Vehicle water navigation control system and control method thereof

Abstract

The invention belongs to a vehicle water sailing control system in the technical field of amphibious vehicles, and further relates to a vehicle water sailing control method. The left propulsion pump (4) is connected with a group of motors, a vortex paddle, a water outlet outer cover and a water inlet outer cover, the right propulsion pump (3) is connected with another group of motors, the vortex paddle, the water outlet outer cover, the water inlet outer cover, the motor diameter d, the vortex paddle diameter d, the water outlet outer cover diameter d, and the water inlet outer cover diameter d are in a relation that d motor < d water outlet < d paddle < d water inlet; a left propeller assembly is formed by the left propelling pump (4), a set of motors, a set of vortex paddles, a water outlet outer cover and a water inlet outer cover. According to the vehicle water sailing control system, the vehicle water sailing speed and the operation flexibility can be effectively improved, the vehicle structure change is reduced, dynamic floating state monitoring and active adjusting protection of the vehicle are achieved, and the vehicle sailing stability is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of amphibious vehicles, and more specifically, relates to a vehicle water navigation control system. The present invention also relates to a vehicle water navigation control method. Background Art

[0002] With the development of automobile electrification, new energy electric hybrid vehicles are deeply loved by young people for their superior driving performance, comfortable driving experience and rich driving modes. Different from traditional fuel vehicles, personalized needs have also emerged. Vehicle water navigation power system is one of them. In addition, with the frequent natural disasters of rain and floods in the country in recent years, water navigation vehicles have become more and more popular. Every technological breakthrough can bring new opportunities to car companies. Defects of existing technologies: 1. Traditional fuel vehicles and ordinary electric vehicles do not have water navigation functions. This kind of passenger car water navigation system technology that organically combines vehicles and ships is a huge technical challenge. 2. New energy high-end brands, such as a domestic new energy brand, its high-end SUV has a floating function, but only four-wheel water skiing, its sailing speed is low, and its posture is easily affected by water waves. 3. The structural miniaturization of high-voltage propulsion motors and blades and the styling layout technology that does not affect the structure of the entire vehicle are not mature. 4. The technology of combining propulsion control with vehicle control and power system is not mature.

[0003] In the prior art, there is a technology named "A multi-power control method and system for an amphibious vehicle engine" and the publication (publication) number is "CN113719363A". This technology belongs to the field of engine control and specifically discloses a multi-power control method and system for an amphibious vehicle engine. The method includes the power distributor selecting the "water" or "land" gear position, and the engine ECU importing the land gear combination state signal of the power distributor. If it is "Y", the engine ECU controls the engine output torque to make a low power output. If it is "N", the engine ECU controls the engine output torque to make a high power output, and judges whether to enter the short-term extreme working mode on water. The system includes an engine, a power distributor, a gearbox, a blade and a control system, and the control system includes an engine ECU and a vehicle controller VCU. The present invention can meet the power output requirements of low power for land driving, high power for high-speed gliding on water, and extreme power for transitional gliding and sailing on water, effectively reducing the vehicle's curb weight, improving the performance such as load capacity and maximum speed, and improving the economy of the vehicle's land driving.

[0004] However, this technology does not involve the technical problems and technical solutions of the present application. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in view of the shortcomings of the existing technology, a vehicle water navigation control system with a simple structure is provided, which can effectively improve the speed and operational flexibility of the vehicle's navigation on water, reduce the change of the vehicle structure, realize the dynamic floating state monitoring and active adjustment protection of the vehicle, ensure the navigation stability of the vehicle, and thus meet the vehicle's dual-use function on water and on land.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is:

[0007] The present invention is a vehicle water navigation control system, wherein a front special-shaped floating box is arranged near the front of the vehicle body, a left propulsion pump and a left special-shaped water tank are arranged near the left side of the rear of the vehicle body, a right propulsion pump and a right special-shaped water tank are arranged near the right side of the rear of the vehicle body, the left special-shaped water tank is near the left waistline of the vehicle body, and the right special-shaped water tank is near the right waistline of the vehicle body. The left propulsion pump is connected to a group of motors, vortex blades, water outlet housing, and water inlet housing, and the right propulsion pump is connected to another group of motors, vortex blades, water outlet housing, and water inlet housing. The motor diameter d 电机 , Water outlet housing diameter d 出水 , vortex blade diameter d 桨叶 , Water inlet housing diameter d 进水 The relationship is: 电机＜ d 出水＜ d 桨叶＜ d 进水 The left propulsion pump and a group of motors, vortex blades, water outlet cover, and water inlet cover form a left propeller assembly, and the right propulsion pump and another group of motors, vortex blades, water outlet cover, and water inlet cover form a right propeller assembly. The length of the propeller assembly is less than the distance from the rear axle to the rear bumper of the vehicle body.

[0008] The left propulsion pump is arranged between the left rear wheel and the left rear fender, and the right propulsion pump is arranged between the right rear wheel and the right rear fender. The motor of the left propulsion pump and the motor of the right propulsion pump are respectively connected to the navigation domain controller, and the navigation domain controller is connected to the vehicle controller.

[0009] A left water tank motor and a left water tank water pump are arranged in the left special-shaped water tank, and a right water tank motor and a right water tank water pump are arranged in the right special-shaped water tank. The left water tank motor and the right water tank motor are connected to a navigation controller.

[0010] The vehicle controller collects gyroscope data of the vehicle's ADS automatic driving, and combines the algorithm to perform PID control on the left water tank motor and the right water tank motor through the navigation domain controller within the set range. The navigation domain controller controls the water tank motor to rotate forward to achieve water intake, and controls the water tank motor to reverse to achieve water discharge, thereby adjusting the vehicle's posture.

[0011] The motor of the left thrust pump and the motor of the right thrust pump are respectively connected to the mounting bracket, and the mounting bracket is fixedly mounted on the side of the rear beam of the vehicle body and the extending mounting plate of the vehicle beam. The motor of the left thrust pump and the motor of the right thrust pump are respectively connected to the corresponding water inlet cover and water outlet cover through flanges. The outlet wires of the motor of the left thrust pump and the motor of the right thrust pump are respectively fixed to the vehicle body floor through wiring harness integrated sealing rings. The outlet wires are connected to the vehicle body floor and the motor controller in the vehicle body interlayer, and the motor controller is connected to the navigation domain controller.

[0012] The left propulsion pump takes in water from the flow channel behind the left rear wheel guard of the vehicle body, and discharges water from the left side molding port of the rear guard; the right propulsion pump takes in water from the flow channel behind the right rear wheel guard of the vehicle body, and discharges water from the right side molding port of the rear guard.

[0013] The present invention also relates to a control method for a vehicle water navigation control system with simple steps, which can effectively improve the speed and operational flexibility of a vehicle on water, reduce changes in the vehicle structure, realize dynamic floating state monitoring and active adjustment protection of the vehicle, ensure the navigation stability of the vehicle, and thus meet the requirements of the vehicle having dual-purpose functions on water and on roads. The control steps of the vehicle water navigation control system control method are as follows:

[0014] S1. When the vehicle is powered on, the vehicle controller controls the vehicle to activate self-checking, and the vehicle central control screen displays the status of each function. During maintenance, vehicle diagnosis is achieved through the UDS interface. When the vehicle is in land mode, the vehicle controller wakes up and sleeps the navigation domain controller based on the on-board sensors and the driver's driving intention;

[0015] S2. When the vehicle is launched into the water, the vehicle controller sends a signal command to the navigation domain controller based on the radar signal and the vehicle wading conditions. The navigation domain controller is activated and enters the navigation launching monitoring and enabling waiting. When the wading water level meets the navigation start conditions, the navigation domain controller receives the permission enabling command from the vehicle controller, and the navigation domain controller completes the propeller power enabling. When the vehicle wading depth meets the navigation conditions, the vehicle controller retracts the vehicle suspension, switches the vehicle to the floating mode, and controls the vehicle according to the calibration and control strategy of the navigation control system. At this time, the navigation domain controller acts as the vehicle's main power controller to control the vehicle power matching and control;

[0016] S3. When the vehicle is in floating mode, the navigation system has the functions of forward and backward, acceleration and deceleration, turning, cruise control, intelligent detection of water seepage and drainage, water flow detection and dynamic posture monitoring and adjustment. The navigation control system hardware uses the vehicle's existing steering wheel, accelerator, brake, and cruise control buttons, and the navigation control system soft buttons and human-computer interaction are set on the vehicle's central control screen;

[0017] S4. When the vehicle is in floating mode, the navigation domain controller detects the vehicle's posture, compares the floating benchmarks of different load-bearing masses, dynamically fills and drains the special-shaped water tank, and adjusts the posture setting range. The adjustment strategy accompanies the entire floating process of the vehicle's navigation system.

[0018] S5. When the vehicle is allowed to enter the navigation state, the navigation domain controller receives effective signal feedback from the vehicle gear, throttle and steering, and analyzes the driver's driving intention through the throttle opening value and steering angle input, and controls the intervention, exit and forward and reverse rotation of the drive pump motor and the 4-wheel motor according to the built-in navigation strategy and algorithm; when the vehicle moves forward or backward at a low speed, the motor of the propulsion pump drives the blades to push forward or reverse by forward or reverse rotation, and the speed of the propulsion pump motor is obtained according to the throttle size and the hydrodynamic model algorithm to realize the forward or reverse control of the vehicle;

[0019] When the vehicle is sailing in a water flow with a lateral flow velocity, the lateral flow velocity is within the set range. The navigation domain controller displays the steering angle image direction on the vehicle's central control screen according to the control algorithm, guides the driver to turn, and dynamically adjusts the motor speed difference according to the inertia to achieve straight-line driving. When turning during driving, when the steering wheel exceeds the set steering angle, the navigation domain controller gives different speed increments to the motors of the left propulsion pump and the right propulsion pump at the existing navigation speed, and as the throttle increases or decreases, the speed difference between the motors of the left propulsion pump 4 and the right propulsion pump 3 increases or decreases accordingly. When the brake pedal is pressed during driving, the motor of the propulsion pump stops rotating.

[0020] When the driver presses the cruise control button, the navigation controller enters the cruise control directly based on the existing speed. If the speed is not satisfied, the vehicle's central control screen prompt will be prompted, and the speed will be increased once or continuously according to the button pressing status. If the driver steps on the accelerator during cruise control, the motor of the propulsion pump will temporarily increase the corresponding speed. If the driver steps on the brake or presses the cruise control exit button, the cruise control will be exited.

[0021] When the vehicle goes ashore, the propeller and the wheels of the vehicle start working together at the same time, and the vehicle rushes to the beach. When the water level meets the conditions for the vehicle to get out of the water, the vehicle releases the suspension, turns off the navigation enable, and goes ashore. After completing the beaching, the navigation controller receives the vehicle sleep command and goes into sleep. When the vehicle is in emergency mode, when the vehicle encounters an emergency situation of vehicle navigation system and communication failure, the driver directly switches to the vehicle emergency floating mode and controls the vehicle to emergency paddling.

[0022] The technical solution of the present invention is adopted, and the working principle and beneficial effects are as follows:

[0023] The vehicle water navigation control system described in the present invention has a front special-shaped float box arranged near the front of the vehicle body for controlling the buoyancy of the vehicle, a left propulsion pump and a left special-shaped water tank are arranged near the left side of the rear of the vehicle body, and a right propulsion pump and a right special-shaped water tank are arranged near the right side of the rear of the vehicle body. The left special-shaped water tank is close to the left waistline of the vehicle body, and the right special-shaped water tank is close to the right waistline of the vehicle body. The propulsion pumps and special-shaped water tanks on the left and right sides of the vehicle are arranged. The propulsion pump is used to achieve propulsion during water navigation and is the power source for water navigation. A motor is arranged in the water tank. The motor rotates forward to achieve water intake and reverses to achieve water discharge, so as to adjust the posture of the vehicle to stabilize during water navigation. The left propulsion pump is connected to a group of motors, vortex blades, water outlet housing, and water inlet housing. The right propulsion pump is connected to another group of motors, vortex blades, water outlet housing, and water inlet housing. The motor has a diameter d 电机 , Water outlet housing diameter d 出水 , vortex blade diameter d 桨叶 , Water inlet housing diameter d 进水 The relationship is: 电机＜ d 出水＜ d 桨叶＜ d 进水 The left propulsion pump 4 and a group of motors, vortex blades, water outlet cover, and water inlet cover form a left propeller assembly, and the right propulsion pump 4 and another group of motors, vortex blades, water outlet cover, and water inlet cover form a right propeller assembly. The length of the propeller assembly is less than the distance from the rear axle of the vehicle body 6 to the rear bumper. Since the propeller assembly adopts a two-in-one design of drive and motor, it is easy to disassemble and assemble, and can form a high and low configuration in terms of model. At the same time, it can also meet the needs of ecological parts modification to meet the requirements of fully utilizing the existing space of the vehicle without changing the vehicle structure; since the left and right propellers need to maximize the propulsion and differential control, they are distributed on the left and right sides of the vehicle. Without affecting the vehicle shape, it is more suitable to arrange them between the rear wheel and the rear guard of the vehicle; because the water inlet of the propeller flows from the tail of the click to the fairing and enters the blade area to form a high-speed water spray effect, the diameter and shape of the motor are resistance factors. Under the premise of meeting the power in the structure, the resistance should be as small as possible. Under high speed, the water flow will easily form a vacuum area to reversely affect the thrust. According to simulation calculation: d motor < d water outlet < d blade < d water inlet size design can effectively reduce the occurrence of this problem. In this way, the above technical effect can be achieved. Specifically, the beneficial effects of the vehicle water navigation control system described in the present invention are: 1. Improving the vehicle's water navigation speed and operational flexibility; 2. It can be matched with high-end models to form a high-low matching model series to improve product competitiveness; 3. Minimizing vehicle structural changes and reducing R&D and testing costs; 4. The tail and exhaust shapes are integrated without affecting the beauty of the entire vehicle; 5. The vehicle's dynamic floating state monitoring and active adjustment protection ensure the stability of the vehicle's navigation; 6. Highly waterproof design, maintenance-free on the beach, improving the user's driving experience and vehicle use costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The following is a brief description of the contents and symbols in the drawings of this specification:

[0025] Figure 1 It is a structural schematic diagram of the vehicle water navigation control system of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the vehicle water navigation control system of the present invention;

[0027] Figure 3 It is a partial structural schematic diagram of the vehicle water navigation control system of the present invention;

[0028] Figure 4 It is a partial structural schematic diagram of the vehicle water navigation control system of the present invention;

[0029] The markings in the attached drawings are respectively: 1. Front special-shaped float box; 2. Right special-shaped water tank; 3. Right propulsion pump; 4. Left propulsion pump; 5. Left special-shaped water tank; 6. Vehicle body; 7. Right rear wheel; 8. Connecting flange; 9. Mounting bracket; 10. Right rear beam; 11. Vehicle C-pillar; 12. Left rear beam; 13. Left rear guard plate; 14. Left wheel. DETAILED DESCRIPTION

[0030] The following is a further detailed description of the specific implementation of the present invention, such as the shape, structure, mutual position and connection relationship between the various components involved, the function and working principle of each part, etc., through the description of the embodiments with reference to the accompanying drawings:

[0031] As attached Figure 1 -Attached Figure 4 As shown, the present invention is a vehicle water navigation control system, a front special-shaped float box 1 is arranged near the front of the vehicle body 6, a left propulsion pump 4 and a left special-shaped water tank 5 are arranged near the left side of the rear of the vehicle body 6, a right propulsion pump 3 and a right special-shaped water tank 2 are arranged near the right side of the rear of the vehicle body 6, the left special-shaped water tank 5 is close to the left waistline position of the vehicle body 1, and the right special-shaped water tank 2 is close to the right waistline position of the vehicle body 1. The left propulsion pump 4 is connected to a group of motors, vortex blades, water outlet housing, and water inlet housing, and the right propulsion pump 3 is connected to another group of motors, vortex blades, water outlet housing, and water inlet housing. The motor diameter d 电机 , Water outlet housing diameter d 出水 , vortex blade diameter d 桨叶 , Water inlet housing diameter d 进水 The relationship is: 电机＜ d 出水＜ d 桨叶＜ d 进水The left propulsion pump 4 and a group of motors, vortex blades, water outlet housing, and water inlet housing form a left propeller assembly, and the right propulsion pump 4 and another group of motors, vortex blades, water outlet housing, and water inlet housing form a right propeller assembly, and the length of the propeller assembly is less than the distance from the rear axle to the rear bumper of the vehicle body 6. The above structure proposes an improved technical solution to address the deficiencies in the prior art. When the structure is set, the front special-shaped float box 1 set near the front of the vehicle body 6 is used to control the buoyancy of the vehicle, the left propulsion pump 4 and the left special-shaped water tank 5 are set near the left side of the rear of the vehicle body 6, and the right propulsion pump 3 and the right special-shaped water tank 2 are set near the right side of the rear of the vehicle body 6. The left special-shaped water tank 5 is close to the left waistline of the vehicle body 1, and the right special-shaped water tank 2 is close to the right waistline of the vehicle body 1. The propulsion pumps and special-shaped water tanks on the left and right sides of the vehicle are set. The propulsion pump is used to achieve propulsion when sailing on water and is the power source for sailing on water. A motor is set in the water tank. The motor rotates forward to achieve water intake and reverses to achieve water discharge, so as to adjust the posture of the vehicle when sailing on water. The left propulsion pump 4 is connected to a group of motors, vortex blades, water outlet housing, and water inlet housing. The right propulsion pump 3 is connected to another group of motors, vortex blades, water outlet housing, and water inlet housing. The motor diameter d 电机 , Water outlet housing diameter d 出水 , vortex blade diameter d 桨叶 , Water inlet housing diameter d 进水 The relationship is: 电机＜ d 出水＜ d 桨叶＜ d 进水The left propulsion pump 4 and a group of motors, vortex blades, water outlet cover, and water inlet cover form a left propeller assembly, and the right propulsion pump 4 and another group of motors, vortex blades, water outlet cover, and water inlet cover form a right propeller assembly. The length of the propeller assembly is less than the distance from the rear axle of the vehicle body 6 to the rear bumper. Since the propeller assembly adopts a two-in-one design of drive and motor, it is easy to disassemble and assemble, and can form a high and low configuration in terms of model. At the same time, it can also meet the needs of ecological parts modification to meet the requirements of fully utilizing the existing space of the vehicle without changing the vehicle structure; since the left and right propellers need to maximize the propulsion and differential control, they are distributed on the left and right sides of the vehicle. Without affecting the vehicle shape, it is more suitable to arrange them between the rear wheel and the rear guard of the vehicle; because the water inlet of the propeller flows from the tail of the click to the fairing and enters the blade area to form a high-speed water spray effect, the diameter and shape of the motor are resistance factors. Under the premise of meeting the power in the structure, the resistance should be as small as possible. Under high speed, the water flow will easily form a vacuum area to reversely affect the thrust. According to simulation calculation: d motor < d water outlet < d blade < d water inlet size design can effectively reduce the occurrence of this problem. In this way, the above technical effect can be achieved. Specifically, the beneficial effects of the vehicle water navigation control system described in the present invention are: 1. Improving the vehicle's water navigation speed and operational flexibility; 2. It can be matched with high-end models to form a high-low matching model series to improve the competitiveness of the product; 3. Minimizing the structural changes of the vehicle and reducing the cost of research and development tests; 4. The tail and exhaust shapes are integrated without affecting the aesthetic appearance of the whole vehicle; 5. The dynamic floating state monitoring and active adjustment protection of the vehicle ensure the stability of the vehicle's navigation; 6. Highly waterproof design, maintenance-free on the beach, improving the user's driving experience and vehicle use costs. The vehicle water navigation control system described in the present invention has a simple structure, can effectively improve the speed and operational flexibility of the vehicle's water navigation, reduce vehicle structural changes, realize the dynamic floating state monitoring and active adjustment protection of the vehicle, ensure the stability of the vehicle's navigation, and thus meet the vehicle's dual-use functions on water and on the road.

[0032] The left propulsion pump 4 is arranged between the left rear wheel and the left rear fender, and the right propulsion pump 3 is arranged between the right rear wheel and the right rear fender. The motors of the left propulsion pump 4 and the right propulsion pump 3 are respectively connected to the navigation domain controller, and the navigation domain controller is connected to the vehicle controller. In the above structure, the navigation domain controller is used for controlling the vehicle when it is sailing on water, and the vehicle controller is used for controlling the vehicle when it is driving on land. When the vehicle meets the conditions for sailing on water, the vehicle controller controls the navigation domain controller to take over the vehicle control, which reliably realizes the form of the vehicle on the water surface and ensures reliable control.

[0033] The left special-shaped water tank 5 is provided with a left water tank motor and a left water tank water pump, and the right special-shaped water tank 2 is provided with a right water tank motor and a right water tank water pump, and the left water tank motor and the right water tank motor are connected to the navigation controller. In the above structure, the water tanks are arranged on the left and right, and the motors are provided in the water tanks. The motors rotate forward to realize water intake, and the motors rotate backward to realize water discharge, so that the posture adjustment of the vehicle when sailing on water is stable.

[0034] The vehicle controller collects gyroscope data of the vehicle ADS automatic driving, and performs PID control on the left water tank motor and the right water tank motor respectively through the navigation domain controller within the set range in combination with the algorithm. The navigation domain controller controls the water tank motor to rotate forward to achieve water intake, and controls the water tank motor to reverse to achieve water discharge, and performs vehicle posture adjustment control. In the above structure, the control of the left special-shaped water tank and the right special-shaped water tank is realized by the navigation domain controller.

[0035] The motor of the left propulsion pump 4 and the motor of the right propulsion pump 3 are connected to the mounting brackets respectively, and the mounting brackets are fixedly mounted on the side of the rear beam of the vehicle body and the mounting plate extending from the vehicle beam. The motor of the left propulsion pump 4 and the motor of the right propulsion pump 3 are connected to the corresponding water inlet cover and water outlet cover through flanges respectively, and the outlet wires of the motor of the left propulsion pump 4 and the motor of the right propulsion pump 4 are fixed to the vehicle body bottom plate through the wiring harness integrated sealing ring respectively, and the outlet wires are connected to the vehicle body bottom plate and the motor controller in the vehicle body sandwich, and the motor controller is connected to the navigation domain controller. In the above structure, the control of the propulsion pump is controlled by the motor, and the motor is controlled by the motor controller, and the motor controller is controlled by the navigation domain controller, so that reliable and stable control of the vehicle when sailing on water is achieved.

[0036] The left propulsion pump 4 takes in water from the flow channel behind the left rear wheel guard of the vehicle body 6, and the left propulsion pump 4 discharges water from the left side molding port of the rear guard. With the above structure, after the left propulsion pump 4 is started, water intake and drainage are reliably realized, and the vehicle is driven on water. The right propulsion pump 3 takes in water from the flow channel behind the right rear wheel guard of the vehicle body 6, and the right propulsion pump 3 discharges water from the right side molding port of the rear guard. With the above structure, after the right propulsion pump 3 is started, water intake and drainage are reliably realized, and the vehicle is driven on water.

[0037] The present invention also relates to a control method for a vehicle water navigation control system with simple steps, which can effectively improve the speed and operational flexibility of a vehicle on water, reduce changes in the vehicle structure, realize dynamic floating state monitoring and active adjustment protection of the vehicle, ensure the navigation stability of the vehicle, and thus meet the requirements of the vehicle having dual-purpose functions on water and on roads. The control steps of the vehicle water navigation control system control method are as follows:

[0038] S1. When the vehicle is powered on, the vehicle controller controls the vehicle to activate self-checking, and the vehicle central control screen displays the status of each function. During maintenance, vehicle diagnosis is achieved through the UDS interface. When the vehicle is in land mode, the vehicle controller wakes up and sleeps the navigation domain controller based on the on-board sensors and the driver's driving intention;

[0039] S2. When the vehicle is launched into the water, the vehicle controller sends a signal command to the navigation domain controller based on the radar signal and the vehicle wading conditions. The navigation domain controller is activated and enters the navigation launching monitoring and enabling waiting. When the wading water level meets the navigation start conditions, the navigation domain controller receives the permission enabling command from the vehicle controller, and the navigation domain controller completes the propeller power enabling. When the vehicle wading depth meets the navigation conditions, the vehicle controller retracts the vehicle suspension, switches the vehicle to the floating mode, and controls the vehicle according to the calibration and control strategy of the navigation control system. At this time, the navigation domain controller acts as the vehicle's main power controller to control the vehicle power matching and control;

[0040] S3. When the vehicle is in floating mode, the navigation system has the functions of forward and backward, acceleration and deceleration, turning, cruise control, intelligent detection of water seepage and drainage, water flow detection and dynamic posture monitoring and adjustment. The navigation control system hardware uses the vehicle's existing steering wheel, accelerator, brake, and cruise control buttons. The navigation control system soft buttons and human-computer interaction are set on the vehicle's central control screen;

[0041] S4. When the vehicle is in floating mode, the navigation domain controller detects the vehicle's posture, compares the floating benchmarks of different load-bearing masses, dynamically fills and drains the special-shaped water tank, and adjusts the posture setting range. The adjustment strategy accompanies the entire floating process of the vehicle's navigation system.

[0042] S5. When the vehicle is allowed to enter the navigation state, the navigation domain controller receives effective signal feedback from the vehicle gear, throttle and steering, and analyzes the driver's driving intention through the throttle opening value and steering angle input, and controls the intervention, exit and forward and reverse rotation of the drive pump motor and the 4-wheel motor according to the built-in navigation strategy and algorithm; when the vehicle moves forward or backward at a low speed, the motor of the propulsion pump drives the blades to push forward or reverse by forward or reverse rotation, and the speed of the propulsion pump motor is obtained according to the throttle size and the hydrodynamic model algorithm to realize the forward or reverse control of the vehicle;

[0043] When the vehicle is sailing in a water flow with a lateral flow velocity, the lateral flow velocity is within the set range. The navigation domain controller displays the steering angle image direction on the vehicle's central control screen according to the control algorithm, guides the driver to turn, and dynamically adjusts the motor speed difference according to the inertia to achieve straight-line driving. When turning during driving, when the steering wheel exceeds the set steering angle, the navigation domain controller gives different speed increments to the motors of the left propulsion pump and the right propulsion pump at the existing navigation speed, and as the throttle increases or decreases, the speed difference between the motors of the left propulsion pump 4 and the right propulsion pump 3 increases or decreases accordingly. When the brake pedal is pressed during driving, the motor of the propulsion pump stops rotating.

[0044] When the driver presses the cruise control button, the navigation controller enters the cruise control directly based on the existing speed. If the speed is not satisfied, the vehicle's central control screen prompt will be prompted, and the speed will be increased once or continuously according to the button pressing status. If the driver steps on the accelerator during cruise control, the motor of the propulsion pump will temporarily increase the corresponding speed. If the driver steps on the brake or presses the cruise control exit button, the cruise control will be exited.

[0045] When the vehicle goes ashore, the propeller and the wheels of the vehicle start working together at the same time, and the vehicle rushes to the beach. When the water level meets the conditions for the vehicle to get out of the water, the vehicle releases the suspension, turns off the navigation enable, and goes ashore. After completing the beaching, the navigation controller receives the vehicle sleep command and goes into sleep. When the vehicle is in emergency mode, when the vehicle encounters an emergency situation of vehicle navigation system and communication failure, the driver directly switches to the vehicle emergency floating mode and controls the vehicle to emergency paddling.

[0046] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A vehicle navigation control system, characterized in that: A front special-shaped floating box (1) is arranged near the front of the vehicle body (6); a left propulsion pump (4) and a left special-shaped water tank (5) are arranged near the left side of the rear of the vehicle body (6); a right propulsion pump (3) and a right special-shaped water tank (2) are arranged near the right side of the rear of the vehicle body (6); the left special-shaped water tank (5) is near the left waistline of the vehicle body (1); the right special-shaped water tank (2) is near the right waistline of the vehicle body (1); the left propulsion pump (4) is connected to a group of motors, vortex blades, a water outlet housing, and a water inlet housing; the right propulsion pump (3) is connected to another group of motors, vortex blades, a water outlet housing, and a water inlet housing; the motor diameter d 电机 , Water outlet housing diameter d 出水 , vortex blade diameter d 桨叶 , Water inlet housing diameter d 进水 The relationship is: 电机＜ d 出水＜ d 桨叶＜ d 进水 The left propulsion pump (4) and a group of motors, vortex blades, a water outlet cover, and a water inlet cover form a left propeller assembly, and the right propulsion pump (4) and another group of motors, vortex blades, a water outlet cover, and a water inlet cover form a right propeller assembly. The length of the propeller assembly is less than the distance from the rear axle of the vehicle body (6) to the rear bumper.

2. The vehicle water navigation control system according to claim 1, characterized in that: The left propulsion pump (4) is arranged between the left rear wheel and the left rear guard plate, and the right propulsion pump (3) is arranged between the right rear wheel and the right rear guard plate. The motor of the left propulsion pump (4) and the motor of the right propulsion pump (3) are respectively connected to the navigation domain controller, and the navigation domain controller is connected to the vehicle controller.

3. The vehicle water navigation control system according to claim 2, characterized in that: A left water tank motor and a left water tank water pump are arranged in the left special-shaped water tank (5), and a right water tank motor and a right water tank water pump are arranged in the right special-shaped water tank (2). The left water tank motor and the right water tank motor are connected to the navigation controller.

4. The vehicle water navigation control system according to claim 2, characterized in that: The vehicle controller collects gyroscope data through the vehicle's ADS (autonomous driving), and combines the algorithm to perform PID control on the left water tank motor and the right water tank motor through the navigation domain controller within the set range. The navigation domain controller controls the water tank motor to rotate forward to achieve water intake, and controls the water tank motor to reverse to achieve water discharge, thereby adjusting the vehicle's posture.

5. The vehicle water navigation control system according to claim 1 or 2, characterized in that: The motor of the left propulsion pump (4) and the motor of the right propulsion pump (3) are respectively connected to the mounting bracket, and the mounting bracket is fixedly mounted on the side of the rear beam of the vehicle body and the vehicle beam extension mounting plate. The motor of the left propulsion pump (4) and the motor of the right propulsion pump (3) are respectively connected to the corresponding water inlet cover and water outlet cover through flanges. The output wires of the motor of the left propulsion pump (4) and the motor of the right propulsion pump (4) are respectively fixed to the vehicle body bottom plate through a wiring harness integrated sealing ring, and the output wires are connected to the vehicle body bottom plate and the motor controller in the vehicle body interlayer, and the motor controller is connected to the navigation domain controller.

6. The vehicle water navigation control system according to claim 5, characterized in that: The left propulsion pump (4) takes in water from the flow channel behind the left rear wheel guard plate of the vehicle body (6), and the left propulsion pump (4) discharges water from the left side molding port of the rear guard; the right propulsion pump (3) takes in water from the flow channel behind the right rear wheel guard plate of the vehicle body (6), and the right propulsion pump (3) discharges water from the right side molding port of the rear guard.

7. A control method for a vehicle water navigation control system, characterized in that: The control steps of the control method of the vehicle water navigation control system are as follows: S1. When the vehicle is powered on, the vehicle controller controls the vehicle to activate self-checking, and the vehicle central control screen displays the status of each function. During maintenance, vehicle diagnosis is achieved through the UDS interface. When the vehicle is in land mode, the vehicle controller wakes up and sleeps the navigation domain controller based on the on-board sensors and the driver's driving intention; S2. When the vehicle is launched into the water, the vehicle controller sends a signal command to the navigation domain controller based on the radar signal and the vehicle wading conditions. The navigation domain controller is activated and enters the navigation launching monitoring and enabling waiting. When the wading water level meets the navigation start conditions, the navigation domain controller receives the permission enabling command from the vehicle controller, and the navigation domain controller completes the propeller power enabling. When the vehicle wading depth meets the navigation conditions, the vehicle controller retracts the vehicle suspension, switches the vehicle to the floating mode, and controls the vehicle according to the calibration and control strategy of the navigation control system. At this time, the navigation domain controller acts as the vehicle's main power controller to control the vehicle power matching and control; S3. When the vehicle is in floating mode, the navigation system has the functions of forward and backward, acceleration and deceleration, turning, cruise control, intelligent detection of water seepage and drainage, water flow detection and dynamic posture monitoring and adjustment. The navigation control system hardware uses the vehicle's existing steering wheel, accelerator, brake, and cruise control buttons. The navigation control system soft buttons and human-computer interaction are set on the vehicle's central control screen; S4. When the vehicle is in floating mode, the navigation domain controller detects the vehicle's posture, compares the floating benchmarks of different load-bearing masses, dynamically fills and drains the special-shaped water tank, and adjusts the posture setting range. The adjustment strategy accompanies the entire floating process of the vehicle's navigation system. S5. When the vehicle is allowed to enter the navigation state, the navigation domain controller receives effective signal feedback from the vehicle gear, throttle and steering, and analyzes the driver's driving intention through the throttle opening value and steering angle input, and controls the intervention, exit and forward and reverse rotation of the drive pump motor and the 4-wheel motor according to the built-in navigation strategy and algorithm; when the vehicle moves forward or backward at a low speed, the motor of the propulsion pump drives the blades to push forward or reverse by forward or reverse rotation, and the speed of the propulsion pump motor is obtained according to the throttle size and the hydrodynamic model algorithm to realize the forward or reverse control of the vehicle.

8. The vehicle water navigation control method according to claim 7, characterized in that: When the vehicle is navigating in a water flow with a lateral flow velocity, the lateral flow velocity is within a set range. The navigation domain controller displays the steering angle image direction on the vehicle central control screen according to the control algorithm, guides the driver to steer and dynamically adjusts the motor speed difference according to the inertia to achieve straight-line driving. When turning during driving, when the steering wheel exceeds the set steering angle, the navigation domain controller gives different speed increments to the motors of the left propulsion pump and the right propulsion pump at the existing navigation speed, and as the throttle increases or decreases, the speed difference between the motors of the left propulsion pump (4) and the right propulsion pump (3) increases or decreases accordingly. When the brake pedal is pressed during driving, the motor of the propulsion pump stops rotating.

9. The vehicle navigation control method according to claim 7, characterized in that: When the driver presses the cruise control button, the navigation controller enters the cruise control directly based on the existing speed. If the speed is not satisfied, the vehicle's central control screen prompt will be prompted, and the speed will be increased once or continuously according to the button pressing status. If the driver steps on the accelerator during cruise control, the motor of the propulsion pump will temporarily increase the corresponding speed. If the driver steps on the brake or presses the cruise control exit button, the cruise control will be exited.

10. The vehicle water navigation control method according to claim 7, characterized in that: When the vehicle goes ashore, the propeller and the wheels of the vehicle start working together at the same time, and the vehicle rushes to the beach. When the water level meets the conditions for the vehicle to get out of the water, the vehicle releases the suspension, turns off the navigation enable, and goes ashore. After completing the beaching, the navigation controller receives the vehicle sleep command and goes into sleep. When the vehicle is in emergency mode, when the vehicle encounters an emergency situation of vehicle navigation system and communication failure, the driver directly switches to the vehicle emergency floating mode and controls the vehicle to emergency paddling.

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