H-shaped transmission configuration system of unmanned vehicle

Abstract

The invention relates to the technical field of unmanned vehicle transmission systems, and provides an H-shaped transmission configuration system of an unmanned vehicle, which comprises an H-shaped transmission configuration body, a sensing network terminal, a dynamic control terminal, an efficiency management terminal, a safety risk management terminal and a decision analysis terminal, the H-shaped transmission configuration body is used for realizing power transmission of the unmanned vehicle; the dynamic control terminal is used for controlling and managing the H-type transmission configuration body; the sensing network terminal is used for acquiring working parameters of the H-type transmission configuration body, driving parameters of the unmanned vehicle and road condition parameters in real time; the efficiency management terminal is used for generating efficiency management information according to the parameters; the safety risk management terminal is used for generating safety risk management information according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters; and the decision analysis terminal is used for generating decision execution information according to the efficiency management information and the security risk management information. The method has the effect of improving the transmission stability of the unmanned vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle transmission systems, and in particular to an H-type transmission configuration system of an unmanned vehicle. Background Art

[0002] The H-type transmission configuration is a vehicle power transmission system layout, and its main feature is to achieve efficient power transmission and flexible control through multiple transmission units distributed in an "H" shape. This configuration is usually used in unmanned vehicles to meet the power distribution requirements under complex working conditions. The H-type transmission configuration is named "H-type" because its power transmission structure is in the shape of an "H" in the system layout, and usually includes front and rear drive shafts or electric drive modules and a central connection module, such as a transfer case or power management unit. The core purpose of this structure is to achieve flexible distribution of the front and rear power output of the vehicle, and combine it with intelligent control to optimize transmission efficiency and stability.

[0003] With the rapid development of autonomous driving technology, more and more unmanned vehicles are using complex transmission systems to achieve efficient and stable driving performance. In traditional vehicle transmission systems, a single transmission path or a simple multi-transmission path design is usually adopted. However, under complex road and environmental conditions, traditional transmission systems often cannot efficiently respond to changes in road conditions, resulting in insufficient energy efficiency and slow vehicle response speed.

[0004] Now, many unmanned vehicle transmission configurations have been developed. After a lot of searching and reference, we found that the unmanned vehicle transmission configurations in the prior art are such as the unmanned vehicle transmission configurations disclosed in the publication numbers CN112874255A and CN105235467A. These unmanned vehicle transmission configurations generally include: a transmission configuration body, a data acquisition terminal and an analysis and control terminal; the transmission configuration body is used to support the unmanned vehicle and realize transmission; the data acquisition terminal is used to obtain the working status of the unmanned vehicle; the analysis and control terminal is used to analyze and generate control instructions according to the working status and parameters of the unmanned vehicle. Since the working process of the above-mentioned unmanned vehicle transmission configuration is relatively simple and lacks efficiency and safety analysis, the unmanned vehicle is prone to failures and accidents during driving, resulting in the defect of reduced transmission stability of the unmanned vehicle. Summary of the invention

[0005] The purpose of the present invention is to propose an H-type transmission configuration system for an unmanned vehicle in view of the shortcomings of the above-mentioned unmanned vehicle transmission configuration.

[0006] The present invention adopts the following technical solution:

[0007] An H-type transmission configuration system for an unmanned vehicle comprises an H-type transmission configuration body, a sensor network terminal, a dynamic control terminal, a performance management terminal, a safety risk management terminal and a decision analysis terminal; the H-type transmission configuration body is used to support the body of the unmanned vehicle and realize power transmission of the unmanned vehicle; the dynamic control terminal is used to control and manage the H-type transmission configuration body; the sensor network terminal is used to obtain the working parameters of the H-type transmission configuration body, the driving parameters and the road condition parameters of the unmanned vehicle in real time; the performance management terminal is used to perform unmanned vehicle performance management according to the working parameters of the H-type transmission configuration body, the driving parameters and the road condition parameters of the unmanned vehicle, and generate performance management information; the safety risk management terminal is used to perform unmanned vehicle safety risk management according to the working parameters of the H-type transmission configuration body, the driving parameters and the road condition parameters of the unmanned vehicle, and generate safety risk management information; the decision analysis terminal is used to perform decision analysis according to the performance management information and the safety risk management information, generate decision execution information and send it to the dynamic control terminal.

[0008] Optionally, the dynamic control terminal includes a motion control module and an adjustment control module; the motion control module is used to respond to the decision execution information to control the power distribution and drive execution of the H-type transmission configuration body; the adjustment control module is used to control the H-type transmission configuration body according to road condition parameters and preset driving tasks.

[0009] Optionally, the sensor network terminal includes a vehicle sensing module, a road condition sensing module and a data transmission module; the vehicle sensing module is used to collect the working parameters of the H-type transmission configuration body and the driving parameters of the unmanned vehicle; the road condition sensing module is used to obtain the road condition information around the unmanned vehicle; the data transmission module is used to transmit all sensing data to the performance management terminal and the safety risk management terminal.

[0010] Optionally, the performance management terminal includes a data analysis module, a performance evaluation module and a performance optimization module; the data analysis module is used to organize and analyze the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters; the performance evaluation module is used to calculate the transmission performance index of the unmanned vehicle and determine the current performance status of the unmanned vehicle; the performance optimization module is used to generate performance management information according to the evaluation results of the performance evaluation module.

[0011] Optionally, the safety risk management terminal includes a risk assessment module and a risk response module; the risk assessment module is used to calculate the safety risk index based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and judge the risk level; the risk response module is used to generate corresponding safety measures information according to the risk level.

[0012] Optionally, the decision analysis terminal includes an information receiving module, a performance adjustment decision generating module and a safety measure decision generating module; the information receiving module is used to receive performance management information and safety risk management information; the performance adjustment decision generating module is used to generate a performance adjustment decision based on the performance management information and send it to the motion control module; the safety measure decision generating module is used to generate a safety measure decision based on the safety risk management information and send it to the motion control module.

[0013] A method for controlling an H-type transmission configuration of an unmanned vehicle is applied to an H-type transmission configuration system of an unmanned vehicle as described above. The method for controlling an H-type transmission configuration of an unmanned vehicle comprises:

[0014] S1, controlling and managing the H-type transmission configuration body;

[0015] S2, obtaining the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters in real time;

[0016] S3, performing unmanned vehicle performance management according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and generating performance management information;

[0017] S4, performing safety risk management of the unmanned vehicle according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and generating safety risk management information;

[0018] S5, conduct decision analysis based on performance management information and safety risk management information to generate decision execution information.

[0019] The beneficial effects achieved by the present invention are:

[0020] 1. Through the setting of the H-type transmission configuration body, sensor network terminal, dynamic control terminal, performance management terminal, safety risk management terminal and decision analysis terminal, the power transmission, working parameters and environmental parameters of the unmanned vehicle can be comprehensively monitored, managed and analyzed, which is conducive to the high-efficiency operation and safety risk management of the unmanned vehicle in a complex environment, thereby improving the comprehensive operation efficiency and safety of the vehicle, which is conducive to enhancing the adaptability and reliability of the unmanned vehicle in various application scenarios and improving the stability of the unmanned vehicle transmission.

[0021] 2. Through the setting of the motion control module and the adjustment control module, the motion control module can accurately control the power distribution and drive execution of the H-type transmission configuration body according to the decision-making execution information, which is conducive to achieving precise power output; the adjustment control module can dynamically adjust the operating state of the transmission configuration according to real-time road conditions and preset driving tasks, which is conducive to improving the flexibility and stability of the vehicle under different working conditions, and then optimizing the overall performance of the vehicle operation, which is conducive to improving the adaptability of unmanned vehicles in dynamic environments.

[0022] 3. Through the setting of vehicle sensor module, road condition sensor module and data transmission module, the vehicle sensor module can collect the working parameters and driving parameters of the H-type transmission configuration body in real time, which is conducive to comprehensive monitoring of the internal operation status of the vehicle; the road condition sensor module can accurately obtain the road condition information around the unmanned vehicle, which is conducive to improving the perception of the external environment; the data transmission module can efficiently transmit the sensor data to the performance management terminal and the safety risk management terminal, thereby supporting subsequent performance evaluation and risk response analysis, which is conducive to achieving high efficiency and safety management of unmanned vehicles.

[0023] 4. Through the setting of data analysis module, performance evaluation module and performance optimization module, the data analysis module can organize and analyze the working parameters, driving parameters and road condition parameters of the H-type transmission configuration body, which is conducive to clarifying the comprehensive operating status of the unmanned vehicle; the performance evaluation module can calculate the transmission performance index and judge the performance status, which is conducive to real-time understanding of the vehicle's operating performance; the performance optimization module can generate performance management information based on the evaluation results, and then propose targeted optimization measures, which is conducive to achieving high-efficiency management of unmanned vehicles and improving operating efficiency.

[0024] 5. Through the setting of risk assessment module and risk response module, the risk assessment module can calculate the safety risk index and judge the risk level based on the working parameters, driving parameters and road condition parameters of the H-type transmission configuration body, which is conducive to the real-time discovery of potential safety hazards; the risk response module can generate corresponding safety measures information according to the risk level, which is conducive to rapid response to possible dangerous situations, thereby ensuring the safety of vehicle operation, which is conducive to improving the safety and reliability of unmanned vehicles in complex environments.

[0025] 6. Through the setting of the information receiving module, the performance adjustment decision generation module and the safety measure decision generation module, the information receiving module can receive performance management information and safety risk management information, which is conducive to the integration of performance and safety related data; the performance adjustment decision generation module can generate targeted performance adjustment decisions based on the performance management information, and send them to the motion control module, which is conducive to improving the operating efficiency of the transmission system; the safety measure decision generation module can generate appropriate safety measure decisions based on the safety risk management information and send them to the motion control module, thereby effectively reducing the operating risk of the vehicle, which is conducive to achieving a dynamic balance between high performance and high safety of unmanned vehicles.

[0026] 7. By setting the transmission efficiency index formula, the multi-dimensional influencing factors such as road friction coefficient, tire temperature, wind speed and load, tire pressure change and road slope are comprehensively considered, so as to scientifically calculate the efficiency index of the unmanned vehicle transmission system, which is conducive to accurately judging the real-time status of vehicle power transmission; the formula introduces a nonlinear relationship processing method, avoiding the simple weighted summation calculation method, which is conducive to improving the accuracy of performance evaluation; combined with real-time parameter adjustment to optimize the power output strategy, the transmission efficiency of the unmanned vehicle under complex working conditions is effectively improved, which is conducive to the realization of efficient and stable operation of the unmanned vehicle.

[0027] 8. By setting the safety risk index formula, parameters directly related to safety risks such as vehicle acceleration, yaw angular velocity, lane deviation, driving reaction time, and weather visibility are taken into account. The safety risk index of unmanned vehicles can be dynamically calculated, which is conducive to real-time judgment of the potential risk level of vehicle operation; the formula adopts a calculation method that combines exponential and nonlinear relationships, which can amplify the weight in high-risk scenarios, which is conducive to enhancing the system's response ability to high-risk events; based on the risk index, corresponding safety action measures are selected, thereby effectively reducing the risk probability during driving, which is conducive to improving the safety and stability of unmanned vehicles in dynamic and complex environments.

[0028] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 The heat distribution statistical effect diagram of the transmission efficiency index calculation result of the present invention

[0031] Figure 3 A schematic diagram of a method flow of an H-type transmission configuration control method for an unmanned vehicle in the present invention;

[0032] Figure 4 A schematic diagram of the driving position of an unmanned vehicle in another embodiment of the present invention;

[0033] Figure 5 This is a statistical effect diagram of the calculation results of the safety risk index within 24 hours in another embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0035] Embodiment 1: This embodiment provides an H-type transmission configuration system for an unmanned vehicle. Figure 1 As shown, an H-type transmission configuration system for an unmanned vehicle includes an H-type transmission configuration body, a sensor network terminal, a dynamic control terminal, a performance management terminal, a safety risk management terminal and a decision analysis terminal; the H-type transmission configuration body is used to support the body of the unmanned vehicle and realize the power transmission of the unmanned vehicle; the dynamic control terminal is used to control and manage the H-type transmission configuration body; the sensor network terminal is used to obtain the working parameters of the H-type transmission configuration body, the driving parameters and the road condition parameters of the unmanned vehicle in real time; the performance management terminal is used to perform unmanned vehicle performance management according to the working parameters of the H-type transmission configuration body, the driving parameters and the road condition parameters of the unmanned vehicle, and generate performance management information; the safety risk management terminal is used to perform unmanned vehicle safety risk management according to the working parameters of the H-type transmission configuration body, the driving parameters and the road condition parameters of the unmanned vehicle, and generate safety risk management information; the decision analysis terminal is used to perform decision analysis according to the performance management information and the safety risk management information, generate decision execution information and send it to the dynamic control terminal.

[0036] Optionally, the dynamic control terminal includes a motion control module and an adjustment control module; the motion control module is used to respond to the decision execution information to control the power distribution and drive execution of the H-type transmission configuration body; the adjustment control module is used to control the H-type transmission configuration body according to road condition parameters and preset driving tasks.

[0037] Optionally, the sensor network terminal includes a vehicle sensing module, a road condition sensing module and a data transmission module; the vehicle sensing module is used to collect the working parameters of the H-type transmission configuration body and the driving parameters of the unmanned vehicle; the road condition sensing module is used to obtain the road condition information around the unmanned vehicle; the data transmission module is used to transmit all sensing data to the performance management terminal and the safety risk management terminal.

[0038] Optionally, the performance management terminal includes a data analysis module, a performance evaluation module and a performance optimization module; the data analysis module is used to organize and analyze the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters; the performance evaluation module is used to calculate the transmission performance index of the unmanned vehicle and determine the current performance status of the unmanned vehicle; the performance optimization module is used to generate performance management information according to the evaluation results of the performance evaluation module.

[0039] When the performance evaluation module calculates, the following formula is satisfied:

[0040]

[0041] Among them, E trans represents the transmission efficiency index of the unmanned vehicle; μ represents the road friction coefficient, and its value range is:

[0042] [0,1], the specific value is obtained by the road sensor of the road condition sensing module; T t Indicates the current average temperature of all tires of the unmanned vehicle, preferably in °C; γ1 indicates the friction coefficient influence index, which is generally 1.5 and can be adjusted by the administrator based on experience; v w represents wind speed, preferably in m / s; L represents the vehicle load of the unmanned vehicle, preferably in kg; η1 represents the load factor. The smaller the volume of the unmanned vehicle, the smaller the load factor. The specific value is set by the administrator based on experience; γ2 represents the wind speed influence index, which is generally 1.2 and can be adjusted by the administrator based on experience; ΔP represents the tire pressure change from 1 minute before calculation to the calculation time; P max represents the maximum value in the historical data of tire pressure change of the unmanned vehicle, preferably in kPa; θ track represents the road slope, and the specific value is obtained through the terrain sensor of the road condition sensing module; γ3 represents the slope influence index, which is generally 1.3 and can be adjusted by the administrator based on experience; S battery Indicates the battery health score of the current unmanned vehicle; S battery-max represents the battery health score threshold of the unmanned vehicle, which is 10; γ4 represents the battery health impact index, which is generally 1.3 and can be adjusted by the administrator based on experience; V battery Indicates the current battery voltage value; V BmaxIndicates the maximum battery voltage value.

[0043] E trans The larger the value, the higher the efficiency of the transmission system; trans The smaller it is, the lower the efficiency of the transmission system. trans <E ref When E , it indicates that the transmission efficiency is not up to standard, and the efficiency optimization module generates efficiency management information indicating that the efficiency needs to be improved; when E trans ≥E ref When the transmission efficiency reaches the standard, the efficiency optimization module generates efficiency management information for maintaining the efficiency. Ways to improve efficiency may be, but are not limited to: 1. Replace new tires; 2. Choose dry roads for driving; 3. Reduce the load of unmanned vehicles; 4. Stabilize tire pressure; 5. Replace new batteries.

[0044] Combination Figure 2 As shown, Figure 2 This is a heat distribution statistical effect diagram of the transmission efficiency index calculation result. The following is the program code of the above transmission efficiency index calculation example:

[0045]

[0046]

[0047] Optionally, the safety risk management terminal includes a risk assessment module and a risk response module; the risk assessment module is used to calculate the safety risk index based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and judge the risk level; the risk response module is used to generate corresponding safety measures information according to the risk level.

[0048] Optionally, the decision analysis terminal includes an information receiving module, a performance adjustment decision generating module and a safety measure decision generating module; the information receiving module is used to receive performance management information and safety risk management information; the performance adjustment decision generating module is used to generate a performance adjustment decision based on the performance management information and send it to the motion control module; the safety measure decision generating module is used to generate a safety measure decision based on the safety risk management information and send it to the motion control module.

[0049] A method for controlling an H-type transmission configuration of an unmanned vehicle is applied to an H-type transmission configuration system of an unmanned vehicle as described above, combined with Figure 3 As shown, the H-type transmission configuration control method of the unmanned vehicle includes:

[0050] S1, controlling and managing the H-type transmission configuration body;

[0051] S2, obtaining the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters in real time;

[0052] S3, performing unmanned vehicle performance management according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and generating performance management information;

[0053] S4, performing safety risk management of the unmanned vehicle according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and generating safety risk management information;

[0054] S5, conduct decision analysis based on performance management information and safety risk management information to generate decision execution information.

[0055] In summary, through the setting of the H-type transmission configuration body, sensor network terminal, dynamic control terminal, performance management terminal, safety risk management terminal and decision analysis terminal, the power transmission, working parameters and environmental parameters of the unmanned vehicle can be comprehensively monitored, managed and analyzed, which is conducive to the high-efficiency operation and safety risk management of the unmanned vehicle in a complex environment, thereby improving the comprehensive operation efficiency and safety of the vehicle; through the setting of the motion control module and the adjustment control module, the motion control module can accurately control the power distribution and drive execution of the H-type transmission configuration body according to the decision execution information, which is conducive to realizing the precision of power output; the adjustment control module can dynamically control the power distribution and drive execution of the H-type transmission configuration body according to the real-time road condition parameters and the preset driving task Dynamically adjusting the operating state of the transmission configuration is conducive to improving the flexibility and stability of the vehicle under different working conditions, thereby optimizing the overall performance of the vehicle operation; through the settings of the vehicle sensor module, the road condition sensor module and the data transmission module, the vehicle sensor module can collect the working parameters and driving parameters of the H-type transmission configuration body in real time, which is conducive to comprehensively monitoring the internal operating state of the vehicle; the road condition sensor module can accurately obtain the road condition information around the unmanned vehicle, which is conducive to improving the perception of the external environment; the data transmission module can efficiently transmit the sensor data to the performance management terminal and the safety risk management terminal, thereby supporting subsequent performance evaluation and risk response analysis; through the data analysis module, the performance evaluation module and the performance optimization module Through the setting of the block, the data analysis module can organize and analyze the working parameters, driving parameters and road condition parameters of the H-type transmission configuration body, which is conducive to clarifying the comprehensive operating status of the unmanned vehicle; the performance evaluation module can calculate the transmission performance index and judge the performance status, which is conducive to real-time understanding of the vehicle operation performance; the performance optimization module can generate performance management information based on the evaluation results, and then propose targeted optimization measures; through the setting of the risk assessment module and the risk response module, the risk assessment module can calculate the safety risk index and judge the risk level based on the working parameters, driving parameters and road condition parameters of the H-type transmission configuration body, which is conducive to real-time discovery of potential safety hazards; the risk response module can The risk level generates corresponding safety measures information, which is conducive to quickly responding to possible dangerous situations, thereby ensuring the safety of vehicle operation; through the settings of the information receiving module, the performance adjustment decision generation module and the safety measures decision generation module, the information receiving module can receive performance management information and safety risk management information, which is conducive to integrating performance and safety related data; the performance adjustment decision generation module can generate targeted performance adjustment decisions based on the performance management information and send them to the motion control module, which is conducive to improving the operation efficiency of the transmission system; the safety measures decision generation module can generate appropriate safety measures decisions based on the safety risk management information and send them to the motion control module, thereby effectively reducing the operation risk of the vehicle;By setting the transmission efficiency index formula, the multi-dimensional influencing factors such as road friction coefficient, tire temperature, wind speed and load, tire pressure change and road slope are comprehensively considered, and the efficiency index of the unmanned vehicle transmission system can be scientifically calculated, which is conducive to accurately judging the real-time state of vehicle power transmission; the formula introduces a nonlinear relationship processing method to avoid the simple weighted summation calculation method, which is conducive to improving the accuracy of efficiency evaluation; combined with real-time parameter adjustment to optimize the power output strategy, the transmission efficiency of unmanned vehicles under complex working conditions can be effectively improved, which is conducive to the efficient and stable operation of unmanned vehicles. ;

[0056] Embodiment 2: This embodiment includes all the contents of Embodiment 1, and provides an H-type transmission configuration system for an unmanned vehicle, wherein the safety risk management terminal includes a risk assessment module and a risk response module; the risk assessment module is used to calculate the safety risk index according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and to judge the risk level; the risk response module is used to generate corresponding safety measures information according to the risk level.

[0057] When the risk assessment module calculates the security risk index, the following formula is satisfied:

[0058]

[0059] Among them, R risk Represents the current safety risk index of the unmanned vehicle; a car Indicates the current acceleration of the unmanned vehicle; a critical represents the safety critical acceleration of the unmanned vehicle. When the unmanned vehicle is driving in a standard manner, a car ≤a critical ; β1 represents the acceleration influence index, which is generally 1.5; ω yaw Represents the current yaw angular velocity of the unmanned vehicle; ω max It indicates the maximum yaw rate allowed under the standard driving state of the unmanned vehicle; β2 indicates the yaw rate influence index, which is generally 2; Δ lanes Indicates the offset distance of the unmanned vehicle, combined with Figure 4 As shown, it is the lateral offset between the center axis of the unmanned vehicle and the center line of the lane; this scheme is based on the unmanned vehicle driving in a stable state, and the stable state is the state where the unmanned vehicle has adjusted its direction. The lateral offset is Figure 4 The distance between the dashed line where the red arrow is located and the green dashed line. lane-center represents the distance from the center of the lane to the edge of the lane; β3 represents the yaw rate influence index, which is generally 1.2; t reastion Indicates the reaction time of the autonomous driving system of the unmanned vehicle, which is a parameter pre-stored in the system; t safe Indicates the safety reaction time reference value; Vweather Indicates the visible distance of the current weather, which is directly obtained from the weather forecast parameters; V Wmax It indicates the maximum visible distance on a sunny day, which is a parameter pre-stored in the system; β4 indicates the visible distance influence index, which is generally 1.3.

[0060] When judging the risk level, the following formula is satisfied:

[0061]

[0062] Among them, LEVEL represents the current risk level of the unmanned vehicle; R1 and R2 represent different rating thresholds, which are set by the administrator based on experience; LEVEL=1 represents a low risk level, and the corresponding safety action measures in the generated safety measures information may be, but are not limited to: maintaining the current vehicle speed and prompting the monitor to pay attention to environmental changes; LEVEL=2 represents a medium risk level, and the corresponding safety action measures in the generated safety measures information may be, but are not limited to: reducing the vehicle speed and prompting the monitor to pay attention to lane deviation; LEVEL=3 represents a high risk level, and the corresponding safety action measures in the generated safety measures information may be, but are not limited to: starting automatic emergency braking and issuing a warning signal.

[0063] Combination Figure 5 As shown, Figure 5 The following is a statistical effect diagram of the safety risk index calculation results within 24 hours. The following is the program code of the calculation example of the above safety risk index calculation and risk level assessment process:

[0064]

[0065]

[0066] In summary, by setting the safety risk index formula, parameters directly related to safety risks such as vehicle acceleration, yaw angular velocity, lane deviation, driving reaction time, and weather visibility are taken into account. The safety risk index of unmanned vehicles can be dynamically calculated, which is conducive to real-time judgment of the potential risk level of vehicle operation; the formula adopts a calculation method that combines exponential and nonlinear relationships, which can amplify the weights in high-risk scenarios, which is conducive to enhancing the system's response capabilities to high-risk events; based on the risk index, corresponding safety action measures are selected, thereby effectively reducing the risk probability during driving, which is conducive to improving the safety and stability of unmanned vehicles in dynamic and complex environments.

[0067] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. An H-type transmission configuration system for an unmanned vehicle, characterized in that: It includes an H-type transmission configuration body, a sensor network terminal, a dynamic control terminal, a performance management terminal, a safety risk management terminal and a decision analysis terminal; the H-type transmission configuration body is used to support the body of the unmanned vehicle and realize the power transmission of the unmanned vehicle; the dynamic control terminal is used to control and manage the H-type transmission configuration body; the sensor network terminal is used to obtain the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters in real time; the performance management terminal is used to manage the performance of the unmanned vehicle according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and generate performance management information; the safety risk management terminal is used to manage the safety risk of the unmanned vehicle according to the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, and generate safety risk management information; The decision analysis terminal is used to perform decision analysis based on the performance management information and the safety risk management information, generate decision execution information and send it to the dynamic control terminal.

2. The H-type transmission configuration system of an unmanned vehicle as claimed in claim 1, characterized in that: The dynamic control terminal includes a motion control module and an adjustment control module; the motion control module is used to respond to the decision execution information to control the power distribution and drive execution of the H-type transmission configuration body; the adjustment control module is used to control the H-type transmission configuration body according to road condition parameters and preset driving tasks.

3. The H-type transmission configuration system of an unmanned vehicle as claimed in claim 2, characterized in that: The sensor network terminal includes a vehicle sensing module, a road condition sensing module and a data transmission module; the vehicle sensing module is used to collect the working parameters of the H-type transmission configuration body and the driving parameters of the unmanned vehicle; the road condition sensing module is used to obtain the road condition information around the unmanned vehicle; the data transmission module is used to transmit all sensing data to the performance management terminal and the safety risk management terminal.

4. The H-type transmission configuration system of an unmanned vehicle as claimed in claim 3, characterized in that: The performance management terminal includes a data analysis module, a performance evaluation module and a performance optimization module; the data analysis module is used to organize and analyze the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters; the performance evaluation module is used to calculate the transmission performance index of the unmanned vehicle and determine the current performance status of the unmanned vehicle; the performance optimization module is used to generate performance management information according to the evaluation results of the performance evaluation module.

5. The H-type transmission configuration system of an unmanned vehicle as claimed in claim 4, characterized in that: The safety risk management terminal includes a risk assessment module and a risk response module; the risk assessment module is used to calculate the safety risk index and determine the risk level based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters; the risk response module is used to generate corresponding safety measures information based on the risk level.

6. The H-type transmission configuration system of an unmanned vehicle as claimed in claim 5, characterized in that: The decision analysis terminal includes an information receiving module, a performance adjustment decision generating module and a safety measure decision generating module; the information receiving module is used to receive performance management information and safety risk management information; the performance adjustment decision generating module is used to generate a performance adjustment decision based on the performance management information and send it to the motion control module; the safety measure decision generating module is used to generate a safety measure decision based on the safety risk management information and send it to the motion control module.

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