Vehicle control method, vehicle, vehicle controller and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle, a vehicle controller and a storage medium, the vehicle comprises a driving and transmission system used for running on land, and the driving and transmission system comprises driving motors used for driving wheels and arranged in a distributed mode; the vehicle control method comprises the steps that vehicle state information is acquired; in response to a floating driving trigger instruction, target control parameters of each driving motor are obtained according to the vehicle state information and the floating driving characteristic information; and controlling the corresponding driving motor according to the target control parameter so as to enable the vehicle to run in a floating manner. According to the method and the vehicle, two running modes of land running and floating running can be achieved, the multifunctionality and adaptability of the vehicle are enhanced, floating running of the vehicle can be achieved based on a driving and transmission system of land running, two sets of different power transmission systems do not need to be used, and therefore the complexity of the system is reduced, and the cost is reduced. And the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, a vehicle controller and a computer-readable storage medium. Background Art

[0002] In the related technology, amphibious vehicles usually need two different power transmission systems to achieve land driving and floating driving. Land driving usually uses a drive motor and land wheels, while floating driving requires additional water power output devices, such as propellers, jet drives or duck-web tires. Although this method can greatly increase the speed of vehicles in water, it significantly increases the complexity and cost of the system solution, seriously restricting its promotion and application. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a vehicle control method, which can realize two driving modes: land driving and floating driving, and the vehicle can be floated on water based on the driving and transmission system for land driving, without using two different power transmission systems, thereby reducing the complexity of the system and reducing the production cost.

[0004] A second object of the present invention is to provide a vehicle.

[0005] The third object of the present invention is to provide a vehicle controller.

[0006] A fourth objective of the present invention is to provide a computer-readable storage medium.

[0007] In order to achieve the above-mentioned purpose, a vehicle control method of an embodiment of the first aspect of the present invention, the vehicle includes a drive and transmission system for land travel, and the drive and transmission system includes a distributed drive motor for driving wheels; the vehicle control method includes: obtaining vehicle status information; in response to a floating travel trigger instruction, obtaining target control parameters of the drive motor according to the vehicle status information and floating travel characteristic information; controlling the corresponding drive motor according to the target control parameters so that the vehicle floats on water.

[0008] According to the vehicle control method of the embodiment of the present invention, a distributed drive motor is used so that each wheel can be independently controlled. By acquiring vehicle status information and floating driving characteristic information and calculating the target control parameters of the drive motor based on this information, the vehicle can be controlled to float on water, thereby realizing two driving modes of land driving and floating on water, enhancing the versatility and adaptability of the vehicle. Moreover, compared with traditional amphibious vehicles, the driving and transmission system based on land driving can realize the floating operation of the vehicle, without the need to use two different power transmission systems, greatly reducing the complexity of the system, reducing production costs, and improving production efficiency.

[0009] In some embodiments, the vehicle status information includes throttle opening; the target control parameters of the drive motor are obtained based on the vehicle status information and the floating driving characteristics information, including: querying a first mapping relationship based on the throttle opening to obtain the motor pre-controlled wheel speed, wherein the first mapping relationship is a mapping relationship between throttle opening and motor pre-controlled wheel speed.

[0010] In some embodiments, controlling the corresponding drive motor according to the target control parameter includes: controlling each drive motor to drive the wheel to rotate forward or backward synchronously according to the motor pre-controlled wheel speed, wherein the motor pre-controlled wheel speed of each drive motor is the same.

[0011] In some embodiments, the vehicle status information also includes a steering wheel angle and a water-floating vehicle speed; the target control parameters of the drive motor are obtained according to the vehicle status information and the water-floating driving characteristics information, including: querying a second mapping relationship according to the steering wheel angle and the water-floating vehicle speed to obtain a first target yaw velocity, wherein the second mapping relationship is a mapping relationship of steering wheel angle-water-floating vehicle speed-first target yaw velocity; querying a third mapping relationship according to the first target yaw velocity to obtain a first pre-controlled differential wheel speed of each wheel, wherein the third mapping relationship is a mapping relationship of the first target yaw velocity-first pre-controlled differential wheel speed; obtaining the motor target wheel speed of each drive motor according to the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed.

[0012] In some embodiments, obtaining the motor target wheel speed of each drive motor according to the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed includes: obtaining the target wheel speed of each drive motor according to the first target yaw angular velocity, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed.

[0013] In some embodiments, the target wheel speeds of each drive motor are obtained according to the first target yaw rate, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed, including: obtaining the actual yaw rate; obtaining a first yaw angle difference according to the first target yaw rate and the actual yaw rate; obtaining a first target wheel speed correction according to the first yaw angle difference; and obtaining the motor target wheel speed corresponding to each wheel by combining the first target wheel speed correction, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed.

[0014] In some embodiments, the second mapping relationship includes the following relationship:

[0015]

[0016] Among them, ω rs 1 is the first target yaw rate, δ is the steering wheel angle, δ0 is the steering wheel angle threshold, u is the floating vehicle speed, and K is the steering coefficient.

[0017] In some embodiments, the vehicle control method further includes: querying a fourth mapping relationship according to the floating vehicle speed to obtain a first maximum allowable yaw rate that satisfies the allowable roll range of the vehicle, the fourth mapping relationship being a mapping relationship between the floating vehicle speed and the first maximum allowable yaw rate; wherein the first target yaw rate is less than the first maximum allowable yaw rate.

[0018] In some embodiments, controlling the corresponding drive motor according to the target control parameter includes: controlling the corresponding drive motor according to the motor target wheel speed of each drive motor, wherein the first pre-controlled differential wheel speeds based on the first target yaw angular velocity of the left drive motor and the right drive motor of the vehicle are the same in magnitude and opposite in direction.

[0019] In some embodiments, the first mapping relationship and the second mapping relationship are obtained through experiments, simulations or theoretical calculations based on a forward gear of the vehicle, or the first mapping relationship and the second mapping relationship are obtained through experiments, simulations or theoretical calculations based on a reverse gear of the vehicle.

[0020] In some embodiments, the vehicle status information includes throttle opening; the target control parameters of the drive motor are obtained based on the vehicle status information and the floating driving characteristics information, including: querying a fifth mapping relationship based on the throttle opening to obtain a second target yaw rate, wherein the fifth mapping relationship is a mapping relationship of throttle opening-second target yaw rate; querying a sixth mapping relationship based on the second target yaw rate to obtain a second pre-controlled differential wheel speed, wherein the sixth mapping relationship is a mapping relationship of second target yaw rate-second pre-controlled differential wheel speed; obtaining the motor target wheel speed of each drive motor based on the second target yaw rate and the second pre-controlled differential wheel speed.

[0021] In some embodiments, the motor target wheel speed of each drive motor is obtained according to the second target yaw angular velocity and the second pre-controlled differential wheel speed, including: calculating the second yaw angle difference between the second target yaw angular velocity and the actual yaw angular velocity; obtaining the second target wheel speed correction according to the second yaw angle difference; obtaining the motor target wheel speed according to the second target wheel speed correction and the second pre-controlled differential wheel speed.

[0022] In some embodiments, the fifth mapping relationship satisfies:

[0023]

[0024] Among them, ω rs2 is the second target yaw rate, α is the throttle opening, α0 is the throttle opening threshold, and K is the steering coefficient.

[0025] In some embodiments, the vehicle control method further includes: querying a seventh mapping relationship according to the throttle opening to obtain a second maximum allowable yaw rate that satisfies the allowable roll range of the vehicle, wherein the seventh mapping relationship is a mapping relationship of throttle opening-second maximum allowable yaw rate, and wherein the second target yaw rate is less than the second maximum allowable yaw rate.

[0026] In some embodiments, controlling the corresponding drive motor according to the target control parameter includes: controlling the corresponding drive motor according to the motor target wheel speed of the drive motor, wherein the second pre-controlled differential wheel speeds based on the second target yaw angular velocity of the left drive motor and the right drive motor of the vehicle are the same in magnitude and opposite in direction.

[0027] In some embodiments, the vehicle control method further includes: obtaining the wading depth of the vehicle; and determining that the wading depth of the vehicle exceeds a preset floating driving depth threshold, then receiving the floating driving trigger instruction.

[0028] In some embodiments, a water depth detection device is provided corresponding to each wheel, and obtaining the wading depth of the vehicle includes: obtaining water depth information collected by each of the water depth detection devices; and determining the wading depth of the vehicle according to the water depth information.

[0029] In some embodiments, the number of water depth detection devices is less than the number of wheels, and obtaining the wading depth of the vehicle includes: obtaining vehicle body posture information; obtaining height information from the water surface collected by each of the water depth detection devices; and determining the wading depth of the vehicle based on the vehicle body posture information and the height information.

[0030] In some embodiments, the vehicle control method further includes: when the floating travel trigger instruction is not received, responding to a land travel control signal, controlling the drive motor so that the vehicle runs on land.

[0031] In order to achieve the above-mentioned objectives, the vehicle of the second aspect of the embodiment of the present invention includes: a body and a chassis; a drive and transmission system, the drive and transmission system including a distributed drive motor for driving wheels; a controller, connected to the drive and transmission system, for controlling the drive motor according to the vehicle control method according to any one of claims 1-19.

[0032] According to the vehicle of the embodiment of the present invention, the drive and transmission system adopts distributed drive motors, which are distributed on each wheel of the vehicle so that each wheel can be independently controlled. The controller is connected to the drive and transmission system. The drive motors can be controlled by adopting the vehicle control method described in the above embodiment to enable the vehicle to float on water, thereby realizing two driving modes of land driving and floating on water driving, enhancing the versatility and adaptability of the vehicle. Moreover, compared with traditional amphibious vehicles, the drive and transmission system based on land driving can realize the floating operation of the vehicle without using two different power transmission systems, which greatly reduces the complexity of the system, reduces production costs, and improves production efficiency.

[0033] In some embodiments, the perforated portions on the chassis are sealed.

[0034] In some embodiments, the wet area of ​​the vehicle body is waterproofed, wherein the wet area of ​​the vehicle body includes an area where the vehicle body contacts water when the vehicle is floating on water.

[0035] In some embodiments, the vehicle further includes: an on-board air-conditioning system, wherein a first switch valve is disposed at a drainage hole of the on-board air-conditioning system, and the first switch valve is controlled to be closed when the vehicle is floating on water.

[0036] In some embodiments, the driving and transmission system further includes an engine, and a second switch valve is provided at an air intake and / or exhaust port of the engine, and the second switch valve is controlled to be closed when the vehicle is floating on water.

[0037] In some embodiments, the vehicle further includes: a water depth detection device, connected to the controller, for detecting the wading depth of the vehicle.

[0038] In some embodiments, the number of the water depth detection devices is the same as the number of wheels, and a water depth detection device is provided for each of the wheels.

[0039] In some embodiments, the setting height of each water depth detection device is g, and g satisfies the following condition: G=(h+Δ), where h is the height between the wheel top and the chassis when the wheel floats, and Δ is the safety distance margin.

[0040] In some embodiments, the number of the water depth detection devices is less than the number of the wheels; the vehicle also includes a posture detection device, which is connected to the controller and is used to detect vehicle body posture information.

[0041] In some embodiments, there are two water depth detection devices, and the two water depth detection devices are arranged on the front and rear sides of the vehicle body, or the two water depth detection devices are arranged on the left and right rearview mirrors.

[0042] In some embodiments, the vehicle further comprises: an on-board satellite navigation positioning device, connected to the controller, for detecting position information when the vehicle is floating on water, and the controller obtains the vehicle speed based on the position information.

[0043] In order to achieve the above-mentioned purpose, the vehicle controller of the third aspect embodiment of the present invention includes: a processor; a memory connected to the processor for communication; a computer program is stored in the memory, and when the processor executes the computer program, the vehicle control method described in the above embodiment is implemented.

[0044] According to the vehicle controller of the embodiment of the present invention, the processor can realize two driving modes, namely, land driving and floating driving, by executing the vehicle control method described in the above embodiment, thereby enhancing the versatility and adaptability of the vehicle. Moreover, the driving and transmission system based on land driving can realize the floating operation of the vehicle without using two different power transmission systems, thereby reducing the complexity of the system and reducing production costs.

[0045] In order to achieve the above-mentioned purpose, a computer-readable storage medium of an embodiment of the fourth aspect of the present invention stores a computer program thereon, and when the computer program is executed, the vehicle control method described in the above embodiment is implemented.

[0046] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 is a schematic diagram of a vehicle appearance structure according to an embodiment of the present invention;

[0049] Figure 2 is a schematic diagram of a vehicle system according to an embodiment of the present invention;

[0050] Figure 3 is a schematic diagram of a vehicle appearance structure according to yet another embodiment of the present invention;

[0051] Figure 4 is a schematic diagram of a vehicle appearance structure according to another embodiment of the present invention;

[0052] Figure 5 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0053] Figure 6 is a control block diagram of vehicle aquatic driving and aquatic steering according to one embodiment of the present invention;

[0054] Figure 7 is a control block diagram of vehicle floating on water in-situ steering according to one embodiment of the present invention;

[0055] Figure 8 is a block diagram of a vehicle controller according to one embodiment of the present invention.

[0056] Reference numerals:

[0057] Vehicle 100;

[0058] Vehicle body 1; chassis 2; controller 3; water depth detection device 4; posture detection device 5; vehicle-mounted satellite navigation positioning device 6; rearview mirror 7;

[0059] Wheel 10; wheel speed sensor 20; steering knuckle 30; drive axle 40; reducer 50; drive motor 60; power battery 70; battery management system 80;

[0060] A vehicle controller 110;

[0061] Processor 111; memory 112. DETAILED DESCRIPTION

[0062] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0063] In the related art, military or civilian amphibious vehicles are relatively large and oddly shaped, mainly because the bottom of the vehicle is modeled after a ship to ensure floating ability. In addition, two sets of amphibious power transmission systems, steering systems and even cooling systems are generally required, making the cost of amphibious vehicles extremely high, which seriously restricts their promotion and application.

[0064] In view of the above problems, an embodiment of the present invention proposes a vehicle control method, which can realize two driving modes: land driving and floating driving, thereby enhancing the versatility and adaptability of the vehicle. In addition, the vehicle's floating operation can be realized based on the driving and transmission system for land driving, without the need to use two different power transmission systems, thereby reducing the complexity of the system and reducing production costs.

[0065] In order to facilitate the description of the technical solution, the vehicle according to the embodiment of the present invention will be described below.

[0066] Figure 1 is a schematic diagram of a vehicle appearance structure according to an embodiment of the present invention, Figure 2 is a schematic diagram of a vehicle system according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the vehicle 100 includes a body 1 , a chassis 2 , a drive and transmission system and a controller 3 .

[0067] The body 1 and chassis 2 constitute the main structure of the vehicle 100, providing stable support and protection to ensure that the vehicle 100 can travel in different terrains and environments. The body 1 may include components such as a cockpit, a compartment, and doors, while the chassis 2 may include a bottom plate, a suspension system, and wheels 10, etc.

[0068] In some embodiments, the wheel 10 may use a common land tire without requiring a tire or rim specifically designed for water travel, thereby reducing costs and simplifying maintenance while maintaining land travel performance.

[0069] In some embodiments, the drive and transmission system may be the power source of the vehicle 100, including distributed drive motors 60 for driving the wheels 10 and other drive and power transmission systems and components required for the vehicle to travel on land, so as to achieve the vehicle's travel on land. These drive motors 60 may be arranged at various wheel 10 positions of the vehicle 100, such as front and rear axles, left and right wheel sides, etc., to achieve independent control of each wheel 10. This distributed arrangement allows precise power distribution, increases the flexibility and adaptability of the vehicle 100, and enables the vehicle 100 to operate under different road conditions and driving modes.

[0070] In some embodiments, the controller 3 may be an intelligent control unit of the vehicle 100 , and the controller 3 is connected to the drive and transmission system and is used to control the drive motor 60 according to the vehicle control method described in the following embodiments.

[0071] Specifically, the controller 3 is connected with the drive and transmission system, and controls the rotation speed of the drive motor 60 by adjusting the output power of each drive motor 60, thereby adjusting the rotation speed of the wheel 10. By controlling the wheel speed, the controller 3 can ensure that the contact between the tire and the water surface is maintained at an appropriate level to provide required buoyancy and stability. For example, in deep water, the drive motor 60 may need to provide more power to increase buoyancy, and in shallow water, the power may need to be reduced. In addition, the controller 3 can also realize turning by adjusting the wheel speed of each drive motor 60. For example, if the vehicle 100 needs to turn right, the controller 3 will increase the rotation speed of the right wheel and reduce the rotation speed of the left wheel, thereby turning the vehicle 100.

[0072] Therefore, the controller 3 ensures that the vehicle 100 can float smoothly and safely on the water surface by continuously adjusting the power output and wheel speed of the drive motor 60 and monitoring the vehicle status and water surface conditions, thereby realizing control functions such as forward, backward and steering.

[0073] According to the vehicle 100 of the embodiment of the present invention, the drive and transmission system adopts distributed drive motors 60, which are distributed on each wheel 10 of the vehicle 100, so that each wheel 10 can be independently controlled. The controller 3 is connected to the drive and transmission system. The drive motor 60 can be controlled by adopting the vehicle control method described in the following embodiment to achieve independent control of each wheel, thereby realizing two driving modes of land driving and floating driving, enhancing the versatility and adaptability of the vehicle 100, and, compared with the traditional amphibious vehicle 100, there is no need to use two different power transmission systems, which greatly reduces the complexity of the system, reduces the production cost, and improves the production efficiency.

[0074] Furthermore, in order to be more suitable for the floating movement of the vehicle and prevent water from entering the vehicle, the vehicle can be designed to be waterproof. In some embodiments, the perforated parts on the chassis 2 can be sealed to meet the waterproof requirements of IP67 and above, thereby preventing water from entering the chassis area and maintaining the sealing and safety of the vehicle 100 when floating on water. This sealing setting can make it unnecessary for the vehicle 100 to adopt an integrated chassis structure or a boat-shaped chassis structure, and has little effect on the structural design of the chassis 2 and the body 1 of the vehicle 100, and will not affect the land driving performance. At the same time, the chassis 2 and the body 1 with such a sealing setting also make the appearance structure of the amphibious vehicle basically the same as that of an ordinary land-based vehicle, and there is no obvious difference.

[0075] In some embodiments, the sealing setting can be implemented using various methods and sealing materials. For example, waterproof sealant or rubber gaskets can be used around the perforated parts to ensure that water cannot penetrate. In addition, appropriate seals, such as sealable covers or valves, can be installed around each perforated part on the chassis 2 of the vehicle 100 so that they can be closed when traveling on water to prevent water from entering. These seals can be customized according to the design of the chassis 2 and the location of the perforations to ensure sealing. In addition, multi-layer sealing can be used to enhance the waterproof effect, especially for amphibious vehicles that need to float in deep water. The specific implementation method of the sealing setting can be selected according to the design and purpose of the vehicle 100, and is not specifically limited here.

[0076] In some embodiments, the vehicle body 1 can be divided into a dry area and a wet area, depending on whether the vehicle 100 will come into contact with water when driving in the water. Among them, the dry area of ​​the vehicle body 1 has no special waterproof sealing requirements. The wet area of ​​the vehicle body 1, especially the part that is in contact with the chassis 2, is waterproof. The wet area of ​​the vehicle body 1 includes the area where the vehicle body 1 comes into contact with water when the vehicle 100 floats on the water. It usually includes the bottom, side and possible wheel areas of the vehicle 100. When the vehicle 100 enters the water to drive, these areas are susceptible to water intrusion, which may cause damage to the inside of the chassis 2 or affect the buoyancy and stability of the vehicle 100.

[0077] Therefore, in order to prevent water intrusion in the wet area, the waterproof requirements of IP67 and above can be met in a variety of ways. For example, special waterproof sealing materials, such as rubber sealing rings, sealing coatings, sealing strips, etc., are used in the wet area of ​​the vehicle body 1 to ensure that the wet area is isolated from external moisture. Alternatively, structural design is performed in the wet area of ​​the vehicle body 1, such as using special sealing seams, channels, etc. to increase the waterproof performance. Alternatively, the surface of the wet area is specially coated or treated, such as rubber coating or special waterproof paint, to increase its waterproof performance and prevent moisture penetration. Alternatively, special sealing devices, such as sealing doors, sealing covers, etc., are installed at key locations in the wet area of ​​the vehicle body to ensure that water does not enter the interior of the vehicle body 1.

[0078] In general, waterproofing the wet area ensures that the vehicle 100 can remain sealed when floating on water, preventing water from entering the chassis 2 or the body 1 of the vehicle 100. This is essential for maintaining the buoyancy and stability of the vehicle 100, ensuring that the vehicle 100 can travel on water without being disturbed by water, preventing damage to key components, and thus improving the water driving performance and safety of the vehicle 100.

[0079] In some embodiments, the vehicle 100 further includes an onboard air conditioning system. The onboard air conditioning system may be a system inside the vehicle 100 for controlling the temperature and humidity inside the vehicle to provide a comfortable riding environment for passengers. The onboard air conditioning system usually generates some condensed water during use, which needs to be discharged through the drain hole.

[0080] In some embodiments, the drain hole of the vehicle air conditioning system can be an outlet for discharging condensed water. A first switch valve is provided at the drain hole, and the first switch valve is a control device that can control the discharge of condensed water. The first switch valve is controlled to close when the vehicle 100 is floating on water.

[0081] Specifically, when the vehicle 100 is floating on water, the bottom wet area of ​​the vehicle body 1 may come into contact with water, including the drainage hole. In order to prevent water from entering the vehicle air conditioning system, the first switch valve can be combined with the vehicle status information through the controller 3 and closed according to the working mode of the vehicle 100. This control can be implemented according to the floating driving trigger instruction. In an embodiment, the mechanism for controlling the first switch valve can be automatic or manual, depending on the design of the vehicle 100. Automatic control can be based on vehicle status information, such as whether the vehicle 100 is floating on water, to automatically close the first switch valve. Manual control may require driver intervention, such as manually closing the valve through the controller 3 or a button.

[0082] In some embodiments, the drive and transmission system also includes an engine for generating power and driving the vehicle 100. The engine usually has an air intake and an exhaust port for inhaling air and discharging exhaust gas. A second switch valve is provided at the air intake and / or exhaust port of the engine, and the second switch valve is also a control device that can control the opening or closing of the air intake and / or exhaust port. When the vehicle 100 is floating on water, the second switch valve is controlled to be closed to prevent water from entering the engine, thereby protecting the performance and safety of the engine.

[0083] Specifically, when the vehicle 100 is floating on water, the bottom wet area of ​​the vehicle body 1 may come into contact with water, including the air intake and exhaust port of the engine. In order to ensure that the engine is not invaded by water, the second switch valve can be controlled by the state information of the vehicle 100 and the floating driving trigger instruction. In an embodiment, the mechanism for controlling the second switch valve can be automatic or manual, depending on the design of the vehicle 100. Automatic control can be based on vehicle state information, such as whether the vehicle 100 is floating on water, to automatically close the second switch valve. Manual control may require driver intervention, such as manually closing the valve through the controller 3 or a button.

[0084] Furthermore, in order to realize the automatic floating operation of the vehicle when entering the water, the wading depth of the vehicle can be detected, and when the water depth exceeds the floating threshold, the floating operation mode is automatically started. Figure 2As shown, in some embodiments, the vehicle 100 further includes a water depth detection device 4. The water depth detection device 4 is connected to the controller 3 and is used to detect the wading depth of the vehicle 100.

[0085] The water depth detection device 4 may be a contact or non-contact sensor to sense whether the sensor installation position is submerged in water or the height / depth of the water. Non-contact water sensors (such as ultrasonic sensors, laser sensors, infrared sensors, etc.) may be preferably set on the rearview mirror 7, one for each left and right rearview mirror 7, so that the sensor can detect downward. Contact sensors (such as liquid level switches, pressure switches, floating switches, etc.) may be preferably set at a water level height g that allows each wheel 10 of the vehicle 100 to just float in the water.

[0086] In some embodiments, the water depth detection device 4 is connected to the controller 3 of the vehicle 100 to transmit the detected water depth information. This connection can be achieved through a cable or other appropriate communication means. This means that the measured wading depth data can be transmitted to the controller 3 for processing and decision-making. After receiving the wading depth data, the controller 3 can take corresponding measures according to the design and program of the vehicle 100. For example, if the water depth exceeds the maximum floating depth of the vehicle 100, the controller 3 can trigger an alarm or automatically take action, such as increasing the floating height or stopping floating driving. Therefore, the water depth detection device 4 helps to improve the safety and stability of the vehicle 100. It can prevent the vehicle 100 from sinking into deep water or hitting the bottom when floating, thereby reducing potential dangers.

[0087] In some embodiments, if the number of water depth detection devices 4 is the same as the number of wheels 10, it means that each wheel 10 on the vehicle 100 is equipped with an independent water depth detection device 4. For example, if the vehicle 100 is four-wheel drive, there will be four water depth detection devices 4. This configuration allows the vehicle 100 to monitor the water depth at multiple different locations at the same time. When the vehicle 100 enters the water, each water depth detection device 4 can provide water depth information about its location. The controller 3 can receive water depth data from each water depth detection device 4 and adjust the operation of the vehicle 100 in real time based on this data to adapt to the water depth at different locations. For example, if a wheel 10 detects deeper water, the controller 3 can adjust the floating height of the wheel or take other measures to adapt to the change in water depth.

[0088] like Figure 1 As shown, the setting height of each water depth detection device is g, and g satisfies the following conditions:

[0089] G=(h+Δ)

[0090] Wherein, h is the height between the wheel top and the chassis when the wheel floats, which height varies with the design and assembly of the vehicle 100, and usually depends on the suspension system and tire size of the vehicle 100. Δ is the safety distance margin. It is an additional distance for setting the height g. This margin takes into account the safety of water depth detection to ensure that the water depth detection device 4 can still work normally when it is below the water surface and provide sufficient response time. This margin is usually determined according to safety standards and design requirements.

[0091] For example, if the height h between the wheel top and the chassis 2 is 10 cm when the wheel 10 floats, and the safety distance margin Δ is 5 cm, then the setting height g of each water depth detection device 4 is equal to 15 cm. This means that the water depth detection device 4 will start measuring the water depth at a position 15 cm from the bottom of the vehicle body to ensure accuracy and safety.

[0092] Therefore, the height of the water depth detection device 4 is calculated to ensure that the water depth can be accurately measured when floating, and a safety distance margin is taken into account to improve safety. This helps to ensure the reliability and performance of the amphibious vehicle under different water depth conditions.

[0093] In some embodiments, if the number of water depth detection devices 4 is less than the number of wheels 10, this means that not every wheel 10 is equipped with a water depth detection device 4, but is selectively installed according to needs, optimization or other factors. At this time, due to the limited number of water depth detection devices 4, it may not be possible to cover the positions of all wheels 10. Therefore, the vehicle 100 can also be equipped with a posture detection device 5 for detecting vehicle body posture information. The posture information may include the tilt angle, horizontality, etc. of the vehicle 100, which is used to determine the posture state of the vehicle 100 when floating on water. The posture detection device 5 is connected to the controller 3, which means that the posture information will be transmitted to the controller 3 so that the vehicle 100 can take appropriate measures according to the posture state. For example, when floating on water, if the vehicle 100 tilts too much, it may cause instability or overturning. The posture detection device 5 can detect this situation in time and notify the controller 3 to take corrective measures, such as adjusting the floating system to maintain balance.

[0094] Figure 3 Schematic diagram of a vehicle appearance structure according to another embodiment of the present invention. Figure 3 As shown, when the number of water depth detection devices 4 is less than 4, for example, there are only 2 water depth detection devices 4, and they are respectively arranged on the left and right rearview mirrors 7, it is impossible to directly determine whether each wheel 10 is completely immersed in water. Therefore, it is necessary to perform conversion calculation through the attitude angle of the vehicle body 1 to indirectly obtain the water immersion state of each wheel. This can be achieved by equipping the attitude detection device 5.

[0095] In some embodiments, the attitude detection device 5 may be a vehicle-mounted 6-axis IMU (Inertial Measurement Unit) module. The vehicle-mounted 6-axis IMU module may be a sensor system carried by the vehicle 100, typically including a three-axis accelerometer and a three-axis gyroscope. The module may be used to obtain attitude angle information such as the roll angle (pitch angle) and longitudinal inclination angle (roll angle) of the vehicle body 1. This information may tell the current attitude of the vehicle 100, i.e., the inclination angle of the vehicle body 1 relative to the horizontal plane.

[0096] Figure 4 is a schematic diagram of a vehicle appearance structure according to another embodiment of the present invention. Figure 4 As shown, when the number of water depth detection devices 4 is less than 4, for example, there are only 2 water depth detection devices 4, and they are respectively arranged on the front and rear sides of the vehicle body 1 at the water level height g where the wheels 10 just float in the water. However, since it is impossible to directly determine whether each wheel 10 is completely immersed in the water, it is necessary to perform conversion calculations through the attitude angle of the vehicle body 1 to indirectly obtain the water immersion state of each wheel. This can also be achieved by equipping an attitude detection device 5 (such as a vehicle-mounted 6-axis IMU module). The attitude angle information such as the roll angle and pitch angle of the vehicle body 1 can be obtained through this module.

[0097] like Figure 2 As shown, the vehicle 100 also includes: a wheel 10, a wheel speed sensor 20, a steering knuckle 30, a transmission half shaft 40, a reducer 50, a drive motor 60, a power battery 70, a battery management system 80 and a vehicle-mounted satellite navigation and positioning device 6.

[0098] Among them, the wheels 10 provide the traction and support required for the vehicle 100 to travel on land. The wheel speed sensor 20 is used to monitor the rotation speed of each wheel 10. The wheel speed sensor 20 provides information about the speed and steering of the vehicle 100, which will be used by the controller 3 for dynamic control of the vehicle 100. The steering knuckle 30 can be a key component for steering the vehicle 100. It is connected to the two front wheels, allowing the vehicle 100 to achieve steering on land or in water. The drive half shaft 40 connects the drive motor 60 and the wheel 10, and transmits power from the drive motor 60 to the wheel 10, so that the vehicle 100 can move forward and backward. The reducer 50 is used to reduce the speed of the drive motor 60 output and provide more torque. This is very important for providing enough power for paddling when traveling in water.

[0099] The drive motor 60 can be the power source of the vehicle 100, which is connected to the reducer 50 through a spline to provide power for the vehicle 100. The control of the drive motor 60 is performed by the controller 3. The power battery 70 can be the energy source of the vehicle 100, which is used to store electrical energy for use by the drive motor 60. The battery management system 80 can monitor and manage the performance of the power battery 70 to ensure its safe and efficient operation. The vehicle-mounted satellite navigation positioning device 6 is connected to the controller 3 and is used to detect the vehicle speed when the vehicle 100 is floating on water.

[0100] In some embodiments, the two front wheels 10 are connected to the steering knuckle 30 through the transmission half shaft 40, and are connected to the reducer 50 through the transmission half shaft 40, and the reducer 50 is connected to the drive motor 60 through a spline. The two rear wheels 10 are connected to the reducer 50 through the transmission half shaft 40, and the reducer 50 is connected to the drive motor 60 through a spline. The wheel speed sensor 20, the drive motor 60, the water depth detection device 4, the battery management system 80, the vehicle-mounted satellite navigation positioning device 6, etc. are connected by electrical means ( Figure 2 The power battery 70 is connected to the battery management system 80 by electrical connection.

[0101] Therefore, the various components of the vehicle system work closely together to ensure that the vehicle 100 can travel safely and efficiently in different environments and achieve amphibious functions. The controller 3 plays a key role in coordinating and controlling the various components, so that the vehicle 100 can adapt to different driving scenarios.

[0102] In some embodiments, the vehicle 100 uses the same power transmission system when traveling on water and on land. When the vehicle 100 is traveling on land, the controller 3 controls the drive motor 60 to drive the wheels 10 to rotate forward or backward to achieve the function of traveling on land, and drives the steering knuckle 30 and the front wheel 10 to deflect through the steering wheel and the steering mechanism, so that the vehicle 100 can perform steering operations on land. The controller 3 receives data from the driver input (steering wheel rotation) and the sensor (wheel speed sensor 20) to effectively control the movement of the vehicle 100.

[0103] When the vehicle 100 is traveling in water, the power transmission method of the vehicle 100 is slightly different from that of traveling on land. The controller 3 still provides power by controlling the drive motor 60, but this time the vehicle 100 no longer uses the wheels 10 to directly contact the ground. Instead, the drive motor 60 is controlled to drive each wheel 10 to rotate forward or backward synchronously at high speed, and the tire pattern and spoke structure are used to paddle water forward or backward to achieve traveling in water. The controller 3 controls the drive motor 60 to drive each wheel 10 to rotate forward or backward at high speed according to the steering wheel rotation size and rotation speed, so as to achieve differential steering in water, in-situ steering in water, and lateral stability control when yaw when traveling in a straight line in water.

[0104] In some embodiments, since there is no direct linear relationship between the wheel speed of each wheel 10 and the actual driving speed when the vehicle 100 is traveling in water, the actual driving speed in water cannot be directly calculated by the wheel speed. To solve this problem, the vehicle 100 can use a vehicle-mounted satellite navigation positioning device 6, which is connected to the controller 3 and is used to detect position information when the vehicle is floating on water. The controller 3 can obtain a vehicle speed signal based on the position information, and motion control and instrument display can be performed through the vehicle speed signal to ensure that the driver can obtain accurate information about the vehicle speed so as to safely travel in water.

[0105] Reference below Figure 5-Figure 7 A vehicle control method according to an embodiment of the present invention is described, wherein the vehicle comprises a driving and transmission system for land travel, the driving and transmission system comprising distributed drive motors for driving wheels.

[0106] Figure 5 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 5 As shown, the vehicle control method at least includes steps S1-S3, which are specifically as follows.

[0107] S1, obtain vehicle status information.

[0108] In some embodiments, the vehicle status information may include a variety of data and parameters to provide detailed information about the current state of the vehicle. Such information may include: floating vehicle speed, acceleration, attitude angle, wading depth, location information, vehicle load, tire status, etc. The vehicle status information may be monitored in real time through various sensors. For example, speed sensors, accelerometers, gyroscopes, tire pressure sensors, water depth detection devices, attitude detection devices, vehicle-mounted satellite navigation and positioning devices, etc.

[0109] S2, in response to the water-floating driving trigger instruction, obtaining target control parameters of the driving motor according to the vehicle state information and the water-floating driving characteristic information.

[0110] Among them, floating driving may refer to the state in which a vehicle is driving on the water surface or in shallow water, similar to a boat or a floating tool. This is a special driving mode, which is usually used when it is necessary to cross a river, cross a puddle, or pass through water areas such as a waterway. In this mode, the vehicle can float on the water and move forward without sinking. This driving mode usually requires the vehicle to have specific water driving capabilities, such as buoyancy and stability. The floating driving mode requires the vehicle to be watertight and have sufficient buoyancy to ensure that the vehicle can drive smoothly and safely on the water. Floating driving characteristic information may refer to information about specific parameters and performance requirements required for the vehicle to operate in a floating state. This information helps to determine how the vehicle should be operated and controlled when driving on the water to ensure safe, stable and effective floating driving.

[0111] Specifically, after obtaining the vehicle status information, the vehicle needs to respond to a floating driving trigger command. This command can come from the driver's operation or the decision of the automatic control system, which is used to prompt the vehicle to switch to the floating driving mode. Once the trigger command is received, the system will use the previously acquired vehicle status information and floating driving characteristic information to calculate the target control parameters required for the drive motor. These parameters may include the motor target wheel speed, target yaw rate, etc., to ensure that the vehicle remains stable and controlled when driving on water.

[0112] S3, controlling the corresponding driving motor according to the target control parameter to enable the vehicle to float on water.

[0113] Specifically, after calculating the target control parameters, the system can apply these target control parameters to the corresponding drive motors in a distributed arrangement. These drive motors will adjust their working mode according to the target control parameters to ensure that the vehicle can float smoothly on the water. Specifically, it may involve the adjustment of motor power, the control of the rotation speed of the wheels, the adjustment of the steering system, etc. The purpose is to enable the vehicle to maintain balance and control on the water, thereby achieving floating driving. For example, if the vehicle needs to float in deep water, the system can increase the output power of the drive motor to provide sufficient buoyancy. If the vehicle tilts, the drive motor may be adjusted accordingly to maintain balance.

[0114] According to the vehicle control method of the embodiment of the present invention, a distributed drive motor is used so that each wheel can be independently controlled. By acquiring vehicle status information and floating driving calibration information and calculating the target control parameters of the drive motor based on this information, the vehicle can be controlled to float on water, thereby realizing two driving modes of land driving and floating driving, enhancing the versatility and adaptability of the vehicle. Moreover, compared with traditional amphibious vehicles, the driving and transmission system based on land driving can realize the floating operation of the vehicle, without the need to use two different power transmission systems, greatly reducing the complexity of the system, reducing production costs, and improving production efficiency.

[0115] In some embodiments, the vehicle control method of the embodiment of the present invention can be applied to two situations: vehicle floating on water and steering control and vehicle floating on water and in-situ steering control. The vehicle floating on water and steering control will be specifically described below.

[0116] In some embodiments, the vehicle state information includes the throttle opening. The throttle opening may refer to the force or opening of the accelerator pedal stepped by the driver. The throttle opening is usually used to control the acceleration and speed of the vehicle. In the floating driving mode, the throttle opening may also be used to control the speed of the vehicle in the water.

[0117] In some embodiments, the target control parameters of the drive motor are obtained according to the vehicle state information and the floating water driving characteristic information, including: querying a first mapping relationship according to the throttle opening to obtain the motor pre-controlled wheel speed, wherein the first mapping relationship is a mapping relationship between the throttle opening and the motor pre-controlled wheel speed. This mapping relationship is a mathematical function or table that maps different values ​​of the throttle opening to corresponding motor pre-controlled wheel speeds. This means that by querying this mapping relationship, the system can calculate the appropriate motor pre-controlled wheel speed according to the throttle opening, so that the vehicle can move forward at a desired speed when floating water.

[0118] In addition, this mapping relationship can be determined through experimental testing or simulation or theoretical calculation according to the performance characteristics and design parameters of the vehicle. In actual applications, vehicle manufacturers or engineers may perform different calibrations and adjustments based on the performance requirements of specific models and various factors such as vehicle mass, motor power, tire friction, etc. to ensure that the control system performs optimally on different vehicles. Therefore, different vehicles may have different first mapping relationships to adapt to their unique working conditions and design parameters.

[0119] In some embodiments, controlling the corresponding drive motor according to the target control parameter includes: controlling each drive motor to drive the wheel to rotate forward or backward synchronously according to the motor pre-controlled wheel speed, wherein the motor pre-controlled wheel speed of each drive motor is the same.

[0120] Specifically, the first mapping relationship is queried according to the throttle opening to obtain the motor pre-controlled wheel speed, and the obtained motor pre-controlled wheel speed is applied to each drive motor. The system will ensure that the motor pre-controlled wheel speed of each drive motor is the same. This is to ensure that the wheels rotate forward or backward synchronously so that the vehicle can move forward or backward along a predetermined trajectory. This synchronous rotation ensures that the vehicle can maintain balance and stability during floating driving without the problem of inconsistent rotation speeds of different wheels causing difficulty in direction control. This synchronous rotation can be achieved by adjusting the power output of each drive motor according to the motor pre-controlled wheel speed.

[0121] In some embodiments, the vehicle state information also includes a steering wheel angle and a floating vehicle speed. These information are crucial for the control of floating driving. The steering wheel angle indicates the angle at which the driver turns the steering wheel, which is used to determine the steering intention of the vehicle. The floating vehicle speed indicates the speed of the vehicle when driving on water.

[0122] In some embodiments, the target control parameters of the drive motor are obtained according to the vehicle state information and the floating driving characteristics information, including: querying the second mapping relationship according to the steering wheel angle and the floating vehicle speed to obtain the first target yaw rate, wherein the second mapping relationship is a mapping relationship of steering wheel angle-floating vehicle speed-first target yaw rate. The mapping relationship takes the steering wheel angle and the floating vehicle speed as inputs and outputs the first target yaw rate. This mapping relationship helps the system understand the driver's directional control intention and converts it into the yaw rate required by the vehicle. This mapping relationship can also be determined through experimental testing or simulation or theoretical calculation based on the performance characteristics and design parameters of the vehicle.

[0123] Further, after obtaining the first target yaw rate, the third mapping relationship is queried according to the first target yaw rate to obtain the first pre-controlled differential wheel speed of each wheel, wherein the third mapping relationship is a mapping relationship of the first target yaw rate-first pre-controlled differential wheel speed. Through this mapping relationship, the steady-state differential wheel speed required for the vehicle to achieve different steering target yaw rates when floating on water can be obtained.

[0124] Further, the motor target wheel speed of each drive motor is obtained according to the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed. These target wheel speeds are used to control the drive motor to drive the wheels so that the vehicle can turn in the forward or backward process according to the predetermined yaw rate and speed.

[0125] In some embodiments, the second mapping relationship includes the following relationship:

[0126]

[0127] Among them, ω rs 1 is the first target yaw rate, δ is the steering wheel angle deg, δ0 is the steering wheel angle threshold, for example, it can be 5-10deg, u is the floating vehicle speed Km / h, K is the steering coefficient, which can be calibrated.

[0128] In addition, the selection of the first target yaw rate also needs to consider the lateral stability of the vehicle. When the yaw rate of the vehicle is too large, the vehicle may roll significantly. When the vehicle's roll reaches a certain amplitude, the water surface is likely to exceed the window and pour into the vehicle. Therefore, the vehicle control method also includes: querying the fourth mapping relationship according to the floating vehicle speed to obtain the first maximum allowable yaw rate that meets the vehicle's allowable roll amplitude, and the fourth mapping relationship is the mapping relationship between the floating vehicle speed and the first maximum allowable yaw rate. Among them, the first target yaw rate is less than the first maximum allowable yaw rate. It can be expressed as:

[0129] ω rs 1 <ω rs max1

[0130] Among them, ω rs max1 It is the first maximum allowable yaw rate within the allowable roll range of the vehicle.

[0131] Therefore, the maximum yaw speed allowed for the vehicle in the floating state is determined based on the floating speed and the allowed roll angle. This helps ensure that the vehicle remains safe and stable when driving on the water.

[0132] In some embodiments, after obtaining the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed, the vehicle control method further includes: obtaining the target wheel speeds of each drive motor according to the first target yaw angular velocity, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed. The system transmits these target wheel speed information to each drive motor to control their rotation speed. By adjusting the wheel speeds of each drive motor at the same time, the vehicle can achieve the required yaw motion, so that the vehicle can turn smoothly when floating on water, ensuring the stability and controllability of the vehicle when floating on water.

[0133] In some embodiments, obtaining the target wheel speed of each drive motor according to the first target yaw rate, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed includes: obtaining an actual yaw rate. The actual yaw rate can be obtained by a sensor, indicating the current lateral motion speed of the vehicle, and can help the system understand whether the vehicle has achieved the required yaw motion target.

[0134] Furthermore, the system compares the first target yaw rate with the actual yaw rate and calculates the difference between them, thereby obtaining a first yaw angle difference, which represents the deviation between the actual yaw motion of the vehicle and the target yaw motion.

[0135] Further, the first yaw angle difference provides information indicating the lateral motion deviation of the vehicle. Based on the first yaw angle difference, the system can calculate a first target wheel speed correction amount that needs to be made to the vehicle wheel speed. The first target wheel speed correction amount is used to adjust the wheel speed of each wheel to correct the amount of yaw motion deviation.

[0136] Furthermore, the first target wheel speed correction, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed are combined to obtain the motor target wheel speed of each wheel. These motor target wheel speeds will be used to control each drive motor to achieve stability and yaw control of the vehicle during floating driving and correct deviations.

[0137] Figure 6 FIG. 4 is a control block diagram of a vehicle floating on water and turning on water according to an embodiment of the present invention. Figure 6 As shown, the specific control process of the vehicle includes: according to the throttle opening, querying the mapping relationship between the throttle opening and the motor pre-controlled wheel speed, and obtaining the motor pre-controlled wheel speed required under the throttle opening, which is to achieve the acceleration or deceleration of the vehicle. In addition, the motor pre-controlled wheel speeds based on the throttle opening of the four drive motors are the same.

[0138] Further, the mapping relationship of the steering wheel angle, the floating vehicle speed, and the first target yaw rate is queried according to the steering wheel angle and the floating vehicle speed, and the first target yaw rate required for steering under the current steering wheel angle and the floating vehicle speed is obtained. The first target yaw rate is the yaw rate that the vehicle needs to reach in order to complete the steering operation.

[0139] Furthermore, the actual yaw angular velocity is acquired, and the first target yaw angular velocity and the actual yaw angular velocity are subtracted by a subtractor to obtain a response deviation of the yaw angular velocity, that is, a first yaw angle difference.

[0140] Furthermore, by inputting the response deviation of the yaw rate to the input terminal of the controller, it can be used as an input signal of the controller. The controller here can be a PI (Proportional-Integral) controller, a PD (Proportional-Derivative) controller, a PID (Proportional Integral Derivative) controller or other controllers. The task of the controller can be to generate a control output according to the input deviation to adjust the output of the motor so as to achieve the steering of the vehicle.

[0141] Further, a mapping relationship between the first target yaw rate and the first pre-controlled differential wheel speed is queried according to the first target yaw rate to obtain the first pre-controlled differential wheel speed required at the first target yaw rate.

[0142] Furthermore, the output signal of the controller is used as the first target wheel speed correction, and is summed with the motor pre-controlled wheel speed based on the throttle opening and the first pre-controlled differential wheel speed based on the steering through an adder to obtain the motor target wheel speed corresponding to each wheel. After receiving the motor target wheel speed signal, the motor controller performs closed-loop control of the motor wheel speed. The actual yaw rate of the vehicle can be detected and obtained by the yaw rate sensor or IMU sensor located in the vehicle controller. In this way, a complete driving and steering composite coupling control is formed, which is a double closed-loop control loop composed of the wheel speed feedforward control formed by the motor pre-controlled wheel speed and the yaw rate feedback control. Composite control of vehicle driving and steering can be achieved.

[0143] In some embodiments, controlling the corresponding drive motors according to the target control parameters includes: controlling the corresponding drive motors according to the motor target wheel speeds of the respective drive motors, wherein the first pre-controlled differential wheel speeds based on the first target yaw angular velocity of the left drive motor and the right drive motor of the vehicle are the same in magnitude and opposite in direction. This means that the left drive motor and the right drive motor will rotate at the same speed but in opposite directions, which helps the vehicle to achieve yaw motion, i.e., turn or change direction, so that it is more flexible when traveling on water.

[0144] Therefore, according to the current yaw motion demand of the vehicle, the differential wheel speeds of the left and right drive motors are controlled to achieve the required yaw motion, which helps the vehicle maintain balance and control when floating on water, thereby improving the stability and safety of floating on water.

[0145] In some embodiments, when the first mapping relationship and the second mapping relationship are obtained by testing or simulation or theoretical calculation based on the vehicle forward gear, this approach means that the manufacturer or researcher may conduct a series of tests in the vehicle forward gear, or use simulation tools for simulation, or rely on theoretical calculations to collect data and information. In these tests, simulations or calculations, different input parameters can be changed, such as throttle opening, steering wheel angle, floating vehicle speed, etc., and then the related motor pre-controlled wheel speed, first target yaw rate, first pre-controlled differential wheel speed and other data are recorded. Through these tests, simulations or calculations, the first mapping relationship and the second mapping relationship can be established, which describe the association between different input parameters and the required motor control parameters.

[0146] In some embodiments, when the first mapping relationship and the second mapping relationship are obtained by experiment, simulation or theoretical calculation based on the vehicle reverse gear, similarly, the manufacturer or researcher may change different input parameters. At this time, the system will record the performance characteristics and parameters of the vehicle in the reverse state, such as the motor pre-controlled wheel speed, the first target yaw rate, the first pre-controlled differential wheel speed, etc., and establish the first mapping relationship and the second mapping relationship. These relationships are applicable to floating driving in the reverse gear of the vehicle to ensure the stability and adaptability of the vehicle in the reverse state.

[0147] The following is a detailed description of the vehicle's floating on water in-situ steering control.

[0148] In some embodiments, the vehicle state information includes the throttle opening. The system can monitor the driver's input to the throttle to understand whether the driver wants the vehicle to perform a floating spot turn.

[0149] In some embodiments, obtaining the target control parameter of the drive motor according to the vehicle state information and the floating driving characteristic information includes: querying a fifth mapping relationship according to the throttle opening to obtain a second target yaw rate, wherein the fifth mapping relationship is a mapping relationship between the throttle opening and the second target yaw rate. The second target yaw rate may be a desired yaw motion speed during floating in-situ turning, that is, a desired rotation speed of the vehicle when turning in-situ on the water.

[0150] Further, the sixth mapping relationship is queried according to the second target yaw rate to obtain the second pre-controlled differential wheel speed, wherein the sixth mapping relationship is a mapping relationship of the second target yaw rate-the second pre-controlled differential wheel speed. The sixth mapping relationship can be used to obtain the steady-state differential wheel speed required for the vehicle to achieve different turning target yaw rates in the floating state. The second pre-controlled differential wheel speed can be the expected wheel speed that each wheel should have when turning in place in the floating state to achieve the required yaw motion.

[0151] Further, the motor target wheel speeds of each drive motor are obtained according to the second target yaw rate and the second pre-controlled differential wheel speed. These motor target wheel speeds will be used to control the operation of each drive motor to control their rotation speeds, thereby achieving floating in-situ steering.

[0152] In some embodiments, obtaining the motor target wheel speed of each drive motor according to the second target yaw rate and the second pre-controlled differential wheel speed includes: calculating the difference between the second target yaw rate and the actual yaw rate, i.e., the second yaw angle difference. This difference represents the deviation between the current yaw motion state of the vehicle and the desired yaw motion state. If the actual yaw rate is equal to the second target yaw rate, then the difference will be zero, indicating that the vehicle has achieved the desired yaw motion.

[0153] Further, a second target wheel speed correction is obtained based on the second yaw angle difference, and this correction is to correct the yaw motion of the vehicle so that it gradually tends to the desired second target yaw rate. If the yaw rate deviation is large, the correction may be larger to achieve the target yaw motion faster. The calculation of the second target wheel speed correction usually involves a control algorithm, such as a PID (proportional-integral-differential) controller. The PID controller uses the yaw angle difference to adjust the target wheel speed of the vehicle to reduce the deviation of the yaw rate.

[0154] Furthermore, the second target wheel speed correction is combined with the second pre-controlled differential wheel speed to calculate the motor target wheel speed of each drive motor. These motor target wheel speeds will be used to control each drive motor to adjust their rotation speed, thereby achieving floating in-situ steering and precise lateral movement of the vehicle.

[0155] In some embodiments, the fifth mapping relationship satisfies the following relationship:

[0156]

[0157] Among them, ω rs2 is the second target yaw rate, α is the throttle opening, α0 is the throttle opening threshold, and K is the steering coefficient. Among them, α0 is a set value, usually between 3% and 5%. When the throttle opening exceeds this threshold, the system will generate the second target yaw rate based on the linear relationship, indicating that the driver has the intention to turn. The steering coefficient K is an adjustable parameter used to adjust the linear relationship between the throttle opening and the second target yaw rate. By adjusting this parameter, the sensitivity of the system to the throttle input can be controlled.

[0158] In some embodiments, the selection of the second target yaw rate also needs to consider the lateral stability of the vehicle. When the yaw rate of the vehicle is too large, the vehicle may roll significantly. When the roll of the vehicle reaches a certain amplitude, the water surface is likely to exceed the window and pour into the vehicle. Therefore, the vehicle control method also includes: querying the seventh mapping relationship according to the throttle opening to obtain the second maximum allowable yaw rate that meets the allowable roll amplitude of the vehicle. Among them, the seventh mapping relationship is the mapping relationship between the throttle opening and the second maximum allowable yaw rate. This means that according to the degree to which the driver steps on the accelerator, the system will determine the maximum yaw rate allowed for the vehicle in the floating driving state. Among them, the second target yaw rate is less than the second maximum allowable yaw rate. This condition ensures that the vehicle does not exceed the maximum allowable yaw rate range during floating driving. It can be expressed as:

[0159] ω rs 2<ω rs max2

[0160] Among them, ω rsmax2 It is the second maximum permissible yaw rate within the permissible roll range of the vehicle.

[0161] Therefore, the vehicle's yaw motion is limited according to the driver's throttle input to ensure that the vehicle remains stable when driving on water, ensuring that the vehicle's yaw motion remains within a controllable range to prevent rollover or loss of control, which helps to improve the vehicle's driving performance and safety on water.

[0162] In some embodiments, controlling the corresponding drive motor according to the target control parameter includes: controlling the corresponding drive motor according to the motor target wheel speed of the drive motor, wherein the second pre-controlled differential wheel speed based on the second target yaw angular velocity of the left drive motor and the right drive motor of the vehicle is the same in magnitude and opposite in direction. This means that the left drive motor and the right drive motor will rotate at the same speed but in opposite directions, and this feature helps the vehicle to achieve yaw motion, that is, turning or changing direction, thereby achieving floating in-situ steering control of the vehicle.

[0163] Figure 7 is a control block diagram of a vehicle floating on water in-situ steering according to an embodiment of the present invention. Figure 7 As shown, the specific control process of the vehicle includes: according to the throttle opening, querying the mapping relationship between the throttle opening and the second target yaw rate, and obtaining the second target yaw rate required under the throttle opening. The second target yaw rate represents the expected yaw rate when the driver wants the vehicle to turn in place.

[0164] Furthermore, the actual yaw angular velocity is obtained, and the second target yaw angular velocity and the actual yaw angular velocity are subtracted through a subtractor to obtain a response deviation of the yaw angular velocity, that is, a second yaw angle difference.

[0165] Furthermore, by inputting the response deviation of the yaw rate to the input terminal of the controller, it can be used as an input signal of the controller. The controller here can be a PI controller, a PD controller, a PID controller or other controllers. The task of the controller can be to generate a control output according to the input deviation to adjust the output of the motor so as to achieve the vehicle's on-the-spot steering.

[0166] Furthermore, the mapping relationship between the second target yaw angular velocity and the second pre-controlled differential wheel speed is queried according to the second target yaw angular velocity, and the required second pre-controlled differential wheel speed under the second target yaw angular velocity is obtained (the second pre-controlled differential wheel speeds of the left drive motor and the right drive motor based on the second target yaw angular velocity are the same in magnitude but opposite in direction).

[0167] Furthermore, the output signal of the controller is used as the second target wheel speed correction, and is summed with the second pre-controlled differential wheel speed based on steering through an adder to obtain the motor target wheel speed corresponding to each drive motor. After receiving the motor target wheel speed signal, the motor controller performs closed-loop control of the motor wheel speed. The actual yaw rate of the vehicle can be detected and obtained by the yaw rate sensor or IMU sensor located in the vehicle controller. In this way, a double closed-loop control loop consisting of wheel speed feedforward control formed by the pre-controlled differential wheel speed and yaw rate feedback control is formed, which can realize the vehicle's in-situ steering.

[0168] In some embodiments, the vehicle control method further includes: obtaining the wading depth of the vehicle. The system can obtain the wading depth information of the vehicle through a water depth detection device provided corresponding to each wheel, and this depth information can be used to determine the current water depth of the vehicle.

[0169] Further, after obtaining the wading depth data, the system compares the obtained wading depth data with the preset floating driving depth threshold. If the wading depth of the vehicle exceeds the preset floating driving depth threshold, it means that the vehicle has entered relatively deep waters, and a floating driving trigger instruction is received. This instruction can come from the driver's operation or the decision of the automatic control system, which is used to prompt the vehicle to switch to the floating driving mode, thereby ensuring that the vehicle only floats in sufficient water depth. If the wading depth is not sufficient to support floating driving, the system will not trigger the floating driving mode to prevent the vehicle from getting into trouble or being damaged. This helps to improve the safety and stability of the vehicle and ensure that it floats under appropriate conditions.

[0170] In some embodiments, the water depth detection device provided for each wheel obtains the wading depth of the vehicle, including: obtaining the water depth information collected by each water depth detection device. By aggregating or processing the water depth information collected by each water depth detection device, the vehicle's control system can determine the overall wading depth of the vehicle. This water depth information can be used to determine whether it is necessary to trigger the floating driving mode to ensure the safety and stability of the vehicle's floating driving. At the same time, the independent water depth detection device of each wheel can provide more detailed information for adjusting the behavior of the vehicle to adapt to floating driving under different conditions.

[0171] In some embodiments, if the number of water depth detection devices is less than the number of wheels, obtaining the wading depth of the vehicle includes obtaining vehicle body posture information. The vehicle body posture information may include the tilt angle, pitch angle, roll angle, etc. of the vehicle, which is used to describe the posture of the vehicle in the water. This information can be obtained by the posture detection device.

[0172] In addition, it is also necessary to obtain the height information from the water surface collected by each water depth detection device. The wading depth of the vehicle is determined based on the posture information and the height information. This can be done through a mathematical model or algorithm, taking into account the tilt angle of the vehicle body and the height from the water surface to estimate the wading depth of the vehicle, and relatively accurate wading depth information can be obtained even if the number of water depth detection devices is small.

[0173] In some embodiments, the vehicle control method further includes: when no floating driving trigger command is received, the system will determine that the vehicle is in land driving mode and will not switch to floating driving mode. After determining that the vehicle is in land driving mode, the system will respond to the land driving control signal. This signal can come from the driver's operation, such as stepping on the accelerator, braking or turning the steering wheel, or from the decision of the vehicle's automatic control system. The system will control the drive motor so that the vehicle continues to run on land. This can include adjusting parameters such as motor output power, wheel speed, steering, etc. to ensure that the vehicle has the required performance and control capabilities when driving on land.

[0174] In some embodiments, the control system of the vehicle can automatically switch modes according to the received signal, switching from the floating driving mode to the land driving mode, or vice versa. This switching can be performed according to the needs of the driver or the decision of the system to ensure that the vehicle has appropriate control behavior in different environments. For example, when the vehicle enters the water from land, the floating driving trigger instruction can be activated to put the vehicle into the floating driving mode. Conversely, when the vehicle returns to land, the land driving control signal can trigger the switch back to the land driving mode. This flexibility and automation can improve the adaptability and usability of the vehicle in a variety of environments.

[0175] Based on the vehicle control method of the above embodiment, Figure 8 A vehicle controller according to an embodiment of the present invention is described.

[0176] Figure 8 is a block diagram of a vehicle controller according to an embodiment of the present invention, Figure 8 As shown, the vehicle controller 110 includes a processor 111 and a memory 112 .

[0177] Among them, the memory 112 is communicatively connected with the processor 111, and the memory 112 stores a computer program that can be executed by the processor 111. In an embodiment, the memory 112 can be a solid-state memory (such as flash memory) or a random access memory (RAM) for storing programs and intermediate calculation results.

[0178] The processor 111 is a core component of the vehicle controller 110, responsible for processing and executing various instructions, as well as calculating and controlling data. The processor 111 implements the vehicle control method described in the above embodiment when executing the computer program. The processor 111 can be a general-purpose processor, or a dedicated digital signal processor (DSP) or other applicable processor.

[0179] According to the vehicle controller 110 of the embodiment of the present invention, the processor 111 can realize two driving modes, namely, land driving and floating driving, by executing the vehicle control method described in the above embodiment, thereby enhancing the versatility and adaptability of the vehicle 100. Moreover, compared with traditional amphibious vehicles, the driving and transmission system based on land driving can realize the floating operation of the vehicle 100, without using two different power transmission systems, thereby reducing the complexity of the system and reducing the production cost.

[0180] In some embodiments of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed, the vehicle control method of any of the above embodiments is implemented.

[0181] According to the computer-readable storage medium proposed in the embodiment of the present invention, a computer program is stored thereon. When the computer program is executed by the processor 111, the vehicle control method of the above embodiment can be implemented. By acquiring the vehicle state information and the floating driving calibration information and calculating the target control parameters of the drive motor according to the information, the vehicle can be controlled to float on water, thereby realizing two driving modes of land driving and floating driving, enhancing the versatility and adaptability of the vehicle 100, and compared with the traditional amphibious vehicle, the driving and transmission system based on land driving can realize the floating operation of the vehicle, without using two different power transmission systems, greatly reducing the complexity of the system, reducing the production cost, and improving the production efficiency.

[0182] The computer-readable storage medium of the embodiments of the present invention may include, but is not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0183] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0184] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a drive and transmission system for land travel, wherein the drive and transmission system comprises a distributed drive motor for driving wheels; The vehicle control method comprises: Get vehicle status information; In response to a water-floating driving trigger instruction, obtaining a target control parameter of the driving motor according to the vehicle state information and the water-floating driving characteristic information; The corresponding driving motor is controlled according to the target control parameter so that the vehicle can float on water.

2. The vehicle control method according to claim 1, characterized in that: The vehicle status information includes throttle opening; Obtaining target control parameters of the drive motor according to the vehicle state information and the water-floating driving characteristic information includes: A first mapping relationship is queried according to the throttle opening to obtain the motor pre-controlled wheel speed, wherein the first mapping relationship is a mapping relationship between the throttle opening and the motor pre-controlled wheel speed.

3. The vehicle control method according to claim 2, characterized in that: Controlling the corresponding driving motor according to the target control parameter includes: Each driving motor is controlled according to the motor pre-controlled wheel speed to drive the wheel to rotate forward or backward synchronously, wherein the motor pre-controlled wheel speed of each driving motor is the same.

4. The vehicle control method according to claim 2, characterized in that: The vehicle status information also includes steering wheel angle and water-floating vehicle speed; Obtaining target control parameters of the drive motor according to the vehicle state information and the water-floating driving characteristic information includes: querying a second mapping relationship according to the steering wheel angle and the water-floating vehicle speed to obtain a first target yaw rate, wherein the second mapping relationship is a mapping relationship of steering wheel angle-water-floating vehicle speed-first target yaw rate; querying a third mapping relationship according to the first target yaw angular velocity to obtain a first pre-controlled differential wheel speed of each wheel, wherein the third mapping relationship is a mapping relationship between the first target yaw angular velocity and the first pre-controlled differential wheel speed; The motor target wheel speed of each drive motor is obtained according to the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed.

5. The vehicle control method according to claim 4, characterized in that: Obtaining the motor target wheel speed of each drive motor according to the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed includes: The target wheel speeds of the respective driving motors are obtained according to the first target yaw rate, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed.

6. The vehicle control method according to claim 5, characterized in that: Obtaining target wheel speeds of each drive motor according to the first target yaw angular velocity, the first pre-controlled differential wheel speed, and the motor pre-controlled wheel speed includes: Get the actual yaw angular velocity; Obtaining a first yaw angle difference according to the first target yaw angular velocity and the actual yaw angular velocity; Obtaining a first target wheel speed correction value according to the first yaw angle difference; The first target wheel speed correction amount, the first pre-controlled differential wheel speed and the motor pre-controlled wheel speed are used to obtain the motor target wheel speed corresponding to each wheel.

7. The vehicle control method according to claim 4, characterized in that: The second mapping relationship includes the following relationship: Among them, ω rs1 is the first target yaw rate, δ is the steering wheel angle, δ0 is the steering wheel angle threshold, u is the floating vehicle speed, and K is the steering coefficient.

8. The vehicle control method according to claim 4, characterized in that: The vehicle control method further includes: querying a fourth mapping relationship according to the floating vehicle speed to obtain a first maximum allowable yaw rate that satisfies the vehicle's allowable roll range, wherein the fourth mapping relationship is a mapping relationship between the floating vehicle speed and the first maximum allowable yaw rate; Wherein, the first target yaw rate is less than the first maximum allowable yaw rate.

9. The vehicle control method according to claim 4, characterized in that: Controlling the corresponding driving motor according to the target control parameter includes: The corresponding drive motors are controlled according to the motor target wheel speeds of the drive motors, wherein the first pre-controlled differential wheel speeds of the left drive motor and the right drive motor of the vehicle based on the first target yaw angular velocity are the same in magnitude and opposite in direction.

10. The vehicle control method according to claim 4, characterized in that: The first mapping relationship and the second mapping relationship are obtained by experiment, simulation or theoretical calculation based on the vehicle forward gear, or the first mapping relationship and the second mapping relationship are obtained by experiment, simulation or theoretical calculation based on the vehicle reverse gear.

11. The vehicle control method according to claim 1, characterized in that: The vehicle status information includes throttle opening; Obtaining target control parameters of the drive motor according to the vehicle state information and the water-floating driving characteristic information includes: querying a fifth mapping relationship according to the throttle opening to obtain a second target yaw rate, wherein the fifth mapping relationship is a mapping relationship of the throttle opening-the second target yaw rate; querying a sixth mapping relationship according to the second target yaw angular velocity to obtain a second pre-controlled differential wheel speed, wherein the sixth mapping relationship is a mapping relationship of the second target yaw angular velocity-the second pre-controlled differential wheel speed; The motor target wheel speed of each driving motor is obtained according to the second target yaw angular velocity and the second pre-controlled differential wheel speed.

12. The vehicle control method according to claim 11, characterized in that: Obtaining a motor target wheel speed of each drive motor according to the second target yaw angular velocity and the second pre-controlled differential wheel speed includes: Calculating a second yaw angle difference between the second target yaw angular velocity and the actual yaw angular velocity; obtaining a second target wheel speed correction value according to the second yaw angle difference; The motor target wheel speed is obtained according to the second target wheel speed correction amount and the second pre-controlled differential wheel speed.

13. The vehicle control method according to claim 11 or 12, characterized in that: The fifth mapping relationship satisfies: Among them, ω rs2 is the second target yaw rate, α is the throttle opening, α0 is the throttle opening threshold, and K is the steering coefficient.

14. The vehicle control method according to claim 11, characterized in that: The vehicle control method further includes: A seventh mapping relationship is queried according to the throttle opening to obtain a second maximum allowable yaw rate that satisfies an allowable roll range of the vehicle, wherein the seventh mapping relationship is a mapping relationship between throttle opening and second maximum allowable yaw rate, wherein the second target yaw rate is less than the second maximum allowable yaw rate.

15. The vehicle control method according to claim 11 or 12, characterized in that: Controlling the corresponding driving motor according to the target control parameter includes: The corresponding drive motor is controlled according to the motor target wheel speed of the drive motor, wherein the second pre-controlled differential wheel speeds based on the second target yaw angular velocity of the left drive motor and the right drive motor of the vehicle are the same in magnitude and opposite in direction.

16. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: Obtaining a wading depth of the vehicle; If it is determined that the wading depth of the vehicle exceeds a preset floating water driving depth threshold, the floating water driving trigger instruction is received.

17. The vehicle control method according to claim 16, characterized in that: The water depth detection device provided for each wheel obtains the wading depth of the vehicle, including: Acquiring water depth information collected by each of the water depth detection devices; The wading depth of the vehicle is determined according to the water depth information.

18. The vehicle control method according to claim 16, characterized in that: The number of water depth detection devices is less than the number of wheels, and obtaining the wading depth of the vehicle includes: Obtain vehicle body posture information; Acquire the height information from the water surface collected by each of the water depth detection devices; The wading depth of the vehicle is determined according to the vehicle body posture information and the height information.

19. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: When the floating travel trigger instruction is not received, the driving motor is controlled in response to the land travel control signal so that the vehicle runs on land.

20. A vehicle, characterized in that: include: body and chassis; A drive and transmission system, the drive and transmission system comprising distributed drive motors for driving wheels; A controller is connected to the drive and transmission system and is used to control the drive motor according to the vehicle control method according to any one of claims 1-19.

21. The vehicle according to claim 20, characterized in that The perforated parts on the chassis are sealed.

22. The vehicle according to claim 20, characterized in that The wet area of ​​the vehicle body is waterproofed, wherein the wet area of ​​the vehicle body includes an area where the vehicle body contacts water when the vehicle is floating on water.

23. The vehicle according to claim 20, characterized in that The vehicle further comprises: A vehicle air conditioning system, wherein a first switch valve is arranged at the drainage hole of the vehicle air conditioning system, and the first switch valve is controlled to be closed when the vehicle is floating on water.

24. The vehicle according to claim 20, characterized in that The driving and transmission system also includes an engine, and a second switch valve is provided at the air inlet and / or exhaust port of the engine, and the second switch valve is controlled to be closed when the vehicle is floating on water.

25. The vehicle of claim 20, wherein: The vehicle further comprises: The water depth detection device is connected to the controller and is used to detect the wading depth of the vehicle.

26. The vehicle according to claim 25, characterized in that The water depth detection device is provided corresponding to each of the wheels.

27. The vehicle according to claim 26, characterized in that The setting height of each water depth detection device is g, and g satisfies the following conditions: G = (h + Δ), where h is the height between the wheel top and the chassis when the wheel floats, and Δ is the safety distance margin.

28. The vehicle of claim 25, wherein: The number of the water depth detection devices is less than the number of the wheels; The vehicle further comprises a posture detection device, which is connected to the controller and is used for detecting vehicle body posture information.

29. The vehicle according to claim 28, characterized in that There are two water depth detection devices, which are arranged on the front and rear sides of the vehicle body, or the two water depth detection devices are arranged on the left and right rearview mirrors.

30. The vehicle of claim 20, wherein: The vehicle further comprises: The vehicle-mounted satellite navigation and positioning device is connected to the controller and is used to detect position information when the vehicle is floating on water. The controller is also used to obtain the vehicle speed according to the position information.

31. A vehicle controller, characterized in that: include: processor; a memory communicatively coupled to the processor; The memory stores a computer program, and the processor implements the vehicle control method according to any one of claims 1 to 19 when executing the computer program.

32. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the vehicle control method according to any one of claims 1 to 19 is implemented.

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