Amphibious vehicle control method, system, device and storage medium

Abstract

The present invention discloses a control method, system, device, and storage medium for an amphibious vehicle, relating to the field of automated control technology. The present invention obtains a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor disposed under the vehicle, determines the driving environment of the amphibious vehicle based on the ground distance signal and the liquid level detection signal, and then automatically controls the wheel suspension system based on the driving environment. This allows the amphibious vehicle to switch between different relative distances between the wheels and the vehicle body in different driving environments, such as land, water, and shallow water, and controls the switching timing without manual intervention to avoid misjudgments or misoperations, thereby improving the rationality of wheel height switching and thereby improving the accuracy and safety of the wheel height switching process.

Description

Technical Field

[0001] The present invention relates to the field of automated control technology, and in particular to an amphibious vehicle control method, system, device and storage medium. Background Art

[0002] Amphibious equipment is a special vehicle that combines the functions of land vehicles and water vessels. Because amphibious equipment can exert its unique performance on land and water, as well as in the area where land and water meet, it is widely used in transportation, disaster relief, leisure and entertainment, etc. It has important strategic significance and has therefore developed rapidly.

[0003] High-speed water travel is a capability that amphibious equipment must possess, and it is also an important performance indicator for measuring amphibious equipment when traveling on the water. Wheels and suspension devices immersed in water will generate huge water resistance, so raising the wheels above the water surface can effectively reduce resistance when traveling in the water, thereby increasing speed. The timing of retracting and extending the wheels of amphibious equipment directly affects operational efficiency and safety. Related technologies have proposed setting up a mode selection switch and a corresponding control module to achieve "one-button switching", which reduces the difficulty of manual operation. However, the timing of button selection still needs to be judged by human experience. Human experience judgment and implementation are prone to misjudgment or misoperation, which creates certain risks and still affects the operational efficiency and safety of amphibious equipment. Summary of the Invention

[0004] The present invention aims to address at least one of the technical problems existing in the prior art. To this end, the present invention provides an amphibious vehicle control method, system, device, and storage medium capable of adaptively controlling the wheel suspension system of an amphibious vehicle, thereby improving the accuracy and safety of wheel relative position switching.

[0005] In one aspect, an embodiment of the present invention provides a method for controlling an amphibious vehicle, comprising the following steps:

[0006] Obtaining a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor disposed under the vehicle, wherein the distance measuring sensor is used to detect the distance between the vehicle body and the ground;

[0007] determining a driving environment of the amphibious vehicle according to the ground distance signal and the liquid level detection signal;

[0008] When the driving environment is land driving, the wheel suspension system is controlled in a first control mode so that the relative distance between the bottom of the wheel and the chassis is greater than zero;

[0009] When the driving environment is water surface driving, the wheel suspension system is controlled in the second control mode so that the relative distance between the bottom of the wheel and the chassis is less than zero;

[0010] When the driving environment is shallow driving, the third control mode is adopted to control the wheel suspension system so that the relative distance between the bottom of the wheel and the chassis is the first preset distance.

[0011] According to some embodiments of the present invention, determining the driving environment of the amphibious vehicle according to the ground distance signal and the liquid level detection signal comprises the following steps:

[0012] When the liquid level detection signal is a first liquid level signal, determining that the driving environment is land driving, wherein the first liquid level signal is used to indicate that no water pressure is detected;

[0013] When the liquid level detection signal is a second liquid level signal and the ground distance signal is greater than a preset ground distance, it is determined that the driving environment is driving on water, wherein the second liquid level signal is used to indicate that water pressure is detected;

[0014] When the liquid level detection signal is a second liquid level signal and the ground distance signal is less than a preset ground distance, it is determined that the driving environment is shallow driving.

[0015] According to some embodiments of the present invention, controlling the wheel suspension system using the first control mode includes the following steps:

[0016] Obtain the driving speed and suspension dynamic deflection of the amphibious vehicle;

[0017] When the driving speed is greater than the low-speed threshold and the duration of the driving speed being greater than the low-speed threshold is greater than a first preset time period, controlling the wheel suspension system so that the relative distance between the bottom of the wheel and the chassis is a second preset distance, wherein the second preset distance is smaller than the first preset distance;

[0018] When the driving speed is less than the low-speed critical value and the suspension disturbance is less than the disturbance threshold, controlling the wheel suspension system so that the relative distance between the bottom of the wheel and the chassis is a first preset distance;

[0019] When the suspension disturbance is greater than the disturbance threshold and the duration of the suspension disturbance being greater than the disturbance threshold is greater than a second preset time period, the wheel suspension system is controlled so that the relative distance between the bottom of the wheel and the chassis is a third preset distance, wherein the third preset distance is greater than the first preset distance.

[0020] According to some embodiments of the present invention, controlling the wheel suspension system using the first control mode further includes the following steps:

[0021] Get the steering wheel angle of the amphibious vehicle;

[0022] When the driving speed is less than zero or the steering wheel angle is greater than a preset steering angle, the wheel suspension system is controlled to lock the current relative distance between the bottom of the wheel and the chassis.

[0023] According to some embodiments of the present invention, the amphibious vehicle control method further includes the following steps:

[0024] When the state switching signal of the wheel suspension system is generated, the timing starts from the current moment;

[0025] When the timing reaches a preset time, the state switching signal is sent to the wheel suspension system to switch the distance between the bottom of the wheel and the chassis.

[0026] According to some embodiments of the present invention, the control process of the wheel suspension system is as follows:

[0027] determining a first distance between a bottom of the wheel and the chassis before the wheel suspension system state is switched;

[0028] determining a second distance between the bottom of the wheel and the chassis after the wheel suspension system state is switched;

[0029] determining a retracted length of a suspension cylinder piston rod according to a difference between the first distance and the second distance;

[0030] The suspension cylinder piston rod of the wheel suspension system is controlled according to the contraction length of the suspension cylinder piston rod.

[0031] According to some embodiments of the present invention, the retracted length Δ of the suspension cylinder piston rod is calculated by the following formula:

[0032]

[0033] Wherein, b is the distance from the upper support point of the hydraulic device to the rotation axis of the lower cross arm, α is the angle between b and the vertical direction, L is the length of the lower cross arm of the wheel suspension system, L1 is the initial length of the hydraulic device, and H is the distance difference.

[0034] On the other hand, an embodiment of the present invention further provides an amphibious vehicle control system, comprising:

[0035] The first module is used to obtain a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor provided under the vehicle, wherein the distance measuring sensor is used to detect the distance between the vehicle body and the ground;

[0036] A second module is configured to determine a driving environment of the amphibious vehicle based on the ground distance signal and the liquid level detection signal;

[0037] a third module, configured to control the wheel suspension system in a first control mode so that the relative distance between the bottom of the wheel and the chassis is greater than zero when the driving environment is land driving;

[0038] a fourth module, configured to control the wheel suspension system in a second control mode so that the relative distance between the bottom of the wheel and the chassis is less than zero when the driving environment is water surface driving;

[0039] The fifth module is used to control the wheel suspension system in a third control mode when the driving environment is shallow driving so that the relative distance between the bottom of the wheel and the chassis is a first preset distance.

[0040] On the other hand, an embodiment of the present invention further provides an amphibious vehicle control device, comprising:

[0041] at least one processor;

[0042] at least one memory for storing at least one program;

[0043] When the at least one program is executed by the at least one processor, the at least one processor implements the amphibious vehicle control method as described above.

[0044] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the amphibious vehicle control method as described above.

[0045] The above-mentioned technical solution of the present invention has at least one of the following advantages or beneficial effects: the present application obtains a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor arranged at the bottom of the vehicle, determines the driving environment of the amphibious vehicle based on the ground distance signal and the liquid level detection signal, and then automatically controls the wheel suspension system according to the driving environment, so that the amphibious vehicle can switch different relative distances between the wheels and the body in different driving environments such as driving on land, driving on water, and driving on shallow water, control the switching timing, avoid misjudgment or misoperation without manual intervention, improve the rationality of wheel height switching, and thus improve the accuracy of wheel height switching and the safety during the switching process. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of an amphibious vehicle control method provided by an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of an amphibious vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0049] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0050] In the description of the present invention, if there is a description of first, second, etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0051] An embodiment of the present invention provides a method for controlling an amphibious vehicle. The method can be applied to a terminal or a server, or can be software running on the terminal or server. A terminal can be, but is not limited to, a tablet computer, a laptop computer, or a desktop computer. A server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.

[0052] An amphibious vehicle according to an embodiment of the present invention includes a vehicle control system, a data acquisition system, and a wheel suspension system. The data acquisition system is used to collect data such as vehicle speed, suspension dynamic deflection, steering wheel angle, fluid level detection signals, and ground distance signals. The vehicle control system is connected to the data acquisition system and is used to perform comprehensive analysis and judgment based on the data collected by the data acquisition system to generate a state switching signal for the wheel suspension system, causing the wheel suspension system to change the wheel clearance. Wheel clearance refers to the distance between the vehicle chassis and the ground, that is, the relative distance between the bottom of the wheel and the chassis. The wheel suspension system includes a suspension lift controller and multiple suspension hydraulic control subsystems. The suspension hydraulic control subsystems include a hydraulic controller, a cylinder solenoid valve, a hydraulic pump, and a displacement sensor installed in the cylinder. The suspension lift controller is connected to the vehicle control system. The suspension lift controller is connected to the hydraulic controllers of the multiple suspension hydraulic control subsystems. The hydraulic controllers of the suspension hydraulic control subsystems are each connected to the cylinder solenoid valve, hydraulic pump, and displacement sensor. The displacement sensor is used to detect and transmit the extension and retraction stroke signals of the cylinders in the same group in real time. The solenoid valve controls the position of the suspension cylinders by controlling the flow of oil in and out of the same group of suspension cylinders. The suspension lift controller receives a state switching signal from the vehicle control system, which includes the wheel clearance. The suspension lift controller determines the target suspension height based on the wheel clearance and sends the target suspension height to the hydraulic controllers of each suspension hydraulic control subsystem. The hydraulic controller of the suspension hydraulic control subsystem controls the hydraulic pump start and stop, solenoid valve opening and closing, and solenoid valve opening size based on the suspension cylinder position information corresponding to the target suspension and the current suspension cylinder position information transmitted by the displacement sensor to accurately control the suspension cylinder hydraulic position, thereby adjusting to the required target suspension height and achieving the target distance between the bottom of the wheel and the chassis.

[0053] Specifically, the hydraulic controller inputs the difference between the current suspension cylinder position information transmitted by the displacement sensor and the suspension cylinder position information corresponding to the target suspension height into the PID module, and appropriately adjusts the PID parameters to achieve the purpose of reasonable control of the opening and closing of the solenoid valve and the start and stop of the hydraulic pump.

[0054] The vehicle control system and data acquisition system share specified information in real time via the CAN bus according to the protocol. The suspension lift controller changes the suspension height in real time according to the vehicle control system's request.

[0055] Reference Figure 1 The amphibious vehicle control method of the embodiment of the present invention includes but is not limited to the following steps:

[0056] Step S110, obtaining a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor disposed under the vehicle, wherein the distance measuring sensor is used to detect the distance between the vehicle body and the ground;

[0057] Step S120, determining the driving environment of the amphibious vehicle according to the ground distance signal and the liquid level detection signal;

[0058] Step S130: When the driving environment is land driving, the wheel suspension system is controlled in a first control mode so that the relative distance between the bottom of the wheel and the chassis is greater than zero;

[0059] Step S140: When the driving environment is water surface driving, the wheel suspension system is controlled using the second control mode so that the relative distance between the bottom of the wheel and the chassis is less than zero;

[0060] Step S150: When the driving environment is shallow water, the wheel suspension system is controlled using the third control mode so that the relative distance between the bottom of the wheel and the chassis is a first preset distance.

[0061] In some embodiments, the distance sensor can be an ultrasonic detector or a radar detector. The distance sensor can be installed on the vehicle body to detect the distance between the front of the vehicle and the ground. The liquid level sensor is installed on the bottom of the vehicle, that is, the chassis. Furthermore, liquid level sensors are installed on the bottom of the front and rear vehicles to detect whether the vehicle enters water.

[0062] In some embodiments, in a first control mode, the relative distance between the bottom of the wheel and the chassis of the amphibious vehicle can be kept greater than zero, thereby enabling the amphibious vehicle to travel normally on land. In a second control mode, the relative distance between the bottom of the wheel and the chassis of the amphibious vehicle can be kept less than zero, raising the wheels to the water surface to reduce the resistance of the amphibious vehicle when traveling on the water. In a third control mode, the relative distance between the bottom of the wheel and the chassis of the amphibious vehicle can be maintained at a first preset distance, and the wheels can be lowered to a normal driving height, preparing the amphibious vehicle for landing.

[0063] Exemplarily, in this embodiment, four gears of wheel ground clearance are set, the first gear is the tire retracted position when driving on water, and the relative distance between the bottom of the wheel and the chassis is less than zero; the second gear is suitable for high-speed driving, the wheel extends out of the chassis, and the relative distance between the bottom of the wheel and the chassis is a second preset distance, which is greater than zero but less than the first preset distance for normal driving; the third gear is suitable for normal driving, which is the wheel ground clearance benchmark, and the relative distance between the bottom of the wheel and the chassis is a first preset distance, which is greater than the second preset distance; the fourth gear is suitable for uneven roads, which is the highest position of the set wheel ground clearance, and the relative distance between the bottom of the wheel and the chassis is a third preset distance, which is greater than the second preset distance.

[0064] According to some embodiments of the present invention, in step S120, the step of determining the driving environment of the amphibious vehicle based on the ground distance signal and the liquid level detection signal includes but is not limited to the following steps:

[0065] Step S210: When the liquid level detection signal is a first liquid level signal, determining that the driving environment is land driving, wherein the first liquid level signal is used to indicate that no water pressure is detected;

[0066] Step S220: When the liquid level detection signal is a second liquid level signal and the ground distance signal is greater than a preset ground distance, determining that the driving environment is water driving, wherein the second liquid level signal is used to indicate the detected water pressure;

[0067] Step S230 : When the liquid level detection signal is the second liquid level signal and the ground distance signal is less than the preset ground distance, it is determined that the driving environment is shallow driving.

[0068] In some embodiments of step S210, when the underbody liquid level sensor detects a low-level first liquid level signal, the driving environment can be determined to be land driving. Specifically, the driving environment can be determined to be land driving if at least one of the front underbody liquid level sensors or the rear underbody liquid level sensors transmits a low-level signal. When driving on land, the first control mode is employed to ensure that the vehicle is traveling in one of the second, third, and fourth gears.

[0069] In some embodiments of step S220, when the liquid level sensor on the underbody detects a high-level second liquid level signal and the ground distance signal is greater than a preset ground distance, indicating that the vehicle bottom is in water and the vehicle is far from the shore, the driving environment can be determined to be water driving. Specifically, if the liquid level sensor on the front or rear underbody detects a high-level signal and the ground distance signal is greater than a preset ground distance, the driving environment can be determined to be water driving. When driving on water, the second control mode is used to shift the vehicle into first gear and lift the wheels to the water surface to reduce resistance when driving on the water.

[0070] In some embodiments of step S230, when the liquid level sensor on the underbody detects a high-level second liquid level signal and the ground distance signal is less than a preset ground distance, indicating that the vehicle bottom is in water and close to the shore, indicating an intention to disembark and enter the shallows, the driving environment can be determined to be shallow. Specifically, if the liquid level sensor on the front or rear underbody both transmits a high-level signal and the ground distance signal is less than a preset ground distance, the driving environment can be determined to be shallow. When driving in shallows, a third control mode is employed to shift the vehicle to third gear, lower the wheels to normal driving height, and prepare for landing.

[0071] According to some embodiments of the present invention, in step S130, the step of controlling the wheel suspension system using the first control mode includes but is not limited to the following steps:

[0072] Step S310, obtaining the driving speed and suspension dynamic deflection of the amphibious vehicle;

[0073] Step S320: When the driving speed is greater than the low-speed threshold and the duration of the driving speed being greater than the low-speed threshold is greater than a first preset time period, controlling the wheel suspension system so that the relative distance between the bottom of the wheel and the chassis is a second preset distance, wherein the second preset distance is smaller than the first preset distance;

[0074] Step S330: When the driving speed is less than the low-speed critical value and the suspension disturbance is less than the disturbance threshold, the wheel suspension system is controlled so that the relative distance between the bottom of the wheel and the chassis is a first preset distance;

[0075] Step S340: When the suspension disturbance is greater than the disturbance threshold and the duration of the suspension disturbance being greater than the disturbance threshold is greater than the second preset time period, the wheel suspension system is controlled so that the relative distance between the bottom of the wheel and the chassis is a third preset distance, wherein the third preset distance is greater than the first preset distance.

[0076] In some embodiments of step S310, the ABS system may provide the actual speed of the amphibious vehicle, and the dynamic deflection sensor may provide the suspension disturbance of the amphibious vehicle. When the amphibious vehicle is traveling on land, the speed may be used to determine whether the amphibious vehicle is in a high-speed, low-speed, or reverse mode, and the suspension dynamic deflection may be used to determine the road condition on which the amphibious vehicle is traveling.

[0077] In some embodiments of step S320, when the driving speed is greater than the low-speed critical value and the duration of the driving speed being greater than the low-speed critical value is greater than a first preset time period, it indicates that the amphibious vehicle is in a high-speed driving condition. In order to improve the fuel economy, driving smoothness and handling stability of the amphibious equipment at this time, the gear is switched to the second gear and the vehicle body height is lowered.

[0078] In some embodiments of step S330, when the driving speed is less than the low-speed critical value and the root mean square value of the suspension disturbance is less than the pre-set root mean square value critical value of the suspension dynamic disturbance obtained by driving on a poor road surface, and the duration is greater than a certain value, it indicates that the amphibious vehicle is driving on a medium road surface. In order to improve the comprehensive performance of the amphibious equipment at this time, the wheel gear is switched to the third gear and the vehicle is driven at a normal height.

[0079] In some embodiments of step S340, when the root mean square value of the suspension disturbance is greater than the root mean square value critical value and the duration is greater than a certain value, it indicates that the amphibious vehicle is traveling on a poor road surface. In order to improve the passability and off-road performance of the amphibious vehicle at this time, the gear is switched to the 4th gear and the vehicle body height is increased.

[0080] According to some embodiments of the present invention, in step S130, the step of controlling the wheel suspension system using the first control mode further includes but is not limited to the following steps:

[0081] Step S410, obtaining the steering wheel angle of the amphibious vehicle;

[0082] Step S420: When the driving speed is less than zero or the steering wheel angle is greater than a preset steering angle, the wheel suspension system is controlled to lock the current relative distance between the bottom of the wheel and the chassis.

[0083] In some embodiments of step S410, an actual steering wheel angle may be provided by a steering wheel sensor, and whether the amphibious vehicle is in a steering condition may be determined based on the steering wheel angle.

[0084] In some embodiments of step S420, when the driving speed is less than zero, indicating that the amphibious vehicle is in a reverse operating condition, the gear position remains unchanged, and the wheel height is locked. When the steering wheel angle is greater than a preset steering angle, i.e., a preset steering operating condition critical angle, it also indicates that the amphibious vehicle is in a steering operating condition, the gear position remains unchanged, and the wheel height is locked.

[0085] According to some embodiments of the present invention, the amphibious vehicle control method of the embodiment of the present invention further includes but is not limited to the following steps:

[0086] Step S510, when a state switching signal of the wheel suspension system is generated, timing starts from the current moment;

[0087] Step S520: When the timer reaches a preset time, a state switching signal is sent to the wheel suspension system to switch the distance between the bottom of the wheel and the chassis.

[0088] In this embodiment, to prevent frequent gear changes, a delay module is incorporated into the vehicle control system. This module is designed to wait a certain amount of time after a state-switching signal is generated for the wheel suspension system before sending that signal to the system. If another state-switching signal is received during this time, the timer is reset, and the previously received state-switching signal is invalidated. The state-switching signal can be the wheel ground clearance values ​​corresponding to 1st, 2nd, 3rd, and 4th gears.

[0089] According to some embodiments of the present invention, the control process of the wheel suspension system is as follows:

[0090] determining a first distance between a bottom of the wheel and the chassis before the wheel suspension system state is switched;

[0091] determining a second distance between the bottom of the wheel and the chassis after the wheel suspension system state is switched;

[0092] determining a retracted length of a suspension cylinder piston rod according to a difference between the first distance and the second distance;

[0093] The suspension cylinder piston rod of the wheel suspension system is controlled according to the retraction length of the suspension cylinder piston rod.

[0094] According to some embodiments of the present invention, for a certain double wishbone independent suspension, the retracted length Δ of the suspension cylinder piston rod is calculated using the following formula:

[0095]

[0096] Wherein, b is the distance from the upper support point of the hydraulic device to the rotation axis of the lower cross arm, α is the angle between b and the vertical direction, L is the length of the lower cross arm of the wheel suspension system, L1 is the initial length of the hydraulic device, and H is the distance difference.

[0097] According to some embodiments of the present invention, an amphibious vehicle can realize three functions: wheel retraction and extension on water, wheel adjustment in shallow water, and vehicle body height adjustment on land. The adjustment of the ground clearance of each wheel is automatically achieved through the detection of a liquid level sensor and a distance measuring sensor, and the control of the opening and closing of the solenoid valve and the start and stop of the hydraulic pump. The control is simple and reliable, and the environment in which the amphibious equipment is located is automatically judged and the switching timing is controlled. No manual intervention is required to avoid misjudgment or misoperation, thereby improving the rationality of the wheel ground clearance switching of the amphibious vehicle, thereby improving the accuracy of the wheel ground clearance switching and the safety during the switching process.

[0098] On the other hand, an embodiment of the present invention further provides an amphibious vehicle control system, comprising:

[0099] The first module is used to obtain a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor provided under the vehicle, wherein the distance measuring sensor is used to detect the distance between the vehicle body and the ground;

[0100] The second module is used to determine the driving environment of the amphibious vehicle based on the ground distance signal and the liquid level detection signal;

[0101] The third module is configured to control the wheel suspension system in a first control mode so that the relative distance between the bottom of the wheel and the chassis is greater than zero when the driving environment is land driving;

[0102] The fourth module is configured to control the wheel suspension system in a second control mode so that the relative distance between the bottom of the wheel and the chassis is less than zero when the driving environment is water surface driving;

[0103] The fifth module is used to control the wheel suspension system in the third control mode when the driving environment is shallow driving so that the relative distance between the bottom of the wheel and the chassis is the first preset distance.

[0104] It can be understood that the contents of the above-mentioned amphibious vehicle control method embodiment are applicable to the present system embodiment. The functions specifically implemented by the present system embodiment are the same as those of the above-mentioned amphibious vehicle control method embodiment, and the beneficial effects achieved are also the same as those achieved by the above-mentioned amphibious vehicle control method embodiment.

[0105] Reference Figure 2 , Figure 2 Schematic diagram of an amphibious vehicle control device provided by an embodiment of the present invention. The amphibious vehicle control device of the embodiment of the present invention includes one or more control processors and a memory. Figure 2 A control processor and a memory are taken as an example.

[0106] The control processor and the memory can be connected via a bus or other means. Figure 2 The bus connection is taken as an example.

[0107] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. Furthermore, the memory can include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory remotely located relative to the control processor, and such remote memory can be connected to the amphibious vehicle control device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0108] Those skilled in the art will understand that Figure 2 The device structure shown in the figure does not constitute a limitation on the amphibious vehicle control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0109] The non-transient software program and instructions required to implement the amphibious vehicle control method applied to the amphibious vehicle control device in the above embodiment are stored in the memory. When executed by the controlled processor, the amphibious vehicle control method applied to the amphibious vehicle control device in the above embodiment is executed.

[0110] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by one or more control processors, enabling the one or more control processors to execute the amphibious vehicle control method in the above method embodiment.

[0111] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0112] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A method for controlling an amphibious vehicle, characterized in that: The following steps are involved: Obtaining a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor disposed under the vehicle, wherein the distance measuring sensor is used to detect the distance between the vehicle body and the ground; determining a driving environment of the amphibious vehicle according to the ground distance signal and the liquid level detection signal; When the driving environment is land driving, the wheel suspension system is controlled in a first control mode so that the relative distance between the bottom of the wheel and the chassis is greater than zero; When the driving environment is water surface driving, the wheel suspension system is controlled in the second control mode so that the relative distance between the bottom of the wheel and the chassis is less than zero; When the driving environment is shallow water driving, the wheel suspension system is controlled in a third control mode so that the relative distance between the bottom of the wheel and the chassis is a first preset distance; Determining the driving environment of the amphibious vehicle according to the ground distance signal and the liquid level detection signal comprises the following steps: When the liquid level detection signal is a first liquid level signal, determining that the driving environment is land driving, wherein the first liquid level signal is used to indicate that no water pressure is detected; When the liquid level detection signal is a second liquid level signal and the ground distance signal is greater than a preset ground distance, it is determined that the driving environment is driving on water, wherein the second liquid level signal is used to indicate that water pressure is detected; When the liquid level detection signal is a second liquid level signal and the ground distance signal is less than a preset ground distance, determining that the driving environment is shallow driving; The control of the wheel suspension system using the first control mode comprises the following steps: Obtain the driving speed and suspension disturbance of the amphibious vehicle; When the driving speed is greater than the low-speed threshold and the duration of the driving speed being greater than the low-speed threshold is greater than a first preset time period, controlling the wheel suspension system so that the relative distance between the bottom of the wheel and the chassis is a second preset distance, wherein the second preset distance is smaller than the first preset distance; When the driving speed is less than the low-speed critical value and the suspension disturbance is less than the disturbance threshold, controlling the wheel suspension system so that the relative distance between the bottom of the wheel and the chassis is a first preset distance; When the suspension disturbance is greater than the disturbance threshold and the duration of the suspension disturbance being greater than the disturbance threshold is greater than a second preset time period, the wheel suspension system is controlled so that the relative distance between the bottom of the wheel and the chassis is a third preset distance, wherein the third preset distance is greater than the first preset distance.

2. The amphibious vehicle control method according to claim 1, characterized in that: The controlling of the wheel suspension system using the first control mode further comprises the following steps: Get the steering wheel angle of the amphibious vehicle; When the driving speed is less than zero or the steering wheel angle is greater than a preset steering angle, the wheel suspension system is controlled to lock the current relative distance between the bottom of the wheel and the chassis.

3. The amphibious vehicle control method according to claim 1, characterized in that: The amphibious vehicle control method further comprises the following steps: When the state switching signal of the wheel suspension system is generated, the timing starts from the current moment; When the timing reaches a preset time, the state switching signal is sent to the wheel suspension system to switch the distance between the bottom of the wheel and the chassis.

4. The amphibious vehicle control method according to claim 3, characterized in that: The control process of the wheel suspension system is: determining a first distance between a bottom of the wheel and the chassis before the wheel suspension system state is switched; determining a second distance between the bottom of the wheel and the chassis after the wheel suspension system state is switched; determining a retracted length of a suspension cylinder piston rod according to a difference between the first distance and the second distance; The suspension cylinder piston rod of the wheel suspension system is controlled according to the contraction length of the suspension cylinder piston rod.

5. The amphibious vehicle control method according to claim 4, characterized in that: The retracted length Δ of the suspension cylinder piston rod is calculated using the following formula: Wherein, b is the distance from the upper support point of the hydraulic device to the rotation axis of the lower cross arm, α is the angle between b and the vertical direction, L is the length of the lower cross arm of the wheel suspension system, L1 is the initial length of the hydraulic device, and H is the distance difference.

6. An amphibious vehicle control system, characterized in that: The amphibious vehicle control system is used to implement the amphibious vehicle control method according to any one of claims 1 to 5, and the amphibious vehicle control system includes: The first module is used to obtain a ground distance signal from a distance measuring sensor and a liquid level detection signal from a liquid level sensor provided under the vehicle, wherein the distance measuring sensor is used to detect the distance between the vehicle body and the ground; A second module is configured to determine a driving environment of the amphibious vehicle based on the ground distance signal and the liquid level detection signal; a third module, configured to control the wheel suspension system in a first control mode so that the relative distance between the bottom of the wheel and the chassis is greater than zero when the driving environment is land driving; a fourth module, configured to control the wheel suspension system in a second control mode so that the relative distance between the bottom of the wheel and the chassis is less than zero when the driving environment is water surface driving; The fifth module is used to control the wheel suspension system in a third control mode when the driving environment is shallow driving so that the relative distance between the bottom of the wheel and the chassis is a first preset distance.

7. An amphibious vehicle control device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the amphibious vehicle control method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to implement the amphibious vehicle control method according to any one of claims 1 to 5 when executed by the processor.

Images