CN114415728B

CN114415728B - Control method and device for aerocar, vehicle and storage medium

Info

Publication number: CN114415728B
Application number: CN202210072745.3A
Authority: CN
Inventors: 张均; 陶永康; 段鹏; 沈阳
Original assignee: Guangdong Huitian Aerospace Technology Co Ltd
Current assignee: Guangdong Huitian Aerospace Technology Co Ltd
Priority date: 2022-01-21
Filing date: 2022-01-21
Publication date: 2023-11-03
Anticipated expiration: 2042-01-21
Also published as: CN114415728A

Abstract

The embodiment of the invention provides a control method, a device, a vehicle and a storage medium of a flying car, wherein the method comprises the following steps: acquiring a state value corresponding to the current flight condition of the aerocar, and acquiring a state machine aiming at the aerocar; the method comprises the steps that a state machine of a flying automobile is constructed based on a state value for measuring the flying mode of the flying automobile and the flying working condition of an instruction triggering event; and performing flight control on the aerocar according to the acquired state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine. Through the analysis of the possible failure state of the aerocar during the flight, and through using the state machine under the different failure states designed according to the physical characteristics and the control characteristics of the aerocar, the rapid response of the aerocar under the emergency state can be realized, different failure scenes can be reasonably handled, the probability of the out of control of the aerocar is reduced, and the safety of the flight is enhanced.

Description

Control method and device for aerocar, vehicle and storage medium

Technical Field

The invention relates to the technical field of automobiles, in particular to a control method of a flying automobile, a corresponding control device of the flying automobile, a corresponding transportation means and a corresponding computer storage medium.

Background

In order to avoid losing control of the aerocar during certain failure conditions in flight, and further threat to the safety of a driver, the aerocar needs to be subjected to failure protection.

The prior failure protection for the aircraft mainly detects the position, the speed, the acceleration, the sensors and the like of the aircraft item by item, realizes control through judging sentences, has more complex control logic, is only suitable for judging the flight state with lower complexity, and does not meet the failure protection requirement of the aerocar under the condition of numerous sensors and complex structure.

Disclosure of Invention

In view of the above, embodiments of the present invention have been made to provide a control method of a flying car, a corresponding control device of a flying car, a corresponding vehicle, and a corresponding computer storage medium, which overcome or at least partially solve the above problems.

The embodiment of the invention discloses a control method of a flying car, which comprises the following steps:

acquiring a state value corresponding to the current flight condition of the aerocar, and acquiring a state machine aiming at the aerocar; the state machine of the flying automobile is constructed based on a state value for measuring the flying mode of the flying automobile and the flying working condition of the command triggering event;

According to the obtained state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine, performing flight control on the aerocar; the state transition condition of the state machine is used for triggering the state transition of the normal flight mode and the failure response mode to the state of the flying automobile.

Optionally, the state transition condition is determined based on a state value of each flight condition; and performing flight control on the aerocar according to the acquired state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine, wherein the flight control comprises the following steps:

when the state value corresponding to the flight condition meets the state transition condition of the state machine, the state value of the flight condition of the aerocar is adjusted according to the state value of each flight condition corresponding to the state transition condition so as to trigger the flight mode and the instruction triggering event of the aerocar, and the aerocar is controlled to fly according to the flight state corresponding to the state transition condition.

Optionally, acquiring various flight states of the aerocar and various flight scenes of the aerocar;

Defining a flight mode for various flight states of the flying car and defining instruction triggering events for various flight scenes of the flying car;

generating a state machine of the flying automobile according to the defined flying mode and the defined instruction triggering event.

Optionally, the flight state of the aerocar includes a normal flight condition and a failure flight condition, and the defining the flight mode for the various flight states of the aerocar includes:

defining a normal flight mode for a normal flight condition of the flying car and defining a failure response mode for a failure flight condition of the flying car; the normal flight mode comprises a normal return flight mode, a normal landing mode, an airline flight mode, an intelligent flight mode, a remote controller control flight mode, a ground station control flight mode and a pilot control flight mode; the failure response modes include a fail hover mode, a fail return mode, an emergency landing mode, a land-in-place mode, a terminate task mode, a motor lock and release parachute mode.

Optionally, the defining instructions for various flight scenarios of the flying car trigger events, including:

Determining the types of instruction triggering events of various flight scenes of the flying automobile and instructions required to be executed under the various flight scenes; the instruction triggering event type comprises an external input event type and an autonomous triggering event type of the flying car;

defining the identification corresponding to the instruction triggering event types of the various flight scenes, and defining the state value corresponding to the instruction to be executed in the various flight scenes.

Optionally, the generating the state machine of the flying car according to the defined flying mode and the defined instruction triggering event includes:

and generating state transition conditions which are required to be met when the aerocar performs state transition between all flight states by adopting the defined trigger event, so as to construct a state machine of the aerocar by adopting the state transition conditions.

Optionally, the state transition between the normal flight mode and the failure response mode triggered by the state transition condition includes a state transition between any normal flight mode and another normal flight mode, a state transition between any normal flight mode and any failure response mode, a state transition between any failure response mode and another failure response mode, and a state transition between any failure response mode and any normal response mode.

Optionally, the method further comprises:

under the condition that a new failure scene exists, acquiring a flight condition of the new failure scene, defining a state value corresponding to the flight condition of the new failure scene, generating a state transition condition for the new failure scene, adding the state value corresponding to the flight condition of the new failure scene and the generated state transition condition corresponding to the new failure scene in a state machine of the aerocar, and controlling the aerocar to perform state transition in the new failure scene based on the added state machine.

The embodiment of the invention also discloses a control device of the aerocar, which comprises:

the state machine acquisition module is used for acquiring a state value corresponding to the current flight condition of the aerocar and acquiring a state machine aiming at the aerocar; the state machine of the flying automobile is constructed based on a state value for measuring the flying mode of the flying automobile and the flying working condition of the command triggering event;

the flight control module is used for carrying out flight control on the aerocar according to the acquired state value corresponding to the current flight working condition of the aerocar and the state transition condition of the state machine; the state transition condition of the state machine is used for triggering the state transition of the normal flight mode and the failure response mode to the state of the flying automobile.

Optionally, the state transition condition is determined based on a state value of each flight condition; the flight control module includes:

and the flight state conversion sub-module is used for adjusting the state value of the flight working condition of the aerocar according to the state value of each flight working condition corresponding to the state conversion condition when the state value corresponding to the flight working condition meets the state conversion condition of the state machine so as to trigger the flight mode and the instruction triggering event of the aerocar and control the aerocar to fly according to the flight state corresponding to the state conversion condition.

Optionally, the apparatus further comprises:

the state machine construction module is used for constructing a state machine of the flying automobile based on a state value for measuring the flying mode of the flying automobile and the flying working condition of the command triggering event;

the state mechanism modeling block includes:

the flight mode defining sub-module is used for acquiring various flight states of the flying automobile and defining a flight mode for the various flight states of the flying automobile;

the instruction triggering event defining sub-module is used for acquiring various flight scenes of the flying car and defining instruction triggering events for the various flight scenes of the flying car;

And the state machine generation sub-module is used for generating the state machine of the flying automobile according to the defined flying mode and the defined instruction triggering event.

Optionally, the flight state of the flying car includes a normal flight condition and a failure flight condition, and the flight mode defining submodule includes:

a normal flight mode definition unit, configured to define a normal flight mode for a normal flight condition of the flying vehicle, where the normal flight mode includes a normal return mode, a normal landing mode, a course flight mode, an intelligent flight mode, a remote controller control flight mode, a ground station control flight mode, and a pilot control flight mode;

a failure response mode defining unit, configured to define a failure response mode for the failure flight condition of the flying automobile; the failure response modes include a fail hover mode, a fail return mode, an emergency landing mode, a land-in-place mode, a terminate task mode, a motor lock and release parachute mode.

Optionally, the instruction triggering event definition submodule includes:

the system comprises a state identification definition unit, a control unit and a control unit, wherein the state identification definition unit is used for determining the instruction trigger event types of various flight scenes of the flying automobile and defining identifications corresponding to the instruction trigger event types of the various flight scenes; the instruction triggering event type comprises an external input event type and an autonomous triggering event type of the flying car;

The state value definition unit is used for determining instructions to be executed in various flight scenes and defining state values corresponding to the instructions to be executed in various flight scenes.

Optionally, the state machine generating submodule includes:

the state transition condition generating unit is used for generating state transition conditions which are required to be met when the aerocar performs state transition between all flight states by adopting the defined trigger event so as to construct a state machine of the aerocar by adopting the state transition conditions.

Optionally, the state machine building module further includes:

the state machine coupling submodule is used for acquiring the flight working condition of the new failure scene and defining the state value corresponding to the flight working condition of the new failure scene under the condition that the new failure scene exists, generating the state transition condition aiming at the new failure scene, adding the state value corresponding to the flight working condition of the new failure scene and the generated state transition condition corresponding to the new failure scene in the state machine of the aerocar, and controlling the aerocar to perform state transition under the new failure scene based on the added state machine.

The embodiment of the invention also discloses a vehicle, which comprises: the control device of the flying car, a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the control method of any flying car when being executed by the processor.

The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the control method of any aerocar when being executed by a processor.

The embodiment of the invention has the following advantages:

in the embodiment of the invention, by acquiring the state machine of the aerocar, whether the state transition condition in the aerocar state machine is met or not is judged based on the state value corresponding to the current flight condition of the aerocar, and the state transition of the normal flight mode and the failure response mode is triggered to the state of the aerocar so as to control the aerocar, wherein the used state machine can be constructed based on the state value of the flight condition for measuring the flight mode and the instruction triggering event of the aerocar. The method has the advantages that the possible failure states of the aerocar during flight are analyzed, and the state machines in different failure states designed according to the physical characteristics and the control characteristics of the aerocar are used, so that the rapid response of the aerocar in an emergency state can be realized, different failure scenes can be reasonably handled, the probability of out-of-control of the aerocar is reduced, and the safety of flight is enhanced; furthermore, based on the design and the use of the state machine, the rapid optimization and the coupling of the state machine under a new failure scene can be supported, the failure protection requirement of the flying car under the condition that the sensors are numerous and have complex structures is met, and the maintainability of failure protection logic and codes is higher.

Drawings

FIG. 1 is a flow chart of steps of an embodiment of a control method of a flying vehicle of the present invention;

FIG. 2 is a flow chart of steps of another embodiment of a control method of a flying vehicle of the present invention;

FIG. 3 is a schematic diagram of the construction of a state machine according to an embodiment of the present invention;

fig. 4 is a block diagram of an embodiment of a control device for a flying car according to the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

The prior failure protection for the aircraft mainly detects the position, the speed, the acceleration, each sensor and the like of the aircraft item by item, the control logic is complex through the if else and the switch case statement in the c or c++ language, when a new failure scene is encountered, if the judgment logic needs to be modified, the implementation is very difficult, namely, the if else and the switch case statement in the c or c++ language are only suitable for judging the flight state with lower complexity, when a new failure scene needs to be added and the new failure scene is coupled with the original judgment logic, the quick modification cannot be performed, the failure protection requirement under the condition that the sensors of the aircraft are complex in number and structure is not met, and the maintainability of the failure protection logic and codes is also lower.

The embodiment of the invention provides a state-based (state machine is an important tool box of Simulink), which mainly refers to the design of a fail-safe logic of a aerocar by modeling and simulating decision logic by using the state machine and a flow chart.

Referring to fig. 1, a flowchart illustrating steps of an embodiment of a method for controlling a flying car according to the present invention focuses on a process for performing flight control on the flying car using a constructed state machine, and may specifically include the following steps:

step 101, acquiring a state value corresponding to the current flight condition of a flying car and acquiring a state machine aiming at the flying car;

in the embodiment of the invention, the flying state of the flying automobile in the flying process is required to be detected in real time after the flying automobile takes off, and each sensor and parameter in the flying automobile are checked, so that the state of the flying automobile in the air is ensured to be controllable. Meanwhile, the aerocar also needs to have the function of rapidly and reasonably processing and making autonomous decision when certain failure conditions occur, so that the safe landing of the aerocar is ensured by combining the operation of a driver or a ground station.

In the air flight process, problems of internal and external states, sensor states and functions of the automobile, such as communication faults, sensor abnormality, power system abnormality, vibration protection, geo-fence conflict, task failure protection, abnormal flight state and the like, may occur, and the problems influence the flight safety to different degrees, so that the functions and control of the automobile are disabled.

The communication fault mainly can refer to abnormal communication data links between the ground station and the aerocar when the aerocar is in the ground station control flight or the remote controller control flight, and the fault can comprise remote controller disconnection and ground station disconnection. The remote controller is in disconnection, namely, in the flight process of a flying car, the remote controller and an airborne signal receiver cannot normally communicate, and the remote controller and the airborne signal receiver mainly can be characterized in that when the receiver cannot receive signals from a transmitter, the message sequence number of a remote controller topic in flight control software is stopped to be updated, if the message sequence number of continuous 3s subscription is not updated, the remote controller can be considered to be disconnected, so that the corresponding protection mode is switched, for example, a failure returns to a departure point or an emergency landing, and the like; the ground station disconnection refers to that in the flight process of the aerocar, the ground station and the aerocar can not normally communicate due to the fact that the flight distance exceeds the range of a ground station telemetry radio or other reasons, the updating can be stopped when the information sequence number of the ground station topic in flight control software is displayed, if the information sequence number of continuous 3s subscription is not updated, the remote ground station can be considered to be disconnected, at the moment, if the aerocar needs to complete a set task, the aerocar can not acquire a task point due to the fact that the ground station disconnection, and the task is not terminated or sailed.

In the power system abnormality, the power system abnormality of the flying automobile comprises power failure in flight caused by hardware faults of a battery, an electric regulator, a motor, a propeller and the like, an expected control target cannot be realized, for example, the electric quantity of the battery cannot support returning to a departure point or an emergency landing point, or the health of the battery is too low; the electric regulation can not normally acquire pulse width modulation (PWM, pulse Width Modulation) signals transmitted by the flight control, and can not normally output command voltages to the motor; the motor can not output rotation speed to be expected under given command voltage; the propeller blades are loosened, worn or broken in the flying process.

The abnormal sensor of the flying automobile mainly can mean that the measured value of the sensor exceeds the normal range which is set by expectations, or the parameters such as the position, the speed, the acceleration, the atmospheric pressure and the like which are measured by a plurality of sensors are not in the allowable range of errors, so that the flying safety is influenced; vibration protection can mean that a flying automobile is provided with a plurality of large-sized rotating paddles, higher vibration frequency can be brought when flying or encountering unexpected situations, so that the accelerometer can be saturated, and the climbing rate or vertical acceleration error calculated by a flight control algorithm is overlarge; geofence collisions refer to the fact that a flying car is limited by geofences such as no-fly zones, limited-fly zones, etc. in the air, and when collisions with these geofences exist, the flight control must immediately respond, and switch to a failed hover or return to avoid violating the laws and regulations related to air control; the task failure protection may refer to that when the aerocar executes certain specific tasks (such as intelligent flight and near-field landing), the data of the topography or the specific mark under the flight scene cannot be obtained, which may cause the task failure, for example, when the aerocar flies to execute the airline tasks, the distance between the planned waypoints exceeds the control range of the flight control, or the current position of the aerocar and the starting point of executing the airline tasks are too far, which may cause the task failure to terminate; an abnormal flight condition may refer to a condition of the inside and outside of the vehicle that is required to be checked during the flight, such as an excessive flight attitude angle, an excessive angle control error, an excessive proximity to an obstacle, etc., which may cause the vehicle to turn over or collide and lose control.

Based on the above-mentioned problem that the aerocar probably appears in the flight in-process, in order to avoid the function and the control inefficacy that the above-mentioned problem leads to the aerocar, influence the security of aerocar, when guaranteeing that the aerocar is in controllable in the aerial flight state, the aerocar still need possess when it appears certain inefficacy circumstances, can handle fast rationally, carry out autonomous decision-making's function.

In one embodiment of the present invention, in order to ensure the controllability of the flight state, a state value corresponding to the current flight condition of the aerocar may be acquired, so as to determine the flight state of the aerocar based on the acquired state value corresponding to the flight condition; in order to ensure the quick response of the aerocar to the failure scene, the possible failure state of the aerocar during the flight can be analyzed, and the state machines in different failure states can be designed according to the physical characteristics and the control characteristics of the aerocar, so that the state machine aiming at the aerocar can be obtained at the moment, and the quick response can be performed based on the state machine of the aerocar.

The obtained state machine of the flying automobile can be constructed based on the state value of the flying working condition for measuring the flying mode of the flying automobile and the command triggering event. The method can be mainly expressed as definition of flight modes of various flight states of the flying automobile, definition of instruction triggering events of various flight scenes and generation of state transition conditions which need to be met when the various flight states are transitioned based on the defined instruction triggering events.

And 102, performing flight control on the aerocar according to the acquired state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine.

The method is characterized in that a quick response is performed based on a state machine of the aerocar, and the state conversion conditions which are determined based on the state values of all the flying conditions can be measured, wherein the flying state conversion conditions which are required to be met when all the flying conditions are converted can be generated based on defined command triggering events, the corresponding state values exist in the command triggering events, namely, the flying state conditions can be determined based on the state values of all the flying conditions, and at the moment, the corresponding state conversion conditions which are met can be judged through the corresponding state values of the current flying conditions, so that the aerocar is subjected to flight control.

In practical application, the state transition condition conforming to the current flight condition can be used for triggering the state transition of the normal flight mode and the failure response mode to the state of the aerocar, and when the state value corresponding to the flight condition meets the state transition condition of a certain state machine, the state value of the flight condition of the aerocar can be adjusted according to the state value of each flight condition corresponding to the state transition condition so as to trigger the flight mode and the instruction triggering event of the aerocar, and the aerocar is controlled to fly according to the flight state corresponding to the state transition condition.

The state transition between the normal flight mode and the failure response mode triggered by the state transition condition may include a state transition between any one normal flight mode and another normal flight mode, a state transition between any one normal flight mode and any one failure response mode, a state transition between any one failure response mode and another failure response mode, and a state transition between any one failure response mode and any one normal response mode. The embodiments of the present invention are not limited in this regard.

Referring to fig. 2, a flowchart illustrating steps of an embodiment of a method for controlling a flying car according to the present invention focuses on a process for forming a state machine of the flying car, and may specifically include the following steps:

step 201, acquiring various flight states of the flying car and defining a flight mode for the various flight states of the flying car;

the flying car is guaranteed to be controllable in the air flight state, and meanwhile, the flying car also needs to have the function of being capable of rapidly and reasonably processing and making autonomous decisions when certain failure conditions occur. In order to ensure the controllability of the flight state and the quick response under the failure scene, the possible failure state of the flight vehicle during flight can be analyzed, and the state machines under different failure states are designed according to the physical characteristics and the control characteristics of the flight vehicle, so that the quick response of the flight vehicle under an emergency state is realized, different failure scenes are reasonably handled, the probability of out-of-control of the flight vehicle is reduced, and the flight safety is enhanced.

In an embodiment of the invention, a state machine of the flying car can be constructed based on a state value for measuring the flying mode of the flying car and the flying condition of the command triggering event. The method can be mainly expressed as definition of flight modes of various flight states of the flying automobile, definition of instruction triggering events of various flight scenes and generation of state transition conditions which need to be met when the various flight states are transitioned based on the defined instruction triggering events.

Specifically, the flight state of the aerocar includes a normal flight condition and a failure flight condition, and when defining the flight modes of the aerocar in various flight states, the normal flight mode can be defined for the normal flight condition of the aerocar, and the failure response mode can be defined for the failure flight condition of the aerocar.

In practical applications, the normal flight mode may include a normal return mode, a normal landing mode, an airline flight mode, an intelligent flight mode, a remote control flight mode, a ground station control flight mode, a pilot control flight mode, and the like.

The control method comprises the steps of controlling flight by a remote controller, controlling flight by a ground station and controlling flight by a driver, and selecting one mode to operate the aerocar based on an externally input instruction, wherein the three operation modes can realize control instruction input of other flight modes and various free flights, for example, intelligent flight mode control of the aerocar based on control instruction input of controlling flight by the remote controller.

The normal return mode may be represented by an instruction for the flying vehicle to return to the take-off origin entered through the remote controller, the ground station or the pilot, the normal landing mode may be represented by an instruction for the flying vehicle to gradually descend to the ground entered through the remote controller, the ground station or the pilot, and the course flight mode may be represented by an instruction for the flying vehicle to execute a flight according to a series of instructions having a course point entered through the remote controller, the ground station or the pilot; the intelligent flight mode may be represented by implementing instructions entered by a remote control, ground station, or pilot that require the flying vehicle to execute a flight at a certain constant altitude to the ground based on a terrain map.

The corresponding failure response can be triggered once the condition that the aerocar fails occurs during normal flight of the aerocar.

The failure response modes in the event of a failure flight may include a failure hover mode, a failure return mode, an emergency landing mode, a landing on site mode, a termination task mode, a motor lock and parachute release mode, and so forth. The failure hovering mode can be expressed as a state that the aerocar is triggered in a failure state and is kept at a certain height, the failure returning mode can be expressed as a return departure point triggered in the failure state, the emergency landing mode can be expressed as an emergency landing point which is required to be preset, so that the aerocar can trigger returning to the emergency landing point in the failure state, and the on-site landing mode can be expressed as a state that the aerocar triggers on-site landing in the failure state, and forced landing is carried out without considering the environment below the aerocar.

Step 202, acquiring various flight scenes of a flight vehicle and defining instruction triggering events for the various flight scenes of the flight vehicle;

the command triggering event under various flight scenes can be the minimum unit of the state of the flying car and the flight mode transition condition, and is also the root compliance of the state transition.

When defining the instruction triggering event of various flight scenes, the instruction triggering event types of various flight scenes of the flying automobile can be determined, and the identification corresponding to the instruction triggering event types of the various flight scenes is defined; and determining instructions to be executed in various flight scenes, and defining state values corresponding to the instructions to be executed in various flight scenes.

The command triggering event type can be divided into an external input event type and an autonomous triggering event type of the aerocar based on an external manual input command and an active triggering command of the flight control executed by the aerocar, and at the moment, the event type corresponding to the triggering event and the state identification of specific control items can be defined.

Specifically, the external input event type may refer to an instruction issued by a remote controller, a ground station or a driver, and based on the external input event, the state of the flying car and the flying mode can be changed, and at this time, the state identifier of the external input event type may be defined as out_si; the type of the autonomous triggering event of the aerocar can be a command which is automatically triggered by decision logic and functions of the aerocar according to the working state and the flying state of each part of the aerocar, and has no direct association with a remote controller, a ground station or a driver, and the state identification of the type of the autonomous triggering event of the aerocar can be defined as In_Si.

In practical application, the state values corresponding to the different executed instructions can be defined at this time, so that the current instruction triggering event can be determined based on the state identifier and the state values.

Illustratively, the definition of a specific instruction trigger event may be as follows:

state identification out_s1: manually entered unlock motor command. The state value for indicating the unlocking instruction trigger event may be out_s1=1, and the state value for indicating the locking instruction trigger event may be out_s1=0.

Status identifier out_s2: the way the car is maneuvered. The state value of the command trigger event for controlling the flight by the remote controller may be out_s2=1, the state value of the command trigger event for controlling the flight by the ground station may be out_s2=2, and the state value of the command trigger event for controlling the flight by the driver may be out_s2=3.

State identification out_s3: and inputting an operation instruction. The state value for indicating the command triggering event of switching to the normal return may be out_s3=1, the state value for indicating the command triggering event of normal landing may be out_s3=2, the state value for indicating the command triggering event of intelligent flight may be out_s3=3, the state value for indicating the command triggering event of line task flight may be out_s3=4, the state value for indicating the command triggering event of executing the drop-in-place mode may be out_s3=5, and the state value for indicating the command triggering event of locking and releasing the parachute by the motor may be out_s3=6.

Status identification in_s1: remote control signal status. The state value for indicating that the state is abnormal may be in_s1=0, and the state value for indicating that the state is normal may be in_s1=1.

The status identifies In_S2-the data link status of the car to the ground station. The state value for indicating that the state is abnormal may be in_s2=0, and the state value for indicating that the state is normal may be in_s2=1.

Status identification in_s3: global positioning system (GPS, global Positioning System) positioning status. Wherein, in the GPS-related mode, if the position accuracy is lower than an acceptable level, the state value in_s3=0 may be used, and if the position accuracy is satisfied, the state value may be in_s3=1.

Status identification in_s4: and (5) a secondary navigation barometer state. The state value for indicating that the state is abnormal may be in_s4=0, and the state value for indicating that the state is normal may be in_s4=1.

Status identification in_s5: and a secondary navigation electronic compass state. The state value for indicating that the state is abnormal may be in_s5=0, and the state value for indicating that the state is normal may be in_s5=1.

Status identification in_s6: sensor position resolution type. The state value in_s6=0 may be used when initial alignment is not completed, the state value in_s6=1 may be used when inertial measurement unit (Inertial measurement unit, IMU)/Real-time kinematic (RTK) positioning is completed, the state value in_s6=2 may be used when effective pure inertial positioning is completed, the state value in_s6=3 may be used when IMU/GNSS positioning is completed, and the state value in_s6=4 may be used when pure inertial positioning is completed.

Status identification in_s7: the sensor height resolution type. The state value in_s7=0 is used for the moment when the initial alignment is not completed, the state value in_s7=1 can be used for the moment when the IMU/RTK height is completed, the state value in_s7=2 can be used for the moment when the effective pure inertial navigation height is completed, the state value in_s7=3 can be used for the moment when the IMU/GNSS height is completed, the state value in_s7=4 can be used for the moment when the IMU/BARO height is completed, and the state value in_s7=5 can be used for the moment when the pure inertial navigation height is completed.

Status identification in_s8: sensor heading resolution type. The state value in_s8=0 is used for the moment when the initial alignment is not completed, in_s8=1 can be used for the moment when the IMU/GNSS alignment is completed, in_s8=2 can be used for the moment when the pure inertial navigation alignment is completed, and in_s8=3 can be used for the moment when the IMU/MAG alignment is completed.

Status identification in_s9: sensor speed resolution type. The state value in_s9=0 is used for the moment when the initial alignment is not completed, the state value in_s9=1 can be used for the moment when the IMU/GNSS speed measurement is completed, the state value in_s9=2 can be used for the moment when the effective pure inertial navigation speed measurement is completed, and the state value in_s9=3 can be used for the moment when the pure inertial navigation speed measurement is completed.

Status identification in_s10: and (5) performing secondary navigation on the IMU state. The state value for indicating that the state is abnormal may be in_s10=0, and the state value for indicating that the state is normal may be in_s10=1.

Status identification in_s11: attitude and heading reference system (Attitude and Heading Reference System, AHRS) IMU status. The state value for indicating that the state is abnormal may be in_s11=0, and the state value for indicating that the state is normal may be in_s11=1.

Status identification in_s12: AHRS electronic compass status. The state value for indicating that the state is abnormal may be in_s12=0, and the state value for indicating that the state is normal may be in_s12=1.

Status identification in_s13: AHRS barometer status. The state value for indicating that the state is abnormal may be in_s13=0, and the state value for indicating that the state is normal may be: in_s13=1.

Status identification in_s14: and (5) battery power. The state value indicating a severely low battery may be in_s14=0, the state value indicating a low battery may be in_s14=1, the state value indicating a normal battery may be in_s14=2, and the state value indicating a battery of 0 may be in_s14=3.

Status identification in_s15: whether the battery charge can fly a distance greater than the distance to the nearest drop point. The state value in_s15=1 may be used when the battery charge flyable distance is greater than or equal to the distance of the nearest drop point, and the state value in_s15=0 may be used when the battery charge flyable distance is less than the distance of the nearest drop point.

Status identification in_s16: whether the battery charge can fly a greater distance than the distance to return to the origin. Wherein, when the battery power flyable distance is greater than the distance to return to the origin, the state value in_s16=1 may be used to represent, and when the battery power flyable distance is less than the distance to return to the origin, the state value in_s16=0 may be used to represent.

Status identification in_s17: and (5) electrically adjusting the state. The state value for indicating that the state is abnormal may be in_s17=0, and the state value for indicating that the state is normal may be in_s17=1.

Status identification in_s18: and (5) a motor state. The state value for indicating that the state is abnormal may be in_s18=0, and the state value for indicating that the state is normal may be in_s18=1.

Status identification in_s19: propeller state. The state value for indicating that the state is abnormal may be in_s19=0, and the state value for indicating that the state is normal may be in_s19=1.

Status identification in_s20: whether the attitude angle is greater than a set threshold. The state value in_s20=0 may be used when the attitude angle is greater than the set threshold value, and the state value in_s20=1 may be used when the attitude angle is less than or equal to the set threshold value.

Status flag in_s21: whether the roll pitch angle control error is greater than 30 degrees. The state value in_s21=0 may be used when the roll/pitch angle control error is greater than 30 degrees, and the state value in_s21=1 may be used when the roll/pitch angle control error is less than or equal to 30 degrees.

in_S22, successfully acquiring the position information of the emergency drop point. Here, the status value in_s22=1 may be used to indicate that the position information of the emergency drop point is successfully acquired, and the status value in_s22=0 may be used to indicate that the position information of the emergency drop point is failed to be acquired.

The state mark In_S23 is that the flying automobile height is larger than a certain set value. The state value in_s23=1 may be used when the flying car height is greater than a certain set value, and the state value in_s23=0 may be used when the flying car height is less than or equal to a certain set value.

Status identification in_s24: whether the route mission data is lost. Wherein, the state value in_s24=0 may be used to indicate that the route task data is not lost, and the state value in_s24=1 may be used to indicate that the route task data is lost.

Status identification in_s25: the flying car triggers a region restriction of the geofence. Where the state value in_s25=0 may be used to indicate that the car is triggering the region restriction of the geofence, and the state value in_s25=1 may be used to indicate that the car is not triggering the region restriction of the geofence.

The status identifies In _ S26 whether the topographic data is lost. Here, the state value in_s26=0 may be used to indicate that the topographic data is not lost, and the state value in_s26=1 may be used to indicate that the topographic data is lost.

Status flag in_s27: whether the car vibration frequency is above a threshold level. The state value In_S27: =0 can be used when the vibration frequency of the flying car is higher than the threshold level, and the state value In_S27=1 can be used when the vibration frequency of the flying car is not higher than the threshold level.

Status identification in_s28: whether the distance between the flying car and the surrounding obstacles is less than 10 meters. The state in_s28=0 may be used when the distance between the flying car and the surrounding obstacle is less than 10 meters, and the state value in_s28=1 may be used when the distance between the flying car and the surrounding obstacle is greater than or equal to 10 meters.

Status identification in_s29: whether the current position of the flying car is less than 50 meters away from the starting point of the flight of the airline mission. The state value in_s29=1 may be used when the distance between the current position of the aerocar and the starting point of the mission flight is less than 50 meters, and the state value in_s29=0 may be used when the distance between the current position of the aerocar and the starting point of the mission flight is greater than or equal to 50 meters.

Status identification in_s30: whether the distance between the waypoints of the waypoint mission flight is within the control range. Here, the state value in_s30=1 may be used to indicate that the control range is In, and the state value in_s30=0 may be used to indicate that the control range is not In.

The state flag In_S31 is free from any operation input within 30 seconds. Wherein the state value in_s31=0 may be used for the absence of any operation input, and the state value in_s31=1 may be used for the presence of any operation input.

Step 203, generating a state machine of the flying car according to the defined flying mode and the defined instruction triggering event.

After the flight mode and the instruction triggering event of the aerocar in various flight scenes are defined, the state transition conditions which are required to be met when the aerocar is transited between various flight states can be generated based on the defined instruction triggering event, so that the design and construction of a state machine are completed, the constructed state machine is used for carrying out simulation experiments or flight control, and the rapid response of the aerocar in a failure scene is ensured.

The obtained state machine of the aerocar can be constructed based on the state value for measuring the flight mode of the aerocar and the flight condition of the command trigger event, at the moment, the defined trigger event can be adopted to generate the state transition condition which needs to be met when the aerocar performs state transition between all flight states, the state machine of the aerocar is constructed by adopting the state transition condition, and the corresponding state transition condition which is met can be judged through the corresponding state value of the current flight condition, so that the aerocar is subjected to flight control.

The state transition between the normal flight mode and the failure response mode triggered by the state transition condition may include a state transition between any one normal flight mode and another normal flight mode, a state transition between any one normal flight mode and any one failure response mode, a state transition between any one failure response mode and another failure response mode, and a state transition between any one failure response mode and any one normal response mode.

Referring to fig. 3, a schematic diagram of construction of a state machine according to an embodiment of the present invention is shown, where state transition conditions that need to be satisfied when transitioning between flight states are generated based on defined command trigger events, and the state machine is constructed based on the state transition conditions. The Ri in the state machine may be used to represent a condition for performing transition between states, i.e., a state transition condition.

For example, R1 (outs1=1 & outs2=1 & in_s1=1) may be used to describe a condition for controlling the flight with the remote controller for the flying car, which needs to satisfy the condition that the signal state of the remote controller is normal (ins1=1), an instruction for unlocking the motor (outs1=1) is sent to the flying car, and at the same time, the mode (outs2=1) In which the remote controller controls the flying car is selected.

R2 (outs1=1 & outs2=2 & in_s2=1)) may be used to describe the conditions for controlling the flight with the ground station for the car, which need to satisfy the normal state of the data link of the car with the ground station (ins2=1), send the car an instruction to unlock the motor (outs1=1), and select the way In which the ground station controls the car (outs2=2).

R3 (outs1=1 & outs2=3)), which may be used to describe the conditions for pilot-controlled flight for a car, is required to meet the command to send an unlock motor to the car (outs1=1), while selecting the way in which the pilot controls the car (outs2=2).

R4 (in_s2=1 & out_s2=2)), which may be used to describe the conditions for controlling flight to the ground station using a remote control for the car, is required to satisfy the condition that the car is In normal state with the ground station data link (in_s2=1), and the manner In which the ground station controls the car (out_s2=2) is selected.

R5 (in_s1=1 & out_s2=1)), which can be used to describe the conditions for flying an automobile using a ground station control to a remote control flight, needs to satisfy the condition that the remote control signal state is normal (in_s1=1), and selects the mode of controlling the flying automobile by the remote control (out_s2=1).

R6 (out_s2=3)), which may be used to describe the conditions from using ground station control to using pilot control for a flying car, are required to meet the selection of the manner in which the pilot controls the flying car (out_s2=3).

R7 (in_s2=1 & out_s2=3)), which may be used to describe the conditions from pilot-controlled to ground-station-controlled flight of a flying car, are required to meet the normal state of the data link of the flying car to the ground station (in_s2=1) and the manner In which the ground station is selected to control the flying car (out_s2=3).

R8 (out_s2=3)), which can be used to describe the conditions from using a remote control to using a pilot to control the flight of the car, are required to satisfy the manner in which the pilot is selected to control the car (out_s2=3).

R9 (in_s1=1 & out_s2=3)), which can be used to describe the conditions from using pilot control to using remote control for a flying car, needs to satisfy the remote control signal state normal (in_s1=1) and the manner In which the remote control is selected to control the flying car (out_s2=3).

Considering that the remote controller is similar to the ground station control mode, the following describes the condition of state machine conversion by using the ground station control flying behavior example of the flying car.

R10, R37 (in_s25=0|in_s28=1)), may be used to describe conditions for flying vehicles to fly to fail hover with ground station control, to fly to fail hover In different modes of flight, which require that the zone limitations of the flying vehicle trigger geofence (in_s25=0) or that the flying vehicle be less than 10 meters from surrounding obstacles (in_s28=1).

R11, R38 (in_s25=1)), may be used to describe conditions for hovering a vehicle failure to control flight with a ground station, and for hovering a vehicle failure to various flight modes, which are required to meet the zone limitations of the vehicle not triggering a geofence (in_s25=1).

R12, r39 ((In_S2=0| (In_S14=0 & In_S16=1) |In_S17=0|In_S18=0|In_S19=0|In_S26=1| (In_S3=0 =3 + (In_S6=4|In_S7=5|In_S8=2|In_S9=3))) and (In_S27=0 & In_S20=1 & In_S21=1) & (In_S11=1 & In_S12=1 & In_S13=1))) can be used to describe the conditions for controlling the flight of the vehicle from the ground station to the dead return, from each flight mode to the dead return, it needs to meet the conditions that the flying car and ground station data link state is abnormal (in_s2=0) or the GPS positioning accuracy is lower than acceptable level in_s3=0 and the sensor position resolution type is purely inertial navigation positioning, altitude determination, heading resolution, speed measurement (in_s6=4|in_s7=5|in_s8=2|in_s9=3) while the IMU, electronic compass, barometer of the AHRS are In normal state (in_s11=1 & in_s12=1 & in_s13=1), or severely low battery and battery flyable distances greater than the distance to return to origin (in_s14=0 & in_s16=1), or a tone state anomaly (in_s17=0), or a motor state anomaly (in_s18=0), or a propeller state anomaly (in_s19=0), and attitude angle less than a set threshold (in_s20=1), and roll pitch angle control error less than 30 degrees (in_s21=1), or terrain data loss (in_s26=1), or the flying car vibration frequency is higher than a threshold level (ins27=0).

R13、R41((In_S2＝0|(In_S14＝0&In_S16＝1)|In_S17＝0|In_S18＝0|In_S19＝0

In_s26=1| (in_s3=0 & (in_s6=4|in_s7=5|in_s8=2|in_s9=3))) & in_s15=1 & in_s22=1 & (in_s27=0 & in_s20=1 & in_s21=1) & (in_s11=1 & in_s12=1 & in_s13=1))) may be used to describe conditions for controlling the flight of a car from ground station to an emergency landing, conditions from each flight mode to an emergency landing that require that the car is In excess of ground station data link state anomalies (in_s2=0) or that the GPS positioning accuracy is below an acceptable level (in_s3=0) and that the sensor position solution type is purely pilot positioning, altitude, solution or (in_s6=4|s7=5|s8=2|s3=s3%, while the IMU, electronic compass, barometer status of the AHRS is normal (ins11=1 & ins12=1 & ins13=1), or severely low battery and battery flyable distance is greater than the distance to return to origin (ins14=0 & ins16=1), or the electronic tone status is abnormal (ins17=0), the motor status is abnormal (ins18=0), or the propeller status is abnormal (ins19=0), and attitude angle is less than the set threshold (ins20=1), and roll pitch angle control error is less than 30 degrees (ins21=1), or terrain data is lost (ins26=1), or the vehicle vibration frequency is above the threshold level (ins27=0), and successfully acquiring the position information of the emergency drop point (in_s22=1) and the battery charge flyable distance is greater than the distance to the nearest drop point (in_s15=1).

R14, R25, R31, R35 (in_s2=1 & out_s3=1 & in_s2=1)) may be used to describe conditions for controlling the flight of the car from the ground station to normal return, from normal drop to normal return, from intelligent to normal return, from airline mission to normal return, which require that the car and ground station data link states be normal (in_s2=1), ground station input commands be switched to normal return (out_s3=1).

R15, R17, R19, R21 (in_s2=1 & out_s2=2)), which may be used to describe conditions for controlling the flight of a car from normal return to the ground station, from normal drop to the ground station, from intelligent to the ground station, from airline mission to the ground station, which requires that the car and ground station data link state be normal (in_s1=1), and that the ground station input command be switched to ground station control flight (out_s2=2).

R16, R24, R27, R33 (in_s2=1 & out_s3=2)), which may be used to describe conditions for controlling the flight of a car from a ground station to normal landing, from normal return to normal landing, from intelligent flight to normal landing, from airline mission to normal landing, which requires that the car and ground station data link status be normal (in_s2=1), ground station input command switch to normal landing (out_s3=2).

R18, R26, R29, R30 (in_s2=1 & out_s3=3)), which may be used to describe conditions for controlling the flight of a car from a ground station to intelligent flight, from normal descent to intelligent flight, from airline to intelligent flight, from normal return to intelligent flight, which require that the car and ground station data link state be normal (in_s2=1), ground station input command switch to intelligent flight (out_s3=3).

R20, R28, R32, R34 (in_s2=1 & out_s3=4)), which may be used to describe conditions for controlling the flight of a car from a ground station to an airline mission, from intelligent to an airline mission, from normal landing to an airline mission, from normal return to an airline mission, which requires that the car and ground station data link states be normal (in_s2=1), ground station input commands switch to an airline mission (out_s3=4).

R22, R43 (in_s2=0 & out_s3=5)), which may be used to describe conditions for controlling the flight of the car from the ground station to the landing on site, from each flight mode to the landing on site, which requires satisfaction of the car and ground station data link state anomaly (in_s2=0), the ground station input command performs the landing on site mode (out_s3=5).

R23 (in_s2=0 & out_s3=6 & in_s26=1)), which may be used to describe the conditions for controlling the flight of the car by the ground station to motor locking and release of the parachute, is required to meet the condition that the car is abnormal In the data link state with the ground station (in_s2=0), the car height is greater than 100 meters (in_s26=1), the ground station input command performs motor locking and release of the parachute (out_s3=6).

R36 (ins2=0|ins29=0|ins30=0|ins24=1)), which may be used to describe conditions for the flight of the car from the airline mission to the termination of the mission, which may require that the condition be met for the car to ground station data link status anomalies (ins2=0), or for the loss of data of the airline mission (ins24=1), or for the current location of the car to be more than 50 meters from the starting point of the flight of the airline mission (ins29=0), or for the distance between waypoints of the flight of the airline mission to be outside the control range (ins30=0).

R40,R42,R44(In_S2＝1&(In_S3|(In_S4＝1&In_S5＝1&In_S10＝1))＝1&In_S17＝1&In_S18＝1&In_S19＝1&In_S20＝1&In_S21＝1&(Out_S3＝1|Out_S3＝2|

Out_s3=3|out_s3=4)), which may be used to describe conditions for a flying car returning from failure to each flight mode, a flying car falling from emergency to each flight mode, a flying car falling from spot to each flight mode, which requires that the flying car and ground station data link states be normal (in_s2=1), ground station input command switches to each mode (out_s3=1|out_s3=2|out_s3=3|out_s3=4), GPS positioning accuracy satisfaction conditions (in_s3=1) or secondary navigation barometer states be normal and secondary navigation IMU states be normal (in_s4=1 & in_s5=1 & in_s10=1), motors, propeller states be normal, and attitude angles are less than a set threshold and roll pitch angle control errors are less than 30 degrees (in_s17=1 & in_s18=1 & In_1=1 & In_21=1).

R45, R49, R51, R54 (in_s23=1 & (in_s20=0|in_s21=0|in_s14=3)) can be used to describe the condition for the flying car to switch from each flight mode to the lock motor and release the parachute, the condition for the on-site descent to switch to the lock motor and release the parachute, the condition for the dead return to switch to the lock motor and release the parachute, the condition for the dead hover to switch to the lock motor and release the parachute, which requires that the attitude angle be greater than the set threshold (in_s20=0), or the roll pitch angle control error be greater than 30 degrees (in_s21=0), or the battery level be 0 (in_s14=3), while requiring the altitude of the flying car to be greater than a certain threshold (in_s23=1).

R46 (in_s31= & in_s20=1 & in_s21=1)), which can be used to describe the condition of a transition of a flying car from a dead hover to a dead return state, needs to meet that there is no operational input (in_s31=0) for 30 seconds, the attitude angle is less than the set threshold (in_s20=1), and the roll pitch angle control error is less than 30 degrees (in_s21=1).

R47 (ins16=0 & ins22=1 & ins15=1 & ins20=1 & ins21=1)), which can be used to describe the condition of a transition of a flying car from a dead-back to a dead-emergency drop state, is required to satisfy that the battery charge flyable distance is less than the distance to the origin of the return (ins16=0) and the position information of the emergency drop point (ins22=1) is successfully acquired and that the battery charge flyable distance is greater than the distance to the nearest drop point (ins15=1), and the attitude angle is less than the set threshold (ins20=1), and the roll pitch angle control error is less than 30 degrees (ins21=1).

R48 (ins15=0 & ins20=1 & ins21=1)), which can be used to describe the condition of a transition of a flying car from an emergency drop to an on-site drop state, it is required to satisfy that the battery charge flyable distance is smaller than the distance to the nearest drop point (ins15=0), and the attitude angle is smaller than the set threshold (ins20=1), and the roll pitch angle control error is smaller than 30 degrees (ins21=1).

R50 (ins16=0 & ins22=0 & ins20=1 & ins21=1)), which can be used to describe the condition of transition of the flying car from the dead-reclination to the on-site landing state, it needs to be satisfied that the battery charge flyable distance is less than the distance to the return origin (ins16=0), the position information of the emergency landing point (ins22=0) is not successfully acquired, and the attitude angle is less than the set threshold (ins20=1), and the roll pitch angle control error is less than 30 degrees (ins21=1).

R52 (ins31=0 & ins16=0 & ins22=1 & ins20=1 & ins21=1)), which can be used to describe the condition of a transition of a flying car from a dead hover to an emergency drop state, needs to be satisfied without any operational input (ins31=0) for 30 seconds, the battery charge flyable distance is less than the distance to the return origin (ins16=0), the position information of the emergency drop point (ins22=1) is successfully acquired, and the attitude angle is less than the set threshold (ins20=1), and the roll pitch angle control error is less than 30 degrees (ins21=1).

R53 (ins31=0 & ins16=0 & ins22=0 & ins20=1 & ins21=1)), which can be used to describe the condition of a transition of a flying car from a dead hover to a land-In-place state, it needs to be satisfied that there is no operational input (ins31=0) for 30 seconds, the battery charge flyable distance is less than the distance to the return origin (ins16=0), the position information of the emergency drop point is not successfully acquired (ins22=0), and the attitude angle is less than the set threshold (ins20=1), and the roll pitch angle control error is less than 30 degrees (ins21=1).

For the state machine conversion condition when the driver controls the flying car to fly, the requirements of considering signal and communication link release are not required to be met when the remote controller controls the flying car and the ground station controls the flying car, and only the input instruction condition (In_S31=1) of the driver In T30S is required to be met, and the conversion conditions of other states are similar to those when the ground station controls the flying car, and the embodiment of the invention is not repeated.

In the embodiment of the invention, the design efficiency of the fail-safe function can be improved based on the design of the state transition for the flight mode.

In one embodiment of the invention, the rapid optimization of the state machine can be supported by designing the state machine, when a new failure scene needs to be added and the new failure scene is coupled with the original judgment logic, the rapid response of the aerocar under certain failure working conditions can be realized only by adding the new state and state transition conditions, the probability of out-of-control of the aerocar is reduced, the failure protection requirements of the aerocar under the conditions of numerous sensors and complex structures are met, and the maintainability of the failure protection logic and codes is higher

Specifically, under the condition that a new failure scene exists, the flight working condition of the new failure scene is acquired, the state value corresponding to the flight working condition of the new failure scene is defined, the state transition condition for the new failure scene is generated, the state value corresponding to the flight working condition of the new failure scene is added to the state machine of the aerocar, and the generated state transition condition corresponding to the new failure scene is used for controlling the aerocar to perform state transition in the new failure scene based on the added state machine.

It should be noted that, for the description of exemplary properties such as the definition of the flight mode and the threshold range selection of the control parameter in the scheme, and the conversion relationship between states in the state machine designed based on Stateflow for more clear illustration, the embodiment of the present invention is partially similar to the state simplification, but does not affect the implementation of the overall functional logic, and it should be understood by those skilled in the art that several modifications of the content of the embodiment of the present invention using some common general knowledge or conventional means are within the scope of protection of the present invention without departing from the principles of the embodiment of the present invention.

In a preferred embodiment, after the design is based on the state transition of the flight mode, a verification process can be performed, so that the design efficiency of the fail-safe function is improved.

Illustratively, an example of a state machine application in the case of simulation experiments may be employed for illustration. In this example, the main details are easy to demonstrate and clearly view, and a model is built by MATLAB (advanced technical computing language and interactive environment for algorithm development, data visualization, data analysis and numerical computation)/Stateflow. Taking a remote control mode as an example, whether the function of the state machine is normally operated is verified by considering the injection fault.

First, a remote control can be selected to control the flight and given a step trigger signal with a step length of T1 seconds, the flight mode is selected to be the mission flight mode (out_s3=4), and the remote control signal is injected with faults after T10 seconds: remote control loss (out_s2=0); the flyable distance of the injected fault battery charge after T20 seconds is less than the distance to return to origin (ins1=0); fault injection after T30 seconds: position information of the emergency drop point (ins15=0) cannot be acquired; fault injection after T40 seconds: the attitude angle of the flying car is larger than a set threshold value (In_S20=0), then other conditions are kept In a normal state, the simulation time is set to be T50 seconds, and finally the state mark mode of the flying car is output.

As shown by simulation results, the aerocar enters the remote controller control mode=0 in T0 seconds, the aerocar enters the route mission flight mode mode=6 in T1 seconds, the aerocar enters the failure return mode mode=20 in T10 seconds, the aerocar enters the emergency landing flight mode mode=21 in T20 seconds, the aerocar enters the in-situ landing mode mode=22 in T30 seconds, and the aerocar enters the motor locking and parachute releasing mode mode=23 in T40 seconds. The above data are combined to show that the simulation result obtained based on the injected fault output is the same as the state corresponding to the state transition condition which is met after the injected fault in the state machine shown in fig. 4, and the state machine can respond and transition the state of the aerocar in time when the aerocar fails, so that the safety of the flying is improved.

According to the embodiment of the invention, through analyzing the possible failure states of the aerocar during flight and designing the state machines under different failure states according to the physical characteristics and control characteristics of the aerocar, the rapid response of the aerocar under an emergency state can be realized, different failure scenes can be reasonably handled, the probability of out-of-control of the aerocar is reduced, and the flight safety is enhanced; furthermore, based on the design of the state machine, the rapid optimization and coupling of the state machine under a new failure scene can be supported, the failure protection requirements of the flying car under the condition that the sensors are numerous and have complex structures are met, and the maintainability of failure protection logic and codes is higher.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.

Referring to fig. 4, there is shown a block diagram of an embodiment of a control device for a flying car according to the present invention, which may specifically include the following modules:

a state machine obtaining module 401, configured to obtain a state value corresponding to a current flight condition of the aerocar, and obtain a state machine for the aerocar; the state machine of the flying automobile is constructed based on a state value for measuring the flying mode of the flying automobile and the flying working condition of the command triggering event;

the flight control module 402 is configured to perform flight control on the aerocar according to the obtained state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine; the state transition condition of the state machine is used for triggering the state transition of the normal flight mode and the failure response mode to the state of the flying automobile.

In one embodiment of the invention, the state transition condition is determined based on state values of respective flight conditions; the flight control module 402 may include the following sub-modules:

In one embodiment of the present invention, the apparatus may further include the following modules:

the state machine building block may include the following sub-blocks:

In one embodiment of the present invention, the flight status of the flying car includes a normal flight status and a failure flight status, and the flight mode defining sub-module may include the following units:

In one embodiment of the invention, the instruction trigger event definition sub-module may include the following elements:

In one embodiment of the invention, the state machine generation sub-module may comprise the following units:

In one embodiment of the present invention, the state transition between the normal flight mode and the failure response mode triggered by the state transition condition includes a state transition between any one normal flight mode and another normal flight mode, a state transition between any one normal flight mode and any one failure response mode, a state transition between any one failure response mode and another failure response mode, and a state transition between any one failure response mode and any one normal response mode.

In one embodiment of the present invention, the state machine building block may further comprise the following sub-blocks:

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

The embodiment of the invention also provides a vehicle, which comprises:

the control device of the aerocar, the processor, the memory and the computer program stored on the memory and capable of running on the processor are included, when the computer program is executed by the processor, the processes of the control method embodiment of the aerocar are realized, the same technical effects can be achieved, and in order to avoid repetition, the description is omitted here. The vehicle disclosed in the embodiment of the present invention is considered as i any vehicle that needs to be subjected to flight control, including a flying car, an aircraft, etc., which is not limited in the embodiment of the present invention.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the above-mentioned control method embodiment of the aerocar, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The above description of the present invention provides a method for controlling a aerocar, a corresponding device for controlling a aerocar, a corresponding vehicle and a corresponding computer storage medium, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the above description of the embodiments is only for helping to understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

1. A method of controlling a flying vehicle, the method comprising:

according to the obtained state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine, performing flight control on the aerocar; the state transition condition of the state machine is used for triggering the state transition of the normal flight mode and the failure response mode to the state of the flying automobile;

the normal flight mode comprises a normal return flight mode, a normal landing mode, an airline flight mode, an intelligent flight mode, a remote controller control flight mode, a ground station control flight mode and a pilot control flight mode, wherein the airline flight mode is used for executing an instruction with waypoint flight, and the intelligent flight mode is used for executing an instruction for flying according to a certain constant altitude to the ground; the failure response mode comprises a failure hovering mode, a failure returning mode, an emergency landing mode, a landing-in-place mode, a task terminating mode and a motor locking and parachute releasing mode, wherein the emergency landing mode is used for triggering returning to an emergency landing point, and the landing-in-place mode is used for triggering landing-in-place.

2. The method of claim 1, wherein the state transition condition is determined based on a state value for each of the flight conditions; and performing flight control on the aerocar according to the acquired state value corresponding to the current flight condition of the aerocar and the state transition condition of the state machine, wherein the flight control comprises the following steps:

3. Method according to claim 1 or 2, characterized in that the state machine of the flying car is built in the following way:

acquiring various flight states of the flying automobile and various flight scenes of the flying automobile;

4. A method according to claim 3, wherein the flight conditions of the flying car include normal flight conditions and failure flight conditions, and the defining the flight patterns for the various flight conditions of the flying car comprises:

a normal flight mode is defined for a normal flight condition of the flying car and a failure response mode is defined for a failure flight condition of the flying car.

5. The method of claim 4, wherein the defining instruction triggers events for various flight scenarios of the flying car, comprising:

6. The method of claim 5, wherein generating the state machine of the flying car based on the defined flight pattern and the defined instruction trigger event comprises:

7. The method of claim 1 or 2 or 4 or 5 or 6, wherein the state transitions between the normal flight mode and the failure response mode triggered by the state transition condition include a state transition between any normal flight mode and another normal flight mode, a state transition between any normal flight mode and any failure response mode, a state transition between any failure response mode and another failure response mode, and a state transition between any failure response mode and any normal response mode.

8. A method according to claim 3, further comprising:

9. A control device for a flying vehicle, the device comprising:

the flight control module is used for carrying out flight control on the aerocar according to the acquired state value corresponding to the current flight working condition of the aerocar and the state transition condition of the state machine; the state transition condition of the state machine is used for triggering the state transition of the normal flight mode and the failure response mode to the state of the flying automobile;

10. A vehicle, comprising: the control device of a flying car, processor, memory and computer program stored on the memory and capable of running on the processor, which when executed by the processor, carries out the steps of the control method of a flying car according to any one of claims 1-8.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for controlling a flying car according to any one of claims 1 to 8.