Off-road team control method, system and vehicle based on all-terrain mode

Abstract

The present invention provides an off-road teaming control method, system, and vehicle based on an all-terrain mode. The off-road teaming control method based on the all-terrain mode includes the following steps: the off-road teaming control module of the main vehicle receives and sends data information consisting of the mode request signal, the mode confirmation signal, and the subsystem parameters; the signal transmission module of the main vehicle receives the data information and sends it to the signal transmission module of the secondary vehicle; and the signal transmission module of the secondary vehicle sends the data information to the off-road teaming control module of the secondary vehicle. According to the off-road teaming control method based on the all-terrain mode of the embodiment of the present invention, the development of additional hardware equipment is unnecessary, thus saving design costs. The rear vehicle team can adjust the all-terrain settings of each vehicle based on the data information sent by the leading vehicle to better cope with off-road obstacles. The method has a high degree of generalization and a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to an off-road team control method, system and vehicle based on an all-terrain mode. Background Art

[0002] With the rapid development of artificial intelligence and intelligent connected technologies, vehicle-to-vehicle (IoV) technology has rapidly gained popularity. Vehicle-to-vehicle (V2V) communication is currently the most prominent application of IoV, enabling vehicles to wirelessly exchange speed, location, and heading information in real time. Currently, key V2V communication technologies include DSCR and 5G.

[0003] DSRC (Dedicated Short Range Communications), first proposed by the American Society for Testing and Materials (ASTM) in 1992, is a technology specifically developed internationally for vehicle-to-vehicle communications. V2V is a mesh network in which nodes (such as vehicles and smart traffic lights) can transmit, capture, and forward signals. Just 5-10 node jumps on the network can gather traffic information up to 1.6 kilometers away. Existing V2V applications primarily include highway V2V, urban single-lane V2V, and road V2V. Highway V2V uses multicast to provide real-time information on the distance between the vehicle behind and the stalled vehicle ahead, as well as the required braking distance. Urban road V2V shares information based on the vehicle's origin, destination, and driving trajectory, enabling coordinated sorting at intersections to alleviate urban congestion. Road V2V is primarily used when lanes are limited and the preceding vehicle is slow, requiring lane change through the target lane. V2V assist functions determine lane change availability and provide audible and visual warnings. In other words, V2V technology is mainly used in scenarios such as highways, urban roads and ordinary roads, and focuses more on intelligent driving-related functions, as well as the linkage of functions such as automatic emergency braking, adaptive cruise control, lane keeping systems and automatic parking.

[0004] Research on off-road teaming focuses on route sharing, navigation information sharing, and danger warning. The specific implementation method is to use DSRC technology to form a local area network similar to WIFI.

[0005] The existing off-road teaming function is relatively simple. It cannot synchronize the control system parameters between vehicles, does not introduce V2V technology to achieve real-time interconnection between the entire off-road team, and does not achieve all-terrain collaborative control and improve safety.

[0006] Among related technologies, DSRC does not have an obvious continuous evolution path to meet the ever-changing technology and consumer needs. In addition, because it is designed for the rapid transmission of basic safety messages over short distances, it cannot meet higher bandwidth requirements such as autonomous driving and multimedia services. DSRC also does not have the necessary bandwidth to transmit raw vehicle sensor data. The use of DSCR technology also means the need to develop additional separate communication technologies including additional hardware equipment, which will bring greater cost pressure. With the access to all-terrain related functions and parameter information, there is a need to face greater data exchange, faster driving speeds, more complex roads and more complex networks. DSCR is unable to meet these requirements. Summary of the Invention

[0007] The technical problem to be solved by the embodiments of the present invention is that the existing off-road teaming has a single function, cannot synchronize control system parameters between vehicles, does not introduce V2V technology to achieve real-time interconnection between the entire off-road team, and has high development costs.

[0008] In view of this, the present invention provides an off-road team control method based on an all-terrain mode.

[0009] The present invention also provides an off-road team control system based on an all-terrain mode.

[0010] The present invention further provides a vehicle having the above-mentioned off-road team control system based on the all-terrain mode.

[0011] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0012] According to an embodiment of the first aspect of the present invention, an off-road teaming control method is used to achieve interconnection between a main vehicle and a secondary vehicle, wherein the main vehicle and the secondary vehicle each include a subsystem, an all-terrain mode selection and parameter setting module, an off-road teaming control module, and a signal transmission module. The method includes the following steps:

[0013] The subsystem of the main vehicle sets subsystem parameters, and the all-terrain mode selection and parameter setting module of the main vehicle sends a mode request signal and a mode confirmation signal;

[0014] The off-road team control module of the host vehicle receives and sends data information consisting of the mode request signal, the mode confirmation signal and the subsystem parameters;

[0015] The signal transmission module of the main vehicle receives the data information and sends it to the signal transmission module of the auxiliary vehicle;

[0016] The signal transmission module of the auxiliary vehicle sends the data information to the off-road team control module of the auxiliary vehicle;

[0017] The off-road team control module of the secondary vehicle receives the data information and sends it to the all-terrain mode selection and parameter setting module of the secondary vehicle. The all-terrain mode selection and parameter setting module of the secondary vehicle adjusts its own mode and state with reference to the data information to achieve coordination of all-terrain settings.

[0018] The off-road team control method based on the all-terrain mode according to an embodiment of the present invention may further include the following technical features:

[0019] Furthermore, the data information is transmitted between the signal transmission module of the main vehicle and the signal transmission module of the auxiliary vehicle through a 5G communication module.

[0020] Furthermore, the signal transmission module of the main vehicle is a vehicle networking control unit, and the signal transmission module of the auxiliary vehicle is a vehicle networking control unit or a mobile phone client.

[0021] Furthermore, the subsystem includes an engine management system EMS, a transmission control unit TCU, a transfer case control unit TCCU, a wire control brake system WCBS, an electric power steering system EPS and an electronic differential lock ELD. The subsystem implements different functions according to different terrain modes and / or four-wheel drive modes, wherein:

[0022] The EMS is used to adjust the torque output characteristics corresponding to the accelerator pedal opening;

[0023] The TCU is used to provide different shift lines;

[0024] The TCCU is used to complete the switching of 2H, 4A, 4H and 4L working states;

[0025] The WCBS is used to adjust the parameters of the anti-lock braking system ABS, the traction control system TCS and the vehicle dynamic control VDC;

[0026] The EPS is used to set three steering assist modes: comfort, normal, and sport;

[0027] The ELD is used to set the differential lock strategy.

[0028] Furthermore, the data information also includes tire slip, water temperature, oil temperature, and average vehicle speed displayed on the main vehicle's instrument panel.

[0029] Furthermore, according to the second embodiment of the present invention, the off-road teaming control system based on the all-terrain mode includes a subsystem, an all-terrain mode selection and parameter setting module, an off-road teaming control module, and a signal transmission module. The off-road teaming control system based on the all-terrain mode has a first working state and a second working state:

[0030] In the first working state:

[0031] The subsystem is used to set subsystem parameters;

[0032] The all-terrain mode selection and parameter setting module is used to send a mode request signal and a mode confirmation signal, and collect parameter settings of all-terrain related systems, compress and package them, and send them to the signal transmission module;

[0033] The off-road teaming control module is configured to receive first data information consisting of the mode request signal, the mode confirmation signal, and the subsystem parameters; wherein the first data information includes response settings and parameter configuration information of the subsystem; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings, and steering angle settings; and the parameter configuration information is information for adjusting the vehicle's all-terrain function configuration according to actual terrain conditions and off-road difficulty;

[0034] The signal transmission module is used to send the first data information to the signal transmission modules of other vehicles;

[0035] In the second working state:

[0036] The signal transmission module is used to receive second data information sent by the signal transmission module of other vehicles and send it to the off-road team control module. The off-road team control module receives the second data information and sends it to the all-terrain mode selection and parameter setting module. The all-terrain mode selection and parameter setting module adjusts its own mode and state with reference to the second data information to achieve coordination of all-terrain settings; wherein, the second data information includes response settings and parameter configuration information of subsystems of other vehicles; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings and steering angle settings; the parameter configuration information is information for other vehicles to adjust their own all-terrain function configurations according to actual terrain conditions and off-road difficulty.

[0037] Furthermore, the signal transmission module is transmitted through a 5G communication module.

[0038] Furthermore, in the first working state, the signal transmission module is a vehicle networking control unit; in the second working state, the signal transmission module is a vehicle networking control unit or a mobile phone client.

[0039] Furthermore, the subsystem includes an engine management system EMS, a transmission control unit TCU, a transfer case control unit TCCU, a wire control brake system WCBS, an electric power steering system EPS and an electronic differential lock ELD. The subsystem implements different functions according to different terrain modes and / or four-wheel drive modes, wherein:

[0040] The EMS is used to adjust the torque output characteristics corresponding to the accelerator pedal opening;

[0041] The TCU is used to provide different shift lines;

[0042] The TCCU is used to complete the switching of 2H, 4A, 4H and 4L working states;

[0043] The WCBS is used to adjust the parameters of the anti-lock braking system ABS, the traction control system TCS and the vehicle dynamic control VDC;

[0044] The EPS is used to set three steering assist modes: comfort, normal, and sport;

[0045] The ELD is used to set the differential lock strategy.

[0046] The vehicle according to the third aspect of the embodiment of the present invention includes the off-road team control system based on the all-terrain mode described in the above embodiment.

[0047] The above technical solution of the present invention has at least the following technical effects:

[0048] According to the off-road team control method based on the all-terrain mode of the embodiment of the present invention, based on the original all-terrain mode control system, no additional hardware equipment needs to be developed, thus saving design costs. The rear vehicle team can adjust the all-terrain settings of their respective vehicles according to the data information sent by the front vehicle to better cope with off-road obstacles. It has a high degree of universality and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a flowchart of an off-road team control method based on an all-terrain mode according to an embodiment of the present invention;

[0050] Figure 2 A working principle diagram of an off-road team control system based on an all-terrain mode according to an embodiment of the present invention;

[0051] Figure 3 2 is a diagram illustrating an all-terrain control system according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] An off-road teaming control system 100 based on an all-terrain mode; a subsystem 10; an all-terrain mode selection and parameter setting module 20; an off-road teaming control module 30; a vehicle networking control unit 40; and a 5G communication module 41. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0055] The following first describes in detail the off-road team control method based on the all-terrain mode according to an embodiment of the present invention with reference to the accompanying drawings.

[0056] like Figure 1 As shown, the off-road teaming control method based on the all-terrain mode according to an embodiment of the present invention is used to realize the interconnection between the main vehicle and the auxiliary vehicle. The main vehicle and the auxiliary vehicle respectively include a subsystem 10, an all-terrain mode selection and parameter setting module 20, an off-road teaming control module 30 and a signal transmission module (not shown). Figure 1 As shown, the method includes the following steps:

[0057] S10, the subsystem 10 of the host vehicle sets subsystem parameters, and the all-terrain mode selection and parameter setting module 20 of the host vehicle sends a mode request signal and a mode confirmation signal;

[0058] S20, the off-road team control module 30 of the host vehicle receives and sends data information consisting of a mode request signal, a mode confirmation signal and subsystem parameters;

[0059] S30: The signal transmission module of the main vehicle receives the data information and sends it to the signal transmission module of the auxiliary vehicle;

[0060] S40, the signal transmission module of the auxiliary vehicle sends the data information to the off-road team control module 30 of the auxiliary vehicle;

[0061] S50, the off-road team control module 30 of the secondary vehicle receives the data information and sends it to the all-terrain mode selection and parameter setting module 20 of the secondary vehicle. The all-terrain mode selection and parameter setting module 20 of the secondary vehicle adjusts its own mode and state with reference to the data information to achieve coordination of all-terrain settings.

[0062] In other words, the specific implementation method of the present invention is to Figure 2 An off-road team control module 30 is added to the all-terrain control system (i.e., multi-terrain control system) in the vehicle. The main vehicle is generally the off-road vehicle traveling in front, and the auxiliary vehicle is generally the off-road vehicle traveling in the back. Figure 3As shown, the off-road team control module 30 of the main vehicle receives the mode request and mode confirmation signal sent by the all-terrain mode selection and parameter setting module 20, and collects the parameter setting status of each all-terrain related system, compresses and packages it and sends it to the signal transmission module. The signal transmission module of the main vehicle receives the relevant data information and sends it to the signal transmission module of the auxiliary vehicle. The signal transmission module of the auxiliary vehicle receives the relevant data information sent by the main vehicle, and decompresses it and sends it to the off-road team control module 30 in the all-terrain control system of the auxiliary vehicle. The off-road team control module 30 sends it to the all-terrain mode selection and parameter setting module 20 of the auxiliary vehicle. The all-terrain mode selection and parameter setting module 20 of the auxiliary vehicle coordinates the subsystem status signal, subsystem mode signal, switch signal and received data information of the auxiliary vehicle to finally realize the coordination of all-terrain settings.

[0063] Therefore, the off-road team control method based on the all-terrain mode according to the embodiment of the present invention is based on the original all-terrain mode control system, which saves design costs. The rear vehicle team can adjust the all-terrain settings of their respective vehicles according to the data information sent by the front vehicle to better cope with off-road obstacles. It has a high degree of universality and a wide range of applications.

[0064] In one embodiment of the present invention, data information is transmitted between the signal transmission module of the main vehicle and the signal transmission module of the auxiliary vehicle via a 5G communication module 41. Compared with DSCR technology, 5G technology does not require the development of separate communication technology and hardware equipment, is less expensive, and can handle more complex network conditions.

[0065] Specifically, the off-road teaming control module 30 of the primary vehicle compresses and packages the received data and transmits it to the primary vehicle's signal transmission module. The 5G communication module 41 then transmits all-terrain-related parameter information to the secondary vehicle's signal transmission module. The secondary vehicle's 5G communication module 41 then receives the packaged data, decompresses it, and transmits it back to the off-road teaming control module 30 in the secondary vehicle's all-terrain control system. Direct communication via the 5G communication module 41 allows for timely sharing of all-terrain-related information between the two vehicles, including the response settings of each subsystem 10, such as pedal torque characteristics, ESP / ABS control, transfer case gear selection, suspension height, and steering angle.

[0066] In one embodiment of the present invention, the signal transmission module of the main vehicle is the Internet of Vehicles control unit 40. Furthermore, the signal transmission module of the auxiliary vehicle is the Internet of Vehicles control unit 40 or a mobile phone client.

[0067] Specifically, the primary vehicle's connected vehicle control unit 40 is a T-BOX, used to send signals, while the secondary vehicle's connected vehicle control unit 40 is a T-BOX or mobile user terminal, used to receive signals. This means that other vehicles can receive all-terrain control-related data and information via the onboard T-BOX module and perform visual operations on their own vehicles through the host computer. They can also receive all-terrain-related information and view the configuration information of the relevant subsystems 10 through the mobile user terminal, allowing the driver to manually operate the system to achieve a certain degree of off-road teaming.

[0068] Optionally, subsystem 10 includes an engine management system EMS (Engine Management System), a transmission control unit TCU (Transmission Control Unit), a wire controlled brake system WCBS (Wire Controlled Brake System), a transfer case control unit TCCU (Transfer Case Control Unit), an electric power steering system EPS (Electric Power Steering) and an electronic differential lock ELD (ELocker Differential). Subsystem 10 implements different functions according to different terrain modes and / or four-wheel drive modes. Among them, EMS is used to adjust the torque output characteristics corresponding to the accelerator pedal opening; TCU is used to provide different shift lines; TCCU is used to complete the switching of 2H, 4A, 4H and 4L working states; WCBS is used to adjust the parameters of the anti-lock braking system ABS, the traction control system TCS and the vehicle dynamic control VDC; EPS is used to set the three steering assist modes of comfort, normal and sport; ELD is used to set the differential lock strategy.

[0069] Specifically, to better implement off-road teaming, it is necessary to decompose the functional strategies and control methods of each vehicle subsystem 10. Table 1 shows the all-terrain-related parameter information shared by the off-road team. The leader vehicle (i.e., the main vehicle or the vehicle in front) adjusts its own all-terrain function configuration based on the actual terrain conditions and off-road difficulty, and then transmits this parameter configuration to other vehicles through the off-road teaming control module 30.

[0070] In terms of parameter configuration, the EMS adjusts the torque output characteristics corresponding to different accelerator pedal openings based on different terrain modes, meeting requirements for both quick and smooth accelerator pedal response. It also provides different representations based on vehicle speed differential, the correspondence between physical opening and torque output, and torque filtering. The EMS also disables cruise control and start-stop functions based on different terrain modes and four-wheel drive modes.

[0071] The TCU uses signals such as accelerator pedal position, vehicle speed, and engine speed to generate different shift lines based on different terrain modes and four-wheel drive modes. It provides different performance indicators for starting gear, shift response time, hill detection, and multiple downshifts. Furthermore, the TCCU switches between 2H, 4A, 4H, and 4L operating modes based on terrain mode requests and manual control requests.

[0072] WCBS adjusts the parameters of the Anti-lock Braking System (ABS), Traction Control System (TCS), and Vehicle Dynamics Control (VDC) according to different terrain modes. ABS continuously monitors wheel speed signals from all four wheel speed sensors and sets the permitted degree of wheel slip based on the adhesion coefficient of the different terrains. For example, in Sand Mode, a certain degree of wheel slip is permitted during braking to prevent sand accumulation during braking. ABS has different response strategies for different multi-terrain control modes.

[0073] The TCS typically works in conjunction with the EMS to enhance vehicle stability during acceleration under varying terrain conditions. During acceleration under specific driving and road conditions, if excessive wheel slip indicates excessive total driving torque, the TCS sends a request to the EMS via the CAN (Controller Area Network) bus to intervene in engine torque output. The TCS adapts control strategies to the varying tire slip requirements under varying terrain conditions, ensuring more efficient driving.

[0074] VDC uses a steering wheel angle sensor and wheel speed sensors to identify the driver's intentions. It then combines these with signals from a yaw rate sensor (which measures the vehicle's rotation angle about its axis perpendicular to the ground) and lateral acceleration to determine the vehicle's actual motion. If understeer is detected, the inside rear wheel is braked to further steer the vehicle in the direction of the driver's turn. If oversteer is detected, the outside front wheel is braked to prevent skidding and mitigate oversteer, thereby stabilizing the vehicle. VDC sets different response strategies based on different terrain patterns.

[0075] EPS has three steering assist modes: Comfort, Normal, and Sport, tailored to different terrain modes. For example, in Sport mode, the steering assist is set to Sport, reducing the steering assist and increasing the steering wheel feedback.

[0076] The ELD sets the differential lock strategy for different terrain modes, including open differential, rear differential locked, and both front and rear differentials locked. The driver can also manually select and define the differential lock strategy. The panoramic view system and wading sensing system respond to specific terrain requirements, assisting the driver in challenging off-road environments.

[0077] Table 1 All-terrain related parameter information for off-road team sharing

[0078]

[0079] Preferably, the data information also includes data information such as tire slip, water temperature, oil temperature, average vehicle speed, etc. displayed on the instrument panel of the host vehicle.

[0080] In other words, during the process of vehicle coordination, other information such as the tire slippage, water and oil temperature, average speed, and road warnings of the lead vehicle will also be synchronized to help other vehicles deal with the upcoming off-road conditions more easily and calmly.

[0081] In summary, the off-road team control method based on the all-terrain mode according to the embodiment of the present invention is based on the original all-terrain mode control system, does not require additional hardware equipment development, and saves design costs. The rear vehicle team can adjust the all-terrain settings of their respective vehicles according to the data information sent by the front vehicle to better cope with off-road obstacles. It has a high degree of universality and a wide range of applications.

[0082] According to a second embodiment of the present invention, an off-road teaming control system 100 based on an all-terrain mode includes a subsystem 10, an all-terrain mode selection and parameter setting module 20, an off-road teaming control module 30, and a signal transmission module. The off-road teaming control system 100 based on the all-terrain mode has a first working state and a second working state:

[0083] In the first working state: subsystem 10 is used to set subsystem parameters; the all-terrain mode selection and parameter setting module 20 is used to send mode request signals and mode confirmation signals, and collect parameter settings of all-terrain related systems, compress and package them and send them to the signal transmission module; the off-road team control module 30 is used to receive first data information consisting of a mode request signal, a mode confirmation signal and subsystem parameters; the signal transmission module is used to send the first data information to the signal transmission module of other vehicles; wherein, the first data information includes the response settings and parameter configuration information of the subsystem; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings and steering angle settings; the parameter configuration information is information for the vehicle to adjust its own all-terrain function configuration according to actual terrain conditions and off-road difficulty.

[0084] In the second working state: the signal transmission module is used to receive the second data information sent by the signal transmission module of other vehicles and send it to the off-road team control module 30, the off-road team control module 30 receives the second data information and sends it to the all-terrain mode selection and parameter setting module 20, the all-terrain mode selection and parameter setting module 20 adjusts its own mode and state with reference to the second data information to achieve coordination of all-terrain settings; wherein, the second data information includes response settings and parameter configuration information of subsystems of other vehicles; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings and steering angle settings; the parameter configuration information is information for other vehicles to adjust their own all-terrain function configurations according to actual terrain conditions and off-road difficulty.

[0085] That is to say, if Figure 3 As shown, when the vehicle sends data information, it is in the first working state, and when it receives data information, it is in the second working state. Through different working states, the vehicle can share off-road information with other vehicles. The control system of the present invention is implemented based on the all-terrain mode control system. The all-terrain mode control system is as follows Figure 2 As shown, the driver uses the terrain selector, four-wheel drive selector, and differential lock selector switches in the intelligent cockpit domain to send selected terrain mode switch signals (Sport, ECO, Comfort, Snow, Mud and Sand, Rocks, Wading, and Steep Slope), four-wheel drive mode switch signals (2H, 4A, 4H, 4L), and differential lock status switch signals (rear differential lock, front and rear differential lock) to the controller area network (CAN). The multi-terrain master control system receives these terrain mode switch signals, four-wheel drive mode switch signals, and differential lock status switch signals from the CAN bus. After performing logical analysis, it sends mode request signals, four-wheel drive request signals, and differential lock request signals to various subsystems, including the EMS, TCU, TCCU, ELD, WCBS, EPS, panoramic system, water sensing system, and instrument cluster. 10 The multi-terrain control system has eight modes: Sport, Economy, Comfort, Snow, Mud and Sand, Rocks, Wading, and Steep Slope.

[0086] The off-road team control system 100 based on the all-terrain mode of the present invention adds an off-road team control module 30 to the original all-terrain control system, and transmits data information between different off-road vehicles through the signal transmission module. The vehicles that receive the data information use this information in combination with their own subsystem mode signals, subsystem status signals and switch signals to automatically adjust their respective vehicle all-terrain settings to better cope with off-road obstacles.

[0087] Preferably, the signal transmission module is transmitted through the 5G communication module 41. Specifically, the 5G communication module 41 is set in the signal transmission module. Compared with the DSCR technology, 5G technology does not require the development of additional independent communication technology and hardware equipment, has lower costs, and can cope with more complex network conditions.

[0088] According to one embodiment of the present invention, in the first working state, the signal transmission module is the Internet of Vehicles control unit 40. Alternatively, in the second working state, the signal transmission module is the Internet of Vehicles control unit 40 or a mobile client.

[0089] That is, in the first state, the vehicle networking control unit 40 functions as a T-BOX, transmitting signals. In the second state, the vehicle networking control unit 40 functions as a T-BOX or mobile user terminal, receiving signals. In the second state, the vehicle can receive all-terrain control-related information via the onboard T-BOX and perform visual operations on the host computer for application to the vehicle. It can also receive all-terrain-related information via the mobile user terminal, view configuration information for the relevant subsystems 10, and achieve a certain degree of off-road teaming through manual operation by the driver.

[0090] Preferably, the 5G communication module 41 in the vehicle-mounted T-BOX is used to implement V2V communication control and is used in off-road platooning scenarios based on all-terrain mode. Teamed vehicles can share important off-road-related information and parameter configurations, improving vehicle performance while also ensuring off-road platooning safety.

[0091] Furthermore, subsystem 10 includes an engine management system EMS, a transmission control unit TCU, a transfer case control unit TCCU, a wire-controlled brake system WCBS, an electric power steering system EPS and an electronic differential lock ELD system. Subsystem 10 implements different functions according to different terrain modes and / or four-wheel drive modes. Among them, EMS is used to adjust the torque output characteristics corresponding to the accelerator pedal opening; TCU is used to provide different shift lines; TCCU is used to complete the switching of 2H, 4A, 4H and 4L working states; WCBS is used to adjust the parameters of the anti-lock braking system ABS, the traction control system TCS and the vehicle dynamic control VDC; EPS is used to set the three steering assist modes of comfort, normal and sport; ELD is used to set the differential lock strategy.

[0092] According to the off-road team control system 100 based on the all-terrain mode of the embodiment of the present invention, based on the original all-terrain mode control system, no additional hardware equipment needs to be developed, thus saving design costs. The rear vehicle team can adjust the all-terrain settings of their respective vehicles according to the data information sent by the front vehicle to better cope with off-road obstacles. It has a high degree of universality and a wide range of applications.

[0093] In another embodiment provided by the present invention, a vehicle is also provided that includes the off-road team control system 100 based on the all-terrain mode of the above-mentioned embodiment. Since the off-road team control system 100 based on the all-terrain mode according to the above-mentioned embodiment of the present invention has the above-mentioned technical effects, the vehicle according to the embodiment of the present invention also has the corresponding technical effects, that is, saving design costs. The rear vehicle team can adjust the all-terrain settings of their respective vehicles according to the data information sent by the front vehicle to better cope with off-road obstacles. It has a high degree of universality and a wide range of applications.

[0094] Other structures and operations of the vehicle according to the embodiment of the present invention are understandable and easily implemented by those skilled in the art, and thus will not be described in detail.

[0095] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the ordinary meaning understood by persons having ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0096] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A cross-country team control method based on an all-terrain mode, characterized in that: The method is used to realize the interconnection between a main vehicle and a secondary vehicle, wherein the main vehicle and the secondary vehicle respectively include a subsystem, an all-terrain mode selection and parameter setting module, an off-road team control module, and a signal transmission module. The method includes the following steps: The subsystems of the main vehicle set subsystem parameters, and the all-terrain mode selection and parameter setting module of the main vehicle sends a mode request signal and a mode confirmation signal, and collects parameter settings of all-terrain related systems, compresses and packages them, and sends them to the signal transmission module; The off-road teaming control module of the host vehicle receives and transmits data information consisting of the mode request signal, the mode confirmation signal, and the subsystem parameters; wherein the data information also includes response settings and parameter configuration information of the subsystem; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings, and steering angle settings; the parameter configuration information is information for adjusting the all-terrain function configuration of the host vehicle according to actual terrain conditions and off-road difficulty; The signal transmission module of the main vehicle receives the data information and sends it to the signal transmission module of the auxiliary vehicle; The signal transmission module of the auxiliary vehicle sends the data information to the off-road team control module of the auxiliary vehicle; The off-road team control module of the secondary vehicle receives the data information and sends it to the all-terrain mode selection and parameter setting module of the secondary vehicle. The all-terrain mode selection and parameter setting module of the secondary vehicle adjusts its own mode and state with reference to the data information to achieve coordination of all-terrain settings.

2. The off-road team control method based on the all-terrain mode according to claim 1, characterized in that: The data information is transmitted between the signal transmission module of the main vehicle and the signal transmission module of the auxiliary vehicle through a 5G communication module.

3. The off-road team control method based on the all-terrain mode according to claim 1, characterized in that: The signal transmission module of the main vehicle is a vehicle networking control unit, and the signal transmission module of the auxiliary vehicle is a vehicle networking control unit or a mobile phone client.

4. The off-road team control method based on the all-terrain mode according to claim 1, characterized in that: The subsystem includes an engine management system EMS, a transmission control unit TCU, a transfer case control unit TCCU, a wire control brake system WCBS, an electric power steering system EPS and an electronic differential lock ELD. The subsystem implements different functions according to different terrain modes and / or four-wheel drive modes, wherein: The EMS is used to adjust the torque output characteristics corresponding to the accelerator pedal opening; The TCU is used to provide different shift lines; The TCCU is used to complete the switching of 2H, 4A, 4H and 4L working states; The WCBS is used to adjust the parameters of the anti-lock braking system ABS, the traction control system TCS and the vehicle dynamic control VDC; The EPS is used to set three steering assist modes: comfort, normal, and sport; The ELD is used to set the differential lock strategy.

5. The off-road team control method based on the all-terrain mode according to claim 1, characterized in that: The data information also includes tire slip, water temperature, oil temperature, and average vehicle speed displayed on the instrument panel of the host vehicle.

6. An off-road team control system based on an all-terrain mode, characterized in that: The off-road team control system based on the all-terrain mode has a first working state and a second working state. In the first working state: The subsystem is used to set subsystem parameters; The all-terrain mode selection and parameter setting module is used to send a mode request signal and a mode confirmation signal, and collect parameter settings of all-terrain related systems, compress and package them, and send them to the signal transmission module; The off-road teaming control module is configured to receive first data information consisting of the mode request signal, the mode confirmation signal, and the subsystem parameters; wherein the first data information includes response settings and parameter configuration information of the subsystem; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings, and steering angle settings; and the parameter configuration information is information for adjusting the vehicle's all-terrain function configuration according to actual terrain conditions and off-road difficulty; The signal transmission module is used to send the first data information to the signal transmission modules of other vehicles; In the second working state: The signal transmission module is used to receive the second data information sent by the signal transmission module of other vehicles and send it to the off-road team control module. The off-road team control module receives the second data information and sends it to the all-terrain mode selection and parameter setting module. The all-terrain mode selection and parameter setting module adjusts its own mode and state with reference to the second data information to achieve coordination of all-terrain settings; wherein, the second data information includes response settings and parameter configuration information of subsystems of other vehicles; the response settings include pedal torque characteristic settings, ESP / ABS control settings, transfer case gear selection settings, suspension height settings and steering angle settings; the parameter configuration information is information for other vehicles to adjust their own all-terrain function configurations according to actual terrain conditions and off-road difficulty.

7. The off-road team control system based on the all-terrain mode according to claim 6, characterized in that: The signal transmission module is transmitted through the 5G communication module.

8. The off-road team control system based on the all-terrain mode according to claim 6, characterized in that: In the first working state, the signal transmission module is a vehicle networking control unit; in the second working state, the signal transmission module is a vehicle networking control unit or a mobile phone client.

9. The off-road team control system based on the all-terrain mode according to claim 6, characterized in that: The subsystem includes an engine management system EMS, a transmission control unit TCU, a transfer case control unit TCCU, a wire control brake system WCBS, an electric power steering system EPS and an electronic differential lock ELD. The subsystem implements different functions according to different terrain modes and / or four-wheel drive modes, wherein: The EMS is used to adjust the torque output characteristics corresponding to the accelerator pedal opening; The TCU is used to provide different shift lines; The TCCU is used to complete the switching of 2H, 4A, 4H and 4L working states; The WCBS is used to adjust the parameters of the anti-lock braking system ABS, the traction control system TCS and the vehicle dynamic control VDC; The EPS is used to set three steering assist modes: comfort, normal, and sport; The ELD is used to set the differential lock strategy.

10. A vehicle, characterized in that: Including the off-road team control system based on the all-terrain mode as described in any one of claims 6-9.

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