A vehicle navigation intelligent escape system, method and automobile

Abstract

This invention provides a vehicle intelligent navigability system, method, and vehicle. The system includes: an environmental perception module for acquiring real-time environmental data of the vehicle's surroundings and underwater environment using onboard sensors; a data analysis module for processing and analyzing the acquired environmental data using intelligent algorithms to determine whether the vehicle is in a predicament and the specific type of predicament; a navigability strategy formulation module for formulating corresponding navigability strategies for different types of predicaments based on the judgment results from the data analysis module; and a vehicle control module for converting the navigability strategies formulated by the data analysis module into vehicle navigability control commands, which are then executed by the vehicle control system. This invention effectively solves various predicaments encountered by vehicles navigating in water, improving the safety and reliability of vehicles in water navigation.

Description

Technical Field

[0001] This invention belongs to the field of vehicle navigation control technology, and particularly relates to a vehicle navigation intelligent escape system, method and automobile. Background Technology

[0002] With the rapid development of automotive technology, the functions and performance of cars have been greatly expanded and improved. In recent years, more and more cars have begun to possess the ability to navigate waterways. This innovation has not only enriched people's travel options but also provided new possibilities for exploring the unknown aquatic world. However, the complexity of the aquatic environment brings many challenges to the navigation of cars on water, such as underwater collisions and blockages, silt clogging, and propeller obstruction. These difficulties pose a serious threat to the safe navigation of cars.

[0003] Underwater collisions and getting stuck are common challenges for vehicles navigating water. Various obstacles, such as reefs and sunken ships, can easily cause vehicles to collide with them, making them stuck and unable to move. Furthermore, the complex and varied terrain of the water's bottom can also cause vehicles to become stuck in silt or sand. Propeller obstruction is another issue that needs attention. As the power source for vehicles on water, if the propeller becomes entangled in weeds, fishing nets, or other objects, it can lead to a decrease or even loss of power, severely affecting the vehicle's navigation ability. To address these challenges, an intelligent extrication method is urgently needed to improve the safety and reliability of vehicles navigating water. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a vehicle intelligent navigation escaping system, method, and vehicle. Through steps such as environmental perception, data analysis, escaping strategy formulation, execution of escaping operations, and real-time feedback and adjustment, the vehicle can autonomously identify and overcome various difficulties encountered while navigating in complex aquatic environments. Specifically, this invention is achieved through the following technical solutions:

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

[0006] The environmental perception module is used to acquire environmental data around the vehicle and underwater in real time through onboard sensors inside 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 within 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 difficulties based on the judgment results obtained by the data analysis module.

[0009] The vehicle control module is used to convert the traction strategy formulated by the data analysis module into vehicle traction control commands, and execute the vehicle traction control commands 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 execution of vehicle traction control commands by the vehicle control system, and feed the monitoring results back to the data analysis module and the traction strategy formulation module; the adjustment unit adjusts the traction strategy in real time according to the actual situation to ensure the effectiveness and safety of the traction operation.

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

[0012] Furthermore, the vehicle navigation intelligent escape system also includes front and rear drive controllers, front and rear drive motors, left and right propeller motors, a navigation controller, a vehicle controller, a gyroscope, and floats, used to execute vehicle escape control commands issued by the vehicle control module, wherein:

[0013] The front and rear drive controllers are respectively used to receive vehicle traction control commands and control the front and rear drive motors.

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

[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 vehicle extrication control commands, control the left and right propeller motors and float buoyancy, and process gyroscope data.

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

[0018] The gyroscope is used to monitor the vehicle's attitude and collect vehicle attitude data;

[0019] The float is used to control the vehicle's attitude by adjusting the buoyancy of the float.

[0020] On the other hand, a vehicle navigation intelligent escape method is provided, applied to the aforementioned vehicle navigation intelligent escape system, the method comprising:

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

[0022] Step 2: The acquired environmental data around the vehicle and underwater is processed and analyzed using intelligent algorithms to determine the specific type of vehicle predicament;

[0023] Step 3: Based on the specific type of predicament, develop corresponding strategies for overcoming different types of predicaments;

[0024] Step 4: Convert the traction strategy into vehicle traction control commands and execute the vehicle traction control commands through the vehicle control system.

[0025] Furthermore, in step 1, the real-time acquisition of environmental data around the vehicle and underwater based on onboard sensors includes, but is not limited to, sonar sensors, radar sensors, camera sensors, gyroscopes, and lidar sensors; the environmental data around the vehicle and underwater includes, but is not limited to, vehicle attitude, floating objects on the water surface, underwater obstacles, and propeller speed, providing basic data support for subsequent data analysis and the formulation of escape strategies.

[0026] Furthermore, in step 2, the intelligent algorithm includes machine learning algorithms and deep learning algorithms; the environmental data is trained and optimized through 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 silt obstruction, unexpected power reduction of the propeller due to obstruction by floating objects, and unexpected power loss of the propeller due to obstruction by floating objects.

[0027] Furthermore, in step 3, based on the judgment result, corresponding escape strategies are formulated for different types of predicaments. In formulating these strategies, factors such as the vehicle's power performance, its posture in water, and current environmental conditions must be considered. The formulation of corresponding escape strategies for different types of predicaments includes:

[0028] The underwater collision and jamming escape strategy involves controlling the buoyancy of the floats on both sides of the vehicle to adjust the vehicle's attitude, and then slightly raising the vehicle to avoid the jamming point and escape from the jamming point.

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

[0030] When the propeller is obstructed by floating objects, it will experience an unexpected reduction or loss of power as a getaway strategy. At this time, the propeller speed will decrease or become zero. When the speed decreases to zero, the navigation controller receives a stall fault signal from the propeller motor and controls the propeller motor to stop outputting torque. At this time, after receiving the propeller motor status feedback signal, the vehicle controller controls the front and rear wheel drive motors to output torque to obtain a weak water travel ability to avoid the propeller getting stuck in the water and achieve getaway.

[0031] Furthermore, in step 4, the vehicle extrication control commands include adjusting the output power of the propeller, switching the drive mode, adjusting the float state, and adjusting the vehicle attitude, wherein switching the drive mode includes switching the propeller motor to the wheel motor.

[0032] Furthermore, in step 4, the process of executing the vehicle escaping control command through the vehicle control system also includes:

[0033] Continuously monitor and acquire vehicle operating status and environmental changes in real time;

[0034] Adjust the extrication strategy in real time according to the actual situation to ensure the effectiveness and safety of the extrication operation until the vehicle is extricated.

[0035] On the other hand, a vehicle is provided that includes the aforementioned intelligent vehicle navigation and obstacle avoidance system.

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

[0037] The intelligent vehicle navigation escape method of this invention enables vehicles to autonomously identify and escape various difficulties encountered while navigating in water through intelligent perception, analysis, decision-making, and execution, significantly improving the safety and reliability of vehicles in water navigation. Furthermore, this method has broad applicability and can be applied to various vehicles with water navigation capabilities, providing strong support for the development of vehicle navigation technology.

[0038] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

[0042] Figure 3 This is a flowchart of a vehicle navigation intelligent escape method. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In one embodiment, a vehicle navigation intelligent escape system is provided; please refer to [link / reference]. Figure 1 and Figure 2 , Figure 1 This is a structural diagram of a vehicle navigation intelligent escape system. Figure 2 This is another structural diagram of a vehicle navigation intelligent obstacle avoidance system. For example... Figure 1 As shown, the vehicle navigation intelligent escape system includes an environmental perception module, a data analysis module, an escape strategy formulation module, and a vehicle control module, wherein:

[0045] The environmental perception module is used to acquire environmental data around the vehicle and underwater in real time through onboard sensors inside 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 within 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 difficulties based on the judgment results obtained by the data analysis module.

[0048] The vehicle control module is used to convert the traction strategy formulated by the data analysis module into vehicle traction control commands, and execute the vehicle traction control commands 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 vehicle's operating status and environmental changes during the execution of vehicle traction control commands by the vehicle control system, and to feed back the monitoring results to the data analysis module and the traction strategy formulation module.

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

[0052] Furthermore, in this embodiment, as Figure 2 As shown, in the intelligent vehicle navigation and obstacle avoidance system, the environmental perception module includes sonar, radar, and camera, wherein: the sonar is used to monitor underwater obstacles and collect data to the data analysis module; the radar is used to monitor water surface obstacles and collect data to the data analysis module; and the camera is used to monitor water surface obstacles and collect data to the data analysis module.

[0053] Furthermore, the vehicle navigation intelligent escape system also includes front and rear drive controllers, front and rear drive motors, left and right propeller motors, a navigation controller, a vehicle controller, a gyroscope, and floats, used to execute vehicle escape control commands issued by the vehicle control module, wherein:

[0054] The front and rear click controllers are used to receive vehicle traction control commands and control the front and rear drive motors respectively.

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

[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 vehicle extrication control commands, control the left and right propeller motors and float buoyancy, and process gyroscope data.

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

[0059] The gyroscope is used to monitor the vehicle's attitude and collect vehicle attitude data;

[0060] The float is used to control the vehicle's attitude by adjusting the buoyancy of the float.

[0061] In one embodiment, a vehicle navigation intelligent escape method is provided, applied to the vehicle navigation intelligent escape system disclosed above; please refer to... Figure 3 , Figure 3 This is a flowchart of a vehicle navigation intelligent escape method according to an embodiment of the present invention; the method includes the following steps:

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

[0063] Furthermore, the vehicle-mounted sensors include, but are not limited to, sonar sensors, radar sensors, camera sensors, gyroscopes, and lidar sensors; the environmental data surrounding the vehicle and underwater includes, but is not limited to, vehicle attitude, floating objects on the water surface, underwater obstacles, and propeller speed, providing basic data support for subsequent data analysis and the formulation of extrication strategies.

[0064] Step S2: The acquired environmental data around the vehicle and underwater is processed and analyzed using intelligent algorithms to determine the specific type of vehicle predicament;

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

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

[0067] Step S3: Based on the specific type of predicament, formulate corresponding extrication strategies for different types of predicaments;

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

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

[0070] Step S301: Underwater collision and jamming escape strategy, by controlling the buoyancy of the floats on both sides of the vehicle to adjust the vehicle's attitude, and slightly raising the vehicle body to avoid the jamming point and escape from the jamming point;

[0071] Step S302: Underwater mud sludge escaping strategy, the intelligent torque distribution system specifically distributes the drive motor torque of the trapped wheel, and at the same time the navigation controller receives the mud sludge ...

[0072] Step S303: The propeller experiences unexpected power reduction or loss due to obstruction by floating objects. At this time, the propeller speed decreases or becomes zero. When the speed decreases to zero, the navigation controller receives a propeller motor stall fault signal and controls the propeller motor to stop outputting torque. At this time, after receiving the propeller motor status feedback signal, the vehicle controller controls the front and rear wheel drive motors to output torque to obtain a weak water travel ability to avoid the propeller getting stuck in the water and achieve extrication.

[0073] Step S4: Convert the traction strategy into vehicle traction control commands and execute the vehicle traction control commands through the vehicle control system.

[0074] Furthermore, the vehicle extrication control commands include adjusting the output power of the propeller, switching the drive mode, adjusting the float status, and adjusting the vehicle attitude, wherein switching the drive mode includes switching the propeller motor to the wheel motor.

[0075] Furthermore, the process of executing vehicle traction control commands through the vehicle control system also includes:

[0076] Continuously monitor and acquire vehicle operating status and environmental changes in real time;

[0077] Adjust the extrication strategy in real time according to the actual situation to ensure the effectiveness and safety of the extrication operation until the vehicle is extricated.

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

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

Claims

1. A vehicle navigation intelligent escape system, characterized in that: The system includes an environmental perception module, a data analysis module, an escape strategy formulation module, and a vehicle control module, wherein: The environmental perception module is used to acquire environmental data around the vehicle and underwater in real time through onboard sensors inside 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 within the data analysis module to determine whether the vehicle is in trouble and the specific type of trouble. The specific type of trouble includes at least one of underwater collision and jamming, underwater silt obstruction, unexpected power reduction of the propeller due to obstruction by floating objects, and unexpected power loss of the propeller due to obstruction by floating objects. The escape strategy formulation module is used to formulate corresponding escape strategies for different types of difficulties based on the judgment results obtained by the data analysis module, including formulating the corresponding escape strategies based on the vehicle's power performance, water attitude and current environmental conditions. The vehicle control module is used to convert the traction strategy formulated by the data analysis module into vehicle traction control commands, and execute the vehicle traction control commands through the vehicle control system.

2. The intelligent vehicle navigation and obstacle avoidance system as described in claim 1, characterized in that: The environmental perception module includes sonar, radar, and a camera, wherein: Sonar is used to monitor underwater obstacles and collect data to the data analysis module; radar is used to monitor surface obstacles and collect data to the data analysis module; camera is used to monitor surface obstacles and collect data to the data analysis module.

3. The intelligent vehicle navigation and obstacle avoidance system as described in claim 2, characterized in that: The vehicle navigation intelligent traction system also includes front and rear drive controllers, front and rear drive motors, left and right propeller motors, a navigation controller, a vehicle controller, a gyroscope, and floats, used to execute vehicle traction control commands issued by the vehicle control module, wherein: The front and rear drive controllers are respectively used to receive vehicle traction control commands and control the front and rear drive motors. The front and rear drive motors are respectively used to output the torque of the front and rear drive motors; 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 vehicle extrication control commands, control the left and right propeller motors and float buoyancy, and process gyroscope data. The vehicle controller is used to control the wheel motor torque and process navigation controller data; The gyroscope is used to monitor the vehicle's attitude and collect vehicle attitude data; The float is used to control the vehicle's attitude by adjusting the buoyancy of the float.

4. A vehicle navigation intelligent escape method, applied to the vehicle navigation intelligent escape system as described in any one of claims 1 to 3, characterized in that, include: Based on vehicle-mounted sensors, real-time environmental data of the vehicle's surroundings and underwater is acquired. The acquired environmental data around and underwater is processed and analyzed using intelligent algorithms to determine the specific type of vehicle predicament. Based on the specific type of predicament, corresponding strategies for overcoming different types of predicaments should be developed. The strategy for escaping difficulties is translated into vehicle escaping control commands, which are then executed through the vehicle control system.

5. The intelligent vehicle navigation and trouble-avoidance method as described in claim 4, characterized in that: The vehicle-mounted sensors include sonar sensors, radar sensors, camera sensors, gyroscopes, and lidar sensors. The environmental data surrounding the vehicle and underwater includes vehicle attitude, floating objects on the water surface, underwater obstacles, and propeller speed.

6. The intelligent vehicle navigation and trouble-avoidance method as described in claim 5, characterized in that, The formulation of corresponding escape strategies for different types of predicaments also includes: The underwater collision obstacle escape strategy adjusts the vehicle's attitude by controlling the buoyancy of the floats on both sides of the vehicle. When the vehicle touches a point, it slightly floats up to avoid the obstacle and escape. The underwater mud-blocking 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-blocking trouble recognition signal sent by the sonar and controls the propeller speed to increase to obtain greater thrust to help escape the trouble. When the propeller is obstructed by floating objects, it will experience an unexpected reduction or loss of power as a getaway strategy. At this time, the propeller speed will decrease or become zero. When the speed decreases to zero, the navigation controller receives a stall fault signal from the propeller motor and controls the propeller motor to stop outputting torque. At this time, after receiving the propeller motor status feedback signal, the vehicle controller controls the front and rear wheel drive motors to output torque to obtain a weak water travel ability to avoid the propeller getting stuck in the water and achieve getaway.

7. The intelligent vehicle navigation and trouble-avoidance method as described in claim 4, characterized in that, In the process of converting the traction strategy into vehicle traction control commands and executing the vehicle traction control commands through the vehicle control system: The vehicle extrication control commands include adjusting the output power of the propeller, switching the drive mode, adjusting the float status, and adjusting the vehicle attitude; wherein: switching the drive mode includes switching the propeller motor to the wheel motor.

8. A car, characterized in that, The vehicle is equipped with a vehicle navigation intelligent escape system as described in any one of claims 1 to 3.

Images