WO2023160031A1

WO2023160031A1 - Flight assistance method and apparatus for flying car, and flying car and medium

Info

Publication number: WO2023160031A1
Application number: PCT/CN2022/132056
Authority: WO
Inventors: 谷雨; 陶永康; 柏青
Original assignee: 广东汇天航空航天科技有限公司
Priority date: 2022-02-23
Filing date: 2022-11-15
Publication date: 2023-08-31
Also published as: CN114545970A

Abstract

A flight assistance method and apparatus for a flying car, and a flying car and a medium, which are applied to a flight system. The flight assistance method for a flying car comprises: acquiring a flight task, and an operation mode and/or a guidance type of the flight task (201), wherein the operation mode and/or the guidance type is used for limiting control information under a corresponding operation mode and/or a corresponding guidance type that need/needs to be satisfied for executing the flight task; and displaying guidance information for the flight task according to the control information under the corresponding operation mode and/or the corresponding guidance type that need/needs to be satisfied for the flight task, so as to guide a driving user to perform a corresponding operation on a flying car (202). A driving user is guided according to an operation mode and a guidance type of a flight task, such that a flight operation required by the driving user is directly guided, thereby effectively reducing the driving difficulty of a flying car, reducing the workload of the driving user, saving on the training cost of the driving user of the flying car, and improving the training efficiency and convenience of the driving user.

Description

飞行汽车的飞行辅助方法、装置、飞行汽车及介质Flying assisting method and device for flying car, flying car and medium

本申请要求在2022年02月23日提交中国专利局、申请号202210170879.9、发明名称为“飞行汽车的飞行辅助方法、装置、飞行汽车及介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application submitted to the China Patent Office on February 23, 2022, with the application number 202210170879.9, and the title of the invention is "Flying Assistance Method, Device, Flying Vehicle and Medium for Flying Vehicles", the entire content of which is incorporated by reference incorporated in this application.

技术领域technical field

本申请涉及汽车技术领域，特别是涉及一种飞行汽车的飞行辅助方法、一种飞行汽车的飞行辅助装置、相应的一种飞行汽车以及相应的一种计算机可读存储介质。The present application relates to the technical field of automobiles, in particular to a flying assisting method for a flying car, a flying assisting device for a flying car, a corresponding flying car and a corresponding computer-readable storage medium.

背景技术Background technique

飞行汽车是一种汽车和飞机结合的交通工具，其通常具备垂直起降和高度保持特性，针对飞行汽车的飞行操纵方式与传统飞机具有一定差异。例如，由于飞机构型、驾驶难度和乘员舒适度的考虑，飞行汽车通常不需要通过控制俯仰姿态获取爬升，也不需要通过控制横滚姿态来获取偏航。即传统飞机的飞行指引方式并不适用于飞行汽车的飞行辅助。A flying car is a vehicle that combines a car and an airplane. It usually has the characteristics of vertical take-off and landing and altitude maintenance. The flight control method for flying cars is somewhat different from that of traditional aircraft. For example, due to considerations of aircraft configuration, driving difficulty, and occupant comfort, flying cars generally do not need to control pitch attitude to obtain climb, nor do they need to control roll attitude to obtain yaw. That is, the flight guidance method of traditional aircraft is not suitable for the flight assistance of flying cars.

传统飞机的飞行指引方式，需要飞行员熟悉不同飞行阶段所需关注的指引以及监控各种不同的飞行指引，然而这种传统的飞行训练方式对驾驶用户的理论知识、飞行驾驶技能和身体素质提出较高要求，需要较大的时间成本、基建成本和人力成本，不适用于面向广泛用户市场的飞行汽车的指引，不利于飞行汽车用户的辅助教学的便捷性。The traditional flight guidance method of aircraft requires the pilot to be familiar with the guidance that needs to be paid attention to in different flight stages and to monitor various flight guidance. High requirements require large time costs, infrastructure costs and labor costs. They are not suitable for the guidance of flying cars for a wide range of user markets, and are not conducive to the convenience of auxiliary teaching for flying car users.

发明内容Contents of the invention

鉴于上述问题，提出了本申请实施例以便提供一种克服上述问题或者至少部分地解决上述问题的一种飞行汽车的飞行辅助方法、一种飞行汽车的飞行辅助装置、相应的一种飞行汽车以及相应的一种计算机可读存储介质。In view of the above problems, the embodiments of the present application are proposed in order to provide a flying assisting method for flying cars, a flying assisting device for flying cars, a corresponding flying car and A corresponding computer-readable storage medium.

本申请实施例公开了一种飞行汽车的飞行辅助方法，应用于飞行***，方法包括：The embodiment of the present application discloses a flight assistance method for a flying car, which is applied to a flight system. The method includes:

获取飞行任务，以及飞行任务的工作模式和/或指引类型；工作模式和/或指引类型用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；Obtain the flight mission, as well as the working mode and/or guidance type of the flight mission; the working mode and/or guidance type are used to limit the control information under the corresponding working mode and/or corresponding guidance type that must be met to perform the flight mission;

根据飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对飞行任务的指引信息，以引导驾驶用户对飞行汽车进行相应操作。According to the corresponding working mode and/or the control information under the corresponding guidance type that the flight mission needs to meet, the guidance information for the flight mission is displayed, so as to guide the driving user to perform corresponding operations on the flying car.

在本申请实施例提出的飞行汽车的飞行辅助方法中，还包括：In the flying assistance method of the flying car proposed in the embodiment of the present application, it also includes:

根据飞行任务的工作模式和/或指引类型，生成用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；其中，飞行任务的工作模式包括手动操纵指引模式、目标状态指引模式以及组合指引模式，组合指引模式包括手动操纵指引模式和目标状态指引模式的组合模式；指引类型包括舒适指引类型、经济指引类型以及效率指引类型。According to the working mode and/or guiding type of the flight task, generate the control information used to limit the corresponding working mode and/or the corresponding guiding type that needs to be satisfied when performing the flying task; wherein, the working mode of the flying task includes manual manipulation guiding mode, target The state guidance mode and the combination guidance mode, the combination guidance mode includes the combination mode of the manual manipulation guidance mode and the target state guidance mode; the guidance type includes the comfort guidance type, the economy guidance type and the efficiency guidance type.

在本申请实施例提出的飞行汽车的飞行辅助方法中，根据飞行任务的工作模式生成用于限制执行飞行任务需满足的相应工作模式下的控制信息，包括：In the flight assistance method for the flying car proposed in the embodiment of the present application, the control information used to limit the corresponding working mode required to perform the flying task is generated according to the working mode of the flying task, including:

在手动操纵指引模式下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，驾驶杆操纵量输入信息基于位移操纵量确定，包括纵向操纵位移、横向操纵位移、航向操纵位移和高度操纵位移；In the manual steering guidance mode, the input information of the steering stick manipulation amount satisfying the manual steering guidance mode is generated, and the input information of the steering stick manipulation amount is determined based on the displacement manipulation amount, including longitudinal manipulation displacement, lateral manipulation displacement, heading manipulation displacement and altitude manipulation displacement;

和/或，在目标状态指引模式下，生成满足目标状态指引模式的飞行状态信息，飞行状态信息基于飞行状态转化得到的操纵量确定，包括用于指示目标速度的水平速度操纵量、用于指示目标航迹所需的航向操纵量，以及用于指示目标高度所需的高度操纵量。And/or, in the target state guidance mode, generate flight state information that satisfies the target state guidance mode, and the flight state information is determined based on the control quantity converted from the flight state, including the horizontal speed control quantity used to indicate the target speed, used to indicate The amount of heading control required for the target track, and the amount of altitude control required to indicate the altitude of the target.

在本申请实施例提出的飞行汽车的飞行辅助方法中，根据飞行任务的指引类型生成用于限制执行飞行任务需要满足的相应指引类型下的控制信息，包括：In the flight assistance method for flying cars proposed in the embodiment of the present application, the control information under the corresponding guidance type used to limit the execution of the flight task is generated according to the guidance type of the flight task, including:

在舒适指引类型下，将在执行飞行任务时符合预设范围内的飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度，转换为所需的操纵量；Under the comfort guidance type, convert the longitudinal overload, lateral overload, directional overload and yaw angular acceleration of the flying car within the preset range during the flight mission into the required control amount;

和/或，在经济指引类型下，生成在执行飞行任务时满足最长航程航迹的操纵量；and/or, under the economic steering type, generate maneuvers that satisfy the longest flight path while flying the mission;

和/或，在效率指引类型下，生成在执行飞行任务时满足最短航时航迹的操纵量。And/or, under the efficiency guidance type, generate maneuvers that satisfy the shortest flight time trajectory while performing the mission.

在本申请实施例提出的飞行汽车的飞行辅助方法中，根据飞行任务的工作模式和指引类型，生成用于限制执行飞行任务需满足的相应工作模式和相应指引类型下的控制信息，包括：In the flight assistance method for flying cars proposed in the embodiment of the present application, according to the working mode and guidance type of the flight task, control information for limiting the corresponding working mode and the corresponding guidance type to be satisfied for performing the flight task is generated, including:

在满足指引类型的情况下，根据飞行任务的工作模式生成控制信息；Generate control information according to the working mode of the flight mission when the guidance type is satisfied;

在满足指引类型的情况下，根据飞行任务的工作模式生成控制信息，包括：In the case of meeting the guidance type, control information is generated according to the working mode of the flight mission, including:

若指引类型为舒适指引类型，在满足飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度的预设范围的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息；If the guidance type is the comfortable guidance type, in the case of meeting the preset ranges of longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car, generate the input information of the joystick manipulation amount satisfying the manual manipulation guidance mode, and/or Or meet the flight status information of the target status guidance mode;

若指引类型为经济指引类型，在满足最长航程航迹的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息；If the guidance type is the economic guidance type, in the case of satisfying the longest flight path, generate the input information of the control amount of the stick that satisfies the manual manipulation guidance mode, and/or the flight status information that satisfies the target state guidance mode;

若指引类型为效率指引类型，在满足最短航时航迹的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息。If the guidance type is the efficiency guidance type, if the shortest voyage track is satisfied, the control amount input information of the steering stick satisfying the manual manipulation guidance mode, and/or the flight state information satisfying the target state guidance mode are generated.

在本申请实施例提出的飞行汽车的飞行辅助方法中，相应工作模式和/或相应指引类型下的控制信息基于操纵量确定，指引信息基于用于指示操纵量的指引符合所显示的指引位置得到；In the flight assistance method for flying cars proposed in the embodiment of the present application, the control information in the corresponding working mode and/or the corresponding guidance type is determined based on the manipulation quantity, and the guidance information is obtained based on the guidance used to indicate the manipulation quantity conforming to the displayed guidance position ;

根据飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对飞行任务的指引信息，包括：According to the corresponding working mode and/or the control information under the corresponding guidance type that the flight mission needs to meet, display the guidance information for the flight mission, including:

在任一指引类型下，若工作模式为手动操纵指引模式，手动操纵指引模式下的位移操纵量，通过驾驶杆推荐位置、驾驶感杆的旋转位置以及高度控制拨钮位置的指引符号运动到与位移操纵量对应的推荐位置，以形成指引信息；Under any guidance type, if the working mode is manual manipulation guidance mode, the displacement manipulation amount in manual manipulation guidance mode is determined by the recommended position of the steering stick, the rotation position of the driving feel lever and the position of the guidance symbol of the height control knob. Manipulate the recommended position corresponding to the quantity to form guidance information;

在任一指引类型下，若工作模式为目标状态指引模式，目标状态指引模式下基于飞行状态转化得到的操纵量，通过速度指引、航向指引、高度指引的指引符号运动到与操纵量对应的推荐位置，以形成指引信息。Under any guidance type, if the working mode is the target state guidance mode, the control amount obtained based on the flight state conversion in the target state guidance mode moves to the recommended position corresponding to the control amount through the guidance symbols of speed guidance, heading guidance, and altitude guidance , to form guidance information.

在本申请实施例提出的飞行汽车的飞行辅助方法中，方法还包括：In the flight assistance method for flying cars proposed in the embodiment of the present application, the method further includes:

响应驾驶用户对飞行汽车的操作指令，若操作指令符合飞行任务的指引信息，则生成反馈指引，以告知驾驶用户完成飞行任务；其中，操作指令为由驾驶用户基于飞行任务的指引信息对飞行汽车进行相应控制生成的指令。Responding to the driving user's operating instructions for the flying car, if the operating instruction conforms to the guidance information of the flight mission, then generate feedback guidance to inform the driving user to complete the flying mission; wherein, the operating instruction is based on the guidance information of the flying mission by the driving user. Carry out the instruction generated by the corresponding control.

响应驾驶用户对飞行汽车的操作指令，记录操作指令的操作信息，并根据操作信息生成评估结果以供驾驶用户查看。Respond to the driving user's operating instructions on the flying car, record the operating information of the operating instructions, and generate evaluation results based on the operating information for the driving user to view.

本申请实施例还公开了一种飞行汽车的飞行辅助装置，应用于飞行***，装置包括：The embodiment of the present application also discloses a flight assisting device for a flying car, which is applied to a flight system, and the device includes:

飞行任务获取模块，用于获取飞行任务，以及飞行任务的工作模式和/或指引类型；工作模式和/或指引类型用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；The flight task acquisition module is used to obtain the flight task, and the working mode and/or guidance type of the flight task; control information;

任务指引模块，用于根据飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对飞行任务的指引信息，以引导驾驶用户对飞行汽车进行相应操作。The mission guidance module is used to display guidance information for the flight mission according to the corresponding working mode and/or the control information under the corresponding guidance type that the flight mission needs to meet, so as to guide the driving user to perform corresponding operations on the flying car.

在本申请实施例提出的飞行汽车的飞行辅助装置中，装置还包括：In the flying assisting device of the flying car proposed in the embodiment of the present application, the device further includes:

控制信息生成模块，用于根据飞行任务的工作模式和/或指引类型，生成用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；其中，飞行任务的工作模式包括手动操纵指引模式、目标状态指引模式以及组合指引模式，组合指引模式包括手动操纵指引模式和目标状态指引模式的组合模式；指引类型包括舒适指引类型、经济指引类型以及效率指引类型。The control information generation module is used to generate the control information under the corresponding working mode and/or corresponding guiding type that is used to limit the execution of the flight task according to the working mode and/or guidance type of the flight task; wherein, the working mode of the flight task It includes a manual manipulation guidance mode, a target state guidance mode and a combination guidance mode, and the combination guidance mode includes a combination mode of the manual manipulation guidance mode and the target state guidance mode; the guidance types include a comfort guidance type, an economic guidance type, and an efficiency guidance type.

在本申请实施例提出的飞行汽车的飞行辅助装置中，控制信息生成模块具体用于在手动操纵指引模式下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，驾驶杆操纵量输入信息基于位移操纵量确定，包括纵向操纵位移、横向操纵位移、航向操纵位移和高度操纵位移；用于在目标状态指引模式下，生成满足目标状态指引模式的飞行状态信息，飞行状态信息基于飞行状态转化得到的操纵量确定，包括用于指示目标速度的水平速度操纵量、用于指示目标航迹所需的航向操纵量，以及用于指示目标高度所需的高度操纵量；用于在舒适指引类型下，将在执行飞行任务时符合预设范围内的飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度，转换为所需的操纵量；用于在经济指引类型下，生成在执行飞行任务时满足最长航程航迹的操纵量；用于在效率指引类型下，生成在执行飞行任务时满足最短航时航迹的操纵量；用于在满足指引类型的情况下，根据飞行任务的工作模式生成控制信息。In the flight assisting device for the flying car proposed in the embodiment of the present application, the control information generation module is specifically used to generate the input information of the control amount of the control stick that satisfies the manual control guidance mode in the manual control guidance mode, and the control input information of the control stick is based on Determination of displacement control amount, including longitudinal control displacement, lateral control displacement, heading control displacement and altitude control displacement; used to generate flight state information satisfying the target state guidance mode in the target state guidance mode, and the flight state information is obtained based on the conversion of the flight state The determination of the control amount, including the horizontal speed control amount used to indicate the target speed, the heading control amount required to indicate the target track, and the altitude control amount required to indicate the target height; , convert the longitudinal overload, lateral overload, yaw overload and yaw angular acceleration of the flying car within the preset range during the execution of the flight mission into the required control amount; it is used to generate the flight under the type of economic guidance The maneuvering amount that satisfies the longest flight path during the mission; it is used to generate the maneuvering amount that satisfies the shortest flight time path when performing the flight mission under the efficiency guidance type; The working mode generates control information.

其中，在满足指引类型的情况下，根据飞行任务的工作模式生成控制信息，包括若指引类型为舒适指引类型，在满足飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度的预设范围的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息；若指引类型为经济指引类型，在满足最长航程航迹的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息；若指引类型为效率指引类型，在满足最短航时航迹的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息。Among them, in the case of satisfying the guidance type, the control information is generated according to the working mode of the flight task, including if the guidance type is the comfortable guidance type, when the longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car are satisfied. In the case of the range, generate the input information of the control amount of the stick that satisfies the manual manipulation guidance mode, and/or the flight status information that meets the target state guidance mode; if the guidance type is the economic guidance type, if the longest flight path is satisfied , to generate the input information of the control amount of the stick that satisfies the manual manipulation guidance mode, and/or the flight status information that satisfies the target state guidance mode; The input information of the control amount of the control stick in the steering guidance mode, and/or the flight status information in the guidance mode meeting the target state.

在本申请实施例提出的飞行汽车的飞行辅助装置中，相应工作模式和/或相应指引类型下的控制信息基于操纵量确定，指引信息基于用于指示操纵量的指引符合所显示的指引位置得到；任务指引模块包括：In the flying assisting device for the flying car proposed in the embodiment of the present application, the control information in the corresponding working mode and/or the corresponding guidance type is determined based on the manipulation quantity, and the guidance information is obtained based on the guidance used to indicate the manipulation quantity conforming to the displayed guidance position ;Task guidance module includes:

指引信息生成子模块，用于在任一指引类型下，若工作模式为手动操纵指引模式，手动操纵指引模式下的位移操纵量，通过驾驶杆推荐位置、驾驶感杆的旋转位置以及高度控制拨钮位置的指引符号运动到与位移操纵量对应的推荐位置，以形成指引信息；Guidance information generation sub-module, used for any guidance type, if the working mode is manual manipulation guidance mode, the displacement manipulation amount in manual manipulation guidance mode, through the recommended position of the steering column, the rotation position of the driving feeling lever and the height control dial The position guide symbol is moved to the recommended position corresponding to the displacement manipulation value to form guide information;

还用于在任一指引类型下，若工作模式为目标状态指引模式，目标状态指引模式下基于飞行状态转化得到的操纵量，通过速度指引、航向指引、高度指引的指引符号运动到与操纵量对应的推荐位置，以形成指引信息。It is also used in any guidance type, if the working mode is the target state guidance mode, the control amount obtained based on the flight state conversion in the target state guidance mode is moved to correspond to the control amount through the guidance symbols of speed guidance, heading guidance, and altitude guidance. The recommended position to form guidance information.

反馈指引显示模块，用于响应驾驶用户对飞行汽车的操作指令，若操作指令符合飞行任务的指引信息，则生成反馈指引，以告知驾驶用户完成飞行任务；其中，操作指令为由驾驶用户基于飞行任务的指引信息对飞行汽车进行相应控制生成的指令。The feedback guidance display module is used to respond to the driving user's operation instructions for the flying car. If the operation instruction conforms to the guidance information of the flight mission, a feedback guidance is generated to inform the driving user to complete the flight mission; The guidance information of the task is the command generated by the corresponding control of the flying car.

评估结果生成模块，用于响应驾驶用户对飞行汽车的操作指令，记录操作指令的操作信息，并根据操作信息生成评估结果以供驾驶用户查看。The evaluation result generation module is used to respond to the driving user's operation instruction to the flying car, record the operation information of the operation instruction, and generate an evaluation result according to the operation information for the driving user to view.

本申请实施例还公开了一种飞行汽车，包括：飞行汽车的飞行辅助装置、处理器、存储器及存储在存储器上并能够在处理器上运行的计算机程序，计算机程序被处理器执行时实现任一项飞行汽车的飞行辅助方法。The embodiment of the present application also discloses a flying car, including: a flying auxiliary device for the flying car, a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, any A flight assistance method for flying cars.

本申请实施例还公开了一种计算机可读存储介质，计算机可读存储介质上存储计算机程序，计算机程序被处理器执行时实现任一项飞行汽车的飞行辅助方法。The embodiment of the present application also discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, any flight assistance method for a flying car is realized.

本申请实施例包括以下优点：The embodiment of the present application includes the following advantages:

本申请一些实施例中，通过基于飞行任务的工作模式和/或指引类型得到用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，通过根据飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对飞行任务的指引信息，以引导驾驶用户对飞行汽车进行相应操作。即通过根据飞行任务的工作模式和指引类型指引驾驶用户，直接指引出驾驶用户所需的飞行操作，有效降低飞行汽车的驾驶难度，减少驾驶用户的工作负荷，节省飞行汽车驾驶用户的培训成本，提高对驾驶用户的培训效率与便捷性。In some embodiments of the present application, the control information under the corresponding working mode and/or corresponding guidance type used to limit the execution of the flight task is obtained through the working mode and/or guidance type based on the flight task, and the control information is obtained according to the flight task. The control information under the corresponding working mode and/or the corresponding guidance type displays the guidance information for the flight task, so as to guide the driving user to perform corresponding operations on the flying car. That is, by guiding the driving user according to the working mode and guidance type of the flight mission, directly guiding the flying operation required by the driving user, effectively reducing the difficulty of driving the flying car, reducing the workload of the driving user, and saving the training cost of the flying car driving user. Improve the efficiency and convenience of training for driving users.

附图说明Description of drawings

图1是本申请实施例提供的飞行***的架构示意图；Fig. 1 is a schematic diagram of the architecture of the flight system provided by the embodiment of the present application;

图2是本申请的一种飞行汽车的飞行辅助方法实施例的步骤流程图；Fig. 2 is a flow chart of the steps of an embodiment of a flight assistance method for a flying car of the present application;

图3是本申请实施例提供的飞行任务的工作模式和指引类型的示意图；Fig. 3 is a schematic diagram of the working mode and guidance type of the flight mission provided by the embodiment of the present application;

图4是本申请的一种飞行汽车的飞行辅助装置实施例的结构框图。Fig. 4 is a structural block diagram of an embodiment of a flight assisting device for a flying car of the present application.

具体实施方式Detailed ways

为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本申请作进一步详细的说明。In order to make the above objects, features and advantages of the present application more obvious and comprehensible, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

飞行汽车是由汽车和飞行进行结合的交通工具，传统飞机的飞行指引方式并不适用于飞行汽车的飞行辅助。传统飞机的飞行指引***包括飞行轨迹指引、速度/高度指引、起飞指引、着陆指引、性能指引和导航指引，飞行员需要在熟悉不同飞行阶段所需关注的指引，提前设置性能数据、飞行计划和目标飞行状态等参数，并在对应的飞行阶段使用所需的飞行驾驶技术追踪、完成、或监控各种不同的飞行指引。这种飞行指引方式对驾驶用户的理论知识、飞行驾驶技能和身体素质均提出较高要求，而对于面向广泛用户市场的飞行汽车而言，需要通过一定的方式降低飞行汽车的驾驶难度和驾驶用户的工作负荷。A flying car is a means of transportation that combines cars and flying. The flight guidance method of a traditional aircraft is not suitable for the flight assistance of a flying car. The flight guidance system of traditional aircraft includes flight trajectory guidance, speed/altitude guidance, takeoff guidance, landing guidance, performance guidance and navigation guidance. Pilots need to be familiar with the guidance that needs to be paid attention to in different flight stages, and set performance data, flight plans and goals in advance flight status and other parameters, and use the required flight piloting techniques to track, complete, or monitor various flight instructions during the corresponding flight phase. This kind of flight guidance method puts forward high requirements on the theoretical knowledge, flying skills and physical fitness of driving users. For flying cars that are oriented to a wide range of user markets, it is necessary to reduce the driving difficulty of flying cars and drive users in a certain way. workload.

此外，传统的飞行训练包含较多学时的理论学习、教员带飞和学员单飞，此飞行训练过程需要学员学习等时间成本、场地占用等基建成本和飞行教员等人力成本，而为了获取飞行汽车的用户市场，对于飞行汽车的飞行辅助与训练方式，在起到辅助教学作用的飞行训练指引的同时，还需要降低飞行训练所需的各类成本。In addition, traditional flight training includes many hours of theoretical study, instructor-led flight, and student solo flight. This flight training process requires time costs such as student learning, infrastructure costs such as space occupation, and labor costs such as flight instructors. In order to obtain flying cars In the user market, for the flight assistance and training methods of flying cars, it is necessary to reduce the various costs required for flight training while serving as a flight training guide for auxiliary teaching.

本申请实施例的核心思想之一在于根据飞行任务的工作模式和指引类型指引驾驶用户，直接指引出驾驶用户所需的飞行操作，有效降低飞行汽车的驾驶难度，减少驾驶用户的工作负荷，节省飞行汽车驾驶用户的培训成本，提高对驾驶用户的培训效率与便捷性。进一步地，本申请实施例基于工作模式和指引类型的指引方式，可提出为驾驶用户指示出捕获目标速度所需水平速度操纵量的速度操纵指引方式，提出为驾驶用户指示出捕获目标航迹所需的航向操纵量的航向操纵指引方式，提出为驾驶用户指示出捕获目标高度所需的高度操纵量的高度操纵指引方式，提出能够分别达到舒适、经济和高效这几种不同指引类型的性能指引方式，还可以通过分别提供手动操纵指引、目标状态指引以及上述两种指引的组合，为驾驶用户提供符合驾驶技术水平和习惯的指引方式，以及基于飞行状态与飞行包线的差异为驾驶用户的安全飞行提出预警建议，通过对比驾驶用户的操纵量和目标飞行状态，对驾驶用户的飞行驾驶技术熟练程度进行评估以实现飞行汽车的驾驶技术与飞行训练效果评估。One of the core ideas of the embodiment of the present application is to guide the driving user according to the working mode and guidance type of the flight task, and directly guide the flying operation required by the driving user, effectively reducing the difficulty of driving the flying car, reducing the workload of the driving user, and saving The training cost of flying car driving users improves the efficiency and convenience of training for driving users. Furthermore, the embodiment of the present application is based on the guidance method of the working mode and the guidance type, and can propose a speed manipulation guidance method for the driving user to indicate the horizontal speed manipulation amount required to capture the target speed, and propose a speed manipulation guidance method for the driving user to indicate the target track. The course control guidance method of the required course control amount is proposed, and the altitude control guidance method is proposed to indicate the altitude control amount required for the driving user to capture the target altitude, and the performance guidance that can respectively achieve comfort, economy and efficiency of several different guidance types is proposed In addition, by providing manual manipulation guidance, target state guidance, and a combination of the above two guidances, the driving user can be provided with a guidance method that meets the driving skill level and habits, and based on the difference between the flight state and the flight envelope. Safe flight puts forward early warning suggestions, and evaluates the pilot user's proficiency in flight driving skills by comparing the pilot user's control amount with the target flight state to realize the evaluation of the flying car's driving skills and flight training effects.

参照图1，示出了本申请实施例提供的飞行***的架构示意图，本申请实施例所提供的飞行汽车的飞行辅助方法可应用于飞行汽车的飞行***，其飞行***可以包括驾驶杆、控制板、显示器、处理器、存储器、惯性测量装置、卫星定位装置、无线电测量装置以及大气数据采集装置等。Referring to FIG. 1 , it shows a schematic diagram of the architecture of the flight system provided by the embodiment of the present application. The flight assistance method for the flying car provided by the embodiment of the present application can be applied to the flying system of the flying car. board, display, processor, memory, inertial measurement unit, satellite positioning device, radio measurement device, and atmospheric data acquisition device, etc.

其中，驾驶杆与控制板所控制与输入的信号可由处理器进行处理，惯性测量装置、卫星定位装置、无线电测量装置以及大气数据采集装置所测量与采集到的数据也可通过处理器进行处理，而处理器所进行处理后的数据或者信息可以传输至显示器进行显示，同时所处理的数据或者信息可以存储至存储器，处理器除了将数据或信息进行存储外，还可以从存储器中获取需要用于处理的数据或信息。Among them, the signals controlled and input by the steering column and the control panel can be processed by the processor, and the data measured and collected by the inertial measurement device, satellite positioning device, radio measurement device and atmospheric data acquisition device can also be processed by the processor. The data or information processed by the processor can be transmitted to the display for display, and at the same time the processed data or information can be stored in the memory. In addition to storing the data or information, the processor can also obtain from the memory. Data or information processed.

具体的，驾驶杆主要可用于采集驾驶用户的操纵量，其所采集的操纵量可以包括纵向操纵量、横向操纵量、航向操纵量和高度操纵量，其中纵向操纵量可以用于改变飞行汽车的纵向运动(如俯仰)，其主要是通过推、拉驾驶杆使升降舵或全动平尾向下或向上偏转，以产生俯仰力矩作俯仰运动；横向操纵量可用于操纵飞行汽车绕机体纵轴旋转，其主要由机翼的偏转实现；航向操纵量可用于改变飞行汽车的航向运动，其主要是由驾驶用户控制方向舵偏转实现。Specifically, the joystick can be mainly used to collect the manipulation amount of the driving user, and the collected manipulation amount can include the longitudinal manipulation amount, the lateral manipulation amount, the heading manipulation amount and the height manipulation amount, wherein the longitudinal manipulation amount can be used to change the flying car’s Longitudinal movement (such as pitching), which mainly deflects the elevator or the full-motion horizontal tail downward or upward by pushing and pulling the control stick to generate pitching moment for pitching motion; the lateral control amount can be used to control the rotation of the flying car around the longitudinal axis of the body, It is mainly realized by the deflection of the wings; the directional control amount can be used to change the directional movement of the flying car, which is mainly realized by the driving user controlling the deflection of the rudder.

控制板主要可用于接收驾驶用户的输入指令，例如驾驶用户可通过控制板输入指引***的使用模式、选择指引类型、编辑飞行任务等。The control panel is mainly used to receive input instructions from the pilot user. For example, the pilot user can input the use mode of the guidance system, select the guidance type, edit flight tasks, etc. through the control panel.

显示器主要可用于对飞行数据或者信息进行显示，在本申请一些实施例中可表现为对飞行汽车的飞行辅助过程中的数据或信息进行显示，例如提供飞行辅助指引与训练指引的显示。The display can be mainly used to display flight data or information. In some embodiments of the present application, it can be displayed as data or information during the flight assistance process of the flying car, for example, to provide the display of flight assistance guidance and training guidance.

处理器主要可对飞行数据或者信息进行处理，作为一种示例，其可接收驾驶舱、控制板设置、惯性测量装置、卫星定位装置、无线电测量装置、大气数据采集装置的数据，并读写存储器内存储的数据，以及结合机体状态、目标状态和驾驶用户的操纵量，计算得到用于飞行辅助的指引数据或者指引信息，并可将指引数据或者指引信息通过显示器指示给驾驶用户。其中，惯性测量装置可用于采集飞行汽车的姿态、航向、各向速度、各向加速度和角运动速率，卫星定位装置可用于采集飞行汽车的位置，无线电测量装置可用于采集飞行汽车相对于下方地表的高度，大气数据采集装置可用于测量飞行汽车的空速、气压高度、升降速度和大气温度等数据。The processor can mainly process flight data or information, as an example, it can receive data from the cockpit, control panel settings, inertial measurement devices, satellite positioning devices, radio measurement devices, air data acquisition devices, and read and write memory The data stored in the computer, combined with the state of the airframe, the target state and the manipulation of the driving user, is used to calculate the guidance data or guidance information for flight assistance, and the guidance data or guidance information can be indicated to the driving user through the display. Among them, the inertial measurement device can be used to collect the attitude, heading, speed in all directions, acceleration and angular motion rate of the flying car, the satellite positioning device can be used to collect the position of the flying car, and the radio measuring device can be used to collect the relative distance between the flying car and the ground below. Atmospheric data acquisition device can be used to measure data such as airspeed, barometric altitude, ascending and descending speed and atmospheric temperature of the flying car.

存储器主要可用于存储飞行数据或者信息，在本申请一些实施例中可表现为对飞行汽车的飞行辅助过程中的数据或信息进行存储，例如存储驾驶用户所编辑的飞行任务、存储飞行汽车的性能数据等。The memory can be mainly used to store flight data or information. In some embodiments of the present application, it can be represented as storing data or information in the flight assistance process of the flying car, such as storing the flight tasks edited by the driving user, and storing the performance of the flying car. data etc.

需要说明的是，飞行汽车的飞行***可以包括除了如图1所示的硬件***外，还可以包括用于实现飞行汽车的飞行辅助的软件平台，此软件平台可以为指引***，即本申请实施例所提供的飞行汽车的飞行辅助方法需要结合硬件与软件***共同实现，例如控制板上所提供的驾驶用户的指令或者信息输入需要借助指引***实现，以在指引***上输入指引***的使用模式、选择指引类型、编辑飞行任务等，即处理器所实际处理的数据或者信息可以是驾驶用户基于指引***该软件平台输入的，而用于飞行辅助的指引数据或者信息需要基于经由处理器进行处理得到并传输至显示器进行指引显示。It should be noted that the flight system of the flying car may include in addition to the hardware system shown in Figure 1, it may also include a software platform for realizing the flight assistance of the flying car. The flight assistance method of the flying car provided in the example needs to be realized by combining hardware and software systems. For example, the instruction or information input of the driving user provided on the control panel needs to be realized with the help of the guidance system, so as to input the use mode of the guidance system on the guidance system. , select the guidance type, edit the flight mission, etc., that is, the data or information actually processed by the processor can be input by the pilot user based on the software platform of the guidance system, while the guidance data or information used for flight assistance needs to be processed based on the processor. Obtained and transmitted to the monitor for guidance display.

参照图2，示出了本申请的一种飞行汽车的飞行辅助方法实施例的步骤流程图，应用于飞行***，具体可以包括如下步骤：Referring to FIG. 2 , it shows a flow chart of steps of an embodiment of a flight assistance method for a flying car of the present application, which is applied to a flight system, and may specifically include the following steps:

步骤201，获取飞行任务，以及飞行任务的工作模式和/或指引类型； Step 201, obtaining the flight mission, and the working mode and/or guidance type of the flight mission;

在本申请一些实施例中，通过根据飞行任务的工作模式和指引类型指引驾驶用户，直接指引出驾驶用户所需的飞行操作，有效降低飞行汽车的驾驶难度。In some embodiments of the present application, the flying operation required by the driving user is directly guided by guiding the driving user according to the working mode and guidance type of the flight task, effectively reducing the driving difficulty of the flying car.

飞行汽车的飞行任务可由驾驶用户通过飞行***的控制板编辑得到，飞行任务可以包括某些飞行汽车特定的任务，例如将飞行汽车逐渐下降到地面的着陆任务、将飞行汽车返航到起飞原点的返航任务，执行让飞行汽车执行按照一些列具有航路点飞行的航线任务，在此航线任务中可具有规划的航路点的距离、让飞行汽车执行基于地形图按照某一恒定对地高度飞行的智能飞行任务、使得飞行汽车在失效状态下触发的保持在某一高度位置的失效悬停任务、使得飞行汽车在失效状态下触发返航到紧急降落点的紧急着陆，此紧急着陆任务需预先设置紧急着陆点等，对此，本申请实施例不加以限制。The flight mission of the flying car can be edited by the driving user through the control panel of the flight system. The flight mission can include certain flying car-specific tasks, such as the landing task of gradually descending the flying car to the ground, and the return flight of the flying car to the origin of take-off The task is to execute the flying car to perform a series of flight route tasks with waypoints. In this route task, there can be a planned distance to the waypoint, and let the flying car perform intelligent flight based on the terrain map and fly at a constant altitude. Tasks, triggering the hovering task at a certain altitude triggered by the flying car in the failed state, triggering the emergency landing of the flying car returning to the emergency landing point in the failed state, this emergency landing task needs to set the emergency landing point in advance etc., this embodiment of the present application does not limit it.

飞行任务的工作模式和/或指引类型，可用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，飞行汽车的工作模式可以用于表示驾驶用户在控制飞行汽车执行飞行任务时的控制模式，飞行汽车的指引模式可以用于表示飞行汽车在执行飞行任务时所需满足的车辆性能。在实际应用中，可以根据飞行任务的工作模式和/或指引类型，生成用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，指引***的工作模式和指引类型同样可以由驾驶用户通过飞行***的控制板输入与选择得到，其可由驾驶用户基于每次飞行任务的需求进行选择，对此，本申请实施例不加以限制。The working mode and/or guidance type of the flight task can be used to limit the control information under the corresponding working mode and/or corresponding guidance type that needs to be met when performing the flight task. The working mode of the flying car can be used to indicate that the driving user is controlling the flying car to perform The control mode during the flight mission and the guidance mode of the flying car can be used to represent the vehicle performance that the flying car needs to meet when performing the flight mission. In practical applications, according to the working mode and/or guidance type of the flight mission, the control information used to limit the corresponding working mode and/or corresponding guidance type that needs to be satisfied when performing the flight task can be generated, and the working mode and guidance type of the guidance system It can also be input and selected by the pilot user through the control panel of the flight system, which can be selected by the pilot user based on the needs of each flight mission, which is not limited by the embodiment of the present application.

参照图3，示出了本申请实施例提供的飞行任务的工作模式和指引类型的示意图，指引***所具有的工作模式包括手动操纵指引模式、目标状态指引模式以及组合指引模式。其中，组合指引模式包括手动操纵指引模式和目标状态指引模式的组合模式，手动操纵指引和目标状态指引可用于驾驶用户手动驾驶飞行汽车时的飞行辅助指引；在组合指引模式下***可同时提供两种指示方式，能够使得驾驶用户可以更好地感知飞行汽车的状态，了解飞行汽车的机动性、稳定性等飞行性能，其通常可用于飞行训练指引以进行驾驶用户的培训。即可基于上述指引***所具有的不同的工作模式，为驾驶用户提供符合驾驶技术水平和习惯的指引方式，使得驾驶用户能够了解飞行汽车性能以及进行有效的飞行训练。Referring to FIG. 3 , it shows a schematic diagram of the working mode and guidance type of the flight mission provided by the embodiment of the present application. The working modes of the guidance system include manual manipulation guidance mode, target state guidance mode and combined guidance mode. Among them, the combined guidance mode includes the combination mode of the manual manipulation guidance mode and the target state guidance mode. The manual manipulation guidance and the target state guidance can be used for the flight assistance guidance when the user manually drives the flying car; Such an indication method can enable the driving user to better perceive the state of the flying car and understand the flight performance of the flying car such as maneuverability and stability. It can usually be used in flight training guidelines for training of driving users. That is, based on the different working modes of the above-mentioned guidance system, the driving user can be provided with guidance methods that meet the driving skill level and habits, so that the driving user can understand the performance of the flying car and conduct effective flight training.

如图3所示，指引类型可以包括舒适指引类型、经济指引类型以及效率指引类型。其中，舒适指引主要需要保证飞行汽车内用户的人体舒适性，其需要提供小过载机动指引，优先保证飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度处于人体舒适的较小范围内，而不将飞行轨迹、转弯半径、爬升/下降梯度作为首要指标；经济指引类型需要保证驾驶用户以最低能源消耗完成飞行任务，其通常将会提供最长航程的指引，使得***能够在保证飞行包线的前提下计算可实现飞行任务的指引；效率指引类型主要保证驾驶用户能够以最短时间完成飞行任务，其通常将会提供最短航时指引，使得***能够***在保证飞行包线的前提下计算以最短时间完成飞行任务的指引。As shown in FIG. 3 , the guidance type may include a comfort guidance type, an economic guidance type, and an efficiency guidance type. Among them, the comfort guidance mainly needs to ensure the human comfort of the users in the flying car. It needs to provide small overload maneuver guidance, and give priority to ensuring that the longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car are within a small range of human comfort. , instead of taking the flight trajectory, turning radius, and climb/descent gradient as the primary indicators; the economic guidance type needs to ensure that the pilot user completes the flight task with the lowest energy consumption, which will usually provide the longest flight guidance, so that the system can guarantee the flight The calculation under the premise of the envelope can realize the guidance of the flight task; the efficiency guidance type mainly ensures that the pilot user can complete the flight task in the shortest time, and it will usually provide the shortest flight time guidance, so that the system can system under the premise of ensuring the flight envelope. Computes guidelines for completing the flight mission in the shortest possible time.

在根据飞行任务的工作模式和/或指引类型，生成用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息的过程中，可以包括以下三种情况：根据飞行任务的工作模式生成用于限制执行飞行任务需满足的相应工作模式下的控制信息，根据飞行任务的指引类型生成用于限制执行飞行任务需要满足的相应指引类型下的控制信息，以及根据飞行任务的工作模式和指引类型，生成用于限制执行飞行任务需满足的相应工作模式和相应指引类型下的控制信息。According to the working mode and/or guidance type of the flight mission, the process of generating the control information used to limit the corresponding work mode and/or corresponding guidance type that must be met in the execution of the flight mission may include the following three situations: According to the flight mission According to the working mode of the flight task, the control information under the corresponding working mode is generated to limit the execution of the flight task, and the control information under the corresponding guidance type is generated according to the guidance type of the flight task, and the control information is generated according to the guidance type of the flight task. The working mode and guidance type are used to generate the control information under the corresponding working mode and corresponding guidance type that are used to limit the execution of the flight task.

具体的，在第一种情况下，还可以划分为基于手动操纵指引模式、目标状态指引模式以及组合指引模式生成控制信息的情况，其中手动操纵指引与目标状态指引的区别在于手动操纵指引需要指示出驾驶用户需要对驾驶杆输入的操纵量，而目标状态指引需要指示出为完成飞行任务需要驾驶用户使飞行汽车达到的状态，例如速度、高度和航向等。Specifically, in the first case, it can also be divided into situations where control information is generated based on the manual manipulation guidance mode, the target state guidance mode, and the combination guidance mode, wherein the difference between the manual manipulation guidance and the target state guidance is that the manual manipulation guidance needs to indicate The control amount that the driving user needs to input on the joystick, and the target state guidance needs to indicate the state that the driving user needs to make the flying car reach in order to complete the flight task, such as speed, altitude, and heading.

具体可以表现为在手动操纵指引模式下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，驾驶杆操纵量输入信息主要可基于位移操纵量确定，例如包括纵向操纵位移、横向操纵位移、航向操纵位移和高度操纵位移；在目标状态指引模式下，生成满足目标状态指引模式的飞行状态信息，飞行状态信息可以基于飞行状态转化得到的操纵量确定，包括用于指示目标速度的水平速度操纵量、用于指示目标航迹所需的航向操纵量，以及用于指示目标高度所需的高度操纵量，即在目标状态指引模式下，能够提出适用于飞行汽车的速度操纵指引、航向操纵指引以及高度操纵指引方式，主要可通过计算捕获目标速度所需水平速度操纵量，为驾驶用户指示出捕获目标速度所需的水平速度操纵量，通过计算捕获目标航向所需航向操纵量，为驾驶用户指示出捕获目标航迹所需的航向操纵量，以及通过计算捕获目标高度所需高度操纵量，为驾驶用户指示出捕获目标高度所需的高度操纵量。Specifically, it can be shown that in the manual manipulation guidance mode, the input information of the steering stick manipulation amount satisfying the manual manipulation guidance mode is generated. The steering stick manipulation amount input information can be mainly determined based on the displacement manipulation amount, for example, including longitudinal manipulation displacement, lateral manipulation displacement, heading Manipulation displacement and altitude manipulation displacement; in the target state guidance mode, generate flight state information that satisfies the target state guidance mode, and the flight state information can be determined based on the control quantity obtained from the conversion of the flight state, including the horizontal speed control quantity used to indicate the target speed , the heading control amount required to indicate the target track, and the altitude control amount required to indicate the target altitude, that is, in the target state guidance mode, it is possible to propose speed control guidance, heading control guidance and The altitude control guidance method can mainly indicate the horizontal speed control amount required to capture the target speed for the driving user by calculating the horizontal speed control amount required to capture the target speed, and indicate to the driver user by calculating the heading control amount required to capture the target course. The heading control amount required to capture the target track is obtained, and the altitude control amount required to capture the target altitude is calculated to indicate the altitude control amount required to capture the target altitude for the driving user.

需要说明的是，在组合模式下，可以为上述手动操纵指引模式和目标状态指引模式的控制信息生成方式的结合，表现为生成驾驶杆操纵量输入信息以及基于飞行状态转化得到的操纵量。It should be noted that, in the combination mode, it can be a combination of the above-mentioned control information generation methods of the manual control guidance mode and the target state guidance mode, which is expressed as the generation of the manipulation amount input information of the control stick and the manipulation amount converted based on the flight state.

在第二种情况下，还可划分为基于舒适指引类型、经济指引类型以及效率指引类型生成控制信息的情况，其主要可基于此提出适用于飞行汽车的性能指引方式，通过计算小过载机动航迹与飞行计划、最长航程航迹与飞行计划、最短航时航迹与飞行计划，并转换为所需操纵量的方式指示给驾驶用户，分别达到舒适、经济和高效的飞行指引。In the second case, it can also be divided into the situation of generating control information based on comfort guidance type, economic guidance type and efficiency guidance type. Based on this, it can mainly propose a performance guidance method suitable for flying cars. Track and flight plan, longest voyage track and flight plan, shortest voyage track and flight plan, and converted into the required control amount to indicate to the pilot user, respectively to achieve comfortable, economical and efficient flight guidance.

具体可以表现为在舒适指引类型下，将在执行飞行任务时符合预设范围内的飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度，转换为所需的操纵量，所需符合的预设范围可以为使得飞行汽车内用户的人体处于舒适的范围，其预设范围可以基于经验值确定，对此，本申请实施例不加以限制；在经济指引类型下，可以生成在执行飞行任务时满足最长航程航迹的操纵量，以保证驾驶用户以最低能源消耗完成飞行任务；而在效率指引类型下，可以生成在执行飞行任务时满足最短航时航迹的操纵量，以保证驾驶用户能够以最短时间完成飞行任务。Specifically, it can be expressed as under the comfort guidance type, the longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car that meet the preset range when performing the flight task are converted into the required control amount, and the required compliance The preset range can be such that the human body of the user in the flying car is in a comfortable range, and the preset range can be determined based on empirical values, which is not limited in this embodiment of the present application; under the type of economic guidance, it can generate The manipulative amount that satisfies the longest voyage track during the mission to ensure that the pilot user completes the flight task with the lowest energy consumption; while under the efficiency guidance type, it can generate the manipulative amount that meets the shortest voyage track when performing the flight task to ensure Pilot users can complete flight tasks in the shortest time.

在第三种情况下，在不同指引类型的要求下，为了完成飞行任务的执行，其所需要满足的工作模式的相关操作的要求不同，具体可以表现为任务相关的操纵量的不同，此时可以按照以指引类型的具体要求为主的方式对操纵量进行确定，具体可表现为在满足指引类型的情况下，根据飞行任务的工作模式生成控制信息。In the third case, under the requirements of different guidance types, in order to complete the execution of the flight mission, the related operation requirements of the working mode that need to be met are different, which can be specifically expressed as the difference in the amount of manipulation related to the mission. At this time The control amount can be determined based on the specific requirements of the guidance type, which can be specifically expressed as generating control information according to the working mode of the flight mission when the guidance type is met.

作为一种示例，若指引类型为舒适指引类型，则可以在满足飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度的预设范围的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息；作为又一种示例，若指引类型为经济指引类型，则可以在满足最长航程航迹的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息；作为又一种示例，若指引类型为效率指引类型，则可以在满足最短航时航迹的情况下，生成满足手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足目标状态指引模式的飞行状态信息。As an example, if the guidance type is the comfort guidance type, then a joystick that satisfies the manual manipulation guidance mode can be generated while meeting the preset ranges of longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car Manipulation input information, and/or flight status information satisfying the target state guidance mode; as yet another example, if the guidance type is the economic guidance type, it is possible to generate a manual control guidance system under the condition of satisfying the longest flight path. The input information of the control amount of the steering stick in the mode, and/or the flight status information of the guidance mode satisfying the target state; as another example, if the guidance type is the efficiency guidance type, it can generate The input information of the control amount of the control stick satisfying the manual manipulation guidance mode, and/or the flight state information satisfying the target state guidance mode.

步骤202，根据飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对飞行任务的指引信息，以引导驾驶用户对飞行汽车进行相应操作。 Step 202, display guidance information for the flight mission according to the corresponding working mode and/or control information of the corresponding guidance type to be satisfied by the flight mission, so as to guide the driving user to perform corresponding operations on the flying car.

为了实现对驾驶用户所需的飞行操作的直接指引，此时可基于控制信息显示针对飞行任务的指引信息，以引导驾驶用户对飞行汽车进行相应操作。在实际应用中，具体可通过显示器提供飞行辅助指引与训练指引的显示，即显示针对飞行任务的指引信息。In order to directly guide the flying operation required by the driving user, guidance information for the flight task can be displayed based on the control information at this time, so as to guide the driving user to perform corresponding operations on the flying car. In practical applications, the display may specifically provide the display of flight assistance guidance and training guidance, that is, display guidance information for flight tasks.

具体的，相应工作模式和/或相应指引类型下的控制信息可以基于操纵量确定，且指引信息可以基于用于指示操纵量的指引符合所显示的指引位置得到。Specifically, the control information in the corresponding working mode and/or the corresponding guidance type may be determined based on the manipulation amount, and the guidance information may be obtained based on the guidance used to indicate the manipulation amount conforming to the displayed guidance position.

那么，在任一指引类型，即无论是舒适指引类型、经济指引类型，还是效率指引类型下，若工作模式为手动操纵指引模式，其手动操纵指引模式下的位移操纵量，均可通过驾驶杆推荐位置、驾驶感杆的旋转位置以及高度控制拨钮位置的指引符号运动到与位移操纵量对应的推荐位置，以形成指引信息。Then, in any guidance type, that is, whether it is a comfort guidance type, an economic guidance type, or an efficiency guidance type, if the working mode is the manual manipulation guidance mode, the displacement manipulation amount in the manual manipulation guidance mode can be recommended by the joystick The position, the rotation position of the driving feel lever and the guide symbols for the position of the height control dial move to the recommended position corresponding to the displacement manipulation amount to form guide information.

在实际应用中，由于所生成的满足手动操纵指引模式的驾驶杆操纵量输入信息主要可基于位移操纵量确定，且可以包括纵向操纵位移、横向操纵位移、航向操纵位移和高度操纵位移，那么手动操纵指引具体可以包括水平速度操纵指引、航向操纵位移指引、高度操纵位移指引。In practical applications, since the generated input information of the steering column manipulation quantity satisfying the manual manipulation guidance mode can be mainly determined based on the displacement manipulation quantity, and can include longitudinal manipulation displacement, lateral manipulation displacement, heading manipulation displacement and altitude manipulation displacement, then the manual The manipulation guidance may specifically include horizontal speed manipulation guidance, heading manipulation displacement guidance, and altitude manipulation displacement guidance.

其中，(1)水平速度操纵能够影响飞行汽车在当前高度的水平飞行速度和方向，其水平飞行速度主要是与驾驶杆位移量相关，且其关系曲线斜率为正，水平飞速度方向与驾驶杆位移方向保持一致，且不改变航向，驾驶杆位于中立位时表示飞行汽车悬停。Among them, (1) Horizontal speed control can affect the horizontal flight speed and direction of the flying car at the current altitude. The horizontal flight speed is mainly related to the displacement of the control stick, and the slope of the relationship curve is positive. The displacement direction remains the same, and the heading does not change. When the steering stick is in the neutral position, it means that the flying car is hovering.

那么基于驾驶杆推荐位置的指引符号运动到与位移操纵量对应的推荐位置所形成的指引信息，可以表现为指引符号由表示驾驶杆中立位置的原点符号、满偏操纵极限的符号、代表驾驶杆当前位置的符号、代表驾驶杆推荐位置的符号、和代表不同速度包线的符号组成。其中，表示驾驶杆中立位置的原点符号和满偏操纵极限的符号位置固定不动，采用静态符号；代表驾驶杆当前位置的符号与驾驶杆偏移量和便宜方向实施保持一致；代表驾驶杆推荐位置的符号与原点的径向距离与平飞速度相关，且其关系曲线斜率为正；代表驾驶杆推荐位置的符号与原点的径向线和航向的方位角与运动方向和航向的方位角一致；代表不同速度包线的符号与飞行汽车的性能数据库保持动态更新，包括但不限于正常包线、运行包线和限制包线。当飞行汽车需要捕获某一飞行速度和方向时，驾驶杆推荐位置指引符号会运动到推荐的位置，以形成指引。Then the guidance information based on the movement of the guidance symbol at the recommended position of the steering column to the recommended position corresponding to the displacement manipulation amount can be expressed as the guidance symbol consisting of the origin symbol representing the neutral position of the steering column, the symbol representing the full control limit, and the symbol representing the steering column It consists of a symbol for the current position, a symbol for the recommended position of the steering column, and symbols for different speed envelopes. Among them, the position of the origin symbol representing the neutral position of the steering column and the symbol position of the full control limit are fixed, and static symbols are used; the symbol representing the current position of the steering rod is consistent with the implementation of the steering rod offset and cheap direction; The sign of the position is related to the radial distance from the origin and the level flight speed, and the slope of the relationship curve is positive; the sign representing the recommended position of the control stick is consistent with the radial line of the origin and the azimuth of the heading, and the direction of motion and the azimuth of the heading ; The symbols representing different speed envelopes are kept dynamically updated with the performance database of flying cars, including but not limited to normal envelopes, operating envelopes and restricted envelopes. When the flying car needs to capture a certain flying speed and direction, the steering stick recommended position guidance symbol will move to the recommended position to form guidance.

(2)航向操纵位移指引能够影响飞行汽车的航向操纵，航向操纵通过驾驶杆的旋转实现，其偏航速率与驾驶杆旋转的角位移量相关，且其关系曲线斜率为正。(2) The heading control displacement guidance can affect the heading control of the flying car. The heading control is realized by the rotation of the steering stick. The yaw rate is related to the angular displacement of the steering stick rotation, and the slope of the relationship curve is positive.

那么基于驾驶感杆的旋转位置的指引符号运动到与位移操纵量对应的推荐位置所形成的指引信息，可以表现为指引符号由表示驾驶杆实时旋转位置的符号、表示旋转回中位置的符号、表示推荐旋转位置的符号和表示旋转方向的符号组成。其中，驾驶杆实时旋转位置的符号与驾驶杆实时旋转角位移量保持动态一致；表示旋转回中位置的符号位于驾驶杆旋转回中位置静止；表示推荐旋转位置的符号与指引***推荐的航向操纵偏移量保持动态一致；表示旋转方向的符号表示由驾驶杆当前旋转角位移到达推荐角位移所需旋转的方向。Then the guidance information based on the movement of the guidance symbol based on the rotation position of the steering rod to the recommended position corresponding to the displacement manipulation amount can be expressed as a guidance symbol consisting of a symbol representing the real-time rotation position of the steering rod, a symbol representing the rotation center position, It consists of a symbol indicating the recommended rotational position and a symbol indicating the direction of rotation. Among them, the symbol of the real-time rotation position of the steering rod is dynamically consistent with the real-time rotation angular displacement of the steering rod; the symbol representing the center rotation position of the steering rod is stationary at the center rotation position of the steering rod; the symbol representing the recommended rotation position is consistent with the heading control recommended by the guidance system The offset remains dynamically consistent; the symbol representing the direction of rotation indicates the direction of rotation required to reach the recommended angular displacement from the current rotational angular displacement of the steering column.

(3)高度操纵位移指引能够影响飞行汽车的高度操纵，高度操纵通过高度控制拨钮实现，拨钮回中位置时飞行汽车保持高度，拨钮向上偏移时飞行汽车上升高度，拨钮向下波动时飞行汽车下降高度，升降速度与拨钮偏移量相关，且其关系曲线斜率为正。(3) The altitude control displacement guide can affect the altitude control of the flying car. The altitude control is realized through the altitude control dial. When the dial is returned to the middle position, the flying car maintains the altitude. When the flying car descends in height during fluctuations, the ascending and descending speed is related to the offset of the toggle, and the slope of the relationship curve is positive.

那么高度控制拨钮位置的指引符号运动到与位移操纵量对应的推荐位置所形成的指引信息，可以表现为高度操纵指引符号由表示高度拨钮回中位置的符号、表示高度拨钮实时位置的符号和表示高度拨钮推荐位置的符号组成。其中，高度拨钮回中位置的符号出于静态；高度拨钮实时位置符号与高度拨钮实时位置保持动态一致；表示高度拨钮推荐位置的符号与高度拨钮推荐位置保持动态一致。Then the guidance information formed by the guide symbol of the position of the height control dial moving to the recommended position corresponding to the displacement manipulation amount can be expressed as the height manipulation guide symbol consisting of a symbol representing the return position of the height dial and a symbol representing the real-time position of the height dial symbol and a symbol indicating the recommended position of the height dial. Among them, the symbol of the center position of the height dial is static; the real-time position symbol of the height dial is dynamically consistent with the real-time position of the height dial; the symbol indicating the recommended position of the height dial is dynamically consistent with the recommended position of the height dial.

在本申请一些实施例中，水平速度、航向操纵和高度操纵指引通过计算当前操纵量所获得的预期飞行状态与飞行包线的差异，以符号或颜色变化的形式提供飞行包线预警，即可通过计算指示驾驶用户的操纵量将会导致的稳定飞行状态与飞行包线的差异，为驾驶用户的安全飞行提出预警建议。In some embodiments of the present application, the horizontal speed, directional control and altitude control are guided by calculating the difference between the expected flight state and the flight envelope obtained by calculating the current control amount, and provide a flight envelope warning in the form of a symbol or color change, that is, By calculating the difference between the stable flight state and the flight envelope that will be caused by the manipulation amount indicated by the pilot user, an early warning suggestion is provided for the safe flight of the pilot user.

以及，对于目标状态指引模式，在任一指引类型，即无论是舒适指引类型、经济指引类型，还是效率指引类型下，若工作模式为目标状态指引模式，其目标状态指引模式下基于飞行状态转化得到的操纵量，均可通过速度指引、航向指引、高度指引的指引符号运动到与操纵量对应的推荐位置，以形成指引信息。And, for the target state guidance mode, in any guidance type, that is, whether it is a comfort guidance type, an economic guidance type, or an efficiency guidance type, if the working mode is the target state guidance mode, the target state guidance mode is based on the conversion of the flight state. The control amount can be moved to the recommended position corresponding to the control amount through the guidance symbols of speed guidance, heading guidance and altitude guidance to form guidance information.

在实际应用中，由于所生成的满足目标状态指引模式的飞行状态信息主要可基于飞行状态转化得到的操纵量确定，其飞行状态包括速度、高度和航向，且基于飞行状态转化得到的操纵量可以包括用于指示目标速度的水平速度操纵量、用于指示目标航迹所需的航向操纵量，以及用于指示目标高度所需的高度操纵量，那么手动操纵指引具体可以包括速度指引、航向指引、高度指引。In practical applications, since the generated flight state information that satisfies the target state guidance mode can be mainly determined based on the control variables obtained from the flight state transformation, the flight state includes speed, altitude and heading, and the control variables obtained based on the flight state transformation can be Including the horizontal speed control amount used to indicate the target speed, the heading control amount required to indicate the target track, and the altitude control amount required to indicate the target altitude, then the manual control guidance can specifically include speed guidance, course guidance , High guidance.

其中，基于速度指引的指引符号运动到与操纵量对应的推荐位置所生成的指引信息，可以表现为由位于速度带上的符号表示，当推荐的指引速度位于速度带之外时，符号在速度带对应的上极限或下极限位置；基于航向指引的指引符号运动到与操纵量对应的推荐位置所生成的指引信息，可以表现为由位于姿态显示区的水平运动的符号表示，当推荐的指引航向偏差太大时，符号固定在极限位置不再运动；基于高度指引的指引符号运动到与操纵量对应的推荐位置所生成的指引信息，可以表现为由位于高度带的符号表示，当推荐的指引高度位于高度带之外时，符号在高度带对应的极限位置。Among them, the guidance information generated by moving the guidance symbol based on the speed guidance to the recommended position corresponding to the manipulation amount can be represented by a symbol on the speed band. When the recommended guidance speed is outside the speed band, the symbol is on the speed band with the corresponding upper limit or lower limit position; the guidance information generated based on the movement of the guidance symbol of heading guidance to the recommended position corresponding to the manipulation value can be represented by the symbol of horizontal movement in the attitude display area, when the recommended guidance When the heading deviation is too large, the symbol is fixed at the limit position and no longer moves; the guidance information generated by moving the guidance symbol based on the altitude guidance to the recommended position corresponding to the manipulation value can be represented by the symbol on the altitude band, when the recommended When the guidance altitude is outside the altitude band, the symbol is at the extreme position corresponding to the altitude band.

需要说明的是，指引***的全部指引由处理器计算得出。处理器读取存储器中存储的飞行任务计划和飞行性能数据，结合飞行汽车当前位置、航向和速度计算所需飞行轨迹。并结合处理器所接收到的飞行汽车的姿态、航向、各向速度、各向加速度、角运动速率、位置、对于下方高度、空速、气压高度和升降速度，实时计算飞行汽车当前所需机动和所需飞行操纵，并生成指引数据。It should be noted that all the guidelines of the guidance system are calculated by the processor. The processor reads the flight mission plan and flight performance data stored in the memory, and calculates the required flight trajectory based on the current position, heading and speed of the flying car. And combined with the attitude, heading, speed in all directions, acceleration in all directions, angular motion rate, position, height below, airspeed, barometric altitude and lift speed received by the processor, the current maneuvering required by the flying car is calculated in real time. and required flight controls, and generate guidance data.

具体的，其中目标速度指引可以由水平飞行计划、性能数据库和指引类型共同计算得出，驾驶用户使飞行汽车保持在目标速度即可获得所选指引类型对应的舒适速度、经济速度或效率速度；速度操纵指引可以由处理器结合目标速度和性能数据库计算得出，驾驶用户可以将驾驶杆推至指引的偏移位置即可使飞行汽车捕获所需速度。目标航向指引可以由水平飞行计划、飞行汽车当前水平坐标、当前航向、航迹的水平偏移量共同计算得出，驾驶用户使飞机航向与航向指引符号对齐，即可使飞行汽车捕获所需水平航迹；航向操纵指引可以由处理器结合航向指引的偏移量和性能数据库计算得出，驾驶用户将驾驶杆旋转至指引的偏移量即可使飞行汽车捕获所需航迹。目标高度指引可以由垂直飞行计划、飞行汽车当前高度、升降速度共同计算得出，驾驶用户使飞行汽车高度与高度指引符号对齐，即可使飞行汽车捕获所需垂直航迹；高度操纵指引可以由处理器结合高度指引的偏移量、当前高度、升降速度和性能数据库计算得出，驾驶用户将高度拨钮滑动至指示位置，即可使飞行汽车捕获所需垂直航迹。Specifically, the target speed guidance can be jointly calculated by the horizontal flight plan, the performance database and the guidance type, and the driving user can keep the flying car at the target speed to obtain the comfort speed, economic speed or efficiency speed corresponding to the selected guidance type; The speed manipulation guidance can be calculated by the processor combined with the target speed and performance database, and the driving user can push the steering stick to the offset position of the guidance to make the flying car capture the desired speed. The target heading guidance can be jointly calculated by the horizontal flight plan, the current horizontal coordinates of the flying car, the current heading, and the horizontal offset of the track. The driving user can align the heading of the aircraft with the heading guidance symbol, so that the flying car can capture the desired horizontal direction. Track; heading steering guidance can be calculated by the processor combined with the offset of the heading guidance and the performance database, and the driving user can rotate the joystick to the offset of the guidance to make the flying car capture the desired track. The target altitude guidance can be calculated from the vertical flight plan, the current height of the flying car, and the lift speed. The driving user can align the height of the flying car with the altitude guidance symbol, so that the flying car can capture the desired vertical track; the altitude control guidance can be obtained by The processor combines the offset of the altitude guidance, the current altitude, the ascending and descending speed and the performance database to calculate, and the driving user slides the altitude dial to the indicated position, so that the flying car can capture the required vertical track.

而对于在任一指引类型下，组合模式下的指引信息显示，可参照上述手动操纵模式的指引信息显示方式与目标状态的指引信息显示方式进行结合得到，在此不加以赘述。For any guidance type, the guidance information display in the combination mode can be obtained by referring to the above-mentioned guidance information display mode in the manual operation mode combined with the guidance information display method in the target state, and will not be repeated here.

在实际应用中，在响应驾驶用户对飞行汽车的操作指令时，若操作指令符合飞行任务的指引信息，则还可以生成反馈指引，以告知驾驶用户完成飞行任务。其中，操作指令可以由驾驶用户基于飞行任务的指引信息对飞行汽车进行相应控制生成的指令，例如对驾驶杆的推、拉操作的操纵量生成的对飞行汽车进行的相应俯仰控制等。In practical applications, when responding to the driving user's operating instructions on the flying car, if the operating instructions conform to the guidance information of the flight mission, feedback guidance can also be generated to inform the driving user to complete the flight mission. Among them, the operation instruction can be an instruction generated by the driving user to control the flying car based on the guidance information of the flight mission, such as the corresponding pitch control of the flying car generated by the manipulation amount of the push and pull operation of the joystick.

对于在符合飞行任务的指引信息所生成的反馈指引显示，作为一种示例，在手动操纵模式下，若驾驶用户依照指引操纵驾驶杆，使得驾驶杆时刻保持在指引推荐的位置，即可表示完成飞行任务，那么当驾驶用户操纵驾驶杆进入指引推荐的位置时，手动驾驶指引可通过显示图标的变化告知驾驶用户该状态；作为又一种示例，在目标状态指引模式下，若驾驶用户依照指引将飞行汽车的速度、高度和航向与指引保持一致，即可表示完成飞行任务，那么当飞机达到推荐的状态时，目标状态指引通过显示图标的变化告知驾驶用户该状态。For the feedback guidance display generated by the guidance information that conforms to the flight mission, as an example, in the manual operation mode, if the driving user manipulates the joystick according to the guidance so that the joystick is always kept at the position recommended by the guidance, it can indicate completion If the pilot user manipulates the joystick to enter the position recommended by the guidance, the manual driving guidance can inform the driving user of this state through the change of the displayed icon; as another example, in the target state guidance mode, if the driving user follows the guidance Keeping the speed, altitude, and heading of the flying car consistent with the guidance can indicate the completion of the flight mission. Then when the aircraft reaches the recommended state, the target state guidance will inform the driving user of the state through the change of the display icon.

在本申请一些实施例中，还可通过对比驾驶用户的操纵量和目标飞行状态，对驾驶用户的飞行驾驶技术熟练程度进行评估，具体可通过响应驾驶用户对飞行汽车的操作指令，记录操作指令的操作信息，并根据操作信息生成评估结果以供驾驶用户查看。In some embodiments of the present application, it is also possible to evaluate the proficiency of the pilot user's flying skills by comparing the pilot user's manipulation amount with the target flight state. Specifically, it is possible to record the operating instructions in response to the pilot user's operating instructions on the flying car. operation information, and generate evaluation results based on the operation information for the driving user to view.

在实际应用中，可通过处理器接收并记录驾驶用户操纵量，通过对比驾驶用户操纵动作的响应延时，操纵量控制的精准程度，以及捕获目标飞行状态所需时间和超调次数，对驾驶用户的飞行驾驶技术熟练程度进行评估。以及，评估结果可以生产评估报告，并记录在存储器中，便于驾驶用户在航后调取查看和下载。In practical applications, the processor can be used to receive and record the driver's manipulation amount, and compare the response delay of the driver's manipulation action, the accuracy of the manipulation amount control, and the time required to capture the target flight state and the number of overshoots. Evaluate the user's proficiency in flying skills. And, the evaluation results can produce an evaluation report and record it in the memory, which is convenient for the driving user to retrieve, view and download after the flight.

需要说明的是，对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请实施例并不受所描述的动作顺序的限制，因为依据本申请实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本申请实施例所必须的。It should be noted that, for the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited by the described action sequence, because According to the embodiment of the present application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

参照图4，示出了本申请的一种飞行汽车的飞行辅助装置实施例的结构框图，应用于如图1所示的飞行***，具体可以包括如下模块：Referring to FIG. 4 , it shows a structural block diagram of an embodiment of a flight assisting device for a flying car of the present application, which is applied to the flight system shown in FIG. 1 , and may specifically include the following modules:

飞行任务获取模块401，用于获取飞行任务，以及飞行任务的工作模式和/或指引类型；工作模式和/或指引类型用于限制执行飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；The flight task acquisition module 401 is used to obtain the flight task, and the working mode and/or guidance type of the flight task; control information;

任务指引模块402，用于根据飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对飞行任务的指引信息，以引导驾驶用户对飞行汽车进行相应操作。The mission guidance module 402 is configured to display guidance information for the flight mission according to the corresponding working mode and/or corresponding guidance type control information that the flight mission needs to satisfy, so as to guide the driving user to perform corresponding operations on the flying car.

在本申请实施例提出的飞行汽车的飞行辅助装置中，装置还可以包括如下模块：In the flight assisting device of the flying car proposed in the embodiment of the present application, the device may also include the following modules:

在本申请实施例提出的飞行汽车的飞行辅助装置中，相应工作模式和/或相应指引类型下的控制信息基于操纵量确定，指引信息基于用于指示操纵量的指引符合所显示的指引位置得到；任务指引模块402可以包括如下子模块：In the flying assisting device for the flying car proposed in the embodiment of the present application, the control information in the corresponding working mode and/or the corresponding guidance type is determined based on the manipulation quantity, and the guidance information is obtained based on the guidance used to indicate the manipulation quantity conforming to the displayed guidance position ; The task guide module 402 may include the following submodules:

对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

本申请实施例还提供了一种飞行汽车，包括：The embodiment of the present application also provides a flying car, including:

包括上述飞行汽车的飞行辅助装置、处理器、存储器及存储在存储器上并能够在处理器上运行的计算机程序，该计算机程序被处理器执行时实现上述飞行汽车的飞行辅助方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。It includes the above-mentioned flight assisting device for the flying car, a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned flight assisting method embodiments for the flying car are realized. , and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.

本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储计算机程序，计算机程序被处理器执行时实现上述飞行汽车的飞行辅助方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。The embodiment of the present application also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, each process of the above-mentioned embodiment of the flight assistance method for a flying car can be realized, and the same can be achieved. To avoid repetition, the technical effects will not be repeated here.

本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

本领域内的技术人员应明白，本申请实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiment of the present application 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 present application may take the form of a computer program product embodied 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.

本申请实施例是参照根据本申请实施例的方法、终端设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。Embodiments of the present application are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and/or block in the flowchart and/or block diagrams, and a combination of processes and/or blocks in the flowchart and/or block diagrams can be implemented by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed above provide steps for implementing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有变更和修改。While the preferred embodiments of the embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once the basic inventive concept is understood. Therefore, the appended claims are intended to be interpreted to cover the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the application.

最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、物品或者终端设备中还存在另外的相同要素。Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or terminal equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

以上对本申请所提供的一种飞行汽车的飞行辅助方法、一种飞行汽车的飞行辅助装置、相应的一种飞行汽车以及相应的一种计算机可读存储介质，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本申请的限制。The above provides a detailed introduction to the flight assistance method for a flying car, the flight assistance device for a flying car, the corresponding flying car, and the corresponding computer-readable storage medium provided by this application. Specific examples illustrate the principles and implementation methods of the present application, and the descriptions of the above embodiments are only used to help understand the method and core ideas of the present application; meanwhile, for those of ordinary skill in the art, according to the thinking of the present application, in There will be changes in specific implementation methods and application ranges. In summary, the contents of this specification should not be construed as limiting the application.

Claims

一种飞行汽车的飞行辅助方法，其特征在于，应用于飞行***，所述方法包括：A flight assistance method for a flying car, characterized in that it is applied to a flight system, and the method includes:

获取飞行任务，以及所述飞行任务的工作模式和/或指引类型；所述工作模式和/或所述指引类型用于限制执行所述飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；Acquiring the flight mission, and the working mode and/or guidance type of the flight mission; the working mode and/or the guidance type are used to limit the corresponding working mode and/or the corresponding guidance type that must be satisfied to execute the flight mission control information;

根据所述飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对所述飞行任务的指引信息，以引导驾驶用户对所述飞行汽车进行相应操作。According to the corresponding working mode and/or the control information under the corresponding guidance type that the flight mission needs to meet, display the guidance information for the flight mission, so as to guide the driving user to perform corresponding operations on the flying car.
根据权利要求1所述的方法，其特征在于，所述当前飞行状态包括当前飞行高度，所述中控屏幕以在高度显示区域上显示与所述当前飞行高度对应的当前显示位置的形式进行显示，其中，在所述高度显示区域的当前显示位置从预设第一高度阈值的显示位置到达预设第二高度阈值的显示位置，且按照预设方向拍摄的拍摄结果满足预设飞机着陆条件时，满足预设飞机电源动力关闭条件；所述预设飞行降落条件用于判断是否控制飞机降落，所述预设飞机着陆条件用于判断是否控制降落的飞机进行着陆。The method according to claim 1, wherein the current flight status includes a current flight altitude, and the central control screen displays a current display position corresponding to the current flight altitude on the altitude display area , wherein, when the current display position of the altitude display area reaches from the display position of the preset first altitude threshold to the display position of the preset second altitude threshold, and the shooting results taken according to the preset direction meet the preset aircraft landing conditions , meeting the preset power-off condition of the aircraft; the preset flight landing condition is used to determine whether to control the landing of the aircraft, and the preset aircraft landing condition is used to determine whether to control the landing of the aircraft to land.
根据权利要求1所述的方法，其特征在于，还包括：The method according to claim 1, further comprising:

根据所述飞行任务的工作模式和/或指引类型，生成用于限制执行所述飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；其中，所述飞行任务的工作模式包括手动操纵指引模式、目标状态指引模式以及组合指引模式，组合指引模式包括所述手动操纵指引模式和目标状态指引模式的组合模式；所述指引类型包括舒适指引类型、经济指引类型以及效率指引类型。According to the working mode and/or guidance type of the flight task, generate the control information used to limit the corresponding working mode and/or corresponding guidance type that must be satisfied in the execution of the flight task; wherein, the working mode of the flight task includes Manual manipulation guidance mode, target state guidance mode and combination guidance mode, the combination guidance mode includes the combination mode of the manual manipulation guidance mode and target state guidance mode; the guidance type includes comfort guidance type, economy guidance type and efficiency guidance type.
根据权利要求3所述的方法，其特征在于，根据所述飞行任务的工作模式生成用于限制执行所述飞行任务需满足的相应工作模式下的控制信息，包括：The method according to claim 3, characterized in that, generating the control information for limiting the corresponding operating mode required to perform the flight task according to the operating mode of the flight task includes:

在所述手动操纵指引模式下，生成满足所述手动操纵指引模式的驾驶杆操纵量输入信息，所述驾驶杆操纵量输入信息基于位移操纵量确定，包括纵向操纵位移、横向操纵位移、航向操纵位移和高度操纵位移；In the manual manipulation guidance mode, the steering rod manipulation input information satisfying the manual manipulation guidance mode is generated, and the steering stick manipulation input information is determined based on the displacement manipulation amount, including longitudinal manipulation displacement, lateral manipulation displacement, heading manipulation Displacement and Altitude Maneuvering Displacement;

和/或，在所述目标状态指引模式下，生成满足所述目标状态指引模式的飞行状态信息，所述飞行状态信息基于所述飞行状态转化得到的操纵量确定，包括用于指示目标速度的水平速度操纵量、用于指示目标航迹所需的航向操纵量，以及用于指示目标高度所需的高度操纵量。And/or, in the target state guidance mode, generate flight state information that satisfies the target state guidance mode, and the flight state information is determined based on the manipulation amount converted from the flight state, including The amount of horizontal speed control, the amount of heading control required to indicate the target track, and the amount of altitude control required to indicate the target altitude.
根据权利要求3所述的方法，其特征在于，根据所述飞行任务的指引类型生成用于限制执行所述飞行任务需要满足的相应指引类型下的控制信息，包括：The method according to claim 3, characterized in that, according to the guidance type of the flight task, generating the control information for restricting the corresponding guidance type that needs to be met for performing the flight task includes:

在所述舒适指引类型下，将在执行所述飞行任务时符合预设范围内的飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度，转换为所需的操纵量；Under the comfort guidance type, convert the longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car within the preset range when performing the flight task into the required manipulation amount;

和/或，在所述经济指引类型下，生成在执行所述飞行任务时满足最长航程航迹的操纵量；and/or, under the economic guidance type, generating maneuvers that satisfy the longest flight path when performing the flight mission;

和/或，在所述效率指引类型下，生成在执行所述飞行任务时满足最短航时航迹的操纵量。And/or, under the efficiency guidance type, generate a manipulation amount that satisfies the shortest flight path when performing the flight task.
根据权利要求3或4或5所述的方法，其特征在于，根据所述飞行任务的工作模式和指引类型，生成用于限制执行所述飞行任务需满足的相应工作模式和相应指引类型下的控制信息，包括：The method according to claim 3 or 4 or 5, characterized in that, according to the working mode and guidance type of the flight task, generating the corresponding work mode and corresponding guidance type for restricting the execution of the flight task Control information, including:

在满足所述指引类型的情况下，根据所述飞行任务的工作模式生成控制信息；When the guidance type is satisfied, control information is generated according to the working mode of the flight mission;

所述在满足所述指引类型的情况下，根据所述飞行任务的工作模式生成控制信息，包括：The generating control information according to the working mode of the flight mission under the condition that the guidance type is satisfied includes:

若所述指引类型为舒适指引类型，在满足飞行汽车的纵向过载、横向过载、航向过载和偏航角加速度的预设范围的情况下，生成满足所述手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足所述目标状态指引模式的飞行状态信息；If the guidance type is the comfortable guidance type, in the case of satisfying the preset ranges of longitudinal overload, lateral overload, heading overload and yaw angular acceleration of the flying car, generate a steering stick manipulation input that satisfies the manual manipulation guidance mode information, and/or flight status information that satisfies the target status guidance mode;

若所述指引类型为经济指引类型，在满足最长航程航迹的情况下，生成满足所述手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足所述目标状态指引模式的飞行状态信息；If the guidance type is the economic guidance type, in the case of satisfying the longest voyage track, generate the steering stick manipulation input information satisfying the manual manipulation guidance mode, and/or satisfy the flight state of the target state guidance mode information;

若所述指引类型为效率指引类型，在满足最短航时航迹的情况下，生成满足所述手动操纵指引模式的驾驶杆操纵量输入信息，和/或满足所述目标状态指引模式的飞行状态信息。If the guidance type is the efficiency guidance type, in the case of satisfying the shortest voyage track, generate the steering stick manipulation input information satisfying the manual manipulation guidance mode, and/or satisfy the flight state of the target state guidance mode information.
根据权利要求1或3所述的方法，其特征在于，所述相应工作模式和/或相应指引类型下的控制信息基于操纵量确定，所述指引信息基于用于指示操纵量的指引符合所显示的指引位置得到；The method according to claim 1 or 3, characterized in that the control information in the corresponding working mode and/or the corresponding guidance type is determined based on the manipulation amount, and the guidance information is based on that the guidance for indicating the manipulation amount conforms to the displayed The guide position is obtained;

所述根据所述飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对所述飞行任务的指引信息，包括：The display of guidance information for the flight mission according to the corresponding working mode and/or control information under the corresponding guidance type that the flight mission needs to satisfy includes:

在任一指引类型下，若所述工作模式为手动操纵指引模式，所述手动操纵指引模式下的位移操纵量，通过驾驶杆推荐位置、驾驶感杆的旋转位置以及高度控制拨钮位置的指引符号运动到与位移操纵量对应的推荐位置，以形成指引信息；Under any guidance type, if the working mode is the manual manipulation guidance mode, the displacement manipulation amount in the manual manipulation guidance mode is guided by the recommended position of the driving stick, the rotation position of the driving feel lever and the position of the height control dial. Move to the recommended position corresponding to the displacement manipulation amount to form guidance information;

在任一指引类型下，若所述工作模式为目标状态指引模式，所述目标状态指引模式下基于所述飞行状态转化得到的操纵量，通过速度指引、航向指引、高度指引的指引符号运动到与操纵量对应的推荐位置，以形成指引信息。Under any guidance type, if the working mode is the target state guidance mode, in the target state guidance mode, based on the control amount converted from the flight state, the guidance symbols of speed guidance, heading guidance, and altitude guidance are moved to the corresponding position. The recommended position corresponding to the manipulation quantity is used to form guidance information.
根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, further comprising:

响应所述驾驶用户对所述飞行汽车的操作指令，若所述操作指令符合所述飞行任务的指引信息，则生成反馈指引，以告知所述驾驶用户完成所述飞行任务；其中，所述操作指令为由所述驾驶用户基于所述飞行任务的指引信息对所述飞行汽车进行相应控制生成的指令。In response to the driving user's operation instruction on the flying car, if the operation instruction conforms to the guidance information of the flight mission, then generate feedback guidance to inform the driving user to complete the flight mission; wherein, the operation The instruction is an instruction generated by the driving user for correspondingly controlling the flying car based on the guidance information of the flight mission.
根据权利要求1或8所述的方法，其特征在于，所述方法还包括：The method according to claim 1 or 8, wherein the method further comprises:

响应所述所述驾驶用户对所述飞行汽车的操作指令，记录所述操作指令的操作信息，并根据所述操作信息生成评估结果以供驾驶用户查看。Responding to the operating instructions of the driving user on the flying car, recording operation information of the operating instructions, and generating evaluation results according to the operating information for viewing by the driving user.
一种飞行汽车的飞行辅助装置，其特征在于，应用于飞行***，所述装置包括：A flying auxiliary device for a flying car is characterized in that it is applied to a flight system, and the device includes:

飞行任务获取模块，用于获取飞行任务，以及所述飞行任务的工作模式和/或指引类型；所述工作模式和/或所述指引类型用于限制执行所述飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息；The flight task acquisition module is used to obtain the flight task, and the working mode and/or guidance type of the flight task; the working mode and/or the guidance type are used to limit the corresponding working mode that needs to be satisfied when performing the flight task and/or control information under the corresponding guidance type;

任务指引模块，用于根据所述飞行任务需满足的相应工作模式和/或相应指引类型下的控制信息，显示针对所述飞行任务的指引信息，以引导驾驶用户对所述飞行汽车进行相应操作。The mission guidance module is used to display guidance information for the flight mission according to the corresponding working mode and/or the control information under the corresponding guidance type to be satisfied by the flight mission, so as to guide the driving user to perform corresponding operations on the flying car .
一种飞行汽车，其特征在于，包括：如权利要求10所述飞行汽车的飞行辅助装置、处理器、存储器及存储在所述存储器上并能够在所述处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如权利要求1-9中任一项所述飞行汽车的飞行辅助方法。A flying car, characterized in that it comprises: the flying auxiliary device of the flying car according to claim 10, a processor, a memory, and a computer program stored on the memory and capable of running on the processor, the When the computer program is executed by the processor, the flight assistance method for the flying car according to any one of claims 1-9 is realized.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如权利要求1-9中任一项所述飞行汽车的飞行辅助方法。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the flight of the flying car according to any one of claims 1-9 is realized. helper method.