Parameter output method, device and storage medium of amphibious vehicle

Abstract

The invention discloses a parameter output method, device and storage medium of an amphibious vehicle. The method includes the following steps: acquiring the measured subsidence and deformation of the wheel and the driving state of the amphibious vehicle; according to the measured subsidence, the measured deformation and the predicted Set the first threshold value to obtain the road surface on which the wheels are driving, wherein the road surface includes hard road surface or soft road surface; according to the driving state, the road surface and the preset soil parameter library, the first output parameter is obtained through the soft road surface estimation mode, Or according to the driving state and the road surface, the second output parameter is obtained through the hard road surface estimation mode; and the parameter output is performed according to the first output parameter or the second output parameter. According to the present invention, different modes can be used for estimation according to different road surfaces and driving states, thereby ensuring the accuracy of the estimation results. The invention can be widely used in the technical field 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...

AI Technical Summary

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 be affected by other factors such as water flow speed, buoyancy and so on in the transition state of water and land; when driving on soft road, the wheels will sink and so on However, the current estimation method cannot accurately output the vehicle state parameters, resulting in the inability of the amphibious vehicle to perform accurate automatic adjustment. performance weakening, etc., seriously affecting the power, stability and safety of the amphibious vehicle

Images