A method and system for drive control of amphibious vehicles

Abstract

This invention belongs to the field of automation control, and specifically relates to a drive control method and system for an amphibious vehicle. The amphibious vehicle includes a power battery and an engine mounted on its underside. A right front independent drive motor, a left front independent drive motor, a right rear independent drive motor, and a left rear independent drive motor are fixedly mounted on the underside of the vehicle. The drive shafts of the left front, right front, right rear, and left rear independent drive motors are all equipped with tires. A left and right water-thruster are mounted on the underside of the vehicle. External rearview mirrors are mounted on the left and right side walls of the vehicle. An intake valve is connected to the engine's air intake, and an exhaust valve is connected to the engine's exhaust. Water depth sensors are integrated inside the two external rearview mirrors. This invention addresses the problem that existing technologies do not adequately consider the combined drive of the wheels and water-thrusters.

Description

Technical Field

[0001] This invention belongs to the field of automation control and relates to a method and system for driving control of amphibious vehicles. Background Technology

[0002] Amphibious vehicles are a new type of transportation capable of operating on both water and land. They possess the land-based performance of automobiles and the water-based propulsion capabilities of boats, and have broad application value in both military and civilian fields. In complex terrain scenarios, they can cross rivers, lakes, and seas without being limited by bridges or boats. They can fulfill transportation functions in both military and civilian sectors, and have broad application prospects in specialized fields such as disaster relief and rescue. They also have some applications in the tourism industry.

[0003] Currently, amphibious vehicles primarily rely on wheel drive when traveling on land, and on water propulsion. However, in deep water or complex terrain, relying solely on wheels or water propulsion may not provide sufficient traction or stability, leading to difficulties in vehicle movement or even malfunctions. Furthermore, traditional amphibious vehicles lack adequate waterproofing for the engine's air intake and exhaust ports when wading, making the engine susceptible to damage from water ingress. Summary of the Invention

[0004] To address the problem that existing technologies do not fully consider the combined drive of wheels and water propulsion, and that relying solely on tire drive may not provide sufficient traction in deep water areas, this invention provides a drive control method and system for amphibious vehicles.

[0005] In a first aspect, the present invention provides an amphibious vehicle, which adopts the following technical solution:

[0006] An amphibious vehicle includes a power battery 14 and an engine 11 fixedly installed at the bottom of the vehicle. A right front independent drive motor 2, a left front independent drive motor 3, a right rear independent drive motor 4, and a left rear independent drive motor 5 are fixedly installed at the bottom of the vehicle. The drive shafts of the left front independent drive motor 3, the right front independent drive motor 2, the right rear independent drive motor 4, and the left rear independent drive motor 5 are all equipped with tires 1.

[0007] The vehicle is equipped with a left water propulsion unit 8 and a right water propulsion unit 9 at the bottom. The vehicle is equipped with exterior rearview mirrors 15 on the left and right side walls. The engine air intake 16 is connected to an air intake waterproof valve 12, and the engine exhaust port is connected to an exhaust waterproof valve 13. The exterior rearview mirrors 15 on the left and right sides of the vehicle are equipped with water depth detection sensors 17.

[0008] Secondly, the present invention provides a drive control method for amphibious vehicles, employing the following technical solution:

[0009] A drive control method for amphibious vehicles includes the following modes:

[0010] In the conventional or shallow wading mode, all four tires 1 of the amphibious vehicle are in contact with the ground. The amphibious vehicle adopts the conventional or shallow wading power mode, and the left water propulsion unit 8 and the right water propulsion unit 9 do not participate in the driving.

[0011] In deep water or beach landing mode, at least one tire 1 of the amphibious vehicle is on the ground, mainly driven by four independent drive motors. When the amphibious vehicle has difficulty moving forward through tire 1, the left water propulsion unit 8 and the right water propulsion unit 9 provide auxiliary propulsion.

[0012] In navigation mode, all four wheels 1 of the vehicle are off the ground, and the left and right water propulsion units 8 and 9 provide the main power. Depending on the conditions, the independent drive motors of the four wheels assist the amphibious vehicle in navigation.

[0013] Preferably, the conventional or shallow wading mode includes the following steps:

[0014] In normal mode, amphibious vehicles use the normal off-road power mode; in shallow wading mode, amphibious vehicles use the wading power mode; the vehicle suspension height is adjusted to the highest position.

[0015] In normal or shallow wading mode, the engine 11 of the range-extended vehicle continues to run. When the power battery 14 is fully charged, it stops charging, which means the engine 11 stops running.

[0016] Preferably, the deep wading or beaching mode includes the following steps:

[0017] Adjust the vehicle suspension height to its highest position;

[0018] When the range-extended vehicle is in deep water wading or beaching mode, the engine 11 stops running, and the intake waterproof valve 12 and exhaust waterproof valve 13 remain closed.

[0019] Preferably, the navigation mode includes the following steps:

[0020] Steering can be used with the left water propeller 8 and the right water propeller 9, steering driven by the independent drive motors of the four wheels can be used, and the vehicle's suspension height can be adjusted to the highest position.

[0021] When the range-extended vehicle is in navigation mode, engine 11 stops running, and intake waterproof valve 12 and exhaust waterproof valve 13 remain closed.

[0022] Preferably, a drive control method for an amphibious vehicle includes the following steps:

[0023] S11. Determine whether the amphibious vehicle is in a drivable state;

[0024] S12. Determine whether the amphibious vehicle is in non-navigation mode;

[0025] S13. Measure the wading depth, the slip ratio of tire 1, and the suspension height, and pre-set the water depth threshold, slip ratio threshold, and suspension height threshold.

[0026] S14. Compare the water depth value with the water depth threshold, the tire slip rate with the slip rate threshold, and the suspension height with the suspension height threshold, and switch to the appropriate mode based on the comparison results.

[0027] S15. When the vehicle is going downhill, the position of the water depth sensor 17 is higher than the engine air intake 16. The water depth value is corrected according to the slope of the downhill section to determine whether to close the air intake water valve 12 of the engine 11.

[0028] Preferably, step S11 includes the following steps:

[0029] To determine whether an amphibious vehicle is in a drivable state, if the water depth sensor 17 is working properly and the vehicle's suspension is working properly, it means that the amphibious vehicle meets the drivable state requirement.

[0030] If the water depth sensor 17 malfunctions or fails to function, or if the suspension of the amphibious vehicle malfunctions or fails to function, or if the amphibious vehicle cannot automatically switch modes, then the amphibious vehicle does not meet the requirements for drivability.

[0031] Preferably, step S14 includes the following steps:

[0032] Water depth thresholds include a first depth threshold, a second depth threshold, and a third depth threshold;

[0033] Compare the water depth value with the first depth threshold, the second depth threshold, and the third depth threshold; compare the slip ratio of tire 1 with the slip ratio threshold; and compare the suspension height with the suspension height threshold.

[0034] According to step S12, if the amphibious vehicle is in non-navigation mode, and the water depth is less than or equal to the first depth threshold, the vehicle switches to normal mode; if the first depth threshold is less than the water depth and less than the second depth threshold, the vehicle switches to shallow wading mode; if the second depth threshold is less than the water depth and less than the third depth threshold, and the slip ratio of at most three tires 1 exceeds the slip ratio threshold, and the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to deep wading mode.

[0035] If the water depth is greater than the third depth threshold, the slip ratio of all four tires 1 exceeds the slip ratio threshold, and the suspension height of all four tires 1 exceeds the suspension height threshold, the vehicle will switch to a different navigation mode.

[0036] According to step S12, if the amphibious vehicle is in navigation mode, and the first depth threshold is less than the water depth and the third depth threshold, the slip rate of at most three tires 1 exceeds the slip rate threshold, and the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to beach landing mode; if the water depth is less than or equal to the first depth threshold, the vehicle self-checks and there are no faults, the vehicle switches to normal mode.

[0037] If the water depth is less than or equal to the first depth threshold, the vehicle self-check will detect a fault and switch to the post-navigation inspection mode. In the post-navigation inspection mode, the power will be in the normal power mode, the left water thruster 8 and the right water thruster 9 will not work, the vehicle suspension height will be adjusted to the normal mode height, the engine 11 will stop running, and the intake waterproof valve 12 and the exhaust waterproof valve 13 will remain closed. After the vehicle has been inspected and repaired to the point that there are no faults and the fault codes have been cleared, the vehicle will switch to the normal mode.

[0038] Preferably, step S15 satisfies the following formula:

[0039] h1 = h2 - Lsin(α + β)

[0040] Where h1 is the height of the engine air intake 16 above the water surface; h2 is the height of the water depth sensor 17 above the water surface (the water depth sensor 17 is integrated inside the exterior rearview mirrors 15 on both sides of the vehicle, and the maximum value is h2); L represents the straight-line distance between the water depth sensor and the engine air intake, which are parallel to the plane formed by the X-axis and Z-axis of the vehicle body; α represents the angle between the straight line L and the direction 19 of the X-axis of the vehicle body; β represents the slope of the vehicle going downhill, which is calculated by means of gyroscopes, etc.

[0041] Set a height threshold for the height of the engine air intake 16 above the water surface. When h1 < the height threshold, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed.

[0042] Thirdly, the present invention provides a drive control system for amphibious vehicles, which adopts the following technical solution:

[0043] An amphibious vehicle drive control system includes:

[0044] The drivability determination module is used to determine whether the amphibious vehicle is in a drivable state;

[0045] The non-navigation mode determination module is used to determine whether the amphibious vehicle is in non-navigation mode.

[0046] The threshold setting module measures the wading depth, the slip rate of tire 1, and the suspension height, and presets the water depth threshold, slip rate threshold, and suspension height threshold.

[0047] The intelligent mode switching module is used to compare the water depth value with the water depth threshold, the tire slip rate with the slip rate threshold, and the suspension height with the suspension height threshold, and switch to the appropriate mode based on the comparison results.

[0048] The intake water valve 12 opening and closing module is used to determine whether to close the engine 11 intake water valve 12 when the vehicle is going downhill, based on the water depth value according to the slope of the downhill section.

[0049] In summary, the present invention has the following beneficial technical effects:

[0050] 1. The range-extended vehicle is equipped with an intake waterproof valve 12 and an exhaust waterproof valve 13. When the range-extended vehicle enters the deep wading mode or the navigation mode, if the vehicle self-checks and finds a fault, the vehicle switches to the navigation and waiting-for-inspection mode. The power of the navigation and waiting-for-inspection mode adopts the conventional power mode. After the vehicle is inspected and repaired to find no fault and the fault code is cleared, the vehicle switches to the conventional mode, which greatly improves the user experience and satisfaction.

[0051] 2. Through the joint control of four independent motors and water propulsion, intelligent mode switching can be performed. With the assistance of auxiliary devices such as intake waterproof valve 12 and exhaust waterproof valve 13, the vehicle's off-road capability is greatly improved, which can bring users multiple experience values ​​such as flood rescue, off-road navigation, and water rescue.

[0052] 3. Based on the wading depth, tire slip ratio, and suspension height, the system compares these parameters with water depth thresholds, slip ratio thresholds, and suspension height thresholds, and automatically switches to the most suitable driving mode. This intelligent switching not only improves driving convenience but also effectively ensures the vehicle's stability and safety in different environments.

[0053] 4. In specific scenarios such as downhill sections, the present invention uses a water depth detection sensor 17 integrated inside the exterior rearview mirror 15 to monitor the water depth in real time and correct the water depth value according to the downhill slope, and intelligently determines whether to close the engine's air intake waterproof valve 12, thereby effectively avoiding the risk of engine 11 being damaged by water ingress and extending the service life of engine 11. Attached Figure Description

[0054] Figure 1 This is a structural diagram of an amphibious vehicle.

[0055] Figure 2 This is a schematic diagram of a water depth detection combined with slope correction for an amphibious vehicle.

[0056] Figure 3 This is a schematic diagram of an amphibious vehicle using a water propulsion system to assist in landing on the beach.

[0057] Figure 4This is a schematic diagram of the mode switching of an amphibious vehicle's drive system.

[0058] Figure 5 This is a schematic diagram of the framework of a drive control system for an amphibious vehicle.

[0059] Reference numerals: 1. Tire; 2. Right front independent drive motor; 3. Left front independent drive motor; 4. Right rear independent drive motor; 5. Left rear independent drive motor; 6. Front axle differential lock; 7. Rear axle differential lock; 8. Left water propeller; 9. Right water propeller; 10. Mechanical connection assembly; 11. Engine; 12. Intake waterproof valve; 13. Exhaust waterproof valve; 14. Power battery; 15. Exterior rearview mirror; 16. Engine air intake; 17. Water depth sensor; 18. Wading surface; 19. Vehicle X-axis direction; 20. Vehicle Z-axis direction. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0061] The following is in conjunction with the appendix Figure 1-5 The present invention will now be described.

[0062] See appendix Figure 1-3 This invention proposes an amphibious vehicle, including a power battery 14 installed at the bottom of the vehicle. A right front independent drive motor 2 and a left front independent drive motor 3 are fixedly installed at the bottom of the vehicle, located in front of the power battery 14. The left front independent drive motor 3 and the right front independent drive motor 2 are coaxially arranged, and a front axle differential lock 6 is connected between the left front independent drive motor 3 and the right front independent drive motor 2 via a mechanical connection assembly 10.

[0063] See appendix Figure 1-3The vehicle has a right rear independent drive motor 4 and a left rear independent drive motor 5 fixedly mounted on its bottom. These motors are located behind the power battery 14 and are coaxially aligned. A rear axle differential lock 7 is connected to the right rear independent drive motor 4 and left rear independent drive motor 5 via a mechanical connection assembly 10. Tires 1 are mounted on the drive shafts of the left front independent drive motor 3 and the right front independent drive motor 2, which are opposite to each other, via the mechanical connection assembly 10. A left water propeller 8 and a right water propeller 9 are mounted near the rear of the vehicle's bottom. Exterior rearview mirrors 15 are mounted on the left and right side walls of the vehicle.

[0064] See appendix Figure 1-3 The front axle differential lock 6 and rear axle differential lock 7 are controlled to open and close according to the amphibious vehicle's needs in water, for normal straight-line travel, or for turning. An engine 11 is located at the bottom of the vehicle near the front; the engine 11 converts the heat energy from gasoline combustion into electrical energy for the power battery 14 to store. An intake waterproof valve 12 is fixedly connected to the engine air intake 16, and an exhaust waterproof valve 13 is fixedly connected to the engine exhaust outlet. Water depth sensors 17 are integrated inside the left and right side rearview mirrors 15. Figure 2 As shown, the water level 18, the X-axis direction of the vehicle body 19, and the Z-axis direction of the vehicle body 20 are marked.

[0065] See appendix Figure 4 The present invention also proposes a drive control method for amphibious vehicles. The purpose of this method is to utilize the four tires 1 of the range-extended vehicle, the independent drive motor and the dual water propulsion units for joint control and intelligent mode switching, including the following modes:

[0066] 1. In the conventional or shallow wading mode, all four tires 1 of the amphibious vehicle are in contact with the ground. The amphibious vehicle adopts the conventional or shallow wading power mode, and the left water propulsion unit 8 and the right water propulsion unit 9 do not participate in the driving.

[0067] Specifically, in normal mode, the amphibious vehicle uses the normal off-road power mode, with the left and right water-borne propulsion units 8 and 9 not participating in drive, and the vehicle suspension height is in the normal mode. In shallow wading mode, the amphibious vehicle uses the wading power mode, with the left and right water-borne propulsion units 8 and 9 not participating in drive, the steering of the right front independent drive motor 2, left front independent drive motor 3, right rear independent drive motor 4, and left rear independent drive motor 5 is available, and the vehicle suspension height is adjusted to the highest position.

[0068] In the range-extended vehicle, the engine 11 keeps running in normal or shallow wading mode. When the power battery 14 is fully charged, it stops charging, which means the engine 11 stops running.

[0069] 2. In deep water or beach mode, at least one tire 1 of the amphibious vehicle is on the ground. At this time, the independent drive motors of the four wheels are the main force. If the amphibious vehicle has difficulty moving forward through tire 1, the left water propulsion unit 8 and the right water propulsion unit 9 provide auxiliary propulsion.

[0070] Specifically, in the deep wading or beaching mode, the amphibious vehicle adopts the wading power mode. At this time, the tire 1 on the ground moves forward through the drive of the independent drive motor. If the amphibious vehicle has difficulty moving forward, the dual water propulsion units assist in pushing and the steering is unavailable. The steering of the four-wheel independent drive motors is unavailable, and the vehicle suspension height is adjusted to the highest state.

[0071] In the deep water wading or beach crossing mode, the engine 11 stops running, and the intake waterproof valve 12 and exhaust waterproof valve 13 remain closed to minimize water flow into the engine 11 through the intake waterproof valve 12 and exhaust waterproof valve 13.

[0072] 3. Navigation mode: All four wheels 1 of the vehicle are off the ground. At this time, the power of the left water propulsion unit 8 and the right water propulsion unit 9 is the main source. If the amphibious vehicle needs to continue to increase its speed or assist the amphibious vehicle in turning in the water, the independent drive motors of the four wheels will assist the amphibious vehicle in navigation, depending on the conditions.

[0073] Specifically, in navigation mode, the left and right water-powered propulsion units 8 and 9 are the primary power sources. If the amphibious vehicle needs to further increase its speed or assist in turning in the water, the four independent drive motors will assist in navigation, depending on the conditions. Steering functions of the left and right water-powered propulsion units 8 and 9, as well as steering driven by the four independent drive motors, are available. The vehicle's suspension height is adjusted to its highest setting.

[0074] In the range-extended vehicle, when in navigation mode, the engine 11 stops running, and the intake waterproof valve 12 and exhaust waterproof valve 13 remain closed to minimize water flow into the engine 11 through the intake waterproof valve 12 and exhaust waterproof valve 13.

[0075] A method for driving control of an amphibious vehicle includes the following steps:

[0076] S11. Determine whether the amphibious vehicle is in a drivable state;

[0077] S12. Determine whether the amphibious vehicle is in non-navigation mode;

[0078] S13. Measure the wading depth, the slip ratio of tire 1, and the suspension height, and pre-set the water depth threshold, slip ratio threshold, and suspension height threshold.

[0079] S14. Compare the water depth value with the water depth threshold, the tire slip rate with the slip rate threshold, and the suspension height with the suspension height threshold, and switch to the appropriate mode based on the comparison results.

[0080] S15. When the vehicle is going downhill, the position of the water depth sensor 17 is higher than the engine air intake 16. The water depth value is corrected according to the slope of the downhill section to determine whether it is necessary to close the engine 11's air intake water valve 12.

[0081] In one embodiment of the present invention, step S11 includes the following steps:

[0082] To determine whether an amphibious vehicle is in a drivable state, if the water depth sensor 17 is working properly and the vehicle's suspension is working properly, it means that the amphibious vehicle meets the drivable state requirement.

[0083] If the water depth sensor 17 malfunctions or fails to function, or if the suspension of the amphibious vehicle malfunctions or fails to function, or if the amphibious vehicle cannot automatically switch modes, or if at least one of these three situations occurs, it indicates that the amphibious vehicle does not meet the requirements for drivability, and the amphibious vehicle's instrument panel will issue an alarm.

[0084] In one embodiment of the present invention, step S13 includes the following steps:

[0085] The water depth sensor 17 measures the water depth of the amphibious vehicle while it is wading. The vehicle's own infotainment system can automatically measure the slip rate of the tires 1 and the suspension height, and preset the water depth threshold, slip rate threshold, and suspension height threshold.

[0086] The water depth thresholds include a first depth threshold, a second depth threshold, and a third depth threshold.

[0087] In one embodiment of the present invention, step S14 includes the following steps:

[0088] Compare the water depth value with the first depth threshold, the second depth threshold, and the third depth threshold; compare the slip ratio of tire 1 with the slip ratio threshold; and compare the suspension height with the suspension height threshold.

[0089] According to step S12, if the amphibious vehicle is in non-navigation mode, and the water depth is less than or equal to the first depth threshold, the vehicle switches to normal mode.

[0090] If the first depth threshold is less than the water depth and less than the second depth threshold, the vehicle switches to shallow wading mode.

[0091] If the second depth threshold ≤ water depth ≤ third depth threshold, the slip ratio of at most three tires 1 exceeds the slip ratio threshold, and the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to deep wading mode.

[0092] If the water depth is greater than the third depth threshold, the slip ratio of all four tires 1 exceeds the slip ratio threshold, and the suspension height of all four tires 1 exceeds the suspension height threshold, the vehicle switches to navigation mode.

[0093] According to step S12, if the amphibious vehicle is in navigation mode, and the first depth threshold < water depth < third depth threshold, the slip rate of at most three tires 1 exceeds the slip rate threshold, or the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to beach landing mode; if the water depth ≤ first depth threshold and the vehicle self-check has no faults, the vehicle switches to normal mode.

[0094] If the water depth is less than or equal to the first depth threshold and the vehicle self-checks for faults, the vehicle switches to the post-navigation inspection mode. In the post-navigation inspection mode, the power is in the conventional power mode, the left water thruster 8 and the right water thruster 9 are not working, the vehicle suspension height is adjusted to the conventional mode height, the engine 11 stops running, and the intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed. After the vehicle is inspected and repaired to the point of being fault-free and the fault codes are cleared, the vehicle switches to the conventional mode.

[0095] In one embodiment of the present invention, step S15 satisfies the following formula:

[0096] h1 = h2 - Lsin(α + β)

[0097] Where h1 is the height of the engine air intake 16 above the water surface; h2 is the height of the water depth sensor 17 above the water surface (the water depth sensor 17 is integrated inside the exterior rearview mirrors 15 on both sides of the vehicle, and the maximum value is h2); L represents the straight-line distance between the water depth sensor and the engine air intake, which are parallel to the plane formed by the X-axis and Z-axis of the vehicle body; α represents the angle between the straight line L and the direction 19 of the X-axis of the vehicle body; β represents the slope of the vehicle going downhill, which is calculated by means of gyroscopes, etc.

[0098] Set a height threshold for the height of the engine air intake 16 above the water surface. When h1 < the height threshold, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed.

[0099] See appendix Figure 5 The present invention also proposes an amphibious vehicle drive control system, which includes a drivable state judgment module, a non-navigation mode judgment module, a threshold setting module, an intelligent mode switching module, and an air intake waterproof valve 12 opening and closing module.

[0100] The drivability determination module is used to determine whether the amphibious vehicle is in a drivable state;

[0101] The non-navigation mode determination module is used to determine whether the amphibious vehicle is in non-navigation mode.

[0102] The threshold setting module measures the wading depth, the slip rate of tire 1, and the suspension height, and presets the water depth threshold, slip rate threshold, and suspension height threshold.

[0103] The intelligent mode switching module is used to compare the water depth value with the water depth threshold, the tire slip rate with the slip rate threshold, and the suspension height with the suspension height threshold, and switch to the appropriate mode based on the comparison results.

[0104] The intake water valve 12 opening and closing module is used to determine whether to close the engine 11 intake water valve 12 when the vehicle is going downhill, based on the water depth value according to the slope of the downhill section.

[0105] Each of the modules can be implemented in whole or in part through software, hardware, or a combination thereof. It supports hardware embedded in or independent of the processor in the computer device, and also supports software stored in the memory of the computer device, so that the processor can call and execute the operations corresponding to each of the above modules.

[0106] The above embodiments are only used to illustrate the technical solutions of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A drive control method for an amphibious vehicle, based on an amphibious vehicle, the amphibious vehicle comprising a power battery (14) and an engine (11) fixedly installed at the bottom of the vehicle, a right front independent drive motor (2), a left front independent drive motor (3), a right rear independent drive motor (4), and a left rear independent drive motor (5) fixedly installed at the bottom of the vehicle, the drive shafts of the left front independent drive motor (3), the right front independent drive motor (2), the right rear independent drive motor (4), and the left rear independent drive motor (5) are all equipped with tires (1), a left water propeller (8) and a right water propeller (9) are installed at the bottom of the vehicle, and exterior rearview mirrors (15) are installed on the left and right side walls of the vehicle, the air intake of the engine (11) is connected to an air intake waterproof valve (12), the exhaust port of the engine (11) is connected to an exhaust waterproof valve (13), and water depth detection sensors (17) are integrated inside the exterior rearview mirrors (15) on the left and right sides of the vehicle, characterized in that, This method includes the following modes: In the conventional or shallow wading mode, all four tires (1) of the amphibious vehicle are in contact with the ground. The amphibious vehicle adopts the conventional or shallow wading power mode, and the left water propulsion unit (8) and the right water propulsion unit (9) do not participate in the driving. In deep wading or beaching mode, at least one tire (1) of the vehicle is on the ground, with the four-wheel independent drive motor as the main propulsion and the left water propulsion unit (8) and the right water propulsion unit (9) as auxiliary propulsion. In navigation mode, all four tires (1) of the vehicle are off the ground, and the left water propulsion unit (8) and the right water propulsion unit (9) provide the main power, while the independent drive motors of the four wheels assist in navigation. This method includes the following steps: S11. Determine whether the amphibious vehicle is in a drivable state; S12. Determine whether the amphibious vehicle is in non-navigation mode; S13. Measure the water depth, tire (1) slip rate, and suspension height, and pre-set the water depth threshold, slip rate threshold, and suspension height threshold. S14. Compare the water depth value with the water depth threshold, the tire (1) slip rate with the slip rate threshold, and the suspension height with the suspension height threshold, and switch to the appropriate mode based on the comparison results. Step S14 includes the following steps: Water depth thresholds include a first depth threshold, a second depth threshold, and a third depth threshold; Compare the water depth value with the first depth threshold, the second depth threshold, and the third depth threshold; compare the tire (1) slip ratio with the slip ratio threshold; and compare the suspension height with the suspension height threshold. According to step S12, if the amphibious vehicle is in non-navigation mode, and the water depth is less than or equal to the first depth threshold, the vehicle switches to normal mode; if the first depth threshold is less than the water depth and less than the second depth threshold, the vehicle switches to shallow wading mode; if the second depth threshold is less than the water depth and less than the third depth threshold, the slip ratio of at most three tires (1) exceeds the slip ratio threshold, and the suspension height of at most three tires (1) exceeds the suspension height threshold, the vehicle switches to deep wading mode. If the water is deep The third depth threshold, the slip ratio of the four tires (1) exceeds the slip ratio threshold, the suspension height of the four tires (1) exceeds the suspension height threshold, and the vehicle switches to the navigation mode. According to step S12, if the amphibious vehicle is in navigation mode, and the first depth threshold < water depth < third depth threshold, the slip ratio of at most three tires (1) exceeds the slip ratio threshold, and the suspension height of at most three tires (1) exceeds the suspension height threshold, the vehicle switches to beach mode; if the water depth ≤ first depth threshold, the vehicle self-check has no faults, and the vehicle switches to normal mode. If the water depth is less than or equal to the first depth threshold, the vehicle self-check has a fault, the vehicle switches to the navigation wait-to-check mode, the power of the navigation wait-to-check mode adopts the conventional power mode, the left water propeller (8) and the right water propeller (9) do not work, the height of the vehicle suspension is adjusted to the height of the conventional mode, the engine (11) stops running, and the intake waterproof valve (12) and the exhaust waterproof valve (13) remain closed. Once the vehicle has been inspected and repaired to ensure there are no faults and the fault codes have been cleared, the vehicle will be switched to normal mode. S15. When the vehicle is going downhill, the position of the water depth sensor (17) is higher than the engine air intake (16). The water depth value is corrected according to the slope of the downhill section to determine whether to close the air intake water valve (12) of the engine (11).

2. The amphibious vehicle drive control method according to claim 1, characterized in that... The conventional or shallow wading mode includes the following steps: In normal mode, amphibious vehicles use the normal off-road power mode; in shallow wading mode, amphibious vehicles use the wading power mode; the vehicle suspension height is adjusted to the highest position. In the normal or shallow water wading mode, the engine (11) of the range-extended vehicle keeps running. If the power battery (14) is fully charged, it stops charging, which means the engine (11) stops running.

3. The amphibious vehicle drive control method according to claim 1, characterized in that... The deep wading or beach approach mode includes the following steps: Adjust the vehicle suspension height to its highest position; When the range-extended vehicle is in deep water wading or beaching mode, the engine (11) stops running, and the intake waterproof valve (12) and exhaust waterproof valve (13) remain closed.

4. The amphibious vehicle drive control method according to claim 1, characterized in that... The navigation mode includes the following steps: The steering of the left water propeller (8) and the right water propeller (9) can be used, the steering driven by the independent drive motors of the four wheels can be used, and the vehicle's suspension height is adjusted to the highest state. When the range-extended vehicle is in navigation mode, the engine (11) stops running, and the intake waterproof valve (12) and exhaust waterproof valve (13) remain closed.

5. The amphibious vehicle drive control method according to claim 1, characterized in that, Step S11 includes the following steps: To determine whether an amphibious vehicle is in a drivable state, if the water depth sensor (17) can work normally and the vehicle's suspension can work normally, it means that the amphibious vehicle meets the drivable state. If the water depth sensor (17) malfunctions or even fails to function, or if the suspension of the amphibious vehicle malfunctions or even fails to function, or if the amphibious vehicle cannot automatically switch modes, then the amphibious vehicle does not meet the requirements for drivability.

6. The amphibious vehicle drive control method according to claim 1, characterized in that, Step S15 satisfies the following formula: in, It is the height of the engine air intake (16) above the water surface; It is the height of the water depth sensor (17) above the water surface; The straight-line distance between the water depth sensor (17) and the engine air intake (16) is parallel to the plane formed by the X-axis and Z-axis of the vehicle body; Represents a straight line The angle between the vehicle body and the X-axis direction (19); This indicates the gradient of the slope for the vehicle going downhill. Calculated using a gyroscope; Set a height threshold for the engine air intake (16) above the water surface, when If the height threshold is exceeded, the engine (11) stops running, and the intake waterproof valve (12) and exhaust waterproof valve (13) remain closed.

7. A drive control system for an amphibious vehicle, based on the drive control method for an amphibious vehicle according to any one of claims 1-6, characterized in that, include: The drivability determination module is used to determine whether the amphibious vehicle is in a drivable state; The non-navigation mode determination module is used to determine whether the amphibious vehicle is in non-navigation mode. The threshold setting module measures the water depth, tire (1) slip rate, and suspension height, and presets the water depth threshold, slip rate threshold, and suspension height threshold. The intelligent mode switching module is used to compare the value of water depth with the water depth threshold, the slip rate of tire (1) with the slip rate threshold, and the suspension height with the suspension height threshold, and switch the appropriate mode according to the comparison results. The intake water valve (12) opening and closing module is used to determine whether to close the engine (11) intake water valve (12) when the vehicle is going downhill. The water depth value is corrected according to the slope of the downhill section.

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