# US 12,007,770 B2 · Control method of air vehicle for urban air mobility > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,770 B2 - Document ID: US12007770B2 - Status: Granted - Kind: B2 - Application number: 17/506,289 - Filed: 2021-10-20 - Published: 2022-10-13 - Granted: 2024-06-11 - Earliest claimed: 2021-04-12 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Jin Hyuck Heo; Min Woo Han - Web page: https://patentgrep.com/patent/US12007770B2 ## CPC - G05D 1/102: {specially adapted for vertical take-off of aircraft} - G05D 1/46: Control of position or course in three dimensions [3D] - B64C 13/12: Dual control apparatus - B64U 50/23: with each propulsion means having an individual motor - G05D 1/654: Landing (docking at a base station G05D1/661) - G05D 1/81: Handing over between on-board automatic and on-board manual control - B64C 13/042: {operated by hand} - B64C 13/044: {operated by feet, e.g. pedals} - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A control method of an air vehicle for urban air mobility (UAM) is provided. The method enable people to more easily control an air vehicle for UAM, and moves in a flight manner familiar to people during flight to allow a driver and passengers comfortably use the air vehicle without discomfort such as motion sickness, dizziness, etc. The control method includes acquiring air vehicle driving information; adjusting an altitude of the air vehicle to a target altitude; adjusting longitudinal acceleration and longitudinal deceleration of the air vehicle; and operating steering during flight of the air vehicle. ## Claims ### Claim 1 A control method of an air vehicle for urban air mobility, the air vehicle including a driving input device comprising a steering wheel, an accelerator pedal, a decelerator pedal, and an altitude designating device, the control method comprising: acquiring, by a controller, air vehicle driving information including driving input information in response to operation of the driving input device; adjusting byte controller, an altitude of the air vehicle to a target altitude on the basis of a target altitude value in response to an operation state of the altitude designating device among the acquired air vehicle driving information; adjusting, by the controller, longitudinal acceleration and longitudinal deceleration of the air vehicle in response to operation states of the accelerator pedal and the decelerator pedal among the acquired air vehicle driving information; and adjusting, by the controller, steering during flight of the air vehicle in response to an operation state of the steering wheel among the acquired air vehicle driving information; wherein, in the adjusting of the longitudinal acceleration and the longitudinal deceleration of the air vehicle and the adjusting of the steering during moving of the air vehicle, the controller is configured to perform control for maintaining the altitude of the air vehicle to the target altitude designated by the operation of the altitude designating device; wherein the controller is configured to perform control allowing the air vehicle to vertically ascend until reaching the target altitude designated by the operation of the altitude designating device during taking-off of the air vehicle; and wherein the controlling the longitudinal acceleration of the air vehicle includes: determining, by the controller, target acceleration based on an accelerator pedal input value, among the air vehicle driving information, detected by an accelerator pedal sensor; determining, by the controller, a control command for feedback-controlling to allow the air vehicle longitudinal acceleration, among the air vehicle driving information, detected by an acceleration sensor to follow the target acceleration, and operating, by the controller, the drive device of the air vehicle in response to the determined control command. ### Claim 2 (depends on 1) The control method of claim 1, wherein, in the adjusting of the altitude of the air vehicle, the controller is configured to perform control for a drive device of the air vehicle by using an air vehicle altitude value, among the air vehicle driving information, detected by an altitude sensor as feedback information so that the altitude of the air vehicle follows the target altitude. ### Claim 3 (depends on 1) The control method of claim 1, further comprising: displaying, by the controller, a virtual spatial road layer corresponding to the target altitude on a display of the air vehicle, and simultaneously, displaying an air vehicle present location, among the air vehicle driving information, acquired by a location information acquirement part on the virtual spatial road layer. ### Claim 4 (depends on 3) The control method of claim 3, wherein the controller is configured to select a virtual spatial road layer corresponding to the target altitude designated by the operation of the altitude designating device from virtual spatial road layers per altitude input and stored in advance and to display the selected virtual spatial road layer on the display. ### Claim 5 (depends on 4) The control method of claim 4, wherein the virtual spatial road layer is configured such that roads are preset in a virtual layer of a plane per altitude, and straight lines represent the roads and an intersection of the straight lines represents an intersection of the roads in the virtual spatial road layer displayed on the display. ### Claim 6 (depends on 1) The control method of claim 1, wherein, in the determining of the target acceleration, the controller is configured to determine the target acceleration from a map, the target acceleration corresponding to the accelerator pedal input value, the air vehicle altitude detected by the altitude sensor, and an air vehicle velocity detected by a velocity sensor, among the air vehicle driving information. ### Claim 7 (depends on 1) The control method of claim 1, wherein the adjusting of the longitudinal deceleration of the air vehicle includes: determining, by the controller, target deceleration based on a decelerator pedal input value, among the air vehicle driving information, detected by a decelerator pedal sensor; determining, by the controller, a control command for feedback-controlling to allow the air vehicle longitudinal deceleration, among the air vehicle driving information, detected by the acceleration sensor to follow the target deceleration; and operating, by the controller, the drive device of the air vehicle in response to the determined control command. ### Claim 8 (depends on 7) The control method of claim 7, wherein, in the determining of the target deceleration, the controller is configured to determine the target deceleration from a map, the target deceleration corresponding to the decelerator pedal input value, the air vehicle altitude detected by the altitude sensor, and an air vehicle velocity detected by a velocity sensor, among the air vehicle driving information. ### Claim 9 (depends on 1) The control method of claim 1, wherein the adjusting of the steering during flight of the air vehicle includes: determining, by the controller, target lateral acceleration and a target yaw rate based on steering input information, among the air vehicle driving information, in response to the operation state of the steering wheel; determining, by the controller, a control command for feedback-controlling to allow air vehicle lateral acceleration, among the air vehicle driving information, detected by an acceleration sensor to follow the target lateral acceleration; determining, by the controller, a control command for feedback-controlling an air vehicle yaw rate, among the air vehicle driving information, detected by a posture detection sensor to follow the target yaw rate; and operating, by the controller, the drive device of the air vehicle based on the control command for following the target lateral acceleration and the control command for following the target yaw rate. ### Claim 10 (depends on 9) The control method of claim 9, wherein the steering input information includes a steering angle and a steering angular velocity acquired from a signal of a steering angle sensor, and in the determining the target lateral acceleration and the target yaw rate, the controller is configured to determine the target lateral acceleration and the target yaw rate from respective maps, the target lateral acceleration and the target yaw rate corresponding to the steering angle and steering angular velocity, and air vehicle velocity detected by a velocity sensor among the air vehicle driving information.