A control system and method for eVTOL parachute multi-zone airbag combined deployment

Abstract

The application discloses a control system and method for eVTOL parachute multi-zone airbag combined deployment, relates to the technical field of eVTOL parachute airbag deployment, and comprises the following steps: after an impact prediction module receives a flight control activation signal, the impact prediction module predicts the touchdown time, attitude and impact energy according to the current flight state quantity; a body partition and danger assessment module divides a protection area based on a body coordinate system, allocates impact energy and calculates a danger level; a safety strategy mapping module generates a first control sequence of parachute-zone airbag combined deployment in combination with a fault type, impact energy and a danger level; a parachute control module shoots a main parachute before touchdown according to the sequence and monitors the state; a multi-zone airbag control module inflates target zone airbags in stages to ensure that the target pressure is reached before touchdown; and finally, a feedback adjustment module dynamically adjusts a second combined control sequence; the application improves the crash survival capability of eVTOL in irreversible serious failure scenarios.

Description

Technical Field

[0001] This invention relates to the field of eVTOL parachute airbag deployment technology, specifically to a control system and method for the combined deployment of multi-zone airbags in an eVTOL parachute. Background Technology

[0002] As the application prospects of eVTOL in urban air traffic, low-altitude logistics, and emergency rescue continue to expand, the payload capacity and mission complexity of aircraft are significantly increasing, making flight safety issues increasingly important. Under normal operating conditions, flight control systems typically ensure flight safety through redundant control, attitude stabilization, and path planning. However, in the event of irreversible and severe failures such as the failure of critical components, power system collapse, or structural damage, the aircraft may completely lose its effective thrust and attitude control capabilities, inevitably crashing and entering the so-called "crash-safe" phase.

[0003] Existing technologies reduce the risk of damage during a crash by configuring an integral parachute or airbag system. However, this approach typically has the following shortcomings: it is mostly a single protective structure that deploys as a whole once triggered, making it impossible to provide differentiated protection for different areas such as the bottom, sides, or top based on different impact directions and attitudes; the triggering conditions are mostly fixed altitudes or fixed deceleration thresholds, failing to fully utilize predictive models to estimate the time of impact, impact attitude, and impact energy in advance, which can easily lead to the parachute or airbag deploying too early or too late; the deployment process lacks closed-loop adjustment of attitude and deceleration feedback, and the internal pressure curve of the airbag is not adjustable, which can result in insufficient deceleration leading to a hard landing, or excessive deceleration causing secondary bouncing or even rollover. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a control system and method for the combined deployment of multi-zone airbags in an eVTOL parachute.

[0005] The objective of this invention is achieved through the following technical solution: In a first aspect, this application discloses a control system for the joint deployment of multi-zone airbags in an eVTOL parachute, including an impact prediction module, a body zoning and hazard assessment module, a safety strategy mapping module, a parachute control module, a multi-zone airbag control module, and a feedback adjustment module: After receiving the activation signal from the flight control system, the impact prediction module predicts the time of impact, impact attitude, and impact energy based on the current flight state variables; the airframe partitioning and hazard assessment module, based on the airframe coordinate system, integrates eVTOL... The aircraft is divided into multiple protective zones, and ground impact energy is allocated to each zone while calculating its impact hazard level. Based on the current fault type, ground impact energy, and impact hazard level, the safety strategy mapping module generates a first joint control sequence according to the corresponding parachute-area airbag joint deployment strategy. Based on the first joint control sequence, the parachute control module triggers the main parachute ejection and monitors its deployment status before the predicted ground impact time. If the deployment status is abnormal, the backup parachute is triggered or a strategy adjustment request is sent to the safety strategy mapping module. According to the first joint control sequence, the multi-area airbag control module performs phased inflation control on the airbags within the target protective zone, so that the corresponding airbags reach the corresponding target pressure before the predicted ground impact time. The feedback adjustment module is connected to the parachute control module, the multi-area airbag control module, and the flight status sensor, respectively, and is used to collect the longitudinal deceleration of eVTOL during parachute deployment and airbag inflation to dynamically adjust the second joint control sequence.

[0006] Based on the first aspect, in the body partitioning and hazard assessment module, the outer normal vector of the k-th protected area is defined based on the body coordinate system. Based on the ground contact posture predicted by the impact prediction module, the impact direction vector is calculated. Through formula Calculate the angle between the outer normal vector and the impact direction vector of the k-th protective zone. Then through the formula Calculate the ground impact energy allocated to the k-th protective zone. , This represents the load importance weighting coefficient for the k-th protected area. The ground impact energy is expressed by the following formula: ,in Indicates the quality of eVTOL, This represents the vertical component velocity of the eVTOL at the predicted moment of ground contact.

[0007] Based on the first aspect, the body partitioning and hazard assessment module compares the impact energy of the k-th protective zone. With the preset area security threshold Classify the area into risk levels. like If so, the area's hazard level is safe. like If so, the area's hazard level is Level Alert; like If so, the area's hazard level is classified as hazardous.

[0008] Based on the first aspect, the safety strategy mapping module generates a corresponding parachute-area airbag joint deployment strategy, specifically including: establishing a mapping relationship of protective action parameters based on the area hazard level, impact energy level, and attitude type, and using formulas... The impact energy levels are classified, among which and Indicates a preset energy threshold, and the first joint control sequence includes the parachute ejection time. Airbag pre-inflation activation time Airbag strong inflation start time Target pressure range Whether to activate the area airbag and whether to activate the backup parachute.

[0009] Based on the first aspect, the parachute control module, based on the first joint control sequence, during the parachute ejection time... The main parachute is ejected internally and within a preset time window. The system detects the deployment status of the main parachute. If the deployment area or tension of the main parachute does not reach the preset threshold within the time window, it is determined that the main parachute deployment is abnormal. The system then triggers the backup parachute or sends a strategy adjustment request to the safety strategy mapping module. The strategy adjustment request is used to increase the target pressure of the subsequent airbags or advance their strong inflation time.

[0010] Based on the first aspect, the staged inflation control includes pre-inflation and forced inflation. The pre-inflation phase is defined as follows: from the start time of airbag pre-inflation. Initially, the internal pressure of the airbag in the k-th protective area is increased at an inflation rate lower than a preset threshold. Increase from 0 to pre-inflation pressure ,Right now Where t represents the increase in internal pressure of the airbag in the k-th protective zone from 0 to the pre-inflation pressure. Time; The intensive inflation phase is: during the airbag intensive inflation initiation time. Then, based on the predicted time of ground contact... Time difference Using nonlinear functions The internal pressure of the airbag in the k-th protective area Increase to the target pressure range ,in, This indicates the time it takes for the pressure to rise to the target pressure range. Indicates target pressure. This represents the gain function that varies with the time difference.

[0011] Based on the first aspect, the feedback adjustment module continuously collects longitudinal deceleration. Based on the preset deceleration range The second joint control sequence is dynamically adjusted, which includes the target pressure, deployment time, inflation rate, and pressure relief valve opening of the subsequent airbags; if This increases the target pressure of subsequent airbags. Or extend the duration of strong inflation; like This reduces the target pressure of subsequent airbags. Alternatively, the pressure relief valve can be opened in advance.

[0012] Secondly, this application discloses a control method for the joint deployment of multi-zone airbags in an eVTOL parachute, applied to the aforementioned control system for the joint deployment of multi-zone airbags in an eVTOL parachute, comprising the following steps: S1: When the flight control system detects an irreversible serious fault, it sends an activation signal to the joint deployment control system and provides the current flight status quantity. The irreversible serious fault includes multirotor failure, total power failure and structural damage. S2: Within a preset time domain, the impact prediction module predicts the ground contact time, ground contact attitude, and ground contact impact energy of the eVTOL based on the flight state quantities, and divides the ground contact impact energy into multiple energy levels; S3: The body partitioning and hazard assessment module divides the eVTOL into multiple protection zones in the body coordinate system, distributes the ground impact energy to each protection zone according to the ground contact posture and impact direction vector, and calculates the impact hazard level of each protection zone. S4: Based on the current fault type, ground impact energy and impact hazard level, the safety strategy mapping module generates a first joint control sequence according to the corresponding parachute-area airbag joint deployment strategy. The first joint control sequence includes the parachute ejection time, the pre-inflation and forced inflation start time of each area airbag, and the target pressure. S5: The parachute control module triggers the main parachute ejection according to the first joint control sequence and monitors the deployment status of the main parachute. If the deployment status is abnormal, it triggers the backup parachute or sends a policy adjustment request to the safety policy mapping module. S6: The multi-zone airbag control module performs phased inflation control on the airbags in the target protection area according to the first joint control sequence, so that the corresponding airbags reach the target pressure within the predicted ground contact time. S7: During the deployment of the airbag, the feedback adjustment module collects the longitudinal deceleration of the eVTOL, compares the longitudinal deceleration with the preset safe deceleration range, and dynamically adjusts the second joint control sequence until the eVTOL is detected to be in contact with the ground and the longitudinal speed drops below the set threshold.

[0013] The beneficial effects of this invention are: 1) This application improves the crash survivability of eVTOL in irreversible severe failure scenarios by introducing impact energy prediction, multi-region division and hazard assessment of the body, strategy mapping library and feedback adjustment control to achieve joint deployment and dynamic adjustment of parachute and multi-region airbag. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the architecture of a control system for the combined deployment of multi-zone airbags in an eVTOL parachute, according to an embodiment of the present invention. Figure 2 This is a schematic diagram illustrating the steps of a control method for the combined deployment of multi-zone airbags in an eVTOL parachute, according to an embodiment of the present invention. Detailed Implementation

[0015] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] This application discloses a control system for the joint deployment of multi-zone airbags in an eVTOL parachute. The system controls the joint deployment of the parachute and airbags distributed in different areas of the fuselage, and incorporates an intelligent safety protection system with a feedback adjustment mechanism during deployment to improve the survivability of the eVTOL under extreme failure conditions. A schematic diagram of the system is shown below. Figure 1 As shown, it specifically includes an impact prediction module, a body zoning and hazard assessment module, a safety strategy mapping module, a parachute control module, a multi-zone airbag control module, and a feedback adjustment module. After receiving the activation signal from the flight control system, the impact prediction module, based on the current flight status parameters, including flight altitude, predicts the impact. eVTOL quality Vertical descent speed and attitude angle The system predicts the time of impact, impact posture (e.g., basic horizontal, forward tilt, backward tilt, left roll, right roll, etc.), and impact energy, and outputs the impact direction vector as input for subsequent energy distribution and area hazard assessment. The body zoning and hazard assessment module is based on the body coordinate system and uses eVTOL... The aircraft is divided into multiple protective zones, including a bottom zone, a left zone, a right zone, and a top zone. Ground impact energy is allocated to each zone, and its impact hazard level is calculated. Based on the current fault type, ground impact energy, and impact hazard level, the safety strategy mapping module generates a first joint control sequence according to the corresponding parachute-area airbag joint deployment strategy. Based on the first joint control sequence, the parachute control module triggers the main parachute ejection and monitors its deployment status before the predicted ground impact time. If the deployment status is abnormal, it triggers the backup parachute or sends a strategy adjustment request to the safety strategy mapping module. According to the first joint control sequence, the multi-area airbag control module performs phased inflation control on the airbags within the target protective zone, ensuring that the corresponding airbags reach the corresponding target pressure before the predicted ground impact time. The feedback adjustment module is connected to the parachute control module, the multi-area airbag control module, and the flight status sensor, respectively, to collect the longitudinal deceleration of the eVTOL during parachute deployment and airbag inflation, and to dynamically adjust the second joint control sequence.

[0017] Specifically, in the body partitioning and hazard assessment module, the outer normal vector of the k-th protected area is defined based on the body coordinate system. Based on the ground contact posture predicted by the impact prediction module, the impact direction vector is calculated. Through formula Calculate the angle between the outer normal vector and the impact direction vector of the k-th protective zone. Then through the formula Calculate the ground impact energy allocated to the k-th protective zone. , This reflects the degree of alignment between the region's normal vector and the impact direction; when the region is "directly aligned" with the impact direction... When the area is opposite to the direction of impact This application has been approved. It is considered as not bearing a positive impact. This represents the load importance weighting coefficient for the k-th protected area, used to increase the weight of critical areas and give them a higher proportion in the total energy allocation. Critical areas include, for example, the area below the load compartment and personnel compartment. The ground impact energy is expressed by the following formula: ,in Indicates the quality of eVTOL, This represents the vertical component velocity of the eVTOL at the predicted moment of ground contact.

[0018] Specifically, the body partitioning and hazard assessment module compares the impact energy of the k-th protected area. With the preset area security threshold Classify the area into risk levels. like If so, the area's hazard level is safe. like If so, the area's hazard level is Level Alert; like If so, the area's hazard level is classified as hazardous.

[0019] Specifically, the safety strategy mapping module generates the corresponding parachute-area airbag joint deployment strategy by: establishing a mapping relationship between protective action parameters based on the area hazard level, impact energy level, and attitude type, and then using a formula... The impact energy levels are classified, among which and Indicates a preset energy threshold, and the first joint control sequence includes the parachute ejection time. Airbag pre-inflation activation time Airbag strong inflation start time Target pressure range Whether to activate the area airbag and whether to activate the reserve parachute, including the parachute deployment time. Compared to the predicted time of ground contact The lead time is ,Right now .

[0020] For example, the strategy library may include the following rules: If the failure type is total power failure, the total impact energy level is H, the attitude type is random attitude, and the hazard level of the bottom area, left side, or right side area is hazardous, then the protective action parameters include: the main parachute must be deployed; the protective area airbags are strongly inflated to a high target pressure just before impact; the lateral area airbags on the side of the impact direction are pre-inflated to prevent rollover. If the total impact energy level is M, the attitude type is basic horizontal, and the hazard level of the bottom area is hazardous, then the protective action parameters include: deploying the main parachute; the bottom area airbags deploy according to the graded pressure curve, and the lateral airbags are only pre-inflated or not deployed; if the total impact energy level is L and the attitude is basic horizontal, then a combination of not deploying the parachute or deploying a small parachute, and only partially inflating the bottom area airbags, can be selected to reduce costs and recovery difficulty. Specifically, the parachute control module, based on a first joint control sequence, during the parachute ejection time... The main parachute is ejected internally and within a preset time window. The system detects the deployment status of the main parachute. If the deployment area or tension of the main parachute does not reach the preset threshold within the time window, it is determined that the main parachute deployment is abnormal. The system then triggers the backup parachute or sends a strategy adjustment request to the safety strategy mapping module. The strategy adjustment request is used to increase the target pressure of the subsequent airbags or advance their strong inflation time.

[0021] Specifically, the phased inflation control includes pre-inflation and forced inflation. The pre-inflation phase is defined as follows: from the start time of airbag pre-inflation. Initially, the internal pressure of the airbag in the k-th protective area is increased at an inflation rate lower than a preset threshold. Increase from 0 to pre-inflation pressure ,Right now Where t represents the increase in internal pressure of the airbag in the k-th protective zone from 0 to the pre-inflation pressure. Time; The intensive inflation phase is: during the airbag intensive inflation initiation time. Then, based on the predicted time of ground contact... Time difference Using nonlinear functions The internal pressure of the airbag in the k-th protective area Increase to the target pressure range ,in, This indicates the time it takes for the pressure to rise to the target pressure range. Indicates target pressure. This represents the gain function that varies with the time difference.

[0022] Specifically, the feedback adjustment module continuously collects longitudinal deceleration. Based on the preset deceleration range The second joint control sequence is dynamically adjusted, which includes the target pressure, deployment time, inflation rate, and pressure relief valve opening of the subsequent airbags; if This increases the target pressure of subsequent airbags. Or extend the duration of strong inflation; like This reduces the target pressure of subsequent airbags. Alternatively, the pressure relief valve can be opened in advance. By strengthening the two-stage control of inflation through pre-inflation, the airbag's excessive rigidity at the beginning can be avoided from affecting its posture, while ensuring sufficient cushioning capacity at the moment of ground contact.

[0023] For example, the feedback adjustment module can also collect attitude angles. If the attitude angles deviate from the target attitude range (e.g., a significant tendency to roll over), the feedback adjustment module can adjust the inflation time difference between the left and right lateral airbags. and pressure difference It generates a corrective torque on the body, helping the posture to return to a safe range.

[0024] This application also discloses a control method for the combined deployment of multi-zone airbags in an eVTOL parachute, applied to the aforementioned control system for the combined deployment of multi-zone airbags in an eVTOL parachute, the steps of which are illustrated in the diagram below. Figure 2 As shown, it includes the following steps: S1: When the flight control system detects an irreversible serious fault, it sends an activation signal to the joint deployment control system and provides the current flight status quantity. The irreversible serious fault includes multirotor failure, total power failure and structural damage. S2: Within a preset time domain, the impact prediction module predicts the ground contact time, ground contact attitude, and ground contact impact energy of the eVTOL based on the flight state quantities, and divides the ground contact impact energy into multiple energy levels; S3: The body partitioning and hazard assessment module divides the eVTOL into multiple protection zones in the body coordinate system, distributes the ground impact energy to each protection zone according to the ground contact posture and impact direction vector, and calculates the impact hazard level of each protection zone. S4: Based on the current fault type, ground impact energy and impact hazard level, the safety strategy mapping module generates a first joint control sequence according to the corresponding parachute-area airbag joint deployment strategy. The first joint control sequence includes the parachute ejection time, the pre-inflation and forced inflation start time of each area airbag, and the target pressure. S5: The parachute control module triggers the main parachute ejection according to the first joint control sequence and monitors the deployment status of the main parachute. If the deployment status is abnormal, it triggers the backup parachute or sends a policy adjustment request to the safety policy mapping module. S6: The multi-zone airbag control module performs phased inflation control on the airbags in the target protection area according to the first joint control sequence, so that the corresponding airbags reach the target pressure within the predicted ground contact time. S7: During the deployment of the airbag, the feedback adjustment module collects the longitudinal deceleration of the eVTOL, compares the longitudinal deceleration with the preset safe deceleration range, and dynamically adjusts the second joint control sequence until the eVTOL is detected to be in contact with the ground and the longitudinal speed drops below the set threshold.

[0025] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute, characterized in that: Includes an impact prediction module, a body zoning and hazard assessment module, a safety strategy mapping module, a parachute control module, a multi-zone airbag control module, and a feedback adjustment module. After receiving the activation signal from the flight control system, the impact prediction module predicts the touchdown time, touchdown attitude, and touchdown impact energy based on the current flight state variables; the airframe partitioning and hazard assessment module, based on the airframe coordinate system, integrates eVTOL... The aircraft is divided into protected zones, and ground impact energy is allocated to each zone while calculating its impact hazard level. Based on the current fault type, ground impact energy, and impact hazard level, the safety strategy mapping module generates a first joint control sequence according to the corresponding parachute-area airbag joint deployment strategy. Based on the first joint control sequence, the parachute control module triggers the main parachute ejection and monitors its deployment status before the predicted ground impact time. If the deployment status is abnormal, the backup parachute is triggered or a strategy adjustment request is sent to the safety strategy mapping module. According to the first joint control sequence, the multi-area airbag control module performs phased inflation control on the airbags within the target protected zone, so that the corresponding airbags reach the corresponding target pressure before the predicted ground impact time. The feedback adjustment module is connected to the parachute control module, the multi-area airbag control module, and the flight status sensor, respectively, and is used to collect the longitudinal deceleration of eVTOL during parachute deployment and airbag inflation to dynamically adjust the second joint control sequence.

2. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute according to claim 1, characterized in that, In the body partitioning and hazard assessment module, based on the body coordinate system, the outer normal vector of the k-th protected area is defined. Based on the ground contact posture predicted by the impact prediction module, the impact direction vector is calculated. Through formula Calculate the angle between the outer normal vector and the impact direction vector of the k-th protective zone. Then through the formula Calculate the ground impact energy allocated to the k-th protective zone. , This represents the load importance weighting coefficient for the k-th protected area. The ground impact energy is expressed by the following formula: ,in Indicates the quality of eVTOL, This represents the vertical component velocity of the eVTOL at the predicted moment of ground contact.

3. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute according to claim 2, characterized in that: The body partitioning and hazard assessment module compares the impact energy of the k-th protected area. With the preset area security threshold Classify the area into risk levels. like If so, the area's hazard level is safe. like If so, the area's hazard level is Level Alert; like If so, the area's hazard level is classified as hazardous.

4. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute according to claim 3, characterized in that, The safety strategy mapping module generates a corresponding parachute-area airbag joint deployment strategy, specifically including: establishing a mapping relationship between protective action parameters based on the area hazard level, impact energy level, and attitude type, and using formulas... The impact energy levels are classified, among which and Indicates a preset energy threshold, and the first joint control sequence includes the parachute ejection time. Airbag pre-inflation activation time Airbag strong inflation start time Target pressure range Whether to activate the area airbag and whether to activate the backup parachute.

5. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute according to claim 4, characterized in that: The parachute control module is based on a first joint control sequence during the parachute ejection time. The main parachute is ejected internally and within a preset time window. The system detects the deployment status of the main parachute. If the deployment area or tension of the main parachute does not reach the preset threshold within the time window, it is determined that the main parachute deployment is abnormal. The system then triggers the backup parachute or sends a strategy adjustment request to the safety strategy mapping module. The strategy adjustment request is used to increase the target pressure of the subsequent airbags or advance their strong inflation time.

6. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute according to claim 5, characterized in that: The phased inflation control includes pre-inflation and forced inflation. The pre-inflation phase is defined as follows: from the start time of airbag pre-inflation. Initially, the internal pressure of the airbag in the k-th protective area is increased at an inflation rate lower than a preset threshold. Increase from 0 to pre-inflation pressure ,Right now Where t represents the increase in internal pressure of the airbag in the k-th protective zone from 0 to the pre-inflation pressure. Time; The intensive inflation phase is: during the airbag intensive inflation initiation time. Then, based on the predicted time of ground contact... Time difference Using nonlinear functions The internal pressure of the airbag in the k-th protective zone Increase to the target pressure range ,in, This indicates the time it takes for the pressure to rise to the target pressure range. Indicates target pressure. This represents the gain function that varies with the time difference.

7. A control system for the combined deployment of multi-zone airbags in an eVTOL parachute according to claim 6, characterized in that: The feedback adjustment module continuously collects longitudinal deceleration. Based on the preset deceleration range The second joint control sequence is dynamically adjusted, which includes the target pressure, deployment time, inflation rate, and pressure relief valve opening of the subsequent airbags; if This increases the target pressure of subsequent airbags. Or extend the duration of strong inflation; like This reduces the target pressure of subsequent airbags. Alternatively, the pressure relief valve can be opened in advance.

8. A control method for the combined deployment of multi-zone airbags in an eVTOL parachute, applied to the control system for the combined deployment of multi-zone airbags in an eVTOL parachute as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: When the flight control system detects an irreversible serious fault, it sends an activation signal to the joint deployment control system and provides the current flight status quantity. The irreversible serious fault includes multirotor failure, total power failure and structural damage. S2: Within a preset time domain, the impact prediction module predicts the ground contact time, ground contact attitude, and ground contact impact energy of the eVTOL based on the flight state quantities, and divides the ground contact impact energy into multiple energy levels; S3: The body partitioning and hazard assessment module divides the eVTOL into multiple protection zones in the body coordinate system, distributes the ground impact energy to each protection zone according to the ground contact posture and impact direction vector, and calculates the impact hazard level of each protection zone. S4: Based on the current fault type, ground impact energy and impact hazard level, the safety strategy mapping module generates a first joint control sequence according to the corresponding parachute-area airbag joint deployment strategy. The first joint control sequence includes the parachute ejection time, the pre-inflation and forced inflation start time of each area airbag, and the target pressure. S5: The parachute control module triggers the main parachute ejection according to the first joint control sequence and monitors the deployment status of the main parachute. If the deployment status is abnormal, it triggers the backup parachute or sends a policy adjustment request to the safety policy mapping module. S6: The multi-zone airbag control module performs phased inflation control on the airbags in the target protection area according to the first joint control sequence, so that the corresponding airbags reach the target pressure within the predicted ground contact time. S7: During the deployment of the airbag, the feedback adjustment module collects the longitudinal deceleration of the eVTOL, compares the longitudinal deceleration with the preset safe deceleration range, and dynamically adjusts the second joint control sequence until the eVTOL is detected to be in contact with the ground and the longitudinal speed drops below the set threshold.

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