Abstract:

Flying car technology has brought solutions to alleviate urban traffic pressure， but the three-dimensional obstacles of urban low-altitude traffic are dense. How to realize safe and efficient intelligent control of flying cars is still an urgent problem to be solved. In this paper， a decision-planning-tracking hierarchical motion control system for flying cars in urban scenes is designed. In the upper decision-planning module， an optimal path decision mechanism is designed based on the goals of safety and energy consumption， and a longitudinal-lateral-vertical risk field in urban scenes is established. Based on the designed longitudinal-lateral-vertical risk field and combined with model predictive control， real-time trajectory planning is carried out to achieve trajectory planning control that meets energy consumption requirements and is safe. In the lower path tracking controller， the cascade controller is used to realize the path tracking control. The controller calculates the motor speed control quantity according to the expected trajectory， and realizes the precise control of the flying car. The Matlab/Simulink simulation environment is built. The simulation results show that the proposed hierarchical motion control system of the flying car can plan a safe and comfortable driving trajectory， and the real-time performance of the controller meets the requirements， with the solution time of each step less than 10 ms.

Key words: flying car, layered motion control, longitudinal-lateral-vertical risk field, cascade control