Amphibious automobile body stability control method, system, equipment and medium

Abstract

The invention relates to an amphibious vehicle body stability control method, system, equipment and medium, and belongs to the technical field of vehicle control, the amphibious vehicle body stability control method comprises the following steps: after a vehicle enters water, heeling angle data is acquired in real time; and when the heeling angle data exceeds a set threshold value and the maintaining time exceeds a preset duration, the volumes of air bags arranged on the two sides of the vehicle are adjusted in real time so that buoyancy distribution can be adjusted, and the purpose of stably controlling the vehicle body is achieved. According to the overwater vehicle body stability control method and system based on multi-sensor fusion and dynamic adjustment disclosed by the invention, the problems of turning, heeling and wave interference when the vehicle sails on the water surface are solved. The stability of amphibious vehicle sailing on water is greatly optimized, and the amphibious vehicle is suitable for development of intelligent amphibious vehicles in the future.

Description

Technical Field

[0001] This disclosure pertains to the field of automotive control technology, and particularly relates to a method, system, device, and medium for amphibious vehicle body stability control. Background Technology

[0002] The drive system of amphibious vehicles is a hot topic in the industry. When existing amphibious vehicles are sailing on water, they are easily affected by factors such as waves, wind, and water flow, which can cause instability such as tilting and drifting, affecting vehicle handling and ride comfort.

[0003] Current stability control technologies mainly rely on motor output drive adjustment or simple mechanical adjustment, which suffers from slow response speed and poor adaptability. How to achieve efficient and intelligent water stability control has become a key technical challenge.

[0004] Therefore, it is necessary to provide a new method, system, device, and medium for amphibious vehicle stability control to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method, system, device, and medium for amphibious vehicle body stability control in order to solve the above-mentioned problems.

[0006] This disclosure achieves the above objectives through the following technical solutions: A method for vehicle stability control of an amphibious vehicle includes the following steps: After the vehicle enters the water, the tilt angle data is acquired in real time; When the tilt angle data exceeds a set threshold and the duration exceeds a preset time, the volume of the airbags set on both sides of the vehicle is adjusted in real time to adjust the buoyancy distribution and achieve the purpose of vehicle stability control.

[0007] As a further optimization of this disclosure, tilt angle data is acquired in real time through an attitude sensor; the attitude sensor includes a gyroscope and an accelerometer.

[0008] As a further optimization of this disclosure, the volume of the airbags located on both sides of the vehicle is adjusted in real time to adjust the buoyancy distribution, including: Based on the aforementioned roll angle data, vehicle mass data, distance between the two airbags, and vertical height between the vehicle's center of gravity and the chassis cross-section, calculate the gravitational torque and buoyancy restoring torque. The buoyancy difference between the two airbags is derived based on the gravitational torque and buoyancy restoring torque. The exhaust volume of the non-tilted side airbag is derived based on the buoyancy difference between the two airbags. Based on the exhaust volume, the airbag on the non-tilted side is vented or the airbag on the tilted side is inflated to adjust the buoyancy distribution.

[0009] As a further optimization of this disclosure, it also includes: After the vehicle enters the water, when the vehicle turns, the steering wheel angle sensor obtains the turning amplitude information, combines it with the vehicle speed signal, and predicts the centrifugal tilt trend caused by the turning direction based on the pre-calibrated turning roll data table, and adjusts the buoyancy of the inner airbag in advance to achieve turning compensation control.

[0010] As a further optimization of this disclosure, it also includes: When the volume of the airbags on both sides of the vehicle is adjusted to adjust the buoyancy distribution and balance the vehicle, if the vehicle body tilts again, it is determined whether the air pressure inside the tilt side airbag is less than the preset minimum air pressure threshold. If so, the tilt side airbag is inflated first.

[0011] As a further optimization of this disclosure, it also includes: When the tilt angle data is less than a set threshold and the duration exceeds a preset duration threshold, and the air pressure inside the airbag is less than a preset air pressure threshold, the airbag is inflated so that both airbags are at the initially set air pressure.

[0012] An amphibious vehicle stability control system includes: The data acquisition module is used to acquire the tilt angle data in real time after the vehicle enters the water; The vehicle stability control module is used to adjust the volume of the airbags set on both sides of the vehicle in real time when the roll angle data exceeds a set threshold and the duration exceeds a preset time, so as to adjust the buoyancy distribution and achieve the purpose of vehicle stability control.

[0013] As a further optimization of this disclosure, the vehicle stability control module adjusts the volume of the airbags located on both sides of the vehicle in real time to adjust the buoyancy distribution, including: Based on the aforementioned roll angle data, vehicle mass data, distance between the two airbags, and vertical height between the vehicle's center of gravity and the chassis cross-section, calculate the gravitational torque and buoyancy restoring torque. The buoyancy difference between the two airbags is derived based on the gravitational torque and buoyancy restoring torque. The exhaust volume of the non-tilted side airbag is derived based on the buoyancy difference between the two airbags. Based on the exhaust volume, the airbag on the non-tilted side is vented or the airbag on the tilted side is inflated to adjust the buoyancy distribution.

[0014] An electronic device is characterized in that it includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to execute the program stored in the memory to implement the amphibious vehicle body stability control method.

[0015] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned amphibious vehicle body stability control method.

[0016] The beneficial effects of this disclosure are as follows: This disclosure presents a method and system for amphibious vehicle stability control based on multi-sensor fusion and dynamic adjustment, addressing the issues of lateral tilt and wave interference during vehicle navigation on water. It significantly optimizes the stability of amphibious vehicles on water and is suitable for the development of future intelligent amphibious transportation vehicles. Attached Figure Description

[0017] Figure 1 This is a flowchart of a method in an embodiment of this disclosure; Figure 2 This is a detailed method flowchart of an embodiment of this disclosure; Figure 3 This is a schematic diagram of the force analysis of a car tilting in water according to an embodiment of this disclosure; Figure 4 This is a system structure block diagram of an embodiment of this disclosure; Figure 5 This is a block diagram of the device structure in an embodiment of this disclosure. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0019] like Figure 1 As shown, a method for vehicle stability control of an amphibious vehicle includes the following steps: After the vehicle enters the water, the tilt angle data is acquired in real time; When the tilt angle data exceeds a set threshold and the duration exceeds a preset time, the volume of the airbags set on both sides of the vehicle is adjusted in real time to adjust the buoyancy distribution and achieve the purpose of vehicle stability control.

[0020] like Figure 2 As shown, in this embodiment, it specifically includes: Adjustable airbags are positioned on both sides of the vehicle, and the inflation volume is dynamically adjusted to adapt to different navigation conditions. Based on attitude sensors (gyroscope + accelerometer) detecting roll angle data, the lateral buoyancy distribution is adjusted in real time to improve balance.

[0021] After the vehicle enters the water, the suspension rises to its highest position, the power switches to water mode, and the airbags on both sides inflate to full capacity. Gyroscopes and accelerometers monitor changes in vehicle attitude in real time. If a tilt exceeding a set threshold (e.g., 5°) is detected, the airbag on the tilting side inflates to increase buoyancy, or the airbag on the higher side deflates to reduce buoyancy, thus straightening the vehicle.

[0022] For example, when the vehicle tilts, if the attitude sensor detects a leftward tilt angle ≥5°, the right airbag compartment deflates to adjust the center of gravity shift. Figure 3 As shown, when the vehicle body tilts to the left, assuming the tilt angle is... The vehicle's mass m = 2000kg, the distance between the left and right airbags d = 2.0m, and the vertical height h between the vehicle's center of gravity and the chassis cross-section = 0.8m.

[0023] At this moment, the gravitational torque is ; buoyancy restoring torque ≥

[0024] From the above equation, the equilibrium condition can be obtained as follows: ≥ ; because Therefore, the required reduction in volume of the right airbag can be deduced. ; The left tilt angle was measured to be tanθ = 5∘ ≈ 0.087. Calculate the required deflation volume for the right airbag: ΔV=(2x2000x0.087x0.8) / (1000x2)≈0.13m 3 .

[0025] Control the duration of air venting from the right airbag solenoid valve (flow rate Q=0.1m). 3 / s): t = ΔV / Q = 0.13 / 0.1 = 1.3 s; The buoyancy difference generates a restoring moment, and the heel angle decreases from 5° to <1° within 2 seconds; The volume of the right airbag increased from the initial 1.0 m³. 3 Reduced to 0.87m 3 When the vehicle body tilts again, determine if the tilt side airbag is saturated. If it is not saturated, prioritize inflating the tilt side airbag. If it is saturated, repeat the above steps.

[0026] This disclosure presents a method and system for controlling the stability of amphibious vehicles on water based on multi-sensor fusion and dynamic adjustment, which solves the problems of vehicle roll and wave interference when navigating on water; it greatly optimizes the stability of amphibious vehicles on water and is suitable for the development of future intelligent amphibious transportation vehicles.

[0027] When the vehicle is turning, the system obtains turning amplitude information through the steering wheel angle sensor. Each amplitude segment, combined with the speed signal, determines the possible roll angle of the current turn (which needs to be calibrated), anticipates the centrifugal tilt trend caused by the turning direction, and adjusts the buoyancy of the inner airbag in advance to reduce the risk of roll due to inertia, thus achieving turning compensation control. This mechanism can enhance vehicle stability while maintaining handling responsiveness.

[0028] For example, when the steering wheel angle input is 360° and the vehicle speed is 6 km / h, according to calibration data (as shown in the table below), it is determined that an outward camber angle of approximately 5.1° may occur under these conditions. The system then uses the aforementioned logic to pre-inflate the inward-facing airbag (i.e., the side facing the turn) by 0.13 m. 3 Or, the airbag on the other side deflates by 0.13 m. 3 To generate a restoring moment to counteract the impending roll.

[0029]

[0030] When the air pressure inside the airbag is lower than the preset air pressure threshold, the airbag will be inflated if the vehicle tilt angle is within ±5° and the tilt angle remains within the preset duration, so that both airbags return to the initial set air pressure.

[0031] like Figure 4 As shown, embodiments of this disclosure provide an amphibious vehicle stability control system, including: The data acquisition module is used to acquire the tilt angle data in real time after the vehicle enters the water; The vehicle stability control module is used to adjust the volume of the airbags set on both sides of the vehicle in real time when the roll angle data exceeds a set threshold and the duration exceeds a preset time, so as to adjust the buoyancy distribution and achieve the purpose of vehicle stability control.

[0032] The implementation process of the functions and roles of each module in the above system is detailed in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0033] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0034] See Figure 5 The electronic device provided in the embodiments of this disclosure includes a processor 1110, a communication interface 1120, a memory 1130 and a communication bus 1140, wherein the processor 1110, the communication interface 1120 and the memory 1130 communicate with each other through the communication bus 1140. Memory 1130 is used to store computer programs; The processor 1110, when executing the program stored in the memory 1130, implements the above-described amphibious vehicle body stability control method. The aforementioned communication bus 1140 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus 1140 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, it is represented by only one thick line in the figure, but this does not indicate that there is only one bus or one type of bus.

[0035] The communication interface 1120 is used for communication between the above-mentioned electronic device and other devices.

[0036] The memory 1130 may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory 1130 may also be at least one storage device located remotely from the aforementioned processor 1110.

[0037] Embodiments of this disclosure also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when executed by a processor, implements the amphibious vehicle body stability control method described above.

[0038] The embodiments described above are merely examples of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent disclosure. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these modifications and improvements all fall within the protection scope of this disclosure.

Claims

1. A method for vehicle stability control in an amphibious vehicle, characterized in that, Includes the following steps: After the vehicle enters the water, the tilt angle data is acquired in real time; When the tilt angle data exceeds a set threshold and the duration exceeds a preset time, the volume of the airbags installed on both sides of the vehicle is adjusted in real time to adjust the buoyancy distribution and achieve the purpose of vehicle stability control.

2. The amphibious vehicle body stability control method according to claim 1, characterized in that, The tilt angle data is acquired in real time through attitude sensors, which include gyroscopes and accelerometers.

3. The amphibious vehicle body stability control method according to claim 1, characterized in that, The volume of the airbags positioned on both sides of the vehicle is adjusted in real time to adjust the buoyancy distribution, including: Based on the aforementioned roll angle data, vehicle mass data, distance between the two airbags, and vertical height between the vehicle's center of gravity and the chassis cross-section, calculate the gravitational torque and buoyancy restoring torque. The buoyancy difference between the two airbags is derived based on the gravitational torque and buoyancy restoring torque. The exhaust volume of the non-tilted side airbag is derived based on the buoyancy difference between the two airbags. Based on the exhaust volume, the airbag on the non-tilted side is vented or the airbag on the tilted side is inflated to adjust the buoyancy distribution.

4. The amphibious vehicle body stability control method according to claim 1, characterized in that, Also includes: After the vehicle enters the water, when the vehicle turns, the steering wheel angle sensor obtains the turning amplitude information, combines it with the vehicle speed signal, and predicts the centrifugal tilt trend caused by the turning direction based on the pre-calibrated turning roll data table, and adjusts the buoyancy of the inner airbag in advance to achieve turning compensation control.

5. The amphibious vehicle body stability control method according to claim 1, characterized in that, Also includes: When the volume of the airbags on both sides of the vehicle is adjusted to adjust the buoyancy distribution and balance the vehicle, if the vehicle body tilts again, it is determined whether the air pressure inside the tilt side airbag is less than the preset minimum air pressure threshold. If so, the tilt side airbag is inflated first.

6. The amphibious vehicle body stability control method according to claim 1, characterized in that, Also includes: When the tilt angle data is less than a set threshold and the duration exceeds a preset duration threshold, and the air pressure inside the airbag is less than a preset air pressure threshold, the airbag is inflated so that both airbags are at the initially set air pressure.

7. A vehicle stability control system for amphibious vehicles, characterized in that, include: The data acquisition module is used to acquire the tilt angle data in real time after the vehicle enters the water; The vehicle stability control module is used to adjust the volume of the airbags set on both sides of the vehicle in real time when the roll angle data exceeds a set threshold and the duration exceeds a preset time, so as to adjust the buoyancy distribution and achieve the purpose of vehicle stability control.

8. The amphibious vehicle stability control system according to claim 7, characterized in that, The vehicle stability control module adjusts the volume of the airbags located on both sides of the vehicle in real time to adjust the buoyancy distribution, including: Based on the aforementioned roll angle data, vehicle mass data, distance between the two airbags, and vertical height between the vehicle's center of gravity and the chassis cross-section, calculate the gravitational torque and buoyancy restoring torque. The buoyancy difference between the two airbags is derived based on the gravitational torque and buoyancy restoring torque. The exhaust volume of the non-tilted side airbag is derived based on the buoyancy difference between the two airbags. Based on the exhaust volume, the airbag on the non-tilted side is vented or the airbag on the tilted side is inflated to adjust the buoyancy distribution.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor is used to execute a program stored in a memory to implement the amphibious vehicle body stability control method according to any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the amphibious vehicle body stability control method according to any one of claims 1-6.

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