Intelligent escape system and method for vehicle navigation and automobile

Abstract

The invention provides a vehicle navigation intelligent escape system and method and an automobile, and the system comprises an environment sensing module which is used for obtaining environment data around a vehicle and underwater in real time through a vehicle-mounted sensor in the vehicle; the data analysis module is used for processing and analyzing the acquired environmental data around the vehicle and underwater through an intelligent algorithm in the data analysis module, and judging whether the vehicle is in a dilemma and the specific type of the dilemma; the detrapping strategy making module is used for making corresponding detrapping strategies for different types of dilemma according to the judgment result obtained by the data analysis module; and the vehicle control module is used for converting the escape strategy formulated by the data analysis module into a vehicle escape control instruction, and executing the vehicle escape control instruction through a vehicle control system. By means of the scheme, various dilemma encountered when the automobile sails in the water area can be effectively solved, and the safety and reliability of the automobile sailing in the water area are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle navigation control, and in particular relates to a vehicle navigation intelligent escape system, method and vehicle. Background Art

[0002] With the rapid development of automobile technology, the functions and performance of automobiles have been greatly expanded and improved. In recent years, more and more cars have begun to have the ability to sail on water. This innovation not only enriches people's travel methods, but also provides new possibilities for exploring the unknown water world. However, the complexity of the water environment brings many challenges to the navigation of automobiles on water, such as underwater collision, mud blockage, propeller obstruction and other difficulties, which pose a serious threat to the safe navigation of automobiles.

[0003] Among them, underwater collision and jamming is one of the common difficulties encountered by cars in water navigation; since there may be various obstacles in the water, such as reefs, sunken ships, etc., it is easy for cars to collide with them during navigation, causing the vehicle to be stuck and unable to move. In addition, the terrain at the bottom of the water is complex and changeable, and the car may be stuck in mud or sand and unable to extricate itself. Propeller obstruction is another issue that needs attention; as the power source for cars to navigate on the water, once the propeller is entangled by objects such as aquatic plants and fishing nets, it will cause a decrease in power or even loss of power, seriously affecting the car's navigation ability. In response to these challenges, an intelligent escape method is urgently needed to improve the safety and reliability of cars in water navigation. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a vehicle navigation intelligent escape system, method and vehicle, which enables the vehicle to autonomously identify and escape from various difficulties in water navigation in complex water environments through environmental perception, data analysis, escape strategy formulation, execution of escape operations, and real-time feedback and adjustment. The present invention is specifically implemented through the following technical solutions:

[0005] On the one hand: a vehicle navigation intelligent escape system is provided, the system includes an environment perception module, a data analysis module, an escape strategy formulation module, and a vehicle control module, wherein:

[0006] The environment perception module is used to obtain the environment data around the vehicle and underwater in real time through the vehicle-mounted sensors in the vehicle;

[0007] The data analysis module is used to process and analyze the real-time environmental data around the vehicle and underwater through the intelligent algorithm in the data analysis module to determine whether the vehicle is in trouble and the specific type of trouble;

[0008] The escape strategy formulation module is used to formulate corresponding escape strategies for different types of predicaments according to the judgment results obtained by the data analysis module;

[0009] The vehicle control module is used to convert the escape strategy formulated by the data analysis module into a vehicle escape control instruction, and execute the vehicle escape control instruction through the vehicle control system.

[0010] Furthermore, the vehicle control module includes a feedback unit and an adjustment unit, wherein: the feedback unit is used to continuously monitor the vehicle's operating status and environmental changes during the process of the vehicle control system executing the vehicle escape control command, and feed back the monitoring results to the data analysis module and the escape strategy formulation module; the adjustment unit is used to adjust the escape strategy in real time according to actual conditions to ensure the effectiveness and safety of the escape operation.

[0011] Furthermore, the environmental perception module includes sonar, radar and camera, wherein: the sonar is used to monitor underwater obstacles and collect data for transmission to the data analysis module; the radar is used to monitor surface obstacles and collect data for transmission to the data analysis module; the camera is used to monitor surface obstacles and collect data for transmission to the data analysis module.

[0012] Furthermore, the vehicle navigation intelligent escape system also includes a front and rear click controller, a front and rear drive motor, a left and right propeller motor, a navigation controller, a vehicle controller, a gyroscope and a floating bag, which are used to execute the vehicle escape control command issued by the vehicle control module, wherein:

[0013] The front and rear click controllers are used to receive vehicle escape control instructions and control the front and rear drive motors respectively;

[0014] The front and rear drive motors are respectively used to output the front and rear drive motor torques;

[0015] The left and right propeller motors are respectively used to output the torque of the left and right propeller motors;

[0016] The navigation controller is used to receive the vehicle escape control command to control the left and right propeller motors, the buoyancy of the float bag, and process the gyroscope data;

[0017] The vehicle controller is used to control the wheel motor torque and process the navigation controller data;

[0018] The gyroscope is used to monitor the vehicle body posture and collect vehicle body posture data;

[0019] The float bag is used to control the vehicle posture by adjusting the buoyancy of the float bag.

[0020] On the other hand: a vehicle navigation intelligent escape method is provided, which is applied to the above-mentioned vehicle navigation information intelligent escape system, and the method comprises:

[0021] Step 1: Based on the on-board sensors, obtain the environmental data around the vehicle and underwater in real time;

[0022] Step 2: Process and analyze the environmental data around the vehicle and underwater through intelligent algorithms to determine the specific type of vehicle predicament;

[0023] Step 3: Develop corresponding strategies to escape from the difficulties according to the specific types of difficulties;

[0024] Step 4: Convert the escape strategy into a vehicle escape control command, and execute the vehicle escape control command through the vehicle control system.

[0025] Furthermore, in step 1, the environmental data around the vehicle and underwater are acquired in real time based on the on-board sensors, and the on-board sensors include but are not limited to sonar sensors, radar sensors, camera sensors, gyroscopes, and lidar sensors, etc.; the environmental data around the vehicle and underwater include but are not limited to vehicle body posture, floating objects on the water surface, underwater obstacles, and propeller speed, etc., to provide basic data support for subsequent data analysis and formulation of escape strategies.

[0026] Furthermore, in step 2, the intelligent algorithm includes a machine learning algorithm and a deep learning algorithm; the environmental data is trained and optimized by the intelligent algorithm to improve the accuracy and reliability of the judgment; the specific types of the predicament include at least one of underwater collision and jamming, underwater mud blockage, unexpected power reduction of the propeller due to obstruction of floating objects, and unexpected power loss of the propeller due to obstruction of floating objects.

[0027] Furthermore, in step 3, according to the judgment result, corresponding escape strategies are formulated for different types of predicaments. In the process of formulating the corresponding escape strategies, factors such as the vehicle's power performance, underwater posture, and current environmental conditions need to be considered; the corresponding escape strategies for different types of predicaments include:

[0028] The underwater collision escape strategy controls the buoyancy of the floats on both sides of the vehicle to adjust the body posture, and escapes by slightly floating the vehicle to avoid the stuck point at the touched position;

[0029] The underwater mud jam escape strategy uses an intelligent torque distribution system to specifically distribute the drive motor torque of the trapped wheel. At the same time, the navigation controller receives the mud jam identification signal sent by the sonar and controls the propeller speed to increase to obtain greater thrust to help escape.

[0030] The escape strategy is when the propeller has unexpected power reduction or loss due to obstruction by floating objects. At this time, the propeller speed is reduced or becomes 0. When the speed is reduced to 0, the navigation controller receives the propeller motor stall fault signal and controls the propeller motor to stop outputting torque. At this time, the vehicle controller receives the propeller motor status feedback signal and controls the front and rear wheel drive motors to output torque to obtain a weak water driving ability to avoid the propeller being stuck in the water and achieve escape.

[0031] Furthermore, in step 4, the vehicle escape control instructions include adjusting the output power of the navigation propeller, switching the drive mode, adjusting the float state, adjusting the vehicle body posture, etc., wherein the switching drive mode includes switching the propeller motor to the wheel motor.

[0032] Furthermore, in step 4, the process of executing the vehicle escape control instruction by the vehicle control system further includes:

[0033] Continuously monitor and obtain the vehicle's operating status and environmental changes in real time;

[0034] Make real-time adjustments to the escape strategy based on actual conditions to ensure the effectiveness and safety of the escape operation until the vehicle is completely escaped.

[0035] On the other hand: a car is provided, comprising the above-mentioned vehicle navigation intelligent escape system.

[0036] Compared with the prior art, the present invention has the following advantages:

[0037] The method for realizing intelligent escape from difficulties in automobile navigation of the present invention enables the automobile to autonomously identify and escape from various difficulties in navigation in waters through intelligent perception, analysis, decision-making and execution, thereby significantly improving the safety and reliability of automobile navigation in waters. At the same time, the method has wide applicability and can be applied to various automobiles capable of navigation on waters, providing strong support for the development of automobile navigation technology.

[0038] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a structural diagram of the vehicle navigation intelligent escape system.

[0041] Figure 2 It is another structural diagram of the vehicle navigation intelligent escape system.

[0042] Figure 3 It is a flow chart of the vehicle navigation intelligent escape method. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In one embodiment, a vehicle navigation intelligent escape system is provided, see Figure 1 and Figure 2 , Figure 1 This is the structure diagram of the vehicle navigation intelligent escape system. Figure 2 This is another structural diagram of the vehicle navigation intelligent escape system. Figure 1 As shown, the vehicle navigation intelligent escape system includes an environment perception module, a data analysis module, an escape strategy formulation module, and a vehicle control module, wherein:

[0045] The environment perception module is used to obtain the environment data around the vehicle and underwater in real time through the vehicle-mounted sensors in the vehicle;

[0046] The data analysis module is used to process and analyze the real-time environmental data around the vehicle and underwater through the intelligent algorithm in the data analysis module to determine whether the vehicle is in trouble and the specific type of trouble;

[0047] The escape strategy formulation module is used to formulate corresponding escape strategies for different types of predicaments according to the judgment results obtained by the data analysis module;

[0048] The vehicle control module is used to convert the escape strategy formulated by the data analysis module into a vehicle escape control instruction, and execute the vehicle escape control instruction through the vehicle control system.

[0049] Furthermore, the vehicle control module includes a feedback unit and an adjustment unit, wherein:

[0050] The feedback unit is used to continuously monitor the running state and environmental changes of the vehicle during the process of the vehicle control system executing the vehicle escape control command, and feed back the monitoring results to the data analysis module and the escape strategy formulation module;

[0051] The adjustment unit adjusts the escape strategy in real time according to actual conditions to ensure the effectiveness and safety of the escape operation.

[0052] Furthermore, in this embodiment, if Figure 2 As shown, in the vehicle navigation intelligent escape system, the environment perception module includes sonar, radar and camera, wherein: the sonar is used to monitor underwater obstacles, collect data and transmit it to the data analysis module; the radar is used to monitor surface obstacles, collect data and transmit it to the data analysis module; the camera is used to monitor surface obstacles, collect data and transmit it to the data analysis module;

[0053] Furthermore, the vehicle navigation intelligent escape system also includes a front and rear click controller, a front and rear drive motor, a left and right propeller motor, a navigation controller, a vehicle controller, a gyroscope and a floating bag, which are used to execute the vehicle escape control command issued by the vehicle control module, wherein:

[0054] The front and rear click controllers are used to receive vehicle escape control instructions and control the drive motors front and rear respectively;

[0055] The front and rear drive motors are respectively used to output the front and rear drive motor torques;

[0056] The left and right propeller motors are respectively used to output the torque of the left and right propeller motors;

[0057] The navigation controller is used to receive the vehicle escape control command to control the left and right propeller motors, the buoyancy of the float bag, and process the gyroscope data;

[0058] The vehicle controller is used to control the wheel motor torque and process the navigation controller data;

[0059] The gyroscope is used to monitor the vehicle body posture and collect vehicle body posture data;

[0060] The float bag is used to control the vehicle posture by adjusting the buoyancy of the float bag.

[0061] In one embodiment, a vehicle navigation intelligent escape method is provided, which is applied to the vehicle navigation intelligent escape system disclosed above; please refer to Figure 3 , Figure 3 The present invention is a flowchart of a method for intelligently escaping a vehicle in navigation according to an embodiment of the present invention; the method comprises the following steps:

[0062] Step S1: Based on the vehicle-mounted sensors, real-time acquisition of environmental data around the vehicle and underwater;

[0063] Furthermore, the on-board sensors include but are not limited to sonar sensors, radar sensors, camera sensors, gyroscopes, and lidar sensors; the environmental data around the vehicle and underwater, including but not limited to vehicle posture, floating objects on the water surface, underwater obstacles, and propeller speed, provide basic data support for subsequent data analysis and formulation of escape strategies.

[0064] Step S2: Processing and analyzing the acquired environmental data around the vehicle and underwater through intelligent algorithms to determine the specific type of the vehicle's predicament;

[0065] Furthermore, the intelligent algorithm includes a machine learning algorithm and a deep learning algorithm; the environmental data is trained and optimized through the intelligent algorithm to improve the accuracy and reliability of judgment.

[0066] Furthermore, the specific types of the predicament include at least one of underwater collision and jamming, underwater mud blockage, unexpected power reduction of the propeller due to obstruction of floating objects, and unexpected power loss of the propeller due to obstruction of floating objects.

[0067] Step S3: according to the specific type of predicament, formulate corresponding escape strategies for different types of predicaments;

[0068] Furthermore, in the process of formulating the corresponding escape strategy, factors such as the vehicle's power performance, underwater posture, and current environmental conditions need to be considered.

[0069] Furthermore, the formulation of corresponding escape strategies for different types of predicaments includes the following steps:

[0070] Step S301: An escape strategy for underwater collision blocking positions, which is to adjust the vehicle body posture by controlling the buoyancy of the floats on both sides of the vehicle, and to escape from the stuck positions by slightly floating the vehicle body at the touched positions;

[0071] Step S302: Underwater mud jam escape strategy, using the intelligent torque distribution system to specifically distribute the drive motor torque of the trapped wheel. At the same time, the navigation controller receives the mud jam distress identification signal sent by the sonar, and controls the propeller speed to increase to obtain greater propulsion to help escape;

[0072] Step S303: When the propeller is obstructed by floating objects and unexpected power is reduced or lost, an escape strategy is adopted. At this time, the propeller speed is reduced or becomes 0. When the speed is reduced to 0, the navigation controller receives the propeller motor stall fault signal and controls the propeller motor to stop outputting torque. At this time, after the vehicle controller receives the propeller motor status feedback signal, it controls the front and rear wheel drive motors to output torque to obtain a weak water driving ability to avoid the propeller being stuck in the water and achieve escape.

[0073] Step S4: converting the escape strategy into a vehicle escape control instruction, and executing the vehicle escape control instruction through the vehicle control system.

[0074] Furthermore, the vehicle escape control instructions include adjusting the output power of the navigation propeller, switching the drive mode, adjusting the float state, adjusting the vehicle body posture, etc., wherein the switching drive mode includes switching the propeller motor to the wheel motor.

[0075] Furthermore, in the process of executing the vehicle escape control instruction by the vehicle control system, it also includes:

[0076] Continuously monitor and obtain the vehicle's operating status and environmental changes in real time;

[0077] Make real-time adjustments to the escape strategy based on actual conditions to ensure the effectiveness and safety of the escape operation until the vehicle is completely escaped.

[0078] In one embodiment, a car is provided, wherein the car includes a vehicle navigation intelligent escape system.

[0079] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle navigation intelligent escape system, characterized by: The system includes an environment perception module, a data analysis module, an escape strategy formulation module, and a vehicle control module, wherein: The environment perception module is used to obtain the environment data around the vehicle and underwater in real time through the vehicle-mounted sensors in the vehicle; The data analysis module is used to process and analyze the acquired environmental data around the vehicle and underwater through the intelligent algorithm in the data analysis module to determine whether the vehicle is in trouble and the specific type of the trouble; The escape strategy formulation module is used to formulate corresponding escape strategies for different types of predicaments according to the judgment results obtained by the data analysis module; The vehicle control module is used to convert the escape strategy formulated by the data analysis module into a vehicle escape control instruction, and execute the vehicle escape control instruction through the vehicle control system.

2. The vehicle navigation intelligent escape system according to claim 1, characterized in that: The environment perception module includes sonar, radar and camera, wherein: The sonar is used to monitor underwater obstacles and collect data for transmission to the data analysis module; the radar is used to monitor surface obstacles and collect data for transmission to the data analysis module; the camera is used to monitor surface obstacles and collect data for transmission to the data analysis module.

3. The vehicle navigation intelligent escape system according to claim 2, characterized in that: The vehicle navigation intelligent escape system also includes a front and rear click controller, a front and rear drive motor, a left and right propeller motor, a navigation controller, a vehicle controller, a gyroscope and a floating bag, which are used to execute the vehicle escape control command issued by the vehicle control module, wherein: The front and rear click controllers are used to receive vehicle escape control instructions and control the front and rear drive motors respectively; The front and rear drive motors are respectively used to output the front and rear drive motor torques; The left and right propeller motors are respectively used to output the torque of the left and right propeller motors; The navigation controller is used to receive the vehicle escape control command to control the left and right propeller motors, the buoyancy of the float bag, and process the data of the gyroscope; The vehicle controller is used to control the wheel motor torque and process the navigation controller data; The gyroscope is used to monitor the vehicle body posture and collect vehicle body posture data; The float bag is used to control the vehicle posture by adjusting the buoyancy of the float bag.

4. A vehicle navigation intelligent escape method, applied to the vehicle navigation intelligent escape system according to any one of claims 1 to 3, characterized in that: include: Based on the on-board sensors, real-time data of the vehicle's surroundings and underwater environment can be obtained; The acquired environmental data around the vehicle and underwater are processed and analyzed through intelligent algorithms to determine the specific type of vehicle distress; According to the specific type of predicament, formulate corresponding strategies for different types of predicaments; The escape strategy is converted into a vehicle escape control command, and the vehicle escape control command is executed through the vehicle control system.

5. A vehicle navigation intelligent escape method as claimed in claim 4, characterized in that: The vehicle-mounted sensors include sonar sensors, radar sensors, camera sensors, gyroscopes, and lidar sensors; The environmental data around the vehicle and underwater include vehicle body posture, floating objects on the water surface, underwater obstacles, and propeller rotation speed.

6. A vehicle navigation intelligent escape method as claimed in claim 4, characterized in that: The intelligent algorithms include machine learning algorithms and deep learning algorithms; The specific types of the predicament include at least one of underwater collision and jamming, underwater mud blockage, unexpected power reduction of the propeller due to obstruction of floating objects, and unexpected power loss of the propeller due to obstruction of floating objects.

7. A vehicle navigation intelligent escape method as claimed in claim 6, characterized in that: The method of formulating corresponding strategies for escaping from different types of difficulties according to the judgment results also includes: The corresponding escape strategy process is formulated according to the vehicle's power performance, underwater posture and current environmental conditions.

8. The method for intelligently escaping a vehicle from a difficult situation according to claim 6, characterized in that: The above-mentioned strategies for escaping from different types of difficulties include: The underwater collision escape strategy controls the buoyancy of the floats on both sides of the vehicle to adjust the body posture, and escapes by slightly floating the vehicle to avoid the stuck point at the touched position; The underwater mud jam escape strategy uses an intelligent torque distribution system to specifically distribute the drive motor torque of the trapped wheel. At the same time, the navigation controller receives the mud jam identification signal sent by the sonar and controls the propeller speed to increase to obtain greater thrust to help escape. The escape strategy is when the propeller has unexpected power reduction or loss due to obstruction by floating objects. At this time, the propeller speed is reduced or becomes 0. When the speed is reduced to 0, the navigation controller receives the propeller motor stall fault signal and controls the propeller motor to stop outputting torque. At this time, the vehicle controller receives the propeller motor status feedback signal and controls the front and rear wheel drive motors to output torque to obtain a weak water driving ability to avoid the propeller being stuck in the water and achieve escape.

9. A vehicle navigation intelligent escape method as claimed in claim 4, characterized in that: In converting the formulated escape strategy into a vehicle escape control instruction and executing the vehicle escape control instruction through the vehicle control system: The vehicle escape control instructions include adjusting the output power of the navigation propeller, switching the driving mode, adjusting the float state, and adjusting the vehicle body posture; wherein: the switching driving mode includes switching the propeller motor to the wheel motor.

10. An automobile, characterized in that: The automobile is equipped with the vehicle navigation intelligent escape system as described in any one of claims 1 to 3.

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