatial size information of each available parking space are determined. Based on the parking space location information and the space size information, the target parking space with the highest matching degree with the target flying car is selected from the available parking spaces; Based on the current air position of the target flying car and the parking space position information of the target parking space, a path is planned to obtain the target parking path; According to the target parking path, the target flying car is controlled to move above the target parking space and hover, and then the target flying car is controlled to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space.

[0010] Furthermore, in one embodiment of the present invention, the perception module includes a lidar unit, a millimeter-wave radar unit, an ultrasonic radar unit, a visual camera unit, and a multi-source data fusion unit. The lidar unit is used to collect three-dimensional point cloud data of the target parking area. The millimeter-wave radar unit and the ultrasonic radar are used to detect obstacle information in the target parking area. The visual camera unit is used to identify parking space information in the target parking area. The multi-source data fusion unit is used to perform time synchronization and spatial calibration based on the three-dimensional point cloud data, the obstacle information, and the parking space information to obtain the three-dimensional environmental perception data.

[0011] Furthermore, in one embodiment of the present invention, the step of identifying multiple available parking spaces based on the three-dimensional environmental perception data and determining the parking space location information and spatial size information of each available parking space specifically includes: Based on the three-dimensional environmental perception data, multiple available parking spaces without obstacles in the target parking area are identified, and the parking space line marking information of the available parking spaces is extracted. The available parking spaces are determined based on the parking space marking information, including the parking space location information and the space size information.

[0012] Furthermore, in one embodiment of the present invention, the step of selecting the target parking space with the highest matching degree with the target flying car from the available parking spaces based on the parking space location information and the space size information specifically includes: Obtain the current position and vehicle dimensions of the target flying car; The position matching degree between the available parking space and the target flying car is determined based on the current position and the parking space position information; The size matching degree between the available parking space and the target flying car is determined based on the vehicle body size information and the space size information. The location matching degree and the size matching degree are weighted and summed according to preset weight parameters to obtain the comprehensive matching degree between the available parking space and the target flying car. The available parking space with the highest overall matching degree is determined as the target parking space.

[0013] Furthermore, in one embodiment of the present invention, the step of performing path planning based on the current air position of the target flying car and the parking space position information of the target parking space to obtain the target parking path specifically includes: The target hovering position at a first preset height above the target parking space is determined based on the parking space location information of the target parking space; Based on the current air position, the target hovering position, and the flight performance parameters of the target flying car, a flight path is planned to obtain a first flight path; The first landing path is determined based on the target hovering position and the parking space position information; The target parking path is determined based on the first flight path and the first landing path.

[0014] Furthermore, in one embodiment of the present invention, the step of controlling the target flying car to move above the target parking space and hover according to the target parking path, and then controlling the target flying car to descend vertically in a stable attitude until the target flying car smoothly stops at the target parking space, specifically includes: The flight attitude of the target flying car is adjusted according to the first flight path using a PID control algorithm, so that the target flying car moves to the target hovering position; Based on the first landing path, the propeller speed and control surface angle of the target flying car are adjusted by a PID control algorithm so that the target flying car descends vertically in a stable attitude. When the target flying car descends to a preset second preset height, the positional deviation between the center position of the target flying car and the center position of the target parking space is determined, and the body attitude of the target flying car is adjusted in real time according to the positional deviation until the target flying car is smoothly parked at the center position of the target parking space.

[0015] Furthermore, in one embodiment of the present invention, the flying car assisted parking method further includes the following steps: When the target flying car smoothly stops at the target parking space, the sensing module scans the area around the target flying car and determines whether there is a risk of collision based on the scan results. When there is a risk of collision, the parking position of the target flying car is finely adjusted; When there is no risk of collision, the target flying car is controlled to brake, so that the target flying car is fixed in the target parking space.

[0016] On the other hand, embodiments of the present invention provide a flying car auxiliary parking device, comprising: The environmental perception module is used to respond to the assisted parking command of the target flying car, acquire three-dimensional environmental perception data of the target parking area through the perception module, identify multiple available parking spaces based on the three-dimensional environmental perception data, and determine the parking space location information and spatial size information of each available parking space. The parking space filtering module is used to filter out the target parking space with the highest matching degree with the target flying car from the available parking spaces based on the parking space location information and the space size information. The path planning module is used to perform path planning based on the current air position of the target flying car and the parking space position information of the target parking space to obtain the target parking path; The parking control module is used to control the target flying car to move above the target parking space and hover according to the target parking path, and then control the target flying car to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space.

[0017] On the other hand, embodiments of the present invention provide an electronic device, including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-described method for assisted parking of a flying car.

[0018] On the other hand, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the above-described method for assisted parking of a flying car.

[0019] On the other hand, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the above-described method for assisted parking of a flying car.

[0020] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention: In response to an assisted parking command from a target flying car, this invention acquires three-dimensional environmental perception data of the target parking area through a perception module. Based on this data, multiple available parking spaces are identified, and the location and dimensions of each space are determined. The target parking space with the highest matching degree to the target flying car is selected from the available spaces based on the location and dimensions. A path is planned based on the current air position of the target flying car and the location of the target parking space to obtain a target parking path. The target flying car is then controlled to move above the target parking space and hover, and subsequently descends vertically in a stable attitude until it smoothly parks in the target parking space. This invention achieves accurate environmental scanning, dynamic target tracking, and optimal parking path planning throughout the entire parking process using multi-sensor collaborative perception, improving the safety, accuracy, and convenience of flying car parking. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating the steps of a method for assisted parking of a flying car, as provided in an embodiment of the present invention; Figure 2 A structural block diagram of a flying car auxiliary parking device provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of this invention; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this invention as detailed in the appended claims.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0025] The flying car assisted parking method provided in this invention can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application that implements the flying car assisted parking method, but is not limited to the above forms.

[0026] This invention can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0027] It should be noted that in various specific embodiments of the present invention, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user parking space location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of the present invention require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the user's separate permission or consent is the necessary user-related data for the normal operation of the embodiments of the present invention acquired.

[0028] Reference Figure 1 This invention provides a method for assisted parking of a flying car, specifically including the following steps: S101. In response to the assisted parking command of the target flying car, the three-dimensional environmental perception data of the target parking area is obtained through the perception module, multiple available parking spaces are identified based on the three-dimensional environmental perception data, and the parking space location information and spatial size information of each available parking space are determined. S102. Based on the parking space location information and space size information, filter out the target parking space with the highest matching degree with the target flying car from the available parking spaces; S103. Based on the current air position of the target flying car and the parking space position information of the target parking space, perform path planning to obtain the target parking path; S104. Control the target flying car to move above the target parking space and hover according to the target parking path, and then control the target flying car to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space.

[0029] This invention enables precise environmental scanning, dynamic target tracking, and optimal parking path planning throughout the entire parking process of flying cars through multi-sensor collaborative perception, thereby improving the safety, accuracy, and convenience of flying car parking.

[0030] As an optional implementation, the perception module includes a lidar unit, a millimeter-wave radar unit, an ultrasonic radar unit, a visual camera unit, and a multi-source data fusion unit. The lidar unit is used to collect three-dimensional point cloud data of the target parking area. The millimeter-wave radar unit and the ultrasonic radar are used to detect obstacle information in the target parking area. The visual camera unit is used to identify parking space information in the target parking area. The multi-source data fusion unit is used to perform time synchronization and spatial calibration based on the three-dimensional point cloud data, obstacle information, and parking space information to obtain three-dimensional environmental perception data.

[0031] Specifically, the perception module, as the core of environmental information acquisition, includes a lidar unit, a millimeter-wave radar unit, a visual camera unit, an ultrasonic radar unit, and a multi-source data fusion unit, as detailed below: 1) LiDAR Unit: Composed of a forward ultra-long-range LiDAR (detection distance ≥200m, accuracy ±2cm), a side ultra-wide-angle LiDAR (field of view ≥120°), and a bottom aerospace-grade laser altimeter (sampling frequency ≥100Hz), used to generate three-dimensional point cloud data of the parking area, accurately identify high-altitude obstacles, parking space boundaries, and real-time ground clearance; 2) Millimeter-wave radar unit: It adopts four 77GHz band radars, which are respectively arranged at the front and rear of the vehicle. The detection range is 5-300m. It is used to obtain the distance, speed and angle information of dynamic targets (such as passing vehicles and pedestrians) and has stable detection capabilities in adverse weather conditions such as rain, fog and sandstorms. 3) Visual camera unit: It consists of 6 surround-view cameras (including 2 fisheye cameras with a field of view ≥190°), which collect image information of the parking area and realize obstacle classification, parking line recognition and dynamic target tracking through image recognition algorithms; 4) Ultrasonic radar unit: Composed of 12 ultrasonic radars, arranged around the vehicle body and at the bottom, with a detection range of 0.1-5m and an accuracy of ±1cm, used for close-range obstacle detection to compensate for the close-range blind spot of lidar; 5) Multi-source data fusion unit: Based on the Kalman filter algorithm and deep learning fusion model, it performs time synchronization and spatial calibration on point cloud data, image data and distance data collected by various sensors, removes noisy data, and generates a unified three-dimensional environment perception model.

[0032] As a further optional implementation, multiple available parking spaces are identified based on three-dimensional environmental perception data, and the location and spatial dimensions of each available parking space are determined, specifically including: S1011. Based on the three-dimensional environmental perception data, identify multiple available parking spaces in the target parking area that do not contain obstacles, and extract the parking space line marking information of the available parking spaces. S1012. Determine the location and size information of available parking spaces based on the parking space marking information.

[0033] Specifically, based on the 3D environment model output by the perception module, available parking spaces (including standard ground parking spaces and dedicated lift parking spaces for flying cars) are identified, and information on the size, location, and distribution of surrounding obstacles of the parking spaces is extracted to determine the matching degree between the vehicle and the parking space.

[0034] As a further optional implementation, a target parking space with the highest matching degree to the target flying car is selected from the available parking spaces based on parking space location information and space size information. This specifically includes: S1021. Obtain the current position and vehicle dimensions of the target flying car; S1022. Determine the position matching degree between available parking spaces and the target flying car based on the current location and parking space location information; S1023. Determine the size matching degree between the available parking space and the target flying car based on the vehicle size information and space size information; S1024. The position matching degree and size matching degree are weighted and summed according to the preset weight parameters to obtain the comprehensive matching degree between the available parking space and the target flying car. S1025. Determine the available parking space with the highest overall matching degree as the target parking space.

[0035] Specifically, the process involves obtaining the current location and dimensions of the target flying car; determining the position matching degree between the available parking space and the target flying car based on the current location and parking space location information, with a higher matching degree as the distance between the target flying car's current location and the parking space location is greater; determining the size matching degree between the available parking space and the target flying car based on the vehicle size information and the space size information, where the size matching degree is 0 if the vehicle size information is greater than the space size information, and the smaller the difference between the two, the greater the size matching degree; and finally, weighting and summing the position matching degree and size matching degree according to preset weight parameters to obtain the comprehensive matching degree between the available parking space and the target flying car, and finally determining the available parking space with the highest comprehensive matching degree as the target parking space.

[0036] As a further optional implementation, path planning is performed based on the current air position of the target flying car and the parking space position information to obtain the target parking path, which specifically includes: S1031. Determine the target hovering position at the first preset height above the target parking space based on the parking space location information of the target parking space; S1032. Based on the current air position, the target hovering position, and the flight performance parameters of the target flying car, a flight path is planned to obtain the first flight path; S1033. Determine the first landing path based on the target hovering position and parking space position information; S1034. Determine the target parking path based on the first flight path and the first landing path.

[0037] Specifically, the target hovering position at a first preset height (e.g., 10m) above the target parking space is determined based on the parking space location information. Using the A* algorithm, the first flight path is planned based on the current air position, the target hovering position, and the flight performance parameters of the flying car (e.g., minimum turning radius, vertical takeoff and landing speed). Then, the first landing path is determined based on the target hovering position and the parking space location information. Finally, the target parking path is generated by combining the first flight path and the first landing path.

[0038] As a further optional implementation, the target flying car is controlled to move above the target parking space and hover according to the target parking path, and then the target flying car is controlled to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space. Specifically, this includes: S1041. Adjust the flight attitude of the target flying car according to the first flight path using a PID control algorithm, so that the target flying car moves to the target hovering position; S1042. Based on the first landing path, adjust the propeller speed and control surface angle of the target flying car using a PID control algorithm so that the target flying car descends vertically in a stable attitude. S1043. When the target flying car descends to the second preset height, determine the positional deviation between the center position of the target flying car and the center position of the target parking space, and adjust the attitude of the target flying car in real time according to the positional deviation until the target flying car smoothly stops at the center position of the target parking space.

[0039] Specifically, it receives environmental data and path planning instructions from the perception module in real time, and adjusts the power system (propeller speed and control surface angle) of the flying car through PID control algorithm to achieve stable hovering attitude (attitude deviation ≤0.5°), smooth landing speed, and precise control of vehicle position fine-tuning.

[0040] As an optional implementation, the flying car assisted parking method further includes the following steps: Once the target flying car has smoothly parked in the target parking space, the sensing module scans the area around the target flying car and determines whether there is a risk of collision based on the scan results. When there is a risk of collision, the parking position of the target flying car is slightly adjusted; When there is no risk of collision, control the target flying car to brake, so that the target flying car is fixed in the target parking space.

[0041] The complete process of the present invention will be described below with reference to a specific embodiment.

[0042] Parking Initiation Phase: The user issues an assisted parking request through the human-machine interaction module. The system activates all sensors in the perception module and enters the initial environment scanning state. The lidar unit and millimeter-wave radar unit start synchronously to quickly scan the environment within 100m of the parking area, initially identifying high-altitude obstacles and available parking spaces. If a high-risk obstacle (such as high-voltage cables or low-altitude aircraft) is detected, an early warning is immediately issued through the human-machine interaction module and the parking process is suspended. Precise perception phase: The flying car hovers 50m above the target parking area, and the perception modules are fully activated; the lidar unit generates a 3D point cloud model of the parking space and surrounding area, the visual camera unit acquires images of parking space lines and dynamic targets, the ultrasonic radar unit starts close-range scanning, and the millimeter-wave radar unit continuously tracks surrounding moving objects; the multi-source data fusion unit fuses the data from various sensors and outputs a 3D environmental perception result including parking space coordinates, obstacle positions, and dynamic target speeds; Parking space matching and path planning stage: The parking space matching subunit of the decision control module confirms the matching between the parking space size and the flying car body size based on the three-dimensional environment perception results. If it is a lift parking space, the status of the parking space lift platform is obtained simultaneously. The path planning subunit combines the current position of the vehicle with the target parking space to plan a path including "flight-vertical descent-precise alignment" and sets the speed threshold of key points of the path. Attitude adjustment and landing phase: The attitude control subunit adjusts the propeller speed through the execution module to achieve vertical descent according to the planned path. At the same time, it uses a laser altimeter to monitor the ground clearance in real time. When the height drops to 5m, it starts the coordinated scanning of the lateral lidar and ultrasonic radar to accurately correct the vehicle attitude and ensure that the deviation between the vehicle center and the parking space center is ≤3cm. Parking completion phase: After the flying car lands in the target parking space, the ultrasonic radar unit performs a final scan around the vehicle. Once it confirms that there is no risk of collision, the execution module activates the braking function to secure the vehicle. The human-machine interface module issues a parking completion notification, the perception module enters a sleep state, and the system awaits the next instruction.

[0043] The method steps of the embodiments of the present invention have been described above. It can be understood that the embodiments of the present invention achieve accurate environmental scanning, dynamic target tracking, and optimal parking path planning throughout the entire parking process of flying cars through multi-sensor collaborative perception, thereby improving the safety, accuracy, and convenience of flying car parking.

[0044] Reference Figure 2 This invention provides a flying car assisted parking device, comprising: The environmental perception module is used to respond to the auxiliary parking command of the target flying car. It acquires three-dimensional environmental perception data of the target parking area through the perception module, identifies multiple available parking spaces based on the three-dimensional environmental perception data, and determines the parking space location information and spatial size information of each available parking space. The parking space filtering module is used to filter out the target parking space with the highest matching degree to the target flying car from the available parking spaces based on the parking space location information and space size information. The path planning module is used to plan the path based on the current air position of the target flying car and the parking space position information of the target parking space, so as to obtain the target parking path; The parking control module is used to control the target flying car to move above the target parking space and hover according to the target parking path, and then control the target flying car to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space.

[0045] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0046] Reference Figure 3 This invention provides an electronic device, comprising: At least one processor; At least one memory for storing at least one program; When the above-mentioned at least one program is executed by the above-mentioned at least one processor, the above-mentioned at least one processor implements the above-mentioned method for assisted parking of a flying car.

[0047] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0048] This invention also provides a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the aforementioned method for assisted parking of a flying car.

[0049] This invention provides a computer-readable storage medium that can execute a flying car assisted parking method provided in the method embodiment of this invention. It can execute any combination of the implementation steps of the method embodiment and has the corresponding functions and beneficial effects of the method.

[0050] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for assisted parking of a flying car.

[0051] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0052] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0053] The embodiments described in this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0054] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0055] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0056] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0057] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0058] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0059] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0060] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0061] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0063] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A method for assisted parking of a flying car, characterized in that, Includes the following steps: In response to the assisted parking command of the target flying car, the three-dimensional environmental perception data of the target parking area is acquired through the perception module. Based on the three-dimensional environmental perception data, multiple available parking spaces are identified, and the parking space location information and spatial size information of each available parking space are determined. Based on the parking space location information and the space size information, the target parking space with the highest matching degree with the target flying car is selected from the available parking spaces; Based on the current air position of the target flying car and the parking space position information of the target parking space, a path is planned to obtain the target parking path; According to the target parking path, the target flying car is controlled to move above the target parking space and hover, and then the target flying car is controlled to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space.

2. The method for assisted parking of a flying car according to claim 1, characterized in that, The perception module includes a lidar unit, a millimeter-wave radar unit, an ultrasonic radar unit, a visual camera unit, and a multi-source data fusion unit. The lidar unit is used to collect three-dimensional point cloud data of the target parking area. The millimeter-wave radar unit and the ultrasonic radar are used to detect obstacle information in the target parking area. The visual camera unit is used to identify parking space information in the target parking area. The multi-source data fusion unit is used to perform time synchronization and spatial calibration based on the three-dimensional point cloud data, the obstacle information, and the parking space information to obtain the three-dimensional environmental perception data.

3. The method for assisted parking of a flying car according to claim 1, characterized in that, The step of identifying multiple available parking spaces based on the three-dimensional environmental perception data and determining the location and spatial dimensions of each available parking space specifically includes: Based on the three-dimensional environmental perception data, multiple available parking spaces without obstacles in the target parking area are identified, and the parking space line marking information of the available parking spaces is extracted. The available parking spaces are determined based on the parking space marking information, including the parking space location information and the space size information.

4. The method for assisted parking of a flying car according to claim 1, characterized in that, The step of selecting the target parking space with the highest matching degree to the target flying car from the available parking spaces based on the parking space location information and the space size information specifically includes: Obtain the current position and vehicle dimensions of the target flying car; The position matching degree between the available parking space and the target flying car is determined based on the current position and the parking space position information; The size matching degree between the available parking space and the target flying car is determined based on the vehicle body size information and the space size information. The location matching degree and the size matching degree are weighted and summed according to preset weight parameters to obtain the comprehensive matching degree between the available parking space and the target flying car. The available parking space with the highest overall matching degree is determined as the target parking space.

5. The method for assisted parking of a flying car according to claim 1, characterized in that, The step of performing path planning based on the current air position of the target flying car and the parking space position information of the target parking space to obtain the target parking path specifically includes: The target hovering position at a first preset height above the target parking space is determined based on the parking space location information of the target parking space; Based on the current air position, the target hovering position, and the flight performance parameters of the target flying car, a flight path is planned to obtain a first flight path; The first landing path is determined based on the target hovering position and the parking space position information; The target parking path is determined based on the first flight path and the first landing path.

6. The method for assisted parking of a flying car according to claim 5, characterized in that, The step of controlling the target flying car to move above the target parking space and hover according to the target parking path, and then controlling the target flying car to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space, specifically includes: The flight attitude of the target flying car is adjusted according to the first flight path using a PID control algorithm, so that the target flying car moves to the target hovering position; Based on the first landing path, the propeller speed and control surface angle of the target flying car are adjusted by a PID control algorithm so that the target flying car descends vertically in a stable attitude. When the target flying car descends to a preset second preset height, the positional deviation between the center position of the target flying car and the center position of the target parking space is determined, and the body attitude of the target flying car is adjusted in real time according to the positional deviation until the target flying car is smoothly parked at the center position of the target parking space.

7. A method for assisted parking of a flying car according to any one of claims 1 to 6, characterized in that, The flying car assisted parking method also includes the following steps: When the target flying car smoothly stops at the target parking space, the sensing module scans the area around the target flying car and determines whether there is a risk of collision based on the scan results. When there is a risk of collision, the parking position of the target flying car is finely adjusted; When there is no risk of collision, the target flying car is controlled to brake, so that the target flying car is fixed in the target parking space.

8. A parking assistance device for a flying car, characterized in that, include: The environmental perception module is used to respond to the assisted parking command of the target flying car, acquire three-dimensional environmental perception data of the target parking area through the perception module, identify multiple available parking spaces based on the three-dimensional environmental perception data, and determine the parking space location information and spatial size information of each available parking space. The parking space filtering module is used to filter out the target parking space with the highest matching degree with the target flying car from the available parking spaces based on the parking space location information and the space size information. The path planning module is used to perform path planning based on the current air position of the target flying car and the parking space position information of the target parking space to obtain the target parking path; The parking control module is used to control the target flying car to move above the target parking space and hover according to the target parking path, and then control the target flying car to descend vertically in a stable attitude until the target flying car is smoothly parked in the target parking space.

9. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a flying car assisted parking method as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for assisted parking of a flying car as described in any one of claims 1 to 7.

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