Vehicle floating escape control method and device, vehicle, equipment and medium
By installing distributed thrusters on the vehicle, using sensors to identify the floating state and calculate the thrust direction, the problem of the vehicle getting out of trouble in complex environments is solved, and precise control and efficient getting out of trouble are achieved.
Patent Information
- Application Number
- CN202510561525.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2025-07-08
AI Technical Summary
In complex terrain or water environments, vehicles may encounter floating states, and the prior art is difficult to effectively control the vehicle to escape from difficulties.
By installing distributed thrusters in multiple directions of the vehicle, using sensors to identify the floating state, obtain the vehicle's motion state and obstacle parameters, calculate the target bow angular velocity and thrust direction, accurately control the thrust and direction of the distributed thruster, and adjust the vehicle's motion state to avoid obstacles.
It realizes precise motion control of the vehicle in a floating state, effectively avoids obstacles and completes the escape operation with minimum energy consumption.
Smart Images
Figure CN120270193A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle control, and specifically to a vehicle floating water escape control method, device, vehicle, equipment and medium. Background Technique
[0002] In complex terrain or water area environments, a vehicle may encounter a floating water state and needs to achieve escape through effective control strategies. Summary of the Invention
[0003] The present invention provides a vehicle floating water escape control method, device, vehicle, equipment and medium for assisting a vehicle to escape in a floating water state.
[0004] The technical solution of the present invention is as follows:
[0005] On the one hand, the present application provides a vehicle floating water escape control method. Distributed thrusters are installed on multiple orientations of the vehicle. The vehicle floating water escape control method includes:
[0006] When it is recognized that the vehicle enters the floating water escape mode, obtain the current motion state parameters of the vehicle and the real-time environment parameters of the front obstacle relative to the vehicle;
[0007] According to the current motion state parameters of the vehicle and the real-time environment parameters of the front obstacle relative to the vehicle, identify the target yaw angular velocity of the vehicle;
[0008] According to the target yaw angular velocity of the vehicle, the heading angle of the vehicle, and the positions of the distributed thrusters, determine the thrust and thrust direction angles of the distributed thrusters;
[0009] Control the distributed thrusters according to the thrust and thrust direction angles of the distributed thrusters, so as to adjust the motion state of the vehicle.
[0010] Preferably, the step of identifying the target yaw angular velocity of the vehicle according to the current motion state parameters of the vehicle and the real-time environment parameters of the front obstacle relative to the vehicle includes:
[0011] According to the current speed of the vehicle and the distance of the front obstacle relative to the vehicle, determine the time for the vehicle to reach the front obstacle;
[0012] According to the heading angle of the vehicle, the heading angle of the front obstacle, and the time for the vehicle to reach the front obstacle, determine the target yaw angular velocity of the vehicle.
[0013] Preferably, the step of determining the thrust and thrust direction angles of the distributed thrusters according to the target yaw angular velocity of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters includes:
[0014] Determine the target yaw moment of the vehicle according to the target yaw angular velocity of the vehicle;
[0015] According to the target yaw moment of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters, determine the thrust and thrust direction angle of each distributed thruster.
[0016] Preferably, the step of determining the target yaw moment of the vehicle according to the target yaw angular velocity of the vehicle includes:
[0017] Determine the target yaw moment of the vehicle according to the target yaw angular velocity of the vehicle and the moment of inertia of the vehicle about the z-axis by all distributed thrusters.
[0018] Preferably, the step of determining the thrust and thrust direction angle of each distributed thruster according to the target yaw moment of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters includes:
[0019] Construct the kinematic control equation of the vehicle:
[0020]
[0021] where, τ ψ is the target yaw moment of the vehicle; τ x is the moment in the longitudinal direction X of the vehicle coordinate system, τ x =0; τ y is the moment in the lateral direction y of the vehicle coordinate system, τ y =0; ψ is the current heading angle of the vehicle; F i is the thrust of the i-th distributed thruster, θ i is the thrust direction angle of the i-th distributed thruster, i = 1, 2... n;
[0022] Construct the constraint conditions: τ x =0, τ y =0, τ τ = the target yaw moment of the vehicle;
[0023] Construct the objective function according to the minimum energy consumption of the distributed thrusters;
[0024] Introduce the Lagrange multiplier to integrate the constraint conditions into the objective function and construct the Lagrangian function;
[0025] Take the partial derivative of the constructed Lagrangian function and set it equal to zero to obtain the KKT conditions;
[0026] Update the Lagrange multiplier according to the KKT conditions;
[0027] If the preset convergence condition is satisfied, stop the iteration;
[0028] The optimal thrust and optimal thrust direction angle of each distributed thruster are extracted from the final iterative results.
[0029] Preferably, the step of determining the target bow angular velocity of the vehicle according to the heading angle of the vehicle, the heading angle of the obstacle ahead, and the time when the vehicle reaches the obstacle ahead comprises:
[0030] Determine the difference between the heading angle of the obstacle ahead and the heading angle of the vehicle;
[0031] The ratio of the heading angle difference to the time it takes for the vehicle to reach the obstacle in front is determined as the target bow angular velocity of the vehicle.
[0032] On the other hand, the present application also provides a vehicle floating escape control device, wherein distributed thrusters are installed at multiple positions of the vehicle, and the vehicle floating escape control device comprises:
[0033] A parameter acquisition module, used to acquire the vehicle's current motion state parameters and the real-time environmental parameters of the front obstacle relative to the vehicle when recognizing that the vehicle has entered the floating escape mode;
[0034] A target bow angular velocity determination module is used to identify the target bow angular velocity of the vehicle according to the current motion state parameters of the vehicle and the real-time environmental parameters of the front obstacle relative to the vehicle;
[0035] A distributed thruster parameter determination module is used to determine the thrust and thrust direction angle of each distributed thruster according to the target bow angular velocity of the vehicle, the heading angle of the vehicle and the position of each distributed thruster;
[0036] The control module is used to control each distributed thruster according to the thrust and thrust direction angle of each distributed thruster, so as to adjust the motion state of the vehicle.
[0037] On the other hand, the present application also provides a vehicle, comprising the vehicle floating escape control device as described in claim 7.
[0038] On the other hand, the present application also provides a control device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the vehicle floating escape control method as described above.
[0039] On the other hand, the present application also provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the above-mentioned vehicle floating escape control method are implemented.
[0040] The beneficial effects of the present invention are:
[0041] By accurately calculating the thrust and direction of each distributed thruster, the vehicle is able to achieve fine control over its motion state. This precise control enables the vehicle to effectively adjust its heading and speed to avoid obstacles and achieve the most effective escape operation with minimal energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] Figure 1 It is a flow chart of a vehicle floating and escaping from water control method in an embodiment of the present application;
[0043] Figure 2 A schematic diagram is provided for establishing a coordinate system in an embodiment of the present application;
[0044] Figure 3 A schematic diagram of step S2 in an embodiment of the present application;
[0045] Figure 4 This is a schematic diagram of step S3 in an embodiment of the present application;
[0046] Figure 5 A schematic diagram of step S32 in an embodiment of the present application;
[0047] Figure 6 It is a schematic diagram of the structure of the vehicle floating and escaping control device in an embodiment of the present application. DETAILED DESCRIPTION
[0048] In order to facilitate the understanding of those skilled in the art, the present invention is further described below with reference to the accompanying drawings. The description is relatively detailed, but it cannot be understood as limiting the scope of the present invention. The obvious variations and replacement forms of the following examples are all within the scope of protection of this patent.
[0049] This embodiment describes a vehicle floating escape control method, which uses distributed thrusters installed in multiple positions of the vehicle to adjust the vehicle's motion state to achieve escape.
[0050] Reference Figure 1 The vehicle floating escape control method in the embodiment of the present application includes:
[0051] S1, the vehicle floating and escaping control method includes:
[0052] S2, when it is recognized that the vehicle has entered the floating escape mode, obtaining the current motion state parameters of the vehicle and the real-time environmental parameters of the obstacle ahead relative to the vehicle;
[0053] S3, identifying the target bow angular velocity of the vehicle according to the current motion state parameters of the vehicle and the real-time environmental parameters of the front obstacle relative to the vehicle;
[0054] S4, determining the thrust and thrust direction angle of each distributed thruster according to the target bow angular velocity of the vehicle, the heading angle of the vehicle, and the position of each distributed thruster;
[0055] S5, controlling each distributed thruster according to the thrust and thrust direction angle of each distributed thruster, thereby adjusting the motion state of the vehicle.
[0056] Distributed thrusters are installed at the front, rear, left and right of the vehicle, and each distributed thruster can independently control thrust and direction.
[0057] When the vehicle's sensors detect that the vehicle is floating on water, the floating escape mode can be activated. For example, when the vehicle's wading depth exceeds the safety threshold (such as 80% of the tire height) and the engine speed or motor speed fluctuates abnormally for more than 3 seconds, the on-board ECU automatically triggers the floating escape mode.
[0058] In this embodiment, the current motion state parameters of the vehicle include the vehicle's speed and the vehicle's heading angle.
[0059] In this embodiment, the real-time environmental parameters of the front obstacle relative to the vehicle include the distance of the front obstacle relative to the vehicle and the heading angle of the front obstacle.
[0060] Reference Figure 3 In this embodiment, according to the current motion state parameters of the vehicle and the real-time environmental parameters of the front obstacle relative to the vehicle, the step S2 of identifying the target bow angular velocity of the vehicle includes:
[0061] S21, determining the time when the vehicle reaches the obstacle ahead according to the current speed of the vehicle and the distance of the obstacle ahead relative to the vehicle;
[0062] S22, determining a target bow angular velocity of the vehicle according to the heading angle of the vehicle, the heading angle of the obstacle ahead, and the time it takes for the vehicle to reach the obstacle ahead.
[0063] The step S22 specifically includes: determining the difference between the heading angle of the front obstacle and the heading angle of the vehicle;
[0064] The ratio of the heading angle difference to the time it takes for the vehicle to reach the obstacle in front is determined as the target bow angular velocity of the vehicle.
[0065] Reference Figure 4 In this embodiment, step S3 includes:
[0066] S31, determining a target bow turning moment of the vehicle according to a target bow turning angular velocity of the vehicle;
[0067] S32. Determine the thrust and thrust direction angle of each distributed thruster based on the target yaw moment of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters.
[0068] The positions of the distributed thrusters refer to the coordinates of the distributed thrusters relative to the vehicle's center of mass.
[0069] Specifically, in S21, the target yaw moment of the vehicle is determined based on the target yaw angular velocity of the vehicle and the moment of inertia of all distributed thrusters about the z-axis of the vehicle.
[0070] The moment of inertia of all distributed thrusters about the z-axis of the vehicle is determined by the mass of the distributed thrusters and the coordinates of the distributed thrusters relative to the vehicle's center of mass.
[0071] Assume a vehicle has four distributed thrusters, and the mass of each distributed thruster is m. According to the coordinates (x1, y1), (x2, y2), (x3, y3), and (x4) of the four distributed thrusters relative to the vehicle's center of mass, the distances from them to the vehicle's z-axis can be determined as r1, r2, r3, and r4 respectively. Among them, r1 2 = x1 2 + y1 2 ; r2 2 = x2 2 + y2 2 ; r3 2 = x3 2 + y3 2 ; r4 2 = x4 2 + y4 2 .
[0072] Then, the contribution of these distributed thrusters to the moment of inertia I of the vehicle about the z-axis can be expressed as:
[0073] I = m * r1 2 + m * r2 2 + m * r3 2 + m * r4 2
[0074] Generally speaking, the distributed thrusters can be regarded as mass elements for calculating the moment of inertia of the entire system, but they are only part of the calculation of the moment of inertia of the entire system.
[0075] Furthermore, the product of the target yaw angular velocity of the vehicle and the moment of inertia of all distributed thrusters about the z-axis of the vehicle is determined as the target yaw moment of the vehicle.
[0076] Refer to Figure 5, the steps S32 of determining the thrust and thrust direction angle of each distributed thruster according to the target yaw moment of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters include:
[0077] S321, construct the kinematic control equation of the vehicle:
[0078]
[0079] where, τ ψ is the target yaw moment of the vehicle; τ x is the moment in the longitudinal direction X of the vehicle coordinate system, τ x = 0; τ y is the moment in the lateral direction y of the vehicle coordinate system, τ y = 0; ψ is the current heading angle of the vehicle; F i is the thrust of the i-th distributed thruster, θ i is the thrust direction angle of the i-th distributed thruster, i = 1, 2... n.
[0080] where, in the steady state, the following conditions are satisfied: τ x = 0, τ y = 0, τ ψ = the target yaw moment of the vehicle.
[0081] The target yaw moment of the vehicle is determined according to the yaw angular velocity of the vehicle and the moment of inertia of all distributed thrusters about the z-axis of the vehicle. Specifically, through the formula:
[0082] I z ·ψ = τ ψ
[0083] Calculate and solve the target yaw moment τ ψ , ψ is the yaw angular velocity of the vehicle, I z is the moment of inertia of all distributed thrusters about the z-axis of the vehicle.
[0084] The moment of inertia I z of all distributed thrusters about the z-axis of the vehicle is obtained through the following formula:
[0085]
[0086] where, m i is the mass of the i-th distributed thruster, (xi, yi) is the coordinate of the i-th distributed thruster relative to the center of mass of the whole vehicle.
[0087] As Figure 2 , N-E is the global coordinate system, x-y is the vehicle coordinate system, x i -y iis the local coordinate system of the distributed thruster, G is the center of mass of the whole vehicle, and P(x i , y i ) is the coordinate of the i-th distributed thruster relative to the center of mass of the whole vehicle.
[0088] S322. Construct the constraint conditions: τ x = 0, τ y = 0, τ ψ = the target yaw moment of the vehicle;
[0089] S323. Construct the objective function according to the minimum energy consumption of the distributed thrusters;
[0090] For example, if the energy consumption is proportional to the square of the thrust of each distributed thruster, the objective function can be expressed as:
[0091]
[0092] where E is the total energy consumption, k i is the energy consumption coefficient related to the i-th distributed thruster, and F i is the thrust of the i-th distributed thruster.
[0093] S324. Introduce Lagrange multipliers to integrate the constraint conditions into the objective function and construct the Lagrangian function:
[0094]
[0095] where λ1, λ2, λ3 are Lagrange multipliers, ψ is the heading angle of the vehicle, τ ψ is the target yaw moment of the vehicle, and (xi, yi) is the coordinate of the i-th distributed thruster relative to the center of mass of the vehicle.
[0096] S325. Take the partial derivatives of the constructed Lagrangian function and set them equal to zero to obtain the KKT conditions;
[0097]
[0098] S326. Update the Lagrange multipliers according to the KKT conditions;
[0099] By solving the above equations, update the Lagrange multipliers λ1, λ2, λ3.
[0100] S327. If the preset convergence condition is satisfied, stop the iteration; the preset convergence condition is, for example, that the norm of the gradient is small enough or the maximum number of iterations is reached.
[0101] S328. Extract the optimal thrust and the optimal thrust direction angle of each distributed thruster from the final iteration result.
[0102] Refer to Figure 6On the other hand, the present application also provides a vehicle floating escape control device, wherein distributed thrusters are installed at multiple positions of the vehicle, and the vehicle floating escape control device comprises:
[0103] The parameter acquisition module 201 is used to acquire the current motion state parameters of the vehicle and the real-time environmental parameters of the front obstacle relative to the vehicle when recognizing that the vehicle enters the floating escape mode;
[0104] The target bow angular velocity determination module 202 is used to identify the target bow angular velocity of the vehicle according to the current motion state parameters of the vehicle and the real-time environmental parameters of the front obstacle relative to the vehicle;
[0105] A distributed thruster parameter determination module 203 is used to determine the thrust and thrust direction angle of each distributed thruster according to the target bow angular velocity of the vehicle, the heading angle of the vehicle and the position of each distributed thruster;
[0106] The control module 204 is used to control each distributed thruster according to the thrust and thrust direction angle of each distributed thruster, so as to adjust the motion state of the vehicle.
[0107] On the other hand, an embodiment of the present application further provides a vehicle, comprising the vehicle floating escape control device as described in claim 7.
[0108] On the other hand, an embodiment of the present application also provides a control device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the vehicle floating escape control method as described above.
[0109] On the other hand, an embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the above-mentioned vehicle floating escape control method are implemented.
[0110] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
[0111] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.
[0112] It should also be noted that in this text, terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. This is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present invention. In addition, relative terms such as "first" and "second" are used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor can they be construed as indicating or implying relative importance. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements does not include those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.
[0113] The technical solutions provided by the present invention have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only for helping to understand the present invention, and the content of this specification should not be construed as a limitation on the present invention. At the same time, for those of ordinary skill in the art, according to the present invention, there will be various forms of changes in the specific implementation manners and application scopes. It is not necessary and impossible to list all the implementation manners here, and the obvious changes or variations derived therefrom are still within the protection scope of the present invention.
Claims
1. A vehicle floating water escape control method, characterized in that, Distributed thrusters are installed in multiple orientations of the vehicle, and the vehicle floating water escape control method includes: When it is recognized that the vehicle enters the floating water escape mode, obtain the current motion state parameters of the vehicle and the real-time environmental parameters of the obstacle in front of the vehicle relative to the vehicle; According to the current motion state parameters of the vehicle and the real-time environmental parameters of the obstacle in front of the vehicle relative to the vehicle, identify the target yaw angular velocity of the vehicle; According to the target yaw angular velocity of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters, determine the thrust and thrust direction angles of the distributed thrusters; Control the distributed thrusters according to the thrust and thrust direction angles of the distributed thrusters, so as to adjust the motion state of the vehicle.
2. The vehicle floating water escape control method according to claim 1, wherein The step of identifying the target yaw angular velocity of the vehicle according to the current motion state parameters of the vehicle and the real-time environmental parameters of the obstacle in front of the vehicle relative to the vehicle includes: Determine the time for the vehicle to reach the obstacle in front according to the current speed of the vehicle and the distance of the obstacle in front relative to the vehicle; Determine the target yaw angular velocity of the vehicle according to the heading angle of the vehicle, the heading angle of the obstacle in front, and the time for the vehicle to reach the obstacle in front.
3. The vehicle floating water escape control method according to claim 1, characterized in that, The step of determining the thrust and thrust direction angles of the distributed thrusters according to the target yaw angular velocity of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters includes: Determine the target yaw moment of the vehicle according to the target yaw angular velocity of the vehicle; Determine the thrust and thrust direction angles of the distributed thrusters according to the target yaw moment of the vehicle, the current heading angle of the vehicle, and the positions of the distributed thrusters.
4. The vehicle floating water escape control method according to claim 3, wherein The step of determining the target yaw moment of the vehicle according to the target yaw angular velocity of the vehicle includes: Determine the target yaw moment of the vehicle according to the target yaw angular velocity of the vehicle and the moment of inertia of all distributed thrusters about the z-axis of the vehicle.
5. The vehicle floating water escape control method according to claim 2, wherein The step of determining the thrust and thrust direction angles of the distributed thrusters according to the target yaw moment of the vehicle, the current heading angle of the vehicle, and the coordinates of the distributed thrusters relative to the vehicle's center of mass includes: Construct the kinematic control equation of the vehicle: where τ ψ is the target yaw moment of the vehicle; τ x is the moment in the longitudinal direction X of the vehicle coordinate system, τ x = 0; τ y is the moment in the lateral direction y of the vehicle coordinate system, τ y = 0; ψ is the current heading angle of the vehicle; F i is the thrust of the i-th distributed thruster, θ i is the thrust direction angle of the i-th distributed thruster, i = 1, 2... n; Build the constraint: τ x = 0, τ y = 0, τ ψ = the target yaw moment of the vehicle; Construct an objective function according to the minimum energy consumption of the distributed thrusters; Introduce Lagrange multipliers to integrate the constraint conditions into the objective function and construct a Lagrangian function; Take the partial derivative of the constructed Lagrangian function and set it equal to zero to obtain the KKT conditions; Update the Lagrange multipliers according to the KKT conditions; If the preset convergence condition is satisfied, stop the iteration; Extract the optimal thrust and optimal thrust direction angles of the distributed thrusters from the final iteration results.
6. The vehicle floating water escape control method according to claim 2, characterized in that, The step of determining the target yaw angular velocity of the vehicle according to the heading angle of the vehicle, the heading angle of the obstacle in front, and the time for the vehicle to reach the obstacle in front includes: Determine the difference between the heading angle of the obstacle in front and the heading angle of the vehicle; Determine the ratio of the heading angle difference to the time for the vehicle to reach the obstacle in front as the target yaw angular velocity of the vehicle.
7. A vehicle floating water escape control device, characterized in that Distributed thrusters are installed in multiple orientations of the vehicle, and the vehicle floating water escape control device includes: A parameter acquisition module, configured to obtain the current motion state parameters of the vehicle and the real-time environmental parameters of the obstacle in front of the vehicle relative to the vehicle when it is recognized that the vehicle enters the floating water escape mode; A target bow angular velocity determination module is used to identify the target bow angular velocity of the vehicle according to the current motion state parameters of the vehicle and the real-time environmental parameters of the front obstacle relative to the vehicle; A distributed thruster parameter determination module is used to determine the thrust and thrust direction angle of each distributed thruster according to the target bow angular velocity of the vehicle, the heading angle of the vehicle and the position of each distributed thruster; The control module is used to control each distributed thruster according to the thrust and thrust direction angle of each distributed thruster, so as to adjust the motion state of the vehicle.
8. A vehicle, characterized in that, It includes the vehicle floating escape control device as described in claim 7.
9. A control device, characterized in that, The method comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the vehicle floating escape control method as claimed in any one of claims 1 to 6.
10. A readable storage medium, characterized in that, The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle floating escape control method as described in any one of claims 1 to 6 are implemented.