Parameter output method and device of amphibious vehicle and storage medium

An amphibious, output method technology, applied in amphibious vehicles, transportation and packaging, motor vehicles, etc., can solve problems such as subsidence, rollover, swing, etc.

Active Publication Date: 2020-07-28
WUHAN UNIV OF TECH
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Problems solved by technology

The estimation of the state parameters of the current amphibious vehicles is mainly based on the situation of land driving, which is estimated by the vehicle kinematics estimation model when the vehicle is driving on the hard road surface of the land. However, the driving state and road surface of the amphibious vehicles are uncertain, such as possible It is the state when driving on land, out of water or entering water, hard road or soft road, the vehicle will...

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  • Parameter output method and device of amphibious vehicle and storage medium
  • Parameter output method and device of amphibious vehicle and storage medium
  • Parameter output method and device of amphibious vehicle and storage medium

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Embodiment Construction

[0072] The present invention will be further explained and described below in conjunction with the accompanying drawings and specific embodiments of the description. For the step numbers in the embodiment of the present invention, it is only set for the convenience of explanation and description, and there is no limitation on the order of the steps. The execution order of each step in the embodiment can be carried out according to the understanding of those skilled in the art Adaptive adjustment.

[0073] Such as figure 1 As shown, this embodiment provides a parameter output device for an amphibious vehicle, including:

[0074] The obtaining module is used to obtain the measured subsidence of the wheel, the measured deformation and the driving state of the amphibious vehicle;

[0075] The road surface judgment module is used to obtain the road surface on which the wheels travel according to the measured subsidence amount, the measured deformation amount and the preset first ...

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Abstract

The invention discloses a parameter output method and device of an amphibious vehicle and a storage medium. The method comprises the following steps that the measurement sinking amount and the measurement deformation amount of wheels and the driving state of the amphibious vehicle are obtained; according to the measured sinking amount, the measured deformation amount and a preset first threshold value, the road surface on which the wheels run is obtained, and the road surface comprises a hard road surface or a soft road surface; according to the driving state, the road surface and a preset soil parameter library, a first output parameter is obtained through a soft road surface estimation mode, or according to the driving state and the road surface, a second output parameter is obtained through a hard road surface estimation mode; and parameters are output according to the first output parameter or the second output parameter. According to the invention, different modes can be used forestimation according to different road surfaces and driving states, and the accuracy of an estimation result is ensured. The method and device and storage medium can be widely applied to the technicalfield of amphibious vehicles.

Description

technical field [0001] The invention relates to the technical field of amphibious vehicles, in particular to a parameter output method, device and storage medium of an amphibious vehicle. Background technique [0002] Amphibious vehicles are usually driven by in-wheel motors, which have both water and land driving performance, and can complete functions such as offshore emergency landing and material transportation, which are of great value. Usually, for the stability of the amphibious vehicle, the state parameters of the vehicle are estimated, and the estimated vehicle state parameters are output, so that the control system of the amphibious vehicle can be automatically adjusted according to the output vehicle state parameters. The estimation of state parameters of current amphibious vehicles is mainly based on the situation of land driving, which is obtained by estimating the vehicle kinematics estimation model when the vehicle is driving on a hard road surface on land. Ho...

Claims

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Application Information

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IPC IPC(8): B60W40/10B60W40/06B60W40/00B60F3/00
CPCB60F3/00B60W40/00B60W40/06B60W40/10
Inventor 付翔赵熙金吴森
Owner WUHAN UNIV OF TECH
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