Amphibious vehicle escape control method, system and storage medium

Abstract

The present invention discloses a method, system, and storage medium for controlling an amphibious vehicle to escape from distress. The method is applied to the technical field of amphibious equipment and can improve the amphibious vehicle's ability to pass through when its tires are stuck, thereby enabling the amphibious vehicle to escape from distress smoothly and quickly. The method comprises: obtaining first motion data of the amphibious vehicle; calculating wheel slip based on the first motion data, and fuzzifying the slip fuzzy data to obtain slip fuzzy data; obtaining second motion data of the amphibious vehicle; calculating wheel vertical load based on the second motion data; calculating load deviation based on the wheel vertical load, and fuzzifying the load deviation fuzzy data; obtaining wheel suspension rate of the amphibious vehicle, and fuzzifying the load deviation fuzzy data to obtain suspension rate fuzzy data; determining the wheel stuck state through fuzzy identification based on the slip fuzzy data, the load deviation fuzzy data, and the suspension rate fuzzy data; and performing preset control and adjustment on the amphibious vehicle according to the wheel stuck state using preset fuzzy control rules.

Description

Technical Field

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

[0002] Amphibious vehicles offer excellent navigability on both land and water, capable of traveling on land like cars and on water like boats. Therefore, they hold broad application prospects in many specialized fields, such as disaster relief and exploration. However, in related technologies, when an amphibious vehicle is traveling on harsh roads and a tire becomes stuck in a pothole and becomes suspended in the air, traditional methods are often required to free the vehicle. These methods, such as manually adjusting the position of counterweights to shift the vehicle's center of gravity or placing a jack under the trapped wheel, are time-consuming and labor-intensive. Furthermore, in some scenarios, such as rescue sites, the terrain is often complex and dangerous, making traditional methods unsuitable for rescue missions. Therefore, effectively improving the ability of amphibious vehicles to escape potholes and ensuring smooth and rapid extrication has become a pressing issue. Summary of the Invention

[0003] In order to solve at least one of the above technical problems, the present invention proposes an amphibious vehicle escape control method, system and storage medium, which can effectively improve the passing ability of the amphibious vehicle when the tire is stuck, thereby achieving a smooth and rapid escape effect for the amphibious vehicle.

[0004] In one aspect, an embodiment of the present invention provides a method for controlling an amphibious vehicle to escape from distress, comprising the following steps:

[0005] Acquiring first motion data of the amphibious vehicle; wherein the first motion data includes a wheel angular velocity and a ground speed of the amphibious vehicle;

[0006] calculating a wheel slip rate of the amphibious vehicle according to the first motion data, and fuzzifying the wheel slip rate to obtain slip rate fuzzy data;

[0007] Acquiring second motion data of the amphibious vehicle; wherein the second motion data includes a roll angle and a pitch angle of the amphibious vehicle;

[0008] calculating a vertical load on the wheels of the amphibious vehicle based on the second motion data;

[0009] Calculating the load deviation of each wheel according to the wheel vertical load, and fuzzifying the load deviation to obtain load deviation fuzzy data;

[0010] Obtaining a wheel suspension rate of the amphibious vehicle, and fuzzifying the wheel suspension rate to obtain suspension rate fuzzy data;

[0011] determining a wheel stuck state of the amphibious vehicle through fuzzy recognition based on the slip rate fuzzy data, the load deviation fuzzy data, and the overhang rate fuzzy data;

[0012] The amphibious vehicle is subjected to preset control adjustments according to the wheel stuck state through preset fuzzy control rules; wherein the preset control adjustments include tire pressure adjustment and front and rear suspension height adjustment.

[0013] According to some embodiments of the present invention, calculating the wheel slip rate of the amphibious vehicle based on the first motion data and fuzzifying the wheel slip rate to obtain slip rate fuzzy data includes:

[0014] Calculating the wheel slip rate of the amphibious vehicle according to the wheel angular velocity and the ground speed;

[0015] Performing a weighted average on the wheel slip rates to obtain a weighted slip rate;

[0016] The weighted slip rate is fuzzified by using a Gaussian membership function to obtain the slip rate fuzzy data.

[0017] According to some embodiments of the present invention, calculating the load deviation of each wheel based on the wheel vertical load and fuzzifying the load deviation to obtain load deviation fuzzy data includes:

[0018] Calculating the corresponding vertical static load of the wheel according to a preset road condition; wherein the preset road condition includes a flat road surface, an uphill road surface, and a downhill road surface;

[0019] Calculating the load deviation of each wheel according to the wheel vertical load and the wheel vertical static load;

[0020] The load deviation is fuzzified by a Gaussian membership function to obtain the load deviation fuzzy data.

[0021] According to some embodiments of the present invention, obtaining the wheel suspension rate of the amphibious vehicle and fuzzifying the wheel suspension rate to obtain suspension rate fuzzy data includes:

[0022] Obtaining the ground clearance of each wheel of the amphibious vehicle through a preset height sensor;

[0023] Normalizing the heights of the wheels above the ground to obtain normalized data;

[0024] Analyzing the normalized data to obtain the wheel suspension rate;

[0025] The wheel suspension rate is fuzzified by using a Gaussian membership function to obtain suspension rate fuzzy data.

[0026] According to some embodiments of the present invention, performing preset control and adjustment on the amphibious vehicle according to the wheel stuck state by using preset fuzzy control rules includes:

[0027] Obtaining tire pressure data detected by a tire pressure sensor and suspension height data detected by a suspension height sensor;

[0028] constructing an amphibious vehicle dynamics model based on the tire pressure data and the suspension height data;

[0029] Performing a force analysis based on the amphibious vehicle dynamics model to obtain a force analysis result;

[0030] Determining tire pressure adjustment parameters and suspension height adjustment parameters corresponding to the wheel stuck state using preset fuzzy control rules based on the force analysis results; wherein the wheel stuck state includes a single wheel stuck in the air, two wheels on the same side stuck in the air, and two wheels on opposite sides stuck in the air;

[0031] The preset control adjustment is performed on the amphibious vehicle according to the tire pressure adjustment parameter and the suspension height adjustment parameter.

[0032] According to some embodiments of the present invention, performing the preset control adjustment on the amphibious vehicle according to the tire pressure adjustment parameter and the suspension height adjustment parameter includes:

[0033] issuing a tire pressure control instruction to a tire pressure control module of the amphibious vehicle according to the tire pressure adjustment parameter; wherein the tire pressure control module controls the working mode of the tire automatic inflation and deflation module according to the tire pressure control instruction;

[0034] The front and rear suspension height differences of the amphibious vehicle are adjusted according to the suspension height adjustment parameters.

[0035] According to some embodiments of the present invention, the method further comprises:

[0036] Construct tire pressure control commands and suspension height adjustment commands;

[0037] Corresponding fuzzy rules are constructed according to the tire pressure control instruction and the suspension height adjustment instruction to obtain the preset fuzzy control rules.

[0038] On the other hand, an embodiment of the present invention further provides an amphibious vehicle escape control system, comprising:

[0039] a first acquisition module, configured to acquire first motion data of the amphibious vehicle; wherein the first motion data includes a wheel angular velocity and a ground speed of the amphibious vehicle;

[0040] a first calculation module, configured to calculate a wheel slip rate of the amphibious vehicle based on the first motion data, and fuzzify the wheel slip rate to obtain slip rate fuzzy data;

[0041] a second acquisition module, configured to acquire second motion data of the amphibious vehicle; wherein the second motion data includes a roll angle and a pitch angle of the amphibious vehicle;

[0042] a second calculation module, configured to calculate a vertical load on the wheels of the amphibious vehicle based on the second motion data;

[0043] a third calculation module, configured to calculate a load deviation of each wheel according to the vertical load of the wheel, and fuzzify the load deviation to obtain load deviation fuzzy data;

[0044] a third acquisition module, configured to acquire a wheel suspension rate of the amphibious vehicle and fuzzify the wheel suspension rate to obtain suspension rate fuzzy data;

[0045] an identification module, configured to determine a wheel stuck state of the amphibious vehicle through fuzzy identification based on the slip rate fuzzy data, the load deviation fuzzy data, and the overhang rate fuzzy data;

[0046] A control module is used to perform preset control adjustments on the amphibious vehicle according to the wheel stuck state through preset fuzzy control rules; wherein the preset control adjustments include tire pressure adjustment and front and rear suspension height adjustment.

[0047] On the other hand, an embodiment of the present invention further provides an amphibious vehicle escape control system, comprising:

[0048] at least one processor;

[0049] at least one memory for storing at least one program;

[0050] When the at least one program is executed by the at least one processor, the at least one processor implements the amphibious vehicle escape control method as described in the above embodiment.

[0051] On the other hand, an embodiment of the present invention further provides a computer storage medium storing a program executable by a processor, wherein the program executable by the processor is used to implement the amphibious vehicle escape control method as described in the above embodiment when executed by the processor.

[0052] A method for controlling an amphibious vehicle to escape from distress according to an embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention first obtains first motion data of the amphibious vehicle, including wheel angular velocity and ground speed, to calculate the wheel slip rate based on the obtained first motion data, and fuzzifies the wheel slip rate to obtain slip rate fuzzy data. At the same time, the embodiment of the present invention calculates the vertical load of the wheels of the amphibious vehicle by obtaining second motion data of the amphibious vehicle, including the roll angle and pitch angle of the amphibious vehicle, and thus calculates the load deviation of each wheel based on the wheel vertical load. Accordingly, the embodiment of the present invention fuzzifies the calculated load deviation to obtain load deviation fuzzy data. In addition, the embodiment of the present invention obtains the wheel suspension rate of the amphibious vehicle and fuzzifies it to obtain suspension rate fuzzy data. Next, the embodiment of the present invention determines the wheel entrapment state of the amphibious vehicle through fuzzy identification based on the slip fuzzy data, the load deviation fuzzy data and the suspension rate fuzzy data, and thus performs preset control adjustments on the amphibious vehicle through preset fuzzy control rules according to the wheel entrapment state, including tire pressure adjustment and front and rear suspension height adjustment. The method of performing preset control adjustments on the amphibious vehicle through fuzzy identification and preset fuzzy control rules can effectively improve the passability of the amphibious vehicle when the tire is stuck, thereby achieving the effect of the amphibious vehicle getting out of trouble smoothly and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a flow chart of an amphibious vehicle escape control method provided by an embodiment of the present invention;

[0054] Figure 2 is a schematic diagram of an amphibious vehicle suspension provided by an embodiment of the present invention without modification;

[0055] Figure 3 is a schematic diagram showing changes in the front and rear suspensions of an amphibious vehicle provided by an embodiment of the present invention;

[0056] Figure 4 Schematic diagram of an amphibious vehicle dynamics model provided by an embodiment of the present invention;

[0057] Figure 5 It is a principle block diagram of an amphibious vehicle escape control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The embodiments described in the embodiments of this application should not be regarded as limitations of this application. All other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0059] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0061] Amphibious vehicles offer excellent navigability on both land and water, capable of traveling on land like cars and on water like boats. Therefore, they hold broad application prospects in many specialized fields, such as disaster relief and exploration. However, in related technologies, when an amphibious vehicle is traveling on harsh roads and a tire becomes stuck in a pothole and becomes suspended in the air, traditional methods are often required to free the vehicle. These methods, such as manually adjusting the position of counterweights to shift the vehicle's center of gravity or placing a jack under the trapped wheel, are time-consuming and labor-intensive. Furthermore, in some scenarios, such as rescue sites, the terrain is often complex and dangerous, making traditional methods unsuitable for rescue missions. Therefore, effectively improving the ability of amphibious vehicles to escape potholes and ensuring smooth and rapid extrication has become a pressing issue.

[0062] Based on this, an embodiment of the present invention provides an amphibious vehicle escape control method, system and storage medium, which can effectively improve the amphibious vehicle's ability to pass when the tire is stuck, thereby achieving a smooth and rapid escape effect for the amphibious vehicle. Figure 1 The method of the embodiment of the present invention includes but is not limited to step S110, step S120, step S130, step S140, step S150, step S160, step S170 and step S180.

[0063] Specifically, the application process of the method of the embodiment of the present invention includes but is not limited to the following steps:

[0064] S110: Acquire first motion data of the amphibious vehicle, wherein the first motion data includes the wheel angular velocity and ground speed of the amphibious vehicle.

[0065] S120: Calculating the wheel slip rate of the amphibious vehicle according to the first motion data, and fuzzifying the wheel slip rate to obtain slip rate fuzzy data.

[0066] S130: Acquire second motion data of the amphibious vehicle, wherein the second motion data includes a roll angle and a pitch angle of the amphibious vehicle.

[0067] S140: Calculating the vertical load on the wheels of the amphibious vehicle according to the second motion data.

[0068] S150: Calculating the load deviation of each wheel according to the vertical load of the wheel, and fuzzifying the load deviation to obtain load deviation fuzzy data.

[0069] S160: Obtaining the wheel suspension rate of the amphibious vehicle and fuzzifying the wheel suspension rate to obtain suspension rate fuzzy data.

[0070] S170: Determine the wheel stuck state of the amphibious vehicle through fuzzy recognition based on the slip rate fuzzy data, the load deviation fuzzy data, and the suspension rate fuzzy data.

[0071] S180: Performing preset control adjustments on the amphibious vehicle according to the wheel stuck state using preset fuzzy control rules. The preset control adjustments include tire pressure adjustment and front and rear suspension height adjustment.

[0072] During operation of this specific embodiment, the present invention first acquires first motion data of the amphibious vehicle. Specifically, the first motion data in this embodiment includes the amphibious vehicle's wheel angular velocity and ground speed. This embodiment uses wheel speed sensors to acquire the wheel angular velocity of each wheel of the amphibious vehicle in real time, while simultaneously acquiring the amphibious vehicle's ground speed through a vehicle speed sensor. Next, the present invention calculates the wheel slip of the amphibious vehicle based on the first motion data and fuzzifies the wheel slip to obtain fuzzy slip data. Specifically, the present invention calculates the vehicle slip of each wheel based on the real-time acquired wheel angular velocity and corresponding ground speed. Next, the present invention fuzzifies the vehicle slip of each wheel to obtain fuzzy slip data, facilitating subsequent fuzzy identification and fuzzy control. Furthermore, the present invention acquires second motion data of the amphibious vehicle. Specifically, this second motion data in this embodiment includes the roll angle and pitch angle of the amphibious vehicle. An embodiment of the present invention uses an inertial measurement unit (IMU) to obtain the roll and pitch angles of an amphibious vehicle in real time. Next, the embodiment of the present invention calculates the vertical load on the wheels of the amphibious vehicle based on the second motion data. The embodiment of the present invention calculates the vertical load on each wheel, i.e., the wheel vertical load, based on the obtained roll and pitch angles of the amphibious vehicle. Next, the embodiment of the present invention calculates the load deviation of each wheel based on the wheel vertical load and fuzzifies the load deviation to obtain load deviation fuzzy data. The embodiment of the present invention calculates the corresponding load deviation based on the calculated wheel vertical load of each wheel, i.e., the deviation between the wheel vertical load of each wheel and the vertical static load. Simultaneously, the embodiment of the present invention performs data fuzzification on the obtained load deviation to obtain corresponding load deviation fuzzy data. Furthermore, the embodiment of the present invention obtains the wheel suspension rate of the amphibious vehicle and fuzzifies the wheel suspension rate to obtain suspension rate fuzzy data. Specifically, in an embodiment of the present invention, the wheel suspension ratio of an amphibious vehicle is detected and calculated using relevant sensors to determine whether each wheel of the amphibious vehicle is suspended. Simultaneously, the embodiment of the present invention also performs data fuzzification on the corresponding wheel suspension ratio to obtain suspension ratio fuzzy data. Furthermore, the embodiment of the present invention determines the wheel entrapment state of the amphibious vehicle through fuzzy identification based on the slip ratio fuzzy data, load deviation fuzzy data, and suspension ratio fuzzy data. The embodiment of the present invention uses fuzzy identification to identify the state of each wheel of the amphibious vehicle based on the amphibious vehicle's slip ratio fuzzy data, load deviation fuzzy data, and suspension ratio fuzzy data to obtain the corresponding wheel entrapment state. Next, the embodiment of the present invention performs preset control adjustments on the amphibious vehicle based on the wheel entrapment state using preset fuzzy control rules. Specifically, the preset control adjustments in the embodiment of the present invention include tire pressure adjustment and front and rear suspension height adjustment.The embodiment of the present invention adjusts the tire pressure and front and rear suspension height of the amphibious vehicle through preset fuzzy control rules, thereby improving the adhesion coefficient of the wheels and increasing the vertical load, so as to achieve the effect of improving the driving force of the tires that are not stuck, thereby achieving the effect of the amphibious vehicle getting out of trouble smoothly and quickly, and can effectively improve the passability of the amphibious vehicle when the tires are stuck.

[0073] In some embodiments of the present invention, the wheel slip rate of the amphibious vehicle is calculated based on the first motion data, and the wheel slip rate is fuzzified to obtain slip rate fuzzy data, including but not limited to:

[0074] The wheel slip rate of the amphibious vehicle is calculated based on the wheel angular velocity and the ground speed.

[0075] The weighted slip rate is obtained by taking a weighted average of the slip rates of each wheel.

[0076] The weighted slip rate is fuzzified by Gaussian membership function to obtain slip rate fuzzy data.

[0077] In this specific embodiment, the present invention first calculates the wheel slip rate of the amphibious vehicle based on the wheel angular velocity and the ground speed. Specifically, the calculation formula of the wheel slip rate in the embodiment of the present invention is shown in the following formula (1):

[0078]

[0079] Where λ is the wheel slip rate, r is the tire radius, and u a is the actual ground speed, and ω is the wheel speed.

[0080] Next, the embodiment of the present invention performs a weighted average based on the wheel slip rates to obtain a weighted slip rate. Specifically, after obtaining the wheel slip rates of each wheel of the amphibious vehicle, the embodiment of the present invention performs a weighted average on the wheel slip rates of each wheel to obtain a weighted slip rate, as shown in the following formula (2):

[0081]

[0082] Among them, λ a is the weighted slip rate, λ lf ,λ lr ,λ rf ,λ rr They are the wheel slip rates of the left front wheel, left rear wheel, right front wheel, and right rear wheel of the amphibious vehicle respectively.

[0083] Furthermore, the embodiment of the present invention fuzzifies the weighted slip rate using a Gaussian membership function, thereby obtaining slip rate fuzzy data. Specifically, in the embodiment of the present invention, the data is fuzzified using a Gaussian membership function, and the corresponding fuzzy subsets are {S, M, B}, which are small, medium, and large, respectively, and the domain is [0, 1]. The membership function corresponding to each fuzzy subset is expressed as shown in the following formula (3):

[0084]

[0085] Among them, λ a is the weighted slip rate.

[0086] In some embodiments of the present invention, the load deviation of each wheel is calculated based on the vertical load of the wheel, and the load deviation is fuzzified to obtain load deviation fuzzy data, including but not limited to:

[0087] The corresponding vertical static load of the wheel is calculated according to a preset road condition, wherein the preset road condition includes a flat road surface, an uphill road surface, and a downhill road surface.

[0088] The load deviation of each wheel is calculated based on the wheel vertical load and the wheel vertical static load.

[0089] The load deviation is fuzzified by the Gaussian membership function to obtain the load deviation fuzzy data.

[0090] In this specific embodiment, the embodiment of the present invention analyzes the vertical load deviation of each wheel based on the acquired wheel vertical load and fuzzifies the load deviation to obtain load deviation fuzzy data. Specifically, the embodiment of the present invention first calculates the corresponding wheel vertical load based on the preset road condition. Accordingly, according to different road conditions, the embodiment of the present invention can be divided into flat road surface, uphill road surface, and downhill road surface. The corresponding wheel vertical static loads are shown in the following equations (4), (5), and (6), respectively:

[0091]

[0092]

[0093]

[0094] Among them, formula (4) is the vertical static load of the wheel corresponding to the flat road surface, formula (5) is the vertical static load of the wheel corresponding to the uphill road surface, and formula (6) is the vertical static load of the wheel corresponding to the downhill road surface. In the formula, L is the wheelbase length of the amphibious equipment, a and b are the distances from the center of mass to the front and rear axles, and h is the distance from the center of mass to the front and rear axles, respectively. g is the height of the center of mass, θ is the road slope angle, It is the normal force generated by the weight of the amphibious vehicle distributed to the front and rear axles.

[0095] Next, the embodiment of the present invention calculates the load deviation of each wheel based on the wheel vertical load and the wheel vertical static load. Specifically, the load distribution of each wheel of the amphibious vehicle in the embodiment of the present invention is shown in the following formula (7):

[0096]

[0097] Among them, the dynamic load component in the pitching state is expressed as follows (8):

[0098]

[0099] The dynamic load component of the front axle roll state is expressed as follows (9):

[0100] ΔF r_f =m·g·sinφ·h g ·L r / L·B (9)

[0101] The dynamic load component of the rear axle roll state is expressed as follows (10):

[0102] ΔF y_r =m·g·sinφ·h g ·L f / L·B (10)

[0103] Among them, is the pitch angle of amphibious equipment, φ is the roll angle, h g is the height of the center of mass, F z_fl 、F z_fr 、F z_rl With F z_rr are the vertical loads of each wheel, L f , L r are the distances between the front axle and the rear axle and the center of mass, and L is the vehicle wheelbase.

[0104] Furthermore, the embodiment of the present invention obtains the vertical load of each wheel and the vertical force of the corresponding static axle load under the corresponding preset road condition, and calculates the deviation degree of the vertical load of each wheel, that is, the load deviation, as shown in the following formula (11):

[0105]

[0106] Among them, D fl 、D fr 、D rl 、D rr are the vertical load deviation degrees of the left front wheel, right front wheel, left rear wheel and right rear wheel of the amphibious vehicle, that is, the load deviation, F Z_fl 、F Z_fr、F z_rl 、F z_rr They are the real-time vertical loads on the left front wheel, right front wheel, left rear wheel and right rear wheel of the amphibious vehicle.

[0107] Next, the embodiment of the present invention fuzzifies the load deviation using a Gaussian membership function to obtain load deviation fuzzy data. Specifically, the embodiment of the present invention selects a Gaussian membership function to fuzzify the load deviation based on the deviation degree of each wheel vertical load obtained after calculation, that is, the load deviation. The corresponding fuzzy subsets are {S, M, B}, which are small, medium, and large, respectively, and the domain is [0, 1]. The membership function corresponding to each fuzzy subset is expressed as shown in the following equation (12):

[0108]

[0109] Where D is the vertical load deviation degree of each tire.

[0110] In some embodiments of the present invention, the wheel suspension rate of an amphibious vehicle is obtained and the wheel suspension rate is fuzzified to obtain suspension rate fuzzy data, including but not limited to:

[0111] The ground clearance of each wheel of the amphibious vehicle is obtained through a preset height sensor.

[0112] The height of each wheel above the ground is normalized to obtain normalized data.

[0113] The wheel suspension rate is obtained by analyzing the normalized data.

[0114] The wheel overhang rate is fuzzified by using Gaussian membership function to obtain the fuzzy data of the overhang rate.

[0115] In this specific embodiment, the embodiment of the present invention first obtains the ground clearance height of each wheel of the amphibious vehicle through a preset height sensor. Specifically, the preset height sensor in the embodiment of the present invention can be a wheel ground clearance height sensor, such as a distance sensor. The embodiment of the present invention uses the wheel ground clearance height sensor to detect the ground clearance height of each wheel of the amphibious vehicle in real time. Then, the embodiment of the present invention normalizes the obtained ground clearance height of each wheel to obtain normalized data. The embodiment of the present invention normalizes the ground clearance height of each wheel so that the corresponding data is limited to a preset range, such as [0,1] or [-1,1], thereby alleviating the influence of singular sample data and alleviating the dimensional influence between indicators. Further, the embodiment of the present invention analyzes the normalized data to obtain the wheel suspension rate. Specifically, the embodiment of the present invention compares and analyzes the normalized data obtained by the normalization process with the corresponding reference degree to determine whether each wheel is in a suspended state. Among them, the wheel suspension rate calculation formula in the embodiment of the present invention is shown in the following formula (13):

[0116]

[0117] Among them, Spin i For the suspended wheel mark, Count spin_i is the number of suspended wheels.

[0118] It should be noted that, in the embodiment of the present invention, when the amphibious vehicle is traveling on a bumpy road and two wheels are suspended in the air, the Spin p 0.5, Spin when single wheel is suspended p 0.25, four-wheel contact state Spin p is 0. Next, the embodiment of the present invention fuzzifies the wheel suspension rate using a Gaussian membership function to obtain suspension rate fuzzy data. Specifically, the corresponding fuzzy subsets in the embodiment of the present invention are {Z, S, B}, which are zero, positive small, and positive large, respectively, and the domain is [0, 0.5]. The correspondence between the wheel suspension rate and the fuzzy subsets is as follows: when the amphibious vehicle is in a four-wheel grounded state, the fuzzy subset is Z; when the amphibious vehicle is in a single-wheel suspended state, the corresponding fuzzy subset is S; when the amphibious vehicle is in a two-wheel suspended state, the corresponding fuzzy subset is B.

[0119] In some embodiments of the present invention, the amphibious vehicle is controlled and adjusted according to the wheel stuck state by using preset fuzzy control rules, including but not limited to:

[0120] Obtain tire pressure data detected by the tire pressure sensor and suspension height data detected by the suspension height sensor.

[0121] The dynamic model of the amphibious vehicle is constructed based on tire pressure data and suspension height data.

[0122] The force analysis is carried out according to the amphibious vehicle dynamics model and the force analysis results are obtained.

[0123] Based on the force analysis results, preset fuzzy control rules are used to determine the tire pressure adjustment parameters and suspension height adjustment parameters corresponding to the wheel stuck state. The wheel stuck state includes a single wheel stuck in the air, two wheels on the same side stuck in the air, and two wheels on opposite sides stuck in the air.

[0124] The amphibious vehicle is preset and controlled according to the tire pressure adjustment parameters and the suspension height adjustment parameters.

[0125] In this specific embodiment, the present invention first obtains tire pressure data detected by a tire pressure sensor and suspension height data detected by a suspension height sensor, and constructs a dynamic model of the amphibious vehicle based on the tire pressure and suspension height data. Next, the present invention performs a force analysis based on the amphibious vehicle dynamic model to obtain corresponding force analysis results. Based on the force analysis results, the present invention uses preset fuzzy control rules to determine tire pressure adjustment parameters and suspension height adjustment parameters corresponding to the wheel trapped state. The amphibious vehicle is then controlled and adjusted based on the tire pressure and suspension height adjustment parameters to quickly escape from a trapped state. Specifically, when the amphibious vehicle's wheel airborne ratio, wheel slip ratio, and wheel vertical load deviation distribution determine that the amphibious vehicle is unable to escape from a trapped state, the present invention first determines the wheel trapped state of the amphibious vehicle through fuzzy recognition based on the slip ratio fuzzy data, load deviation fuzzy data, and airborne ratio fuzzy data. Accordingly, the wheel trapped states in the present embodiment include a single wheel trapped state, two wheels trapped on the same side, and two wheels trapped on opposite sides. Among them, in the embodiment of the present invention, the single-wheel stuck in the air state refers to a state in which a tire of the amphibious vehicle is stuck in the air and the other drive wheels slip, resulting in the amphibious vehicle being unable to escape; the same-side double-wheel stuck in the air state refers to a state in which the double wheels on the same side of the amphibious vehicle are stuck in the air and the other drive wheels slip, resulting in the amphibious vehicle being unable to escape; the opposite-side double-wheel stuck in the air state refers to a state in which the double wheels on the opposite side of the amphibious vehicle are stuck in the air and the other drive wheels slip, resulting in the amphibious vehicle being unable to escape. When it is determined that the amphibious vehicle is in a stuck state, the embodiment of the present invention first detects the tire pressure data of the amphibious vehicle in real time through a tire pressure sensor, and obtains the suspension height data of the amphibious vehicle in real time through a suspension height sensor. At the same time, the embodiment of the present invention constructs an amphibious vehicle dynamics model based on the obtained tire pressure data and suspension height data, and performs force analysis on the amphibious vehicle through the amphibious vehicle dynamics model to obtain corresponding force analysis results. For example, the amphibious vehicle dynamics model constructed in the embodiment of the present invention is as follows: Figure 4 As shown. Among them, Figure 4 Medium v x 、v y represents the longitudinal speed and lateral speed of the vehicle; γ is the vehicle yaw rate; δ is the front wheel steering angle; β is the sideslip angle of the center of mass; L F , L R Represents the distance from the vehicle's center of mass to the front axle and rear axle respectively; B F 、B R Respectively represent the front and rear axle track; F xij 、F yij(ij = FL, FR, RL, RR) represents the longitudinal and lateral forces acting on the four front, rear, left, and right tires. Furthermore, the embodiment of the present invention determines the tire pressure adjustment parameters and suspension height adjustment parameters under the current operating conditions based on the force analysis results combined with preset fuzzy control rules, that is, determines the tire pressure adjustment parameters and suspension height adjustment parameters corresponding to the current wheel stuck state. Next, the embodiment of the present invention performs preset control adjustments on the amphibious vehicle using the determined tire pressure adjustment parameters and suspension height adjustment parameters, thereby achieving a smooth and rapid escape from distress for the amphibious vehicle and effectively improving the vehicle's ability to pass when the tires are stuck.

[0126] In some embodiments of the present invention, preset control adjustments are performed on the amphibious vehicle based on tire pressure adjustment parameters and suspension adjustment parameters, including but not limited to:

[0127] A tire pressure control instruction is sent to the tire pressure control module of the amphibious vehicle according to the tire pressure adjustment parameter. The tire pressure control module controls the working mode of the tire automatic inflation and deflation module according to the tire pressure control instruction.

[0128] Adjust the front and rear suspension height difference of the amphibious vehicle according to the suspension adjustment parameters.

[0129] In this specific embodiment, the present invention first issues a tire pressure control command to the tire pressure control module of an amphibious vehicle based on tire pressure adjustment parameters. The height difference between the front and rear suspensions of the amphibious vehicle is then adjusted based on suspension adjustments. Specifically, the tire pressure control module in this embodiment controls the operating mode of the tire automatic inflation / deflation module based on the tire pressure control command. The tire pressure control module in this embodiment includes a tire pressure monitoring sensor, an air intake, an inflation unit, and an air outlet. Accordingly, the tire pressure monitoring sensor in this embodiment is located on the inner wall of the tire, and the inflation unit is mounted on the inner outer wall of the tire. Furthermore, both the air outlet and air intake are located on the inner outer wall of the tire, and the air intake is connected to the inflation unit and the air outlet. This embodiment controls the automatic tire inflation / deflation mode based on the tire pressure control command, thereby adjusting the tire pressure to the desired pressure under the corresponding operating conditions. This allows the amphibious vehicle to reduce the air pressure in the uninvolved tire when a wheel sinks into the ground, thereby improving the grip of the uninvolved wheel and increasing the utilization of the road adhesion coefficient. It is easy to understand that in the embodiment of the present invention, the air pressure of the tire that is not trapped is reduced to achieve the effect of properly improving the adhesion coefficient, and by changing the height difference between the front and rear suspensions, referring to Figure 2 and Figure 3 , so that the front axle or rear axle of the amphibious vehicle obtains additional gravity component, thereby increasing the normal reaction force of the untrapped driving wheel, and increasing the vertical load while improving the adhesion coefficient to achieve the purpose of improving the driving force of the untrapped tire. Figure 2 and Figure 3 In the equation, a and b are the distances from the center of mass of the vehicle to the front and rear axles, respectively; L is the wheelbase of the vehicle; G is the gravity of the vehicle; and ψ is the pitch angle of the vehicle body.

[0130] In some embodiments of the present invention, the amphibious vehicle escape control method provided by the embodiments of the present invention further includes but is not limited to:

[0131] Build tire pressure control commands and suspension height adjustment commands.

[0132] Corresponding fuzzy rules are constructed according to the tire pressure control instructions and the suspension height adjustment instructions to obtain the preset fuzzy control rules.

[0133] In this specific embodiment, the present invention first constructs tire pressure control instructions and suspension height adjustment instructions. Next, the present invention constructs corresponding fuzzy rules based on the tire pressure control instructions and suspension height adjustment instructions to obtain preset fuzzy control rules. Specifically, the present invention first designs tire pressure control instructions for an amphibious vehicle. The present invention inputs the normalized wheel slip weighted values ​​into the fuzzy controller. After fuzzy processing, the fuzzy subsets {S, M, B} of the wheel slip are obtained, corresponding to positive small, positive medium, and positive large, respectively. According to the formulated fuzzy rules, the instruction sets {L1, L2, R1, R2, S1, S2, D1, D2, U1, U2} for the four tire pressure control under different working conditions are obtained, and the corresponding control methods are as follows: the L1 instruction is to reduce the tire pressure of the right side of the front axle, the left side of the rear axle and the right side of the rear axle; the L2 instruction is to reduce the tire pressure of the left side of the front axle, the right side of the front axle and the right side of the rear axle; the R1 instruction is to reduce the tire pressure of the left side of the front axle, the left side of the rear axle and the right side of the rear axle; the R2 instruction is to reduce the tire pressure of the left side of the front axle, the left side of the rear axle and the left side of the rear axle; the S1 instruction is to reduce the tire pressure of the front and right side of the rear axle; the S2 instruction is to reduce the tire pressure of the front and left side of the rear axle; the D1 instruction is to reduce the tire pressure of the right side of the front axle and the left side of the rear axle; the D2 instruction is to reduce the tire pressure of the left side of the front axle and the right side of the rear axle; the U1 instruction is to reduce the tire pressure of the left and right sides of the rear axle; the U2 instruction is to reduce the tire pressure of the left and right sides of the front axle.

[0134] Accordingly, an embodiment of the present invention designs active air suspension height adjustment control instructions. The suspension height control in this embodiment includes eight control states, corresponding to the instruction set {A, B, C, D, E, F, G, H, N}. Specifically, in this embodiment, instruction A lowers the front overhang by 100% and raises the rear overhang by 100%; instruction B lowers the front overhang by 75% and raises the rear overhang by 75%; instruction C lowers the front overhang by 50% and raises the rear overhang by 50%; instruction D lowers the front overhang by 25% and raises the rear overhang by 25%; instruction E raises the front overhang by 25% and lowers the rear overhang by 25%; instruction F raises the front overhang by 50% and lowers the rear overhang by 50%; instruction G raises the front overhang by 75% and lowers the rear overhang by 75%; instruction H raises the front overhang by 100% and lowers the rear overhang by 100%; and instruction N does not perform any operation.

[0135] Furthermore, the embodiment of the present invention constructs corresponding fuzzy rules based on the constructed tire pressure control instructions and suspension height adjustment instructions to obtain preset fuzzy control rules. Specifically, the preset fuzzy control rules constructed in the embodiment of the present invention define multiple conditional statements, providing the core logic for the specific application conditions of fuzzy control. They list multiple rules that meet practical requirements and complete the establishment of an inference model based on typical operating conditions. The specific fuzzy logic rules are shown in Tables 1 and 2 below. Table 1 shows the fuzzy logic rules for the tire pressure of four amphibious vehicles.

[0136] Table 1

[0137]

[0138]

[0139] Among them, Table 2 shows the fuzzy rules for active suspension control of amphibious vehicles.

[0140] Table 2

[0141]

[0142]

[0143] One embodiment of the present invention further provides an amphibious vehicle escape control system, comprising:

[0144] The first acquisition module is configured to acquire first motion data of the amphibious vehicle, wherein the first motion data includes the wheel angular velocity and the ground speed of the amphibious vehicle.

[0145] The first calculation module is used to calculate the wheel slip rate of the amphibious vehicle according to the first motion data, and fuzzify the wheel slip rate to obtain slip rate fuzzy data.

[0146] The second acquisition module is configured to acquire second motion data of the amphibious vehicle, wherein the second motion data includes a roll angle and a pitch angle of the amphibious vehicle.

[0147] The second calculation module is used to calculate the vertical load of the wheels of the amphibious vehicle according to the second motion data.

[0148] The third calculation module is used to calculate the load deviation of each wheel according to the vertical load of the wheel, and fuzzify the load deviation to obtain load deviation fuzzy data.

[0149] The third acquisition module is used to obtain the wheel suspension rate of the amphibious vehicle and fuzzify the wheel suspension rate to obtain suspension rate fuzzy data.

[0150] The identification module is used to determine the wheel stuck state of the amphibious vehicle through fuzzy identification based on the slip rate fuzzy data, the load deviation fuzzy data and the suspension rate fuzzy data.

[0151] The control module is used to perform preset control adjustments on the amphibious vehicle according to the wheel stuck state using preset fuzzy control rules, wherein the preset control adjustments include tire pressure adjustment and front and rear suspension height adjustment.

[0152] Reference Figure 5 One embodiment of the present invention further provides an amphibious vehicle escape control system, comprising:

[0153] At least one processor 210 .

[0154] At least one memory 220 is configured to store at least one program.

[0155] When at least one program is executed by at least one processor 210, the at least one processor 210 implements the amphibious vehicle escape control method as described in the above embodiment.

[0156] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by one or more control processors, for example, to execute the steps described in the above embodiment.

[0157] 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.

[0158] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above implementation. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A method for controlling an amphibious vehicle to escape from distress, characterized in that: The following steps are involved: Acquiring first motion data of the amphibious vehicle; wherein the first motion data includes a wheel angular velocity and a ground speed of the amphibious vehicle; calculating a wheel slip rate of the amphibious vehicle according to the first motion data, and fuzzifying the wheel slip rate to obtain slip rate fuzzy data; Acquiring second motion data of the amphibious vehicle; wherein the second motion data includes a roll angle and a pitch angle of the amphibious vehicle; calculating a vertical load on the wheels of the amphibious vehicle based on the second motion data; Calculating the load deviation of each wheel according to the wheel vertical load, and fuzzifying the load deviation to obtain load deviation fuzzy data; Obtaining a wheel suspension rate of the amphibious vehicle, and fuzzifying the wheel suspension rate to obtain suspension rate fuzzy data; determining a wheel stuck state of the amphibious vehicle through fuzzy recognition based on the slip rate fuzzy data, the load deviation fuzzy data, and the overhang rate fuzzy data; The amphibious vehicle is subjected to preset control adjustments according to the wheel stuck state through preset fuzzy control rules; wherein the preset control adjustments include tire pressure adjustment and front and rear suspension height adjustment.

2. The amphibious vehicle escape control method according to claim 1, characterized in that: The step of calculating the wheel slip rate of the amphibious vehicle according to the first motion data and fuzzifying the wheel slip rate to obtain slip rate fuzzy data includes: Calculating the wheel slip rate of the amphibious vehicle according to the wheel angular velocity and the ground speed; Performing a weighted average on the wheel slip rates to obtain a weighted slip rate; The weighted slip rate is fuzzified by using a Gaussian membership function to obtain the slip rate fuzzy data.

3. The amphibious vehicle escape control method according to claim 1, characterized in that: The step of calculating the load deviation of each wheel according to the vertical load of the wheel and fuzzifying the load deviation to obtain load deviation fuzzy data includes: Calculating the corresponding vertical static load of the wheel according to a preset road condition; wherein the preset road condition includes a flat road surface, an uphill road surface, and a downhill road surface; Calculating the load deviation of each wheel according to the wheel vertical load and the wheel vertical static load; The load deviation is fuzzified by using a Gaussian membership function to obtain the load deviation fuzzy data.

4. The amphibious vehicle escape control method according to claim 1, characterized in that: The obtaining of the wheel suspension rate of the amphibious vehicle and fuzzifying the wheel suspension rate to obtain suspension rate fuzzy data includes: Obtaining the ground clearance of each wheel of the amphibious vehicle through a preset height sensor; Normalizing the heights of the wheels above the ground to obtain normalized data; Analyzing the normalized data to obtain the wheel suspension rate; The wheel suspension rate is fuzzified by using a Gaussian membership function to obtain suspension rate fuzzy data.

5. The amphibious vehicle escape control method according to claim 1, characterized in that: The method of performing preset control and adjustment on the amphibious vehicle according to the wheel stuck state by using preset fuzzy control rules includes: Obtaining tire pressure data detected by a tire pressure sensor and suspension height data detected by a suspension height sensor; constructing an amphibious vehicle dynamics model based on the tire pressure data and the suspension height data; Performing a force analysis based on the amphibious vehicle dynamics model to obtain a force analysis result; Determining tire pressure adjustment parameters and suspension height adjustment parameters corresponding to the wheel stuck state using preset fuzzy control rules based on the force analysis results; wherein the wheel stuck state includes a single wheel stuck in the air, two wheels on the same side stuck in the air, and two wheels on opposite sides stuck in the air; The preset control adjustment is performed on the amphibious vehicle according to the tire pressure adjustment parameter and the suspension height adjustment parameter.

6. The amphibious vehicle escape control method according to claim 5, characterized in that: The performing the preset control adjustment on the amphibious vehicle according to the tire pressure adjustment parameter and the suspension height adjustment parameter includes: issuing a tire pressure control instruction to a tire pressure control module of the amphibious vehicle according to the tire pressure adjustment parameter; wherein the tire pressure control module controls the working mode of the tire automatic inflation and deflation module according to the tire pressure control instruction; The front and rear suspension height differences of the amphibious vehicle are adjusted according to the suspension height adjustment parameters.

7. The amphibious vehicle escape control method according to claim 6, characterized in that: The method further comprises: Construct tire pressure control commands and suspension height adjustment commands; Corresponding fuzzy rules are constructed according to the tire pressure control instruction and the suspension height adjustment instruction to obtain the preset fuzzy control rules.

8. An amphibious vehicle escape control system, characterized in that: include: a first acquisition module, configured to acquire first motion data of the amphibious vehicle; wherein the first motion data includes a wheel angular velocity and a ground speed of the amphibious vehicle; a first calculation module, configured to calculate a wheel slip rate of the amphibious vehicle based on the first motion data, and fuzzify the wheel slip rate to obtain slip rate fuzzy data; a second acquisition module, configured to acquire second motion data of the amphibious vehicle; wherein the second motion data includes a roll angle and a pitch angle of the amphibious vehicle; a second calculation module, configured to calculate a vertical load on the wheels of the amphibious vehicle based on the second motion data; a third calculation module, configured to calculate a load deviation of each wheel according to the vertical load of the wheel, and fuzzify the load deviation to obtain load deviation fuzzy data; a third acquisition module, configured to acquire a wheel suspension rate of the amphibious vehicle and fuzzify the wheel suspension rate to obtain suspension rate fuzzy data; an identification module, configured to determine a wheel stuck state of the amphibious vehicle through fuzzy identification based on the slip rate fuzzy data, the load deviation fuzzy data, and the overhang rate fuzzy data; A control module is used to perform preset control adjustments on the amphibious vehicle according to the wheel stuck state through preset fuzzy control rules; wherein the preset control adjustments include tire pressure adjustment and front and rear suspension height adjustment.

9. An amphibious vehicle escape control system, 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 escape control method according to any one of claims 1 to 7.

10. A computer 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 escape control method according to any one of claims 1 to 7 when executed by the processor.

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