Integrated steering control method and device for amphibious vehicle

Abstract

The invention provides an amphibious vehicle integrated steering control method and device, and relates to the technical field of amphibious vehicle steering, the method comprises the following steps: obtaining steering angle data sent by an angle sensor, the steering angle data being a steering angle of a steering wheel measured by the angle sensor; determining working modes of the amphibious vehicle, wherein the working modes comprise a land mode and a water mode; if it is determined that the working mode is the land mode, determining the number of motor rotation turns of the land steering gear based on the steering angle data, and sending a first control signal to the land steering gear according to the number of motor rotation turns; if it is determined that the working mode is the overwater mode, the electric push rod stroke of the overwater steering gear is determined based on the steering angle data, and a second control signal is sent to the overwater steering gear according to the electric push rod stroke. The steering strategy can be adjusted according to the working environment of the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of amphibious vehicle steering, and in particular to an integrated steering control method and device for amphibious vehicles. Background Art

[0002] An amphibious vehicle is a multi-purpose vehicle that can travel on land and water, combining the features of cars and boats. Its design usually includes a waterproof body, retractable wheels, and a water propulsion device. This type of vehicle is widely used in the military, rescue, tourism, and exploration fields, and can provide efficient transportation and rescue capabilities in complex terrain and environments. Its main advantage is its strong adaptability, which allows seamless switching between land and water without the need for transfers, meeting the needs of a variety of missions.

[0003] The steering systems of existing amphibious vehicles usually adopt fixed steering strategies and fail to optimize and adjust according to the working environment of the vehicle on water or on land. This design results in the inability to fully exert the steering performance in different environments, limiting the adaptability and operating efficiency of the vehicle, especially in complex environments that require rapid response. Summary of the invention

[0004] The present application provides an integrated steering control method and device for an amphibious vehicle, which can adjust the steering strategy according to the working environment of the vehicle.

[0005] In a first aspect of the present application, an integrated steering control method for an amphibious vehicle is provided, the method being applied to a vehicle controller of a steering system, the steering system further comprising a steering wheel, a steering column, a land steering gear and a water steering gear, wherein an angle sensor is installed on the steering column, and the vehicle controller is connected to the angle sensor, the land steering gear and the water steering gear;

[0006] The method comprises:

[0007] Acquire steering angle data sent by the angle sensor, where the steering angle data is the steering angle of the steering wheel measured by the angle sensor;

[0008] Determining a working mode of the amphibious vehicle, wherein the working mode includes a land mode and a water mode;

[0009] If it is determined that the working mode is the land mode, determining the number of rotations of the motor of the land steering device based on the steering angle data, and sending a first control signal to the land steering device according to the number of rotations of the motor;

[0010] If it is determined that the working mode is the water mode, the electric push rod stroke of the water steering device is determined based on the steering angle data, and a second control signal is sent to the water steering device according to the electric push rod stroke.

[0011] On the basis of the above technical solution, preferably, the steering system further includes a wheel speed sensor and a vehicle speed sensor, and the vehicle controller is connected to the wheel speed sensor and the vehicle speed sensor;

[0012] The working mode also includes a mixed water and land mode. After determining the working mode of the amphibious vehicle, the method further includes:

[0013] If it is determined that the working mode is the amphibious mixed mode, the actual rotation speed of the wheels of the amphibious vehicle is obtained through the wheel speed sensor, and the actual driving speed of the amphibious vehicle is obtained through the vehicle speed sensor;

[0014] Calculating a theoretical rotation speed of the wheels of the amphibious vehicle according to the actual driving speed and the rolling radius of the wheels of the amphibious vehicle, wherein the theoretical rotation speed is a critical rotation speed of the wheels of the amphibious vehicle when the amphibious vehicle is in a slipping state;

[0015] Determine the relationship between the actual wheel speed and the theoretical wheel speed;

[0016] If it is determined that the actual wheel speed is greater than the theoretical wheel speed, the second control signal is sent to the water steering device; if it is determined that the actual wheel speed is less than or equal to the theoretical wheel speed, the first control signal is sent to the land steering device.

[0017] On the basis of the above technical solution, preferably, the steering system further includes a steering damping device, and the vehicle controller is connected to the steering damping device;

[0018] After sending the first control signal to the land steering device according to the number of rotations of the motor, the method further includes:

[0019] Mamdani's fuzzy reasoning is used to establish a trapezoidal membership function, and a fuzzy set is output according to the actual driving speed. The trapezoidal membership function is expressed as follows:

[0020]

[0021] Among them, f i (x) is the value of the membership function of each fuzzy set, a i ,b i ,c i ,d i is a predefined trapezoidal boundary value of the fuzzy set;

[0022] The fuzzy set is defuzzified and the output value is calculated, which is specifically calculated by the following formula:

[0023]

[0024] Where y is the output value, α i is the activation strength of each fuzzy rule, f i (x) is the value of the membership function of each fuzzy set, [a i ,d i ] is f i (x) the domain of

[0025] determining a steering force value felt by a driver of the amphibious vehicle according to the output value;

[0026] The steering force value is used to determine the output torque of the damping motor of the steering damping device, and a third control signal is sent to the steering damping device according to the output torque.

[0027] On the basis of the above technical solution, preferably, determining the number of motor rotations of the land steering device based on the steering angle data specifically includes:

[0028] determining a dynamic adjustment factor based on the actual driving speed;

[0029] Calculating the target number of rotations of the motor of the land steering device using a linear relationship according to the steering angle data and the dynamic adjustment factor;

[0030] The actual number of rotations of the motor is obtained through the rotary encoder for real-time monitoring;

[0031] The number of revolutions of the motor is obtained by calculating the difference between the target number of revolutions and the actual number of revolutions.

[0032] On the basis of the above technical solution, preferably, determining the electric push rod stroke of the water steering device based on the steering angle data specifically includes:

[0033] According to the steering angle data, a target stroke of the electric push rod of the water steering device is calculated using a nonlinear relationship;

[0034] Acquiring the actual stroke of the electric push rod by means of a linear displacement sensor;

[0035] According to the actual stroke and the target stroke, a stroke difference is calculated to obtain the stroke of the electric push rod.

[0036] On the basis of the above technical solution, preferably, the steering system further comprises a plurality of ground contact pressure sensors, and the vehicle controller is connected to the plurality of ground contact pressure sensors;

[0037] Determining the working mode of the amphibious vehicle specifically includes:

[0038] Acquire the actual ground pressure measured by each ground pressure sensor, wherein the actual ground pressure is the normal reaction force when the wheels of the amphibious vehicle are in contact with the ground during the driving process;

[0039] Determining whether the plurality of actual ground contact pressures are all greater than a first threshold, wherein the first threshold is a preset pressure value between zero pressure and full pressure, and the full pressure is the ground contact pressure of a single wheel of the amphibious vehicle when it is on the ground;

[0040] If it is determined that the plurality of actual ground contact pressures are all greater than the first threshold, determining that the working mode is the land mode;

[0041] If it is determined that there is an actual ground contact pressure less than or equal to the first threshold value among the multiple actual ground contact pressures, it is determined whether the multiple actual ground contact pressures are all less than a second threshold value, wherein the second threshold value is the ground contact pressure of a single wheel when the multiple wheels of the amphibious vehicle are not in contact with the ground;

[0042] If it is determined that the plurality of actual ground contact pressures are all less than the second threshold, determining that the working mode is the above-water mode;

[0043] If it is determined that there is an intermediate ground pressure whose value is less than or equal to the first threshold value among the multiple actual ground pressures, and the value of the intermediate ground pressure is greater than or equal to the second threshold value, then the working mode is determined to be a water-land mixed mode.

[0044] On the basis of the above technical solution, preferably, before judging whether the plurality of actual ground contact pressures are all greater than the first threshold, the method further comprises:

[0045] When the amphibious vehicle is in a stationary state on land, the ground pressure measured by each ground pressure sensor is obtained to obtain the total pressure;

[0046] Calculate the average value according to the plurality of full pressures to obtain an average pressure;

[0047] The first threshold value is obtained according to the product of a preset intermediate pressure coefficient and the average pressure.

[0048] In a second aspect of the present application, an integrated steering control device for an amphibious vehicle is provided, the device being a vehicle controller of a steering system, the steering system further comprising a steering wheel, a steering column, a land steering gear and a water steering gear, wherein an angle sensor is installed on the steering column, and the vehicle controller is connected to the angle sensor, the land steering gear and the water steering gear;

[0049] The device comprises an acquisition module, a processing module and a control module, wherein:

[0050] The acquisition module is used to acquire the steering angle data sent by the angle sensor, where the steering angle data is the steering angle of the steering wheel measured by the angle sensor;

[0051] The processing module is used to determine the working mode of the amphibious vehicle, wherein the working mode includes a land mode and a water mode;

[0052] The control module is configured to determine the number of rotations of the motor of the land steering device based on the steering angle data if the working mode is determined to be the land mode, and send a first control signal to the land steering device according to the number of rotations of the motor;

[0053] The control module is used to determine the electric push rod stroke of the water steering device based on the steering angle data if it is determined that the working mode is the water mode, and send a second control signal to the water steering device according to the electric push rod stroke.

[0054] On the basis of the above technical solution, preferably, the acquisition module is used to acquire the actual wheel speed of the amphibious vehicle through the wheel speed sensor if it is determined that the working mode is the amphibious mixed mode, and acquire the actual driving speed of the amphibious vehicle through the vehicle speed sensor;

[0055] The processing module is used to calculate the theoretical rotation speed of the wheels of the amphibious vehicle according to the actual driving speed and the rolling radius of the wheels of the amphibious vehicle, wherein the theoretical rotation speed is the critical rotation speed of the wheels of the amphibious vehicle in a slipping state;

[0056] The processing module is used to determine the relationship between the actual wheel speed and the theoretical wheel speed;

[0057] The control module is used to send the second control signal to the water steering device if it is determined that the actual wheel speed is greater than the theoretical wheel speed, and to send the first control signal to the land steering device if it is determined that the actual wheel speed is less than or equal to the theoretical wheel speed.

[0058] On the basis of the above technical solution, preferably, the processing module is used to adopt Mamdani's fuzzy reasoning to establish a trapezoidal membership function, and output a fuzzy set according to the actual driving speed. The trapezoidal membership function is expressed as follows:

[0059]

[0060] Among them, f i (x) is the value of the membership function of each fuzzy set, a i ,b i ,c i ,d i is a predefined trapezoidal boundary value of the fuzzy set;

[0061] The processing module is used to defuzzify the fuzzy set and calculate the output value, which is specifically calculated by the following formula:

[0062]

[0063] Where y is the output value, α i is the activation strength of each fuzzy rule, f i (x) is the value of the membership function of each fuzzy set, [a i ,d i ] is f i (x) the domain of

[0064] The processing module is used to determine the steering force value felt by the driver of the amphibious vehicle according to the output value;

[0065] The control module is used to determine the output torque of the damping motor of the steering damping device according to the steering force value, and send a third control signal to the steering damping device according to the output torque.

[0066] On the basis of the above technical solution, preferably, the processing module is used to determine the dynamic adjustment factor based on the actual driving speed;

[0067] The processing module is used to calculate the target number of rotations of the motor of the land steering device using a linear relationship according to the steering angle data and the dynamic adjustment factor;

[0068] The acquisition module is used to acquire the actual number of rotations of the motor monitored in real time through a rotary encoder;

[0069] The processing module is used to calculate the difference in number of revolutions according to the target number of revolutions and the actual number of revolutions to obtain the number of revolutions of the motor.

[0070] On the basis of the above technical solution, preferably, the processing module is used to calculate the target stroke of the electric push rod of the water steering device according to the steering angle data using a nonlinear relationship;

[0071] The processing module is used to obtain the actual stroke of the electric push rod through a linear displacement sensor;

[0072] The processing module is used to calculate the stroke difference according to the actual stroke and the target stroke to obtain the stroke of the electric push rod.

[0073] On the basis of the above technical solution, preferably, the acquisition module is used to acquire the actual ground pressure measured by each ground pressure sensor, and the actual ground pressure is the normal reaction force when the wheels are in contact with the ground during the driving of the amphibious vehicle;

[0074] The processing module is used to determine whether the plurality of actual ground contact pressures are all greater than a first threshold, wherein the first threshold is a preset pressure value between zero pressure and full pressure, and the full pressure is the ground contact pressure of a single wheel of the amphibious vehicle when it is on the ground;

[0075] The processing module is configured to determine that the working mode is the land mode if it is determined that the plurality of actual ground contact pressures are all greater than the first threshold;

[0076] The processing module is configured to determine whether the plurality of actual ground contact pressures are all less than a second threshold value if it is determined that an actual ground contact pressure among the plurality of actual ground contact pressures is less than or equal to the first threshold value, wherein the second threshold value is the ground contact pressure of a single wheel when none of the plurality of wheels of the amphibious vehicle are in contact with the ground;

[0077] The processing module is configured to determine that the working mode is the above-water mode if it is determined that the plurality of actual ground pressures are all less than the second threshold;

[0078] The processing module is used to determine that the working mode is a water-land mixed mode if it is determined that there is an intermediate ground pressure whose value is less than or equal to the first threshold among the multiple actual ground pressures, and the value of the intermediate ground pressure is greater than or equal to the second threshold.

[0079] On the basis of the above technical solution, preferably, the acquisition module is used to acquire the ground pressure measured by each ground pressure sensor when the amphibious vehicle is in a stationary state on land, so as to obtain the total pressure;

[0080] The processing module is used to calculate the average value according to the multiple full pressures to obtain the average pressure;

[0081] The processing module is used to obtain the first threshold value according to the product of a preset intermediate pressure coefficient and the average pressure.

[0082] In the third aspect of the present application, an electronic device is provided, including a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are both used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes any one of the methods described above.

[0083] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, any of the methods described above is executed.

[0084] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0085] 1. This application obtains the steering angle data of the steering wheel in real time and dynamically adjusts the steering strategy in combination with the working mode of the vehicle. In land mode, the system calculates the number of motor rotations based on the steering angle and adjusts the land steering gear, while in water mode, the electric push rod stroke is calculated based on the steering angle and the water steering gear is adjusted. Through this steering strategy adjustment based on the working mode, the steering response of the vehicle in different environments is ensured to be more accurate and efficient, and the handling performance of the vehicle in both water and land conditions is optimized.

[0086] 2. By combining the data from the wheel speed sensor and the vehicle speed sensor, the motion state of the amphibious vehicle in the mixed water and land mode can be accurately determined, and the steering control mode can be intelligently switched according to the relationship between the actual wheel speed and the theoretical speed. When the actual wheel speed is greater than the theoretical speed, it is automatically adjusted to the water steering mode to ensure that the water steering gear works; when the wheel speed is in a normal adhesion state, the land steering gear is used for steering control. This dynamic steering strategy based on real-time speed judgment optimizes the vehicle's handling performance in the mixed mode and improves the steering accuracy and response speed.

[0087] 3. By using the Mamdani fuzzy reasoning model and trapezoidal membership function, the steering force of the amphibious vehicle is dynamically adjusted according to the actual driving speed. The output value is calculated through fuzzy reasoning, and the steering force perceived by the driver is determined based on the value, so as to accurately control the motor output torque of the steering damping device. It can optimize the driver's steering feedback and improve the vehicle's handling comfort and stability under different working conditions. In particular, under different speed conditions, the steering damping can be intelligently adjusted to ensure the consistency and comfort of the driving experience.

[0088] 4. Real-time monitoring of data from multiple ground pressure sensors, combined with the set pressure threshold, accurately determines the working mode of the amphibious vehicle. According to different ground pressure values, it can intelligently identify whether the vehicle is in land mode, water mode or mixed water and land mode, thereby dynamically adjusting the steering system and driving strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 It is a flow chart of an integrated steering control method for an amphibious vehicle disclosed in an embodiment of the present application;

[0090] Figure 2 is a schematic diagram of a steering system disclosed in an embodiment of the present application;

[0091] Figure 3 It is a module schematic diagram of an integrated steering control device for an amphibious vehicle disclosed in an embodiment of the present application;

[0092] Figure 4 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application.

[0093] Explanation of the reference numerals: 201, vehicle controller; 202, steering wheel; 203, steering column; 204, land steering gear; 205, water steering gear; 206, angle sensor; 207, steering damping device; 301, acquisition module; 302, processing module; 303, control module; 401, processor; 402, communication bus; 403, user interface; 404, network interface; 405, memory. DETAILED DESCRIPTION

[0094] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0095] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0096] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0097] Amphibious vehicles are multi-purpose vehicles that combine the characteristics of cars and boats. They have the advantage of seamless switching between land and water and are widely used in military, rescue, tourism and other fields. However, the existing steering system does not optimize the strategy according to the water or land environment, resulting in insufficient steering performance, which limits the adaptability and operating efficiency of the vehicle in complex environments.

[0098] This embodiment discloses an integrated steering control method for an amphibious vehicle. Figure 1 , including the following steps S110-S140:

[0099] S110, obtaining steering angle data sent by the angle sensor.

[0100] The integrated steering control method for an amphibious vehicle disclosed in the embodiment of the present application is applied to a vehicle controller 201 of a steering system, referring to Figure 2 The steering system also includes a steering wheel 202, a steering column 203, a land steering gear 204 and a water steering gear 205, wherein an angle sensor 206 is installed on the steering column 203, and the vehicle controller 201 is connected to the angle sensor 206, the land steering gear 204 and the water steering gear 205.

[0101] An angle sensor 206 is installed on the steering column 203, and a steering damping device 207 is installed between the column and the vehicle body. The steering damping device 207 adopts an electronically controlled worm gear damper, and the damping force is adjusted by a motor, and the structure is simple and reliable.

[0102] The steering wheel 202 and the steering column 203 are fixed to the body of the amphibious vehicle, and there is no mechanical connection between the steering column 203 and the water steering gear 205 and the land steering gear 204. The land steering gear 204 adopts an electric rack and pinion steering gear. The main structure of the land steering gear 204 is inside the body and is sealed, and the steering rod is outside the body. After receiving the steering signal, the motor drives the rack and pinion to move linearly, so that the steering rod drives the wheel to turn. The water steering gear 205 uses an electric cylinder to drive the steering rudder of the water propeller to rotate to achieve steering. Due to the use of wire-controlled water and land steering, the driver's steering action can be accurately transmitted to the water steering gear 205 and the land steering gear 204, and the idle stroke can be set as needed to achieve better motion control capabilities.

[0103] Since the steering wheel 202 only outputs a turning angle signal when it is turned, and does not transmit torque, the integrated steering system can be equipped as an unmanned amphibious vehicle steering system. The host computer of the unmanned system gives a steering signal to control the operation of the water and land steering devices.

[0104] The implementation process of the vehicle controller 201 obtaining the steering angle data of the steering wheel 202 sent by the angle sensor 206 is as follows: An angle sensor 206 is installed on the rotating shaft of the steering wheel 202 to monitor the rotation angle of the steering wheel 202 in real time. The angle sensor 206 uses a high-precision encoder or potentiometer to convert the mechanical rotation angle of the steering wheel 202 into an electrical signal, and transmits it to the vehicle controller 201 through an analog signal or a digital signal. The vehicle controller 201 obtains the real-time steering angle data of the current steering wheel 202 by parsing the received signal. These data are then used in the vehicle steering control logic, combined with the vehicle mode and working conditions, to calculate the target action of the motor or electric push rod, and finally achieve precise steering force and response control.

[0105] S120, determining the working mode of the amphibious vehicle.

[0106] The working modes of amphibious vehicles include driving on land; driving from land to water until floating; driving on water; driving from water to land until the water propulsion device leaves the water. Among them, driving on land and driving from land to water are both wheel-driven and are generally regarded as one working mode. In this way, amphibious vehicles have three main working modes: land mode, water mode, and mixed land and water mode. The requirements for steering are different in the three modes. Land steering is used in land mode; water steering is used in water mode; in mixed land and water mode, both wheels and water propellers are working. In order for the driver to better control the vehicle, only wheel steering is retained, and the water propeller does not turn. In addition, in the mixed land and water mode, due to special reasons, it is far from the shore and still needs to be pushed mainly by the water propeller. At this time, only water steering is used. The control strategy is formulated according to the above working conditions.

[0107] In a possible implementation manner, determining the working mode of the amphibious vehicle specifically includes: obtaining actual ground pressures measured by each ground pressure sensor, where the actual ground pressure is the normal reaction force when the wheels of the amphibious vehicle are in contact with the ground during the driving process of the amphibious vehicle; judging whether multiple actual ground pressures are all greater than a first threshold value, wherein the first threshold value is a preset pressure value between zero pressure and full pressure, and the full pressure is the ground pressure of a single wheel when the amphibious vehicle is on the ground; if it is determined that the multiple actual ground pressures are all greater than the first threshold value, then determining that the working mode is the land mode; if it is determined that there is an actual ground pressure less than or equal to the first threshold value among the multiple actual ground pressures, then judging whether the multiple actual ground pressures are all less than a second threshold value, wherein the second threshold value is the ground pressure of a single wheel when the multiple wheels of the amphibious vehicle are not in contact with the ground; if it is determined that the multiple actual ground pressures are all less than the second threshold value, then determining that the working mode is the water mode; if it is determined that there is an intermediate ground pressure less than or equal to the first threshold value among the multiple actual ground pressures, and the value of the intermediate ground pressure is greater than or equal to the second threshold value, then determining that the working mode is the mixed land and water mode.

[0108] Specifically, the wheels of the amphibious vehicle are equipped with ground pressure sensors for real-time monitoring of the contact pressure between the wheels and the ground. The ground pressure sensors can provide key data to help evaluate the vehicle's grip and stability under different terrains and provide support for optimizing driving performance. During the vehicle's driving, the actual ground pressure of each wheel is monitored in real time through the ground pressure sensor. The measured values ​​of each sensor are transmitted to the vehicle controller 201 for subsequent mode judgment.

[0109] The vehicle controller 201 analyzes the real-time ground contact pressure of all wheels to determine whether the following conditions are met:

[0110]

[0111] If the actual ground pressure of all wheels is greater than the first threshold value P th1 , it is determined that the vehicle is in land mode.

[0112] In a possible implementation, before determining whether multiple actual ground pressures are all greater than the first threshold, the method further includes: when the amphibious vehicle is in a stationary state on land, obtaining the ground pressure measured by each ground pressure sensor to obtain the total pressure; calculating the average value based on the multiple total pressures to obtain the average pressure; and obtaining the first threshold based on the product of a preset intermediate pressure coefficient and the average pressure.

[0113] Specifically, when the amphibious vehicle is stationary and completely on land, the static ground pressure data of each ground pressure sensor is collected. At this time, the wheel fully bears the weight of the vehicle, and the measured ground pressure is the full pressure. The full pressure data of each wheel is transmitted to the vehicle controller 201, and the average of the full pressure of all wheels is calculated to obtain the average pressure P avg , the calculation formula is as follows:

[0114]

[0115] Among them, P full,i is the total pressure of the ith wheel, and N is the number of wheels.

[0116] According to the preset intermediate pressure coefficient γ and the calculated average pressure P avg , calculate the first threshold, the calculation formula is as follows:

[0117] P th1 =γ·P avg

[0118] The intermediate pressure coefficient usually ranges from 0.3 to 0.6, and is used to reflect the critical point at which the wheel partially loses ground pressure during land driving. The first threshold is used to distinguish whether the vehicle is completely in land mode.

[0119] If the actual ground contact pressure of some wheels is less than or equal to the first threshold value P th1 , further determine whether the ground pressure of all wheels meets the following conditions:

[0120] P actual,i <P th2

[0121] The second threshold is the theoretical value of the ground contact pressure of a single wheel when the vehicle is completely floating on the water surface. It is generally close to zero, and a small error may be considered in practice, such as P th2 ≈0.05·P avg .

[0122] If the actual ground pressure of all wheels is less than the second threshold value P th2 , the vehicle completely loses contact with the ground and is determined to be in water mode.

[0123] If the actual ground pressure of some wheels meets the following conditions:

[0124] P th2 ≤P actual,i ≤P th1

[0125] This means that part of the vehicle's wheels are on the ground, while part of them are floating in the water, in a mixed water-land mode.

[0126] S130: If it is determined that the working mode is the land mode, the number of motor rotations of the land steering device is determined based on the steering angle data, and a first control signal land steering device is sent according to the number of motor rotations.

[0127] In one possible implementation, the number of revolutions of the motor of the land steering device 204 is determined based on the steering angle data, specifically including: determining a dynamic adjustment factor based on the actual driving speed; calculating the target number of revolutions of the motor of the land steering device 204 using a linear relationship based on the steering angle data and the dynamic adjustment factor; obtaining the actual number of revolutions of the motor monitored in real time through a rotary encoder; and calculating the difference between the target number of revolutions and the actual number of revolutions to obtain the number of revolutions of the motor.

[0128] Specifically, the steering system also includes a vehicle speed sensor, which is connected to the vehicle controller 201. The vehicle controller 201 obtains the current actual driving speed of the vehicle through the vehicle speed sensor, and determines the dynamic adjustment factor according to the preset dynamic adjustment rule or mapping relationship. The dynamic adjustment factor is used to reflect the influence of driving speed on steering sensitivity. For example, when driving at high speed, the steering needs to be more stable, and the dynamic adjustment factor is reduced; when driving at low speed, the dynamic adjustment factor is increased to enhance flexibility.

[0129] According to the steering angle data W0 of the steering wheel 202 and the dynamic adjustment factor, the target number of rotations W of the motor of the land steering device 204 is calculated using a linear relationship. L , the calculation formula is as follows:

[0130] W L =(k0+k v ·v)·W0+b

[0131] Among them, W L is the target number of rotations, k0 is the static proportional coefficient, k v is the dynamic adjustment coefficient related to vehicle speed, v is the actual driving speed, and b is the offset, which is used to correct the initial travel error.

[0132] When the actual driving speed is low, the proportional coefficient is high, the steering wheel 202 rotates less, and the motor rotates more times, which is convenient for low-speed precise steering. When the actual driving speed is high, the proportional coefficient is low, the steering wheel 202 rotates more, and the motor rotates fewer times, which improves high-speed stability.

[0133] The actual number of revolutions of the motor is monitored in real time by installing a high-precision rotary encoder on the motor of the land steering gear 204. The rotary encoder can accurately record the cumulative number of revolutions of the motor, and the data is transmitted to the vehicle controller 201 through the encoder signal interface. The vehicle controller 201 calculates the revolution difference based on the difference between the target revolution and the real-time actual revolution. When the revolution difference is greater than zero, it means that the motor needs to continue to rotate forward to reach the target position, otherwise it means that the motor needs to be adjusted in the reverse direction to reduce overshoot.

[0134] Finally, the vehicle controller 201 generates a first control signal based on the calculated difference in the number of turns to drive the motor of the land steering device 204, including the target direction, speed and torque of the motor, and sends the control signal to the motor controller through the CAN bus or other communication interface.

[0135] In a possible implementation, after adopting the terrestrial and water-based wire control steering, since the steering wheel 202 has no mechanical connection with the steering actuator, for better driving experience and safety, it is necessary to change the steering force of the steering wheel 202 according to factors such as the driving state and speed of the vehicle. There are two general ways of variable steering adjustment: hydraulic power steering is to adjust the hydraulic flow and pressure of the steering gear; electric power steering is to adjust the torque of the motor. For the disconnect steering system, the damping of the steering wheel 202 needs to be adjusted.

[0136] First, the vehicle controller 201 collects the actual driving speed of the vehicle and uses it as the input variable of fuzzy reasoning. According to the preset rule base, the actual driving speed is divided into several fuzzy sets, such as "low speed", "medium speed", "high speed", etc.

[0137] A trapezoidal membership function is defined for each fuzzy set, and its expression is:

[0138]

[0139] Among them, f i (x) is the value of the membership function of each fuzzy set, a i ,b i ,c i ,d i is the trapezoidal boundary value of the predefined fuzzy set.

[0140] In a i <x≤b i Interval, f i (x) increases linearly, indicating that x approaches the core area of ​​the fuzzy set. i <x≤c i Interval, f i (x) is always 1, indicating that x completely belongs to the fuzzy set. i <x≤di Interval, f i (x) decreases linearly, indicating that x gradually leaves the fuzzy set. Membership function f i The value of (x) reflects the degree of membership of the input value x to the fuzzy set, and its range is [0,1]. i (x) = 0 means x does not belong to the set at all. i (x) = 1 means x completely belongs to the set. <f i (x)<1 means that part of x belongs to the set.

[0141] Based on the predefined fuzzy rule base and the actual driving speed, Mamdani fuzzy reasoning is used to calculate the activation strength of the fuzzy set. For example, if the speed is "low", the steering force should be "large". The activation strength is calculated by the "if-then" logic of the fuzzy rules. Defuzzification. The membership function of the output fuzzy set obtained by fuzzy reasoning is y=f(x). The water and land modes are different, so the centroid method suitable for multi-rule situations is used for defuzzification. The result of fuzzy reasoning is defuzzified, and the centroid method is used to calculate the exact output value y:

[0142]

[0143] Among them, y is the output value, α i is the activation strength of each fuzzy rule, indicating the applicability of the input value to a fuzzy rule, f i (x) is the value of the membership function of each fuzzy set, [a i ,d i ] is f i (x) the domain of

[0144] The driver's steering force feeling is determined based on the output value obtained by the defuzzification calculation. The larger the output value, the stronger the steering force; the smaller the value, the lighter the steering force. The magnitude of the steering force is adjusted through test calibration and driver feedback to ensure a driving experience suitable for different speed conditions. Finally, the target output torque of the steering damping device 207 motor is determined based on the proportional coefficient between the steering force value and the torque. The vehicle controller 201 generates a third control signal, including the target torque of the motor, the working direction of the motor for increasing or decreasing the damping, the speed of the motor and the dynamic adjustment parameters. The third control signal is sent to the controller of the steering damping device 207 motor via the CAN bus or other communication protocols to drive the motor to output a suitable damping torque.

[0145] S140: If it is determined that the working mode is the water mode, the electric push rod stroke of the water steering device is determined based on the steering angle data, and a second control signal is sent to the water steering device according to the electric push rod stroke.

[0146] In one possible implementation, the stroke of the electric push rod of the water steering device 205 is determined based on the steering angle data, specifically including: calculating the target stroke of the electric push rod of the water steering device 205 using a nonlinear relationship according to the steering angle data; obtaining the actual stroke of the electric push rod through a linear displacement sensor; and calculating the stroke difference according to the actual stroke and the target stroke to obtain the stroke of the electric push rod.

[0147] Specifically, in the water mode, the steering angle W0 of the steering wheel 202 and the stroke S of the electric push rod are s There is a nonlinear relationship, which can be established through experimental data or empirical formulas, such as:

[0148]

[0149] The system pre-sets the coefficients a, b, and c of the nonlinear relationship. These coefficients are calibrated according to the water flow resistance, the performance of the electric push rod, and the steering requirements of the hull. The steering angle W0 of the steering wheel 202 is read in real time. W0 is input into the nonlinear function to calculate the target travel S s .

[0150] The electric push rod has a built-in linear displacement sensor for real-time monitoring of the actual stroke of the push rod. The displacement sensor collects the current position data of the push rod and transmits the signal to the vehicle controller 201 at a high frequency (such as every millisecond). The vehicle controller 201 processes the data in real time and records the actual stroke of the push rod. By real-time monitoring of the actual stroke, the system can dynamically adjust the push rod action to ensure that its operating status is consistent with the target requirements.

[0151] The difference between the target stroke and the actual stroke is calculated. If the difference is positive, it indicates that the push rod may need to be extended further, and if the difference is negative, it indicates that the push rod needs to be retracted. Finally, according to the calculated stroke difference, the vehicle controller 201 generates a second control signal for controlling the action of the electric push rod.

[0152] In a possible implementation, the steering system further includes a wheel speed sensor, and the vehicle controller 201 is connected to the wheel speed sensor; after determining the working mode of the amphibious vehicle, the method further includes: if the working mode is determined to be the mixed amphibious and amphibious mode, the actual wheel speed of the amphibious vehicle is obtained through the wheel speed sensor, and the actual driving speed of the amphibious vehicle is obtained through the vehicle speed sensor; according to the actual driving speed and the rolling radius of the wheel of the amphibious vehicle, the theoretical wheel speed of the amphibious vehicle is calculated, and the theoretical speed is the critical wheel speed of the amphibious vehicle in a slipping state; the relationship between the actual wheel speed and the theoretical wheel speed is determined; if it is determined that the actual wheel speed is greater than the theoretical wheel speed, a second control signal is sent to the water steering device 205, and if it is determined that the actual wheel speed is less than or equal to the theoretical wheel speed, a first control signal is sent to the land steering device 204.

[0153] Specifically, the speed data of each wheel is collected in real time through the wheel speed sensor to obtain the actual speed of the wheel. At the same time, the vehicle speed sensor is used to obtain the actual driving speed of the vehicle to reflect the overall motion state of the current vehicle. According to the actual driving speed and the wheel rolling radius of the amphibious vehicle, the vehicle controller 201 calculates the theoretical wheel speed. The theoretical speed is used to describe the speed that the wheel should have under the normal adhesion state of the vehicle, thereby providing a reference for the subsequent slip state judgment. The theoretical speed can be calculated by the following formula:

[0154]

[0155] Among them, W d is the theoretical speed, v is the actual driving speed in kilometers per hour, r is the wheel rolling radius in hours, and ε is the empirical adjustment parameter.

[0156] Compare the actual wheel speed with the theoretical speed. If the actual speed is greater than the theoretical speed, it indicates that the wheel may be slipping or skidding, and the vehicle's traction mainly comes from the thrust on the water. If the actual speed is less than or equal to the theoretical speed, it indicates that the wheel is properly attached and the vehicle is mainly in a land driving state.

[0157] According to the judgment result, the vehicle controller 201 selects a suitable steering control mode. If the actual wheel speed is greater than the theoretical speed, the vehicle controller 201 sends a second control signal to the water steering 205 to make it participate in the steering control and optimize the steering performance in the water mode. If the actual wheel speed is less than or equal to the theoretical speed, the vehicle controller 201 sends a first control signal to the land steering 204 to ensure normal steering operation in the land mode.

[0158] This embodiment also discloses an integrated steering control device for an amphibious vehicle, which is a vehicle controller 201 of a steering system. The steering system also includes a steering wheel 202, a steering column 203, a land steering gear 204, and a water steering gear 205. An angle sensor 206 is installed on the steering column 203, and the vehicle controller 201 is connected to the angle sensor 206, the land steering gear 204, and the water steering gear 205.

[0159] Reference Figure 3 The device includes an acquisition module 301, a processing module 302 and a control module 303, wherein:

[0160] The acquisition module 301 is used to acquire the steering angle data sent by the angle sensor 206 , where the steering angle data is the steering angle of the steering wheel 202 measured by the angle sensor 206 .

[0161] The processing module 302 is used to determine the working mode of the amphibious vehicle, and the working mode includes a land mode and a water mode.

[0162] The control module 303 is used to determine the number of motor rotations of the land steering device 204 based on the steering angle data if the working mode is determined to be the land mode, and send a first control signal to the land steering device 204 according to the number of motor rotations.

[0163] The control module 303 is used to determine the electric push rod stroke of the water steering device 205 based on the steering angle data if the working mode is determined to be the water mode, and send a second control signal to the water steering device 205 according to the electric push rod stroke.

[0164] In a possible implementation, the acquisition module 301 is used to acquire the actual wheel rotation speed of the amphibious vehicle through a wheel speed sensor if the working mode is determined to be the amphibious mixed mode, and acquire the actual driving speed of the amphibious vehicle through a vehicle speed sensor.

[0165] The processing module 302 is used to calculate the theoretical rotation speed of the wheels of the amphibious vehicle according to the actual driving speed and the rolling radius of the wheels of the amphibious vehicle. The theoretical rotation speed is the critical rotation speed of the wheels of the amphibious vehicle in a slipping state.

[0166] The processing module 302 is used to determine the relationship between the actual wheel speed and the theoretical wheel speed.

[0167] The control module 303 is used to send a second control signal to the water steering device 205 if it is determined that the actual wheel speed is greater than the theoretical wheel speed, and to send a first control signal to the land steering device 204 if it is determined that the actual wheel speed is less than or equal to the theoretical wheel speed.

[0168] In a possible implementation, the processing module 302 is used to use Mamdani's fuzzy reasoning to establish a trapezoidal membership function and output a fuzzy set according to the actual driving speed. The trapezoidal membership function is expressed as follows:

[0169]

[0170] Among them, f i (x) is the value of the membership function of each fuzzy set, a i ,b i ,c i ,d i is the trapezoidal boundary value of the predefined fuzzy set.

[0171] The processing module 302 is used to defuzzify the fuzzy set and calculate the output value, which is specifically calculated by the following formula:

[0172]

[0173] Among them, y is the output value, α i is the activation strength of each fuzzy rule, f i (x) is the value of the membership function of each fuzzy set, [a i ,d i ] is f i The domain of (x).

[0174] The processing module is used to determine the steering force value felt by the driver of the amphibious vehicle according to the output value.

[0175] The control module 303 is used to determine the output torque of the damping motor of the steering damping device 207 according to the steering force value, and send a third control signal to the steering damping device 207 according to the output torque.

[0176] In a possible implementation, the processing module 302 is configured to determine a dynamic adjustment factor based on an actual driving speed.

[0177] The processing module 302 is used to calculate the target number of rotations of the motor of the land steering device 204 according to the steering angle data and the dynamic adjustment factor by using a linear relationship.

[0178] The acquisition module 301 is used to acquire the actual number of rotations of the motor monitored in real time through a rotary encoder.

[0179] The processing module 302 is used to calculate the difference in number of revolutions according to the target number of revolutions and the actual number of revolutions to obtain the number of revolutions of the motor.

[0180] In a possible implementation, the processing module 302 is used to calculate the target stroke of the electric push rod of the water steering device 205 according to the steering angle data using a nonlinear relationship.

[0181] The processing module 302 is used to obtain the actual stroke of the electric push rod through the linear displacement sensor.

[0182] The processing module 302 is used to calculate the stroke difference according to the actual stroke and the target stroke to obtain the stroke of the electric push rod.

[0183] In a possible implementation, the acquisition module 301 is used to acquire the actual ground pressure measured by each ground pressure sensor, where the actual ground pressure is the normal reaction force when the wheels are in contact with the ground during the driving of the amphibious vehicle.

[0184] The processing module 302 is used to determine whether multiple actual ground contact pressures are all greater than a first threshold, wherein the first threshold is a preset pressure value between zero pressure and full pressure, and the full pressure is the ground contact pressure of a single wheel when the amphibious vehicle is on the ground.

[0185] The processing module 302 is configured to determine that the working mode is the land mode if it is determined that the multiple actual ground contact pressures are all greater than the first threshold.

[0186] The processing module 302 is used to determine whether the multiple actual ground contact pressures are all less than a second threshold value if it is determined that there is an actual ground contact pressure less than or equal to the first threshold value among the multiple actual ground contact pressures, wherein the second threshold value is the ground contact pressure of a single wheel when the multiple wheels of the amphibious vehicle are not in contact with the ground.

[0187] The processing module 302 is configured to determine that the working mode is the above-water mode if it is determined that the multiple actual ground pressures are all less than the second threshold.

[0188] The processing module 302 is used to determine that the working mode is the mixed water-land mode if it is determined that there is an intermediate ground pressure whose value is less than or equal to the first threshold among the multiple actual ground pressures, and the value of the intermediate ground pressure is greater than or equal to the second threshold.

[0189] In a possible implementation, the acquisition module 301 is used to acquire the ground pressure measured by each ground pressure sensor to obtain the total pressure when the amphibious vehicle is in a stationary state on land.

[0190] The processing module 302 is used to calculate the average value according to the multiple full pressures to obtain the average pressure.

[0191] The processing module 302 is used to obtain a first threshold value according to the product of a preset intermediate pressure coefficient and an average pressure.

[0192] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0193] This embodiment also discloses an electronic device, referring to Figure 4 The electronic device may include: at least one processor 401 , at least one communication bus 402 , a user interface 403 , a network interface 404 , and at least one memory 405 .

[0194] The communication bus 402 is used to realize the connection and communication between these components.

[0195] The user interface 403 may include a display screen (Display) and a camera (Camera), and the optional user interface 403 may also include a standard wired interface and a wireless interface.

[0196] The network interface 404 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0197] Among them, the processor 401 may include one or more processing cores. The processor 401 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 401 can integrate one or more combinations of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 401, and it can be implemented by a single chip.

[0198] Among them, the memory 405 may include a random access memory (RAM) or a read-only memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory 405 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 405 may also be at least one storage device located away from the aforementioned processor 401. The memory 405 as a computer storage medium may include an operating system, a network communication module, a user interface 403 module, and an application program for an integrated steering control method for an amphibious vehicle.

[0199] exist Figure 4 In the electronic device shown, the user interface 403 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 401 can be used to call an application program stored in the memory 405 for an integrated steering control method for an amphibious vehicle. When executed by one or more processors 401, the electronic device executes one or more methods in the above-mentioned embodiments.

[0200] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0201] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0202] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0203] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0204] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0205] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory 405, including a number of instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory 405 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0206] The present application also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores instructions. When executed by one or more processors 401, the electronic device executes one or more of the methods described in the above embodiments.

[0207] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, it will be easy for those skilled in the art to think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field that are not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. An integrated steering control method for an amphibious vehicle, characterized in that: The method is applied to a vehicle controller (201) of a steering system, wherein the steering system further comprises a steering wheel (202), a steering column (203), a land steering gear (204) and a water steering gear (205), wherein an angle sensor (206) is installed on the steering column (203), and the vehicle controller (201) is connected to the angle sensor (206), the land steering gear (204) and the water steering gear (205); The method comprises: Acquiring steering angle data sent by the angle sensor (206), the steering angle data being the steering angle of the steering wheel (202) measured by the angle sensor (206); Determining a working mode of the amphibious vehicle, wherein the working mode includes a land mode and a water mode; If it is determined that the working mode is the land mode, the number of motor rotations of the land steering device (204) is determined based on the steering angle data, and a first control signal is sent to the land steering device (204) according to the number of motor rotations; If it is determined that the working mode is the water mode, the electric push rod stroke of the water steering device (205) is determined based on the steering angle data, and a second control signal is sent to the water steering device (205) according to the electric push rod stroke.

2. The integrated steering control method for an amphibious vehicle according to claim 1, characterized in that: The steering system further comprises a wheel speed sensor and a vehicle speed sensor, and the vehicle controller (201) is connected to the wheel speed sensor and the vehicle speed sensor; The working mode also includes a mixed water and land mode. After determining the working mode of the amphibious vehicle, the method further includes: If it is determined that the working mode is the amphibious mixed mode, the actual rotation speed of the wheels of the amphibious vehicle is obtained through the wheel speed sensor, and the actual driving speed of the amphibious vehicle is obtained through the vehicle speed sensor; Calculating a theoretical rotation speed of the wheels of the amphibious vehicle according to the actual driving speed and the rolling radius of the wheels of the amphibious vehicle, wherein the theoretical rotation speed is a critical rotation speed of the wheels of the amphibious vehicle when the amphibious vehicle is in a slipping state; Determine the relationship between the actual wheel speed and the theoretical wheel speed; If it is determined that the actual wheel speed is greater than the theoretical wheel speed, the second control signal is sent to the water steering device (205); if it is determined that the actual wheel speed is less than or equal to the theoretical wheel speed, the first control signal is sent to the land steering device (204).

3. The integrated steering control method for an amphibious vehicle according to claim 2, characterized in that: The steering system further comprises a steering damping device (207), and the vehicle controller (201) is connected to the steering damping device (207); After sending the first control signal to the land steering device (204) according to the number of rotations of the motor, the method further comprises: Mamdani's fuzzy reasoning is used to establish a trapezoidal membership function, and a fuzzy set is output according to the actual driving speed. The trapezoidal membership function is expressed as follows: Among them, f i (x) is the value of the membership function of each fuzzy set, a i ,b i ,c i ,d i is a predefined trapezoidal boundary value of the fuzzy set; The fuzzy set is defuzzified and the output value is calculated, which is specifically calculated by the following formula: Where y is the output value, α i is the activation strength of each fuzzy rule, f i (x) is the value of the membership function of each fuzzy set, [a i ,d i ] is f i (x) the domain of determining a steering force value felt by a driver of the amphibious vehicle according to the output value; The steering force value is used to determine the output torque of the damping motor of the steering damping device (207), and a third control signal is sent to the steering damping device (207) according to the output torque.

4. The integrated steering control method for an amphibious vehicle according to claim 2, characterized in that: The step of determining the number of motor rotations of the land steering device (204) based on the steering angle data specifically comprises: determining a dynamic adjustment factor based on the actual driving speed; Calculating the target number of rotations of the motor of the land steering device (204) using a linear relationship according to the steering angle data and the dynamic adjustment factor; The actual number of rotations of the motor is obtained through the rotary encoder for real-time monitoring; The number of revolutions of the motor is obtained by calculating the difference between the target number of revolutions and the actual number of revolutions.

5. The integrated steering control method for an amphibious vehicle according to claim 1, characterized in that: Determining the electric push rod stroke of the water steering device (205) based on the steering angle data specifically includes: According to the steering angle data, a target stroke of the electric push rod of the water steering device (205) is calculated using a nonlinear relationship; Acquiring the actual stroke of the electric push rod by means of a linear displacement sensor; According to the actual stroke and the target stroke, a stroke difference is calculated to obtain the stroke of the electric push rod.

6. The integrated steering control method for an amphibious vehicle according to claim 1, characterized in that: The steering system further comprises a plurality of ground contact pressure sensors, and the vehicle controller (201) is connected to the plurality of ground contact pressure sensors; Determining the working mode of the amphibious vehicle specifically includes: Acquire the actual ground pressure measured by each ground pressure sensor, wherein the actual ground pressure is the normal reaction force when the wheels of the amphibious vehicle are in contact with the ground during the driving process; Determining whether the plurality of actual ground contact pressures are all greater than a first threshold, wherein the first threshold is a preset pressure value between zero pressure and full pressure, and the full pressure is the ground contact pressure of a single wheel of the amphibious vehicle when it is on the ground; If it is determined that the plurality of actual ground contact pressures are all greater than the first threshold, determining that the working mode is the land mode; If it is determined that there is an actual ground contact pressure less than or equal to the first threshold value among the multiple actual ground contact pressures, it is determined whether the multiple actual ground contact pressures are all less than a second threshold value, wherein the second threshold value is the ground contact pressure of a single wheel when the multiple wheels of the amphibious vehicle are not in contact with the ground; If it is determined that the plurality of actual ground contact pressures are all less than the second threshold, determining that the working mode is the above-water mode; If it is determined that there is an intermediate ground pressure whose value is less than or equal to the first threshold value among the multiple actual ground pressures, and the value of the intermediate ground pressure is greater than or equal to the second threshold value, then the working mode is determined to be a water-land mixed mode.

7. The integrated steering control method for an amphibious vehicle according to claim 6, characterized in that: Before determining whether the plurality of actual ground contact pressures are all greater than the first threshold, the method further includes: When the amphibious vehicle is in a stationary state on land, the ground pressure measured by each ground pressure sensor is obtained to obtain the total pressure; Calculate the average value according to the plurality of full pressures to obtain an average pressure; The first threshold value is obtained according to the product of a preset intermediate pressure coefficient and the average pressure.

8. An integrated steering control device for an amphibious vehicle, characterized in that: The device is a vehicle controller (201) of a steering system, the steering system further comprising a steering wheel (202), a steering column (203), a land steering gear (204) and a water steering gear (205), wherein an angle sensor (206) is installed on the steering column (203), and the vehicle controller (201) is connected to the angle sensor (206), the land steering gear (204) and the water steering gear (205); The device comprises an acquisition module (301), a processing module (302) and a control module (303), wherein: The acquisition module (301) is used to acquire steering angle data sent by the angle sensor (206), wherein the steering angle data is the steering angle of the steering wheel (202) measured by the angle sensor (206); The processing module (302) is used to determine the working mode of the amphibious vehicle, wherein the working mode includes a land mode and a water mode; The control module (303) is used for determining the number of motor rotations of the land steering device (204) based on the steering angle data if the working mode is determined to be the land mode, and sending a first control signal to the land steering device (204) according to the number of motor rotations; The control module (303) is used to determine the electric push rod stroke of the water steering device (205) based on the steering angle data if the working mode is determined to be the water mode, and send a second control signal to the water steering device (205) according to the electric push rod stroke.

9. An electronic device, characterized in that: The electronic device comprises a processor (401), a communication bus (402), a user interface (403), a network interface (404) and a memory (405), wherein the memory (405) is used to store instructions, the user interface (403) and the network interface (404) are both used to communicate with other devices, the communication bus (402) is used to realize connection and communication between components in the electronic device, and the processor (401) is used to execute the instructions stored in the memory (405) so that the electronic device executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 7 is executed.

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