CN117539265A - Cooperative control system of aerocar and control method thereof - Google Patents
Cooperative control system of aerocar and control method thereof Download PDFInfo
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Abstract
The application relates to the technical field of vehicles, in particular to a cooperative control system and a control method of a flying automobile, wherein the method comprises the following steps: the acquisition module is used for acquiring external environment perception information, driving behavior perception information and vehicle body posture perception information of the current flying vehicle; the calculation module is used for calculating the dynamics influence parameters of the aircraft corresponding to the current flying car on the current flying car according to the external environment perception information, the driving behavior perception information and the car body posture perception information, and determining cooperative control data of the aircraft according to the dynamics influence parameters; and the cooperative control module is used for cooperatively controlling at least one cooperative control unit of the aircraft according to the cooperative control data. Therefore, the problem of interference of the aircraft to automobile steering in the flying automobile is solved, the interference of the aircraft to steering is reduced by automatically cooperatively controlling the flying unit, and the steering experience is optimized.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a cooperative control system and a control method of a flying automobile.
Background
Currently, most vehicles employ a three-segment structure comprising a flying power unit, a man-carrying unit and a chassis unit, typically the flying power unit is located on top of the man-carrying unit and the chassis unit is responsible for travelling on the ground.
However, the bulk of the flying unit, whether it is a rotor, fixed wing or compound wing structure, can adversely affect the ride of the vehicle, and a need exists for a solution.
Disclosure of Invention
The application provides a cooperative control system of a flying car and a control method thereof, which are used for solving the problem of interference of an aircraft on car driving in the flying car, reducing the interference of the aircraft on driving and optimizing driving experience by automatically cooperative controlling a flying unit.
An embodiment of a first aspect of the present application provides a cooperative control system for a flying vehicle, including:
the acquisition module is used for acquiring external environment perception information, driving behavior perception information and vehicle body posture perception information of the current flying vehicle;
the calculation module is used for calculating the dynamic influence parameters of the aircraft corresponding to the current flying automobile on the current flying automobile according to the external environment perception information, the driving behavior perception information and the vehicle body posture perception information, and determining cooperative control data of the aircraft according to the dynamic influence parameters; and
and the cooperative control module is used for cooperatively controlling at least one cooperative control unit of the aircraft according to the cooperative control data.
Optionally, in some embodiments, the computing module includes:
the model building unit is used for building a dynamic model of the current flying automobile based on the external environment perception information, the driving behavior perception information and the vehicle body posture perception information;
the prediction unit is used for predicting the state information of the current flying automobile at the next moment according to the dynamics model;
the calculation unit is used for calculating the dynamics influence parameters of the aircraft corresponding to the current flying car on the current flying car according to the dynamics model and the state information of the next moment;
and the determining unit is used for determining the cooperative control data according to the dynamics influence parameters based on a preset feedback control strategy.
Optionally, in some embodiments, the acquiring module includes:
the external environment acquisition unit is used for acquiring airflow information, road pavement information and traffic environment information of the environment where the current flying car is located, and acquiring external environment perception information according to the airflow information, the road pavement information and the traffic environment information;
the driving behavior acquisition unit is used for acquiring acceleration information and steering information of the current flying car and acquiring driving behavior perception information according to the acceleration information and the steering information;
the vehicle body posture acquisition unit is used for acquiring the vehicle body inclination information of the current flying vehicle and obtaining the vehicle body posture sensing information according to the vehicle body inclination information.
Optionally, in some embodiments, the cooperative control module includes:
the generation unit is used for generating a cooperative control strategy according to the cooperative control data;
and the control unit is used for cooperatively controlling at least one cooperative control unit of the aircraft based on the cooperative control strategy.
Optionally, in some embodiments, the cooperative control unit includes: at least one of a rotor wing, a fixed wing, a tail wing and a fuselage.
An embodiment of a second aspect of the present application provides a cooperative control method for a flying car, including the following steps:
acquiring external environment perception information, driving behavior perception information and vehicle body posture perception information of a current flying vehicle;
calculating dynamics influence parameters of an aircraft corresponding to the current flying car on the current flying car according to the external environment perception information, the driving behavior perception information and the car body posture perception information, and determining cooperative control data of the aircraft according to the dynamics influence parameters; and
and cooperatively controlling at least one cooperative control unit of the aircraft according to the cooperative control data.
Optionally, in some embodiments, the acquiring the external environment sensing information, the driving behavior sensing information and the vehicle body posture sensing information of the current flying vehicle includes:
acquiring airflow information, road pavement information and traffic environment information of the environment where a current flying car is located, and acquiring external environment perception information according to the airflow information, the road pavement information and the traffic environment information;
acquiring acceleration information and steering information of a current flying car, and acquiring driving behavior perception information according to the acceleration information and the steering information;
acquiring the body inclination information of the current flying automobile, and obtaining the body posture sensing information according to the body inclination information.
Optionally, in some embodiments, the performing cooperative control on at least one cooperative control unit of the aircraft according to the cooperative control data includes:
generating a cooperative control strategy according to the cooperative control data, and performing cooperative control on at least one cooperative control unit of the aircraft based on the cooperative control strategy.
An embodiment of a third aspect of the present application provides a flying car comprising: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the cooperative control method of the aerocar according to the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing a cooperative control method of a flying automobile as described in the above embodiment.
The method comprises the steps of obtaining external environment perception information, driving behavior perception information and vehicle body posture perception information of a current flying vehicle, calculating dynamic influence parameters of an aircraft corresponding to the current flying vehicle on the current flying vehicle according to the external environment perception information, the driving behavior perception information and the vehicle body posture perception information, determining cooperative control data of the aircraft according to the dynamic influence parameters, and cooperatively controlling at least one cooperative control unit of the aircraft according to the cooperative control data. Therefore, the problem of interference of the aircraft to automobile steering in the flying automobile is solved, the interference of the aircraft to steering is reduced by automatically cooperatively controlling the flying unit, and the steering experience is optimized.
Additional aspects and advantages of the application 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 application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a block schematic diagram of a cooperative control system for a flying car according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a coordinated control system for a flying vehicle according to one embodiment of the present application;
FIG. 3 is a flow chart of a coordinated control method for a flying car according to an embodiment of the present application;
fig. 4 is a schematic structural view of a flying car according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The cooperative control system of the flying car and the control method thereof according to the embodiment of the present application are described below with reference to the accompanying drawings. Aiming at the problem that the flying unit in the background art can adversely affect the driving of the flying car, the application provides a cooperative control system of the flying car, in the system, by acquiring external environment sensing information, driving behavior sensing information and car body posture sensing information of the current flying car, dynamic influence parameters of an aircraft corresponding to the current flying car on the current flying car are calculated according to the external environment sensing information, the driving behavior sensing information and the car body posture sensing information, cooperative control data of the aircraft are determined according to the dynamic influence parameters, and at least one cooperative control unit of the aircraft is cooperatively controlled according to the cooperative control data. Therefore, the problem of interference of the aircraft to automobile steering in the flying automobile is solved, the interference of the aircraft to steering is reduced by automatically cooperatively controlling the flying unit, and the steering experience is optimized.
Specifically, fig. 1 is a schematic block diagram of a cooperative control system of a flying car according to an embodiment of the present application.
As shown in fig. 1, the cooperative control system of the flying car includes: an acquisition module 100, a calculation module 200 and a cooperative control module 300.
The acquiring module 100 is configured to acquire external environment sensing information, driving behavior sensing information and vehicle body posture sensing information of a currently flown vehicle.
The calculation module 200 is configured to calculate a kinetic impact parameter of an aircraft corresponding to a current flying car on the current flying car according to the external environment sensing information, the driving behavior sensing information and the vehicle body posture sensing information, and determine cooperative control data of the aircraft according to the kinetic impact parameter.
The cooperative control module 300 is configured to cooperatively control at least one cooperative control unit of the aircraft according to cooperative control data.
It can be appreciated that the corresponding aircraft of the aerocar may affect the driving of the current aerocar, for example, during a turning process, the gravity center position of the aerocar is increased due to the fact that the aircraft is positioned at the top of the aerocar, so that the risk of rollover is increased easily; for another example, in the braking process, the aircraft may change the wind resistance, possibly reduce the friction between the vehicle and the ground, and increase the safety risk, so as to solve the above problem, in this embodiment of the present application, the obtaining module 100 may obtain external environment sensing information, driving behavior sensing information, and body gesture sensing information of the current flying car, and the calculating module 200 may obtain, according to the obtained external environment sensing information, driving behavior sensing information, and body gesture sensing information, the dynamic influence of the aircraft corresponding to the current flying car on the current flying car, and determine cooperative control data of the aircraft according to the dynamic influence, and control the aircraft based on the cooperative control data through the cooperative control module 300.
Optionally, in some embodiments, the cooperative control unit includes: at least one of a rotor wing, a fixed wing, a tail wing and a fuselage.
Specifically, after receiving the cooperative control data of the calculation module 200, the aircraft may adjust the rotor speed, and/or the rotor angle, and/or the fixed wing angle, and/or the tail wing angle, and/or the fuselage angle, and/or the center of gravity position, etc. according to the cooperative control data, so as to reduce the driving influence of the aircraft on the flying automobile.
Optionally, in some embodiments, the acquisition module 100 includes: an external environment acquisition unit, a driving behavior acquisition unit, and a vehicle body posture acquisition unit.
The external environment acquisition unit is used for acquiring airflow information, road surface information and traffic environment information of the environment where the current flying car is located, and obtaining external environment perception information according to the airflow information, the road surface information and the traffic environment information.
Specifically, in the embodiment of the application, the air flow information, the road surface information and the traffic environment information of the current environment where the flying automobile is located can be perceived through the external environment acquisition unit, for example, the air flow information of the current environment where the flying automobile is located is acquired through the related sensor, the current road surface information and the traffic environment information are acquired through the cloud server, and the external environment perception information is obtained according to the air flow information, the road surface information and the traffic environment information.
The driving behavior acquisition unit is used for acquiring acceleration information and steering information of the current flying car and obtaining driving behavior perception information according to the acceleration information and the steering information.
Specifically, the embodiment of the application may acquire acceleration information, steering information, and the like of the current flying car through the driving behavior acquisition unit, for example, acquire acceleration information according to an opening degree of an accelerator pedal, acquire corner information according to a steering wheel corner, and the like, and acquire driving behavior sensing information according to the acceleration information, the steering information, and the like.
The vehicle body posture acquisition unit is used for acquiring the vehicle body inclination information of the current flying vehicle and acquiring vehicle body posture sensing information according to the vehicle body inclination information.
Specifically, the embodiment of the application can acquire the body inclination information of the current flying automobile, such as the barycentric coordinates, the body inclination angle and the like, through the body posture acquisition unit, and acquire the body posture sensing information through the acquired body inclination information.
Optionally, in some embodiments, the computing module includes: the device comprises a model building unit, a prediction unit, a calculation unit and a determination unit.
The model building unit is used for building a dynamic model of the current flying automobile based on the external environment perception information, the driving behavior perception information and the vehicle body posture perception information.
And the prediction unit is used for predicting the state information of the current flying automobile at the next moment according to the dynamics model.
The calculation unit is used for calculating the dynamics influence parameters of the aircraft corresponding to the current flying car on the current flying car according to the dynamics model and the state information of the next moment.
And the determining unit is used for determining cooperative control data according to the dynamics influence parameters based on a preset feedback control strategy, wherein the preset feedback control strategy can be a PID control strategy.
Specifically, the embodiments of the present application may build a kinetic model of a vehicle based on external environment-aware information, driving behavior-aware information, and body posture-aware information of a currently flying vehicle, in some embodimentsIn the embodiment of the application, the parameters can follow the function relation Y t+1 ＝f(a t ,b t ,c t ,e t ) Establishing a dynamic model of a current flying automobile, wherein a is as follows t The vehicle body posture information and the driving behavior information are the current moment; b t Information about the rotor section of the aircraft at the current moment, such as information about the rotational speed, the angle, etc.; c t The information of the fixed wing part of the aircraft at the current moment is obtained; e, e t And the external environment information is the current moment. For example, the current aerocar is modeled through Newton-Euler to establish the relation between the motion state of the aerocar and the control mechanical parameters, and the aerocar is suitable for the aerocar with a rotor wing, a fixed wing and a composite wing structure.
The embodiment of the application can also predict the state information Y of the flying automobile at the next moment according to the established dynamics model t+1 ComprisesWherein a is t+1 The vehicle body posture information and the driving behavior information are the next moment; b t+1 The information such as the rotating speed, the angle and the like of the rotor wing part of the aircraft at the next moment; c t+1 Information such as the angle of the fixed wing part of the aircraft for the next moment; e, e t+1 External environment information is the next time.
In terms of determination of cooperative control data, the embodiment of the application can implement cooperative control on the aircraft unit and the chassis unit of the current flying automobile according to the output result of the computing unit. For example, PID control strategies may be employed in some embodiments to adjust rotor motor speed or angle, control fixed wing, tail deflection, and coordinate adjustments to other critical components of the aircraft.
In order to realize effective control of the flying automobile, the embodiment of the application can adopt a feedback control strategy, and the parameters of the aircraft are adjusted in real time by monitoring the real-time state (such as speed, gradient, roll angle and the like) of the vehicle, so that the compensation adjustment of the parameters of the vehicle state is carried out, and the safety and comfort of the influence on the vehicle are ensured.
It can be understood that, according to the embodiment of the application, adverse effects of the aircraft on driving of the flying car can be reduced based on the external environment sensing information, the driving behavior sensing information and the car body posture sensing information, for example, according to the external environment sensing information, the driving behavior sensing information and the car body posture sensing information, when the car is about to turn, the calculation dynamics influence parameters are judged, the lateral friction force between wheels and the ground is reduced, the windage balance at two sides is kept through the aircraft, and the stable posture in the car cabin is kept; according to the method and the device for controlling the vehicle to stop, the beneficial influence of the aircraft on the driving safety and the comfort of the aerocar can be further utilized based on the external environment sensing information, the driving behavior sensing information and the vehicle body posture sensing information, for example, when the fact that the friction force of the vehicle needs to be increased is predicted based on the external environment sensing information, the driving behavior sensing information and the vehicle body posture sensing information, the dynamic influence parameters of the aircraft corresponding to the current aerocar on the current aerocar are calculated, so that downward pressure is increased through the aircraft, or wind resistance is increased, the aerocar is stopped more quickly, and the wheel abrasion is reduced.
Optionally, in some embodiments, the cooperative control module 300 includes: a generation unit and a control unit.
And the generating unit is used for generating a cooperative control strategy according to the cooperative control data.
And the control unit is used for carrying out cooperative control on at least one cooperative control unit of the aircraft based on the cooperative control strategy.
Specifically, the embodiment of the application can formulate a corresponding control scheme according to the structural characteristics of the aircraft so as to be suitable for various aircraft structural forms, including various types such as a rotor wing, a fixed wing and a folding fixed wing.
For further understanding of the cooperative control system of the flying vehicle according to the embodiments of the present application, a detailed description will be given below with reference to specific embodiments.
For example, when the flying car turns at a high speed, if the ground friction force is insufficient to provide enough centripetal force, the embodiment of the application can calculate the required additional centripetal force according to the car body posture data, the additional centripetal force is provided by the corresponding aircraft of the flying car, the calculation module obtains the expected position and speed, and the required expected force, moment, rotor rotation speed, wing angle and the like are further calculated. For example, adjusting the different desired angles of attack for the left and right tail wings, or increasing the outboard rotor speed while decreasing the inboard rotor speed to the desired value. The control quantity is distributed through the coordination control module, and a control signal is sent to an executing mechanism such as a motor to generate actual force and moment. And combining the vehicle body state sensing data, feeding back position, speed and attitude information in real time, and adjusting the actual input of the system to meet the expectations through a proportional, integral and differential structure based on feedback errors.
In another embodiment, when the flying automobile runs on ice and snow roads and the ground attachment coefficient is low enough to provide enough braking force, the wing angle rotor motor can be controlled to reversely rotate to provide downward force, so that the dynamic performance of the automobile is improved. In practical application, the embodiment of the application needs to set the parameters of PID control under different working conditions of the aerocar, and firstly realizes better control effect and improves safety and operability.
In summary, in conjunction with the illustration of fig. 2, the embodiment of the present application may integrate real-time external environment sensing information, driving behavior sensing information and vehicle body posture sensing information, predict and calculate vehicle body dynamics effects, generate beneficial effects on driving safety and comfort based on the dynamics capability of the aircraft, implement cooperative control of the aircraft, reduce the influence of personnel in the vehicle, and promote the limit state of the vehicle.
Therefore, the embodiment of the application adjusts the aircraft through the automatic cooperative control module according to the information such as the driving behavior, the external environment, the vehicle posture and the like, reduces the interference of the aircraft on driving, formulates a corresponding control scheme according to the structural characteristics of the aircraft, and is suitable for various aircraft structural forms.
According to the cooperative control system of the aerocar, which is provided by the embodiment of the application, the dynamic influence parameters of the aerocar corresponding to the current aerocar on the current aerocar are calculated according to the external environment perception information, the driving behavior perception information and the car body posture perception information by acquiring the external environment perception information, the driving behavior perception information and the car body posture perception information of the current aerocar, the cooperative control data of the aerocar are determined according to the dynamic influence parameters, and at least one cooperative control unit of the aerocar is cooperatively controlled according to the cooperative control data. Therefore, the problem of interference of the aircraft to automobile steering in the flying automobile is solved, the interference of the aircraft to steering is reduced by automatically cooperatively controlling the flying unit, and the steering experience is optimized.
The cooperative control method of the aerocar according to the embodiment of the application is described with reference to the accompanying drawings.
Fig. 3 is a flow chart of a cooperative control method of a flying car according to an embodiment of the present application.
In step S301, external environment sensing information, driving behavior sensing information, and body posture sensing information of the currently flying car are acquired.
In step S302, a dynamics-affecting parameter of an aircraft corresponding to the current flying car is calculated according to the external environment sensing information, the driving behavior sensing information and the body posture sensing information, and cooperative control data of the aircraft is determined according to the dynamics-affecting parameter.
In step S303, at least one cooperative control unit of the aircraft is cooperatively controlled in accordance with the cooperative control data.
Optionally, in some embodiments, obtaining the external environment awareness information, the driving behavior awareness information, and the body posture awareness information of the current flying car includes: acquiring airflow information, road pavement information and traffic environment information of the environment where the current flying automobile is located, and acquiring external environment perception information according to the airflow information, the road pavement information and the traffic environment information; acquiring acceleration information and steering information of a current flying car, and acquiring driving behavior perception information according to the acceleration information and the steering information; and acquiring the body inclination information of the current flying automobile, and acquiring body posture sensing information according to the body inclination information.
Optionally, in some embodiments, the cooperative control of at least one cooperative control unit of the aircraft according to the cooperative control data comprises: generating a cooperative control strategy according to the cooperative control data, and performing cooperative control on at least one cooperative control unit of the aircraft based on the cooperative control strategy.
It should be noted that the foregoing explanation of the embodiment of the cooperative control system of the aerocar is also applicable to the cooperative control system method of the aerocar of the embodiment, and will not be repeated herein.
According to the cooperative control system method for the aerocar, which is provided by the embodiment of the application, the dynamic influence parameters of the aerocar corresponding to the current aerocar on the current aerocar are calculated according to the external environment perception information, the driving behavior perception information and the body posture perception information by acquiring the external environment perception information, the driving behavior perception information and the body posture perception information of the current aerocar, the cooperative control data of the aerocar are determined according to the dynamic influence parameters, and at least one cooperative control unit of the aerocar is cooperatively controlled according to the cooperative control data. Therefore, the problem of interference of the aircraft to automobile steering in the flying automobile is solved, the interference of the aircraft to steering is reduced by automatically cooperatively controlling the flying unit, and the steering experience is optimized.
Fig. 4 is a schematic structural diagram of a flying car according to an embodiment of the present application. The flying car may include:
memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402, when executing the program, implements the cooperative control system method for a flying car provided in the above-described embodiment.
Further, the flying car further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
The memory 401 may include high speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 404 are integrated on a chip, the memory 401, the processor 402, and the communication interface 404 may perform communication with each other through internal interfaces.
The processor 402 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.
Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of a cooperative control system for a flying car as described above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A cooperative control system for a flying vehicle, comprising:
the acquisition module is used for acquiring external environment perception information, driving behavior perception information and vehicle body posture perception information of the current flying vehicle;
the calculation module is used for calculating the dynamic influence parameters of the aircraft corresponding to the current flying automobile on the current flying automobile according to the external environment perception information, the driving behavior perception information and the vehicle body posture perception information, and determining cooperative control data of the aircraft according to the dynamic influence parameters; and
and the cooperative control module is used for cooperatively controlling at least one cooperative control unit of the aircraft according to the cooperative control data.
2. The system of claim 1, wherein the computing module comprises:
the model building unit is used for building a dynamic model of the current flying automobile based on the external environment perception information, the driving behavior perception information and the vehicle body posture perception information;
the prediction unit is used for predicting the state information of the current flying automobile at the next moment according to the dynamics model;
the calculation unit is used for calculating the dynamics influence parameters of the aircraft corresponding to the current flying car on the current flying car according to the dynamics model and the state information of the next moment;
and the determining unit is used for determining the cooperative control data according to the dynamics influence parameters based on a preset feedback control strategy.
3. The system of claim 1, wherein the acquisition module comprises:
the external environment acquisition unit is used for acquiring airflow information, road pavement information and traffic environment information of the environment where the current flying car is located, and acquiring external environment perception information according to the airflow information, the road pavement information and the traffic environment information;
the driving behavior acquisition unit is used for acquiring acceleration information and steering information of the current flying car and acquiring driving behavior perception information according to the acceleration information and the steering information;
the vehicle body posture acquisition unit is used for acquiring the vehicle body inclination information of the current flying vehicle and obtaining the vehicle body posture sensing information according to the vehicle body inclination information.
4. The system of claim 1, wherein the cooperative control module comprises:
the generation unit is used for generating a cooperative control strategy according to the cooperative control data;
and the control unit is used for cooperatively controlling at least one cooperative control unit of the aircraft based on the cooperative control strategy.
5. The system of claim 1, wherein the cooperative control unit comprises: at least one of a rotor wing, a fixed wing, a tail wing and a fuselage.
6. A method of cooperative control of a flying car, characterized in that a cooperative control system of a flying car according to any one of claims 1 to 5 is utilized, the method comprising the steps of:
acquiring external environment perception information, driving behavior perception information and vehicle body posture perception information of a current flying vehicle;
calculating dynamics influence parameters of an aircraft corresponding to the current flying car on the current flying car according to the external environment perception information, the driving behavior perception information and the car body posture perception information, and determining cooperative control data of the aircraft according to the dynamics influence parameters; and
and cooperatively controlling at least one cooperative control unit of the aircraft according to the cooperative control data.
7. The method of claim 6, wherein the obtaining external environment awareness information, driving behavior awareness information, and body posture awareness information of the current flying car comprises:
acquiring airflow information, road pavement information and traffic environment information of the environment where a current flying car is located, and acquiring external environment perception information according to the airflow information, the road pavement information and the traffic environment information;
acquiring acceleration information and steering information of a current flying car, and acquiring driving behavior perception information according to the acceleration information and the steering information;
acquiring the body inclination information of the current flying automobile, and obtaining the body posture sensing information according to the body inclination information.
8. The method of claim 6, wherein said cooperatively controlling at least one cooperative control unit of the aircraft in accordance with the cooperative control data comprises:
generating a cooperative control strategy according to the cooperative control data, and performing cooperative control on at least one cooperative control unit of the aircraft based on the cooperative control strategy.
9. A flying vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the cooperative control method of a flying car according to any one of claims 6 to 8.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a cooperative control method of a flying car according to any one of claims 6 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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