An H-type drivetrain system for unmanned vehicles

Abstract

This invention relates to the technical field of unmanned vehicle transmission systems, and provides an H-type transmission configuration system for unmanned vehicles, including an H-type transmission configuration body, a sensor network terminal, a dynamic control terminal, an efficiency management terminal, a safety risk management terminal, and a decision analysis terminal. The H-type transmission configuration body is used to realize power transmission for 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 acquire in real time the operating parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle, and road condition parameters; the efficiency management terminal is used to generate efficiency management information based on the parameters; the safety risk management terminal is used to generate safety risk management information based on the operating 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 to generate decision execution information based on the efficiency management information and the safety risk management information. This invention improves the transmission stability of unmanned vehicles.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned vehicle transmission systems, and specifically to an H-type transmission configuration system for unmanned vehicles. Background Technology

[0002] The H-type drivetrain configuration is a vehicle power transmission system layout characterized by multiple drive units arranged in an "H" shape, achieving efficient power transmission and flexible control. This configuration is commonly used in unmanned vehicles to meet power distribution requirements under complex operating conditions. The H-type drivetrain configuration is named "H-type" because its power transmission structure has an "H" shape in its system layout. It typically includes front and rear driveshafts or electric drive modules, as well as a central connecting module, such as a transfer case or power management unit. The core purpose of this structure is to achieve flexible distribution of power output between the front and rear of the vehicle, and combined with intelligent control, to optimize transmission efficiency and stability.

[0003] With the rapid development of autonomous driving technology, more and more driverless vehicles are adopting 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 used. However, under complex road and environmental conditions, traditional transmission systems often cannot respond efficiently to changes in road conditions, resulting in insufficient energy efficiency and slow vehicle response speed.

[0004] Many unmanned vehicle transmission configurations have been developed. Through extensive research and reference, we found that existing unmanned vehicle transmission configurations, such as those disclosed in publication numbers CN112874255A and CN105235467A, generally include: a transmission configuration body, a data acquisition terminal, and an analysis and control terminal. The transmission configuration body supports the unmanned vehicle and enables transmission; the data acquisition terminal acquires the unmanned vehicle's operating status; and the analysis and control terminal analyzes the unmanned vehicle's operating status and parameters to generate control commands. Because the operation process of these unmanned vehicle transmission configurations is relatively simple and lacks efficiency and safety analysis, unmanned vehicles are prone to malfunctions and accidents during operation, resulting in decreased transmission stability. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the aforementioned unmanned vehicle transmission configurations by proposing an H-type transmission configuration system for unmanned vehicles.

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

[0007] An H-type drivetrain configuration system for an unmanned vehicle includes an H-type drivetrain configuration body, a sensor network terminal, a dynamic control terminal, an efficiency management terminal, a safety risk management terminal, and a decision analysis terminal. The H-type drivetrain configuration body supports the vehicle body and enables power transmission. The dynamic control terminal controls and manages the H-type drivetrain configuration body. The sensor network terminal acquires real-time operating parameters of the H-type drivetrain configuration body, driving parameters of the unmanned vehicle, and road condition parameters. The efficiency management terminal performs efficiency management of the unmanned vehicle based on the operating parameters of the H-type drivetrain configuration body, the driving parameters of the unmanned vehicle, and the road condition parameters, generating efficiency management information. The safety risk management terminal performs safety risk management of the unmanned vehicle based on the operating parameters of the H-type drivetrain configuration body, the driving parameters of the unmanned vehicle, and the road condition parameters, generating safety risk management information. The decision analysis terminal performs decision analysis based on the efficiency management information and the safety risk management information, generates decision execution information, and sends 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 and 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 road condition information around the unmanned vehicle; and 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 based on 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 a 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 measure information based on the risk level.

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

[0013] A control method for an H-type drivetrain configuration of an unmanned vehicle, applied to an H-type drivetrain configuration system of an unmanned vehicle as described above, the control method comprising:

[0014] S1, controls and manages the H-type transmission configuration body;

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

[0016] S3, based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, performs unmanned vehicle efficiency management and generates efficiency management information;

[0017] S4. Based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle, and the road condition parameters, perform unmanned vehicle safety risk management and generate safety risk management information.

[0018] S5 performs decision analysis based on performance management information and safety risk management information, and generates decision execution information.

[0019] The beneficial effects achieved by this invention are:

[0020] 1. By setting up an H-type transmission configuration body, sensor network terminal, dynamic control terminal, efficiency management terminal, safety risk management terminal, and decision analysis terminal, the power transmission, operating parameters, and environmental parameters of unmanned vehicles can be comprehensively monitored, managed, and analyzed. This is conducive to achieving high-efficiency operation and safety risk management of unmanned vehicles in complex environments, thereby improving the overall operating efficiency and safety of the vehicle. This enhances the adaptability and reliability of unmanned vehicles in various application scenarios and improves the stability of the unmanned vehicle transmission.

[0021] 2. Through the setup 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 achieving precise power output; the adjustment control module can dynamically adjust the operating state of the transmission configuration according to real-time road condition parameters and preset driving tasks, which is conducive to improving the flexibility and stability of the vehicle under different working conditions, thereby optimizing the overall performance of the vehicle operation, and thus improving the adaptability of unmanned vehicles in dynamic environments.

[0022] 3. Through the configuration of vehicle sensing modules, road condition sensing modules, and data transmission modules, the vehicle sensing module can collect the working and driving parameters of the H-type transmission configuration body in real time, which is conducive to comprehensive monitoring of the vehicle's internal operating status; the road condition sensing module can accurately obtain 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 sensing 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 setup of data analysis, performance evaluation, and performance optimization modules, the data analysis module can organize and analyze the working parameters, driving parameters, and road condition parameters of the H-type transmission configuration, which is conducive to clarifying the overall 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 understanding the vehicle's operating performance in real time; the performance optimization module can generate performance management information based on the evaluation results, and then propose targeted optimization measures, thereby helping to achieve high-efficiency management and improve the operating efficiency of the unmanned vehicle.

[0024] 5. Through the setup of the risk assessment module and the risk response module, the risk assessment module can calculate the safety risk index and determine 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 quickly responding to possible dangerous situations, thereby ensuring the safe operation of the vehicle and thus improving the safety and reliability of unmanned vehicles in complex environments.

[0025] 6. Through the setup of the information receiving module, the efficiency adjustment decision generation module, and the safety measure decision generation module, the information receiving module can receive efficiency management information and safety risk management information, which is conducive to integrating efficiency and safety-related data; the efficiency adjustment decision generation module can generate targeted efficiency adjustment decisions based on efficiency 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 safety risk management information and send them to the motion control module, thereby effectively reducing the operating risk of the vehicle, thus facilitating the dynamic balance between high efficiency and high safety of unmanned vehicles.

[0026] 7. By setting the transmission efficiency index formula, and comprehensively considering multiple influencing factors such as road friction coefficient, tire temperature, wind speed and load, tire pressure change, and road slope, the efficiency index of the unmanned vehicle transmission system can be scientifically calculated, 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 efficiency evaluation. Combined with real-time parameter adjustment and optimization of power output strategy, the transmission efficiency of unmanned vehicles under complex working conditions can be effectively improved, thereby facilitating the efficient and stable operation of unmanned vehicles.

[0027] 8. By setting the safety risk index formula, parameters directly related to safety risks, such as vehicle acceleration, yaw rate, lane departure, driving reaction time, and weather visibility, are considered. This allows for the dynamic calculation of the safety risk index of unmanned vehicles, which is beneficial for real-time assessment 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 and enhance the system's response capability to high-risk events. Based on the risk index, corresponding safety action measures are selected, thereby effectively reducing the probability of risks during driving and improving the safety and stability of unmanned vehicles in dynamic and complex environments.

[0028] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

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

[0030] Figure 2 Thermodynamic distribution statistical effect diagram of the transmission efficiency index calculation results of this invention.

[0031] Figure 3 This is a schematic diagram of the method flow for controlling the H-type transmission configuration of an unmanned vehicle according to the present invention;

[0032] Figure 4 This is a schematic diagram of the driving position of the unmanned vehicle in another embodiment of the present invention;

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

[0034] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0035] Example 1: This example provides an H-type transmission configuration system for an unmanned vehicle. Figure 1 As shown, an H-type drivetrain configuration system for an unmanned vehicle includes an H-type drivetrain configuration body, a sensor network terminal, a dynamic control terminal, an efficiency management terminal, a safety risk management terminal, and a decision analysis terminal. The H-type drivetrain configuration body supports the vehicle body and enables power transmission. The dynamic control terminal controls and manages the H-type drivetrain configuration body. The sensor network terminal acquires real-time operating parameters of the H-type drivetrain configuration body, driving parameters of the unmanned vehicle, and road condition parameters. The efficiency management terminal performs efficiency management of the unmanned vehicle based on the operating parameters of the H-type drivetrain configuration body, the driving parameters of the unmanned vehicle, and the road condition parameters, generating efficiency management information. The safety risk management terminal performs safety risk management of the unmanned vehicle based on the operating parameters of the H-type drivetrain configuration body, the driving parameters of the unmanned vehicle, and the road condition parameters, generating safety risk management information. The decision analysis terminal performs decision analysis based on the efficiency management information and the safety risk management information, generates decision execution information, and sends 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 and 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 road condition information around the unmanned vehicle; and 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 based on the evaluation results of the performance evaluation module.

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

[0040]

[0041] Among them, E trans The variable represents the transmission efficiency index of the unmanned vehicle; μ represents the road friction coefficient, with a value range of:

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

[0043] E trans The larger the value, the higher the efficiency of the transmission system; E trans The smaller the value, the lower the efficiency of the transmission system. When E trans <E ref When E indicates that the transmission efficiency has not met the standard, the efficiency optimization module generates efficiency management information to indicate that efficiency needs to be improved; trans ≥E ref When the transmission efficiency meets the standard, the efficiency optimization module generates efficiency management information to indicate that the efficiency is maintained. Methods to improve efficiency include, but are not limited to: 1. Replacing tires with new ones; 2. Choosing to drive on dry roads; 3. Reducing the load on the unmanned vehicle; 4. Stabilizing tire pressure; 5. Replacing the battery with a new one.

[0044] Combination Figure 2 As shown, Figure 2 The following is a statistical diagram showing the thermodynamic distribution of the calculated transmission efficiency index. The code for the above transmission efficiency index calculation example is also shown:

[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 a 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 measure information based on the risk level.

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

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

[0050] S1, controls and manages the H-type transmission configuration body;

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

[0052] S3, based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle and the road condition parameters, performs unmanned vehicle efficiency management and generates efficiency management information;

[0053] S4. Based on the working parameters of the H-type transmission configuration body, the driving parameters of the unmanned vehicle, and the road condition parameters, perform unmanned vehicle safety risk management and generate safety risk management information.

[0054] S5 performs decision analysis based on performance management information and safety risk management information, and generates decision execution information.

[0055] In summary, by configuring the H-type transmission configuration body, sensor network terminal, dynamic control terminal, efficiency management terminal, safety risk management terminal, and decision analysis terminal, comprehensive monitoring, management, and analysis of the unmanned vehicle's power transmission, operating parameters, and environmental parameters can be achieved. This facilitates efficient operation and safety risk management of the unmanned vehicle in complex environments, thereby improving the vehicle's overall operational efficiency and safety. Furthermore, the inclusion of motion control and adjustment control modules allows the motion control module to precisely control the power distribution and drive execution of the H-type transmission configuration body based on decision execution information, facilitating precise power output. The adjustment control module can adjust the power distribution and drive execution based on real-time road condition parameters and preset driving tasks. Adjusting the operating state of the transmission configuration improves the vehicle's flexibility and stability under different operating conditions, thereby optimizing the overall performance of the vehicle. Through the configuration of vehicle sensing modules, road condition sensing modules, and data transmission modules, the vehicle sensing module can collect real-time operating and driving parameters of the H-type transmission configuration, facilitating comprehensive monitoring of the vehicle's internal operating status. The road condition sensing module can accurately acquire road condition information around the unmanned vehicle, enhancing its perception of the external environment. The data transmission module can efficiently transmit sensor data to the performance management terminal and safety risk management terminal, supporting subsequent performance evaluation and risk response analysis. Through data analysis modules, performance evaluation modules, and performance optimization modules… The module configuration includes a data analysis module that can organize and analyze the working parameters, driving parameters, and road condition parameters of the H-type transmission configuration, facilitating a clearer understanding of the overall operational status of the unmanned vehicle; an efficiency evaluation module that can calculate the transmission efficiency index and determine the efficiency status, enabling real-time monitoring of vehicle operating efficiency; and an efficiency optimization module that can generate efficiency management information based on the evaluation results, thereby proposing targeted optimization measures. Through the inclusion of risk assessment and risk response modules, the risk assessment module can calculate the safety risk index and determine the risk level based on the working parameters, driving parameters, and road condition parameters of the H-type transmission configuration, facilitating the real-time detection of potential safety hazards; and the risk response module can... The risk level generates corresponding safety measure information, which facilitates rapid response to potential dangerous situations and thus ensures vehicle operational safety. Through the setup of the information receiving module, the efficiency adjustment decision generation module, and the safety measure decision generation module, the information receiving module can receive efficiency management information and safety risk management information, facilitating the integration of efficiency and safety-related data. The efficiency adjustment decision generation module can generate targeted efficiency adjustment decisions based on efficiency management information and send them to the motion control module, which helps improve the operating efficiency of the transmission system. The safety measure decision generation module can generate appropriate safety measure decisions based on safety risk management information and send them to the motion control module, thereby effectively reducing vehicle operational risks.By setting a transmission efficiency index formula that comprehensively considers multiple influencing factors such as road friction coefficient, tire temperature, wind speed and load, tire pressure changes, and road slope, the efficiency index of the unmanned vehicle's transmission system can be scientifically calculated, which is beneficial for 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 helps improve the accuracy of efficiency assessment. Combined with real-time parameter adjustment and optimization of the power output strategy, the transmission efficiency of unmanned vehicles under complex working conditions is effectively improved, thus contributing to the efficient and stable operation of unmanned vehicles.

[0056] Example 2: This example includes all the content of Example 1, and provides an H-type transmission configuration system for unmanned vehicles. The safety risk management terminal includes a risk assessment module and a risk response module. The risk assessment module is used to calculate a 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 measure information based on the risk level.

[0057] When the risk assessment module calculates the safety risk index, it satisfies the following formula:

[0058]

[0059] Among them, R risk This indicates the current safety risk index of driverless vehicles; a car This indicates the current acceleration of the unmanned vehicle; a critical This represents the critical acceleration for safe operation of an autonomous vehicle, denoted as 'a' under normal driving conditions. car ≤a critical β1 represents the acceleration influence index, typically 1.5; ω yaw ω represents the current yaw rate of the unmanned vehicle. max β2 represents the maximum permissible yaw rate under normal driving conditions for an unmanned vehicle; β2 represents the yaw rate influence index, typically 2; Δ lanes Indicates the offset distance of the unmanned vehicle, combined with Figure 4 As shown, this refers to the lateral offset between the centerline of the autonomous vehicle and the centerline of the lane. This solution is based on the autonomous vehicle's driving in a stable state, which is the state where the autonomous vehicle has adjusted its direction. The lateral offset is... Figure 4 The distance between the dashed line containing the red arrow and the green dashed line. (d) lane-center β3 represents the distance from the center of the lane to the edge of the lane; β3 represents the yaw rate influence index, typically 1.2; t reastion This represents the reaction time of the autonomous driving system for unmanned vehicles, and is a parameter pre-stored in the system; t safe Indicates a reference value for safety response time; Vweather The visible distance, representing the current weather conditions, is obtained directly from weather forecast parameters; V Wmax β4 represents the maximum visible distance on a clear day and is a parameter stored in the system; β4 represents the visibility distance influence index, which is typically 1.3.

[0060] When determining the risk level, the following formula must be satisfied:

[0061]

[0062] Here, LEVEL represents the current risk level of the autonomous vehicle; R1 and R2 represent different rating thresholds, set by the administrator based on experience; LEVEL=1 indicates a low-risk level, and the corresponding safety actions in the generated safety measures information may include, but are not limited to: maintaining the current vehicle speed and alerting the monitor to environmental changes; LEVEL=2 indicates a medium-risk level, and the corresponding safety actions in the generated safety measures information may include, but are not limited to: reducing the vehicle speed and alerting the monitor to lane departure; LEVEL=3 indicates a high-risk level, and the corresponding safety actions in the generated safety measures information may include, but are not limited to: activating automatic emergency braking and issuing warning signals.

[0063] Combination Figure 5 As shown, Figure 5 The following is a statistical chart showing the results of the safety risk index calculation over 24 hours. The code snippet below is an example of the calculation process for the safety risk index and risk level assessment described above.

[0064]

[0065]

[0066] In summary, by setting the safety risk index formula, which considers parameters directly related to safety risks such as vehicle acceleration, yaw rate, lane departure, driving reaction time, and weather visibility, the safety risk index of unmanned vehicles can be dynamically calculated, which is beneficial for real-time assessment 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 and enhance the system's response capability to high-risk events. Based on the risk index, corresponding safety action measures are selected, thereby effectively reducing the probability of risks during driving, which helps to improve the safety and stability of unmanned vehicles in dynamic and complex environments.

[0067] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. An H-type transmission configuration system for an unmanned vehicle, characterized in that, The system includes an H-shaped transmission configuration body, a sensor 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 supports the vehicle body and enables power transmission. The dynamic control terminal controls and manages the H-shaped transmission configuration body. The sensor network terminal acquires real-time operating parameters of the H-shaped transmission configuration body, driving parameters of the unmanned vehicle, and road condition parameters. The efficiency management terminal performs efficiency management of the unmanned vehicle based on these parameters, generating efficiency management information. The safety risk management terminal performs safety risk management of the unmanned vehicle based on these parameters, generating safety risk management information. The decision analysis terminal is used to perform decision analysis based on performance management information and safety risk management information, generate decision execution information, and send it to the dynamic control terminal. 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 based on the evaluation results of the performance evaluation module. When the performance evaluation module performs the calculation, the following formula is satisfied: ； ； Among them, E trans The transmission efficiency index of the unmanned vehicle is represented by μ; the road friction coefficient is represented by μ, which ranges from [0,1] and is obtained by the road surface sensor of the road condition sensing module; T t This represents the current average temperature of all tires on the autonomous vehicle, in °C; γ1 represents the friction coefficient influence index, the value of which can be adjusted by the administrator based on experience; v w The wind speed is represented in m / s; L represents the vehicle load of the unmanned vehicle in kg; η1 represents the load factor, which is lower for smaller unmanned vehicles and is set by the administrator based on experience; γ2 represents the wind speed influence index, which can be adjusted by the administrator based on experience; ΔP represents the tire pressure change from one minute before the calculation to the calculation time; P max The maximum value in historical data representing tire pressure changes for autonomous vehicles, expressed in kPa; θ track γ represents the road slope, the specific value of which is obtained from the terrain sensor in the road condition sensing module; γ3 represents the slope impact index, the value of which can be adjusted by the administrator based on experience; S battery This indicates the current battery health score of the autonomous vehicle; S battery-max γ represents the battery health score threshold for autonomous vehicles, with a value of 10; γ4 represents the battery health impact index, the value of which can be adjusted by the administrator based on experience; V battery Indicates the current battery voltage value; V Bmax This indicates the maximum battery voltage value.

2. The H-type transmission configuration system for an unmanned vehicle as described 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 and 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 for an unmanned vehicle as described 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 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 for an unmanned vehicle as described 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 based on the evaluation results of the performance evaluation module.

5. The H-type transmission configuration system for an unmanned vehicle as described 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 for an unmanned vehicle as described in claim 5, characterized in that, The decision analysis terminal includes an information receiving module, an efficiency adjustment decision generation module, and a safety measure decision generation module. The information receiving module is used to receive efficiency management information and safety risk management information. The efficiency adjustment decision generation module is used to generate efficiency adjustment decisions based on efficiency management information and send them to the motion control module. The safety measure decision generation module is used to generate safety measure decisions based on safety risk management information and send them to the motion control module.

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