Emergency driving method and system for all-terrain tracked special vehicle based on lithium battery

Abstract

The present application relates to the field of special vehicle technology, in particular to an emergency driving method and system for all-terrain tracked special vehicles based on lithium batteries, the method comprising: encoding the real-time voltage of the medium-voltage DC bus, the vehicle speed and the torque signal to obtain a working condition characteristic vector; matching the vector with the emergency starting condition to generate an emergency driving request and switch to a lithium battery independent power supply mode; disconnecting the power equipment and connecting the lithium battery pack to generate sustainable output power in combination with the battery state of charge and temperature; inverting the throttle and brake pedal signals to obtain the driving torque command, and when the required power exceeds the limit, differentiating the driving torque of the inside and outside of the steering according to the road adhesion coefficient and the steering angle to allocate the power. Finally, the driving motor is controlled according to the allocation command to make the vehicle enter the emergency driving state; the present application can improve the efficiency of emergency driving.

Description

Technical Field

[0001] This invention relates to the field of special vehicle technology, and in particular to an emergency drive method and system for all-terrain tracked special vehicles based on lithium batteries. Background Technology

[0002] Existing emergency drive solutions for all-terrain tracked special vehicles cannot accurately identify abnormal operating conditions such as voltage drops in the medium-voltage DC bus and sudden changes in vehicle load. The emergency start judgment mechanism is lagging behind, the power supply switching response speed is slow, it is difficult to quickly establish an independent power supply circuit for lithium batteries, and the emergency drive triggering efficiency is low.

[0003] Traditional emergency drive torque distribution does not dynamically adjust based on road surface adhesion coefficient and steering angle. In scenarios where lithium battery power is limited, it is prone to problems such as imbalance in torque distribution between the inside and outside of the steering wheel and increased risk of vehicle slippage. The emergency driving stability and power utilization rate cannot meet the needs of complex all-terrain operations. Therefore, how to improve the efficiency of emergency drive for all-terrain tracked special vehicles has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides an emergency drive method and system for all-terrain tracked special vehicles based on lithium batteries, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides an emergency drive method for all-terrain tracked special vehicles based on lithium batteries, comprising:

[0006] A1. The real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle are feature-encoded to obtain the working condition feature vector of the special vehicle.

[0007] A2. Perform pattern matching and determination between the working condition feature vector and the preset emergency start conditions to obtain the emergency drive request of the special vehicle, and mark the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode.

[0008] A3. In response to the emergency drive request and the lithium battery independent power supply mode, disconnect the electrical connection between the power generation equipment of the special vehicle and the medium-voltage DC bus, connect the new energy lithium battery pack of the special vehicle to the medium-voltage DC bus, and generate the continuous output power of the lithium battery of the special vehicle according to the real-time state of charge and real-time temperature of the new energy lithium battery pack.

[0009] A4. Perform physical quantity inversion on the accelerator pedal opening signal and brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle.

[0010] A5. When the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, the driving torque inside the steering wheel and the driving torque outside the steering wheel in the driving torque command are differentially derated according to the road adhesion coefficient and steering angle signal of the special vehicle to obtain the emergency driving torque distribution command of the special vehicle.

[0011] A6. According to the emergency drive torque distribution command, control the drive motor of the special vehicle to output drive torque, so that the special vehicle enters the emergency drive driving state.

[0012] In a preferred embodiment, the step of performing feature encoding on the real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle to obtain the operating condition feature vector of the special vehicle includes:

[0013] The real-time voltage value of the medium-voltage DC bus is divided into fluctuation ranges to obtain the voltage status identifier of the medium-voltage DC bus.

[0014] Discretize and sample the speed and torque signals of the special vehicle to obtain the speed-torque time sequence of the special vehicle;

[0015] The voltage state identifier is topologically mapped to the speed-torque time series to construct a multi-dimensional operating condition feature space for the special vehicle.

[0016] In the multi-dimensional operating condition feature space, the correlation between the amplitude change rate of the speed-torque time series and the voltage state identifier is weighted and fused.

[0017] Based on the fusion results, the load mutation characteristics of the special vehicle and the voltage drop characteristics of the medium-voltage DC bus are extracted, and the load mutation characteristics and the voltage drop characteristics are vector-joined to obtain the operating condition feature vector of the special vehicle.

[0018] In a preferred embodiment, the step of performing pattern matching determination between the operating condition feature vector and preset emergency start conditions to obtain the emergency drive request of the special vehicle, and marking the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode, includes:

[0019] Extract the voltage state identifier and load change feature from the operating condition feature vector to generate the feature set to be matched for the special vehicle;

[0020] The set of features to be matched is aligned with the preset emergency start conditions to obtain the matching result set of the special vehicle. The emergency start conditions include a voltage drop threshold range and a torque response lag time window.

[0021] Based on the matching result set, the current operating state machine of the special vehicle is locked, and an emergency drive request for the special vehicle is generated;

[0022] The mode identifier of the operating state machine in the special vehicle is rewritten to the lithium battery independent power supply mode.

[0023] In a preferred embodiment, the step of disconnecting the electrical connection between the power generation equipment of the special vehicle and the medium-voltage DC bus in response to the emergency drive request and the independent power supply mode of the lithium battery, connecting the new energy lithium battery pack of the special vehicle to the medium-voltage DC bus, and generating the sustainable output power of the lithium battery of the special vehicle based on the real-time state of charge and real-time temperature of the new energy lithium battery pack includes:

[0024] According to the emergency drive request, a shutdown command is sent to the power generation equipment of the special vehicle, and the power switching device between the power generation equipment and the medium-voltage DC bus is controlled to disconnect, so as to generate a passive status signal of the medium-voltage DC bus;

[0025] In response to the passive state signal, the pre-charge contactor between the new energy lithium battery pack of the special vehicle and the medium-voltage DC bus is closed, and the voltage ramp-up curve of the medium-voltage DC bus is monitored.

[0026] When the voltage ramp-up curve reaches the preset voltage threshold, the main positive contactor and the main negative contactor of the new energy lithium battery pack are closed, and the pre-charge contactor is opened to generate the access completion signal of the new energy lithium battery pack.

[0027] The real-time state-of-charge data of the battery management system in the new energy lithium battery pack and the real-time temperature data fed back by the battery thermal management system are used to determine the threshold and obtain the sustainable output power of the lithium battery of the special vehicle.

[0028] In a preferred embodiment, the step of performing threshold determination on the real-time state-of-charge data of the battery management system and the real-time temperature data fed back by the battery thermal management system in the new energy lithium battery pack to obtain the sustainable output power of the lithium battery of the special vehicle includes:

[0029] The real-time state of charge data of the battery management system in the new energy lithium battery pack is classified by threshold to obtain the power safety level of the new energy lithium battery pack.

[0030] The real-time temperature data fed back by the battery thermal management system in the new energy lithium battery pack is classified into states to obtain the thermal risk range of the new energy lithium battery pack.

[0031] The power safety level and the thermal risk range are mapped to a preset power limit rule library to obtain the power constraint conditions of the new energy lithium battery pack.

[0032] Based on the power constraint conditions, the power demand of the special vehicle is dynamically limited to obtain the sustainable output power of the lithium battery of the special vehicle.

[0033] In a preferred embodiment, the step of performing physical quantity inversion on the accelerator pedal opening signal and brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle includes:

[0034] The accelerator pedal opening signal of the special vehicle is nonlinearly mapped to obtain the reference value of the driving torque requirement of the special vehicle.

[0035] The brake pedal opening signal of the special vehicle is encoded into the braking torque command of the special vehicle.

[0036] When the braking forced torque command takes effect, the driving demand torque reference value is forcibly set to zero, and the special vehicle's creep feedback torque is generated according to the special vehicle's emergency driving mode.

[0037] When the braking forced torque command is not effective, the drive system of the special vehicle is nonlinearly gained and mapped according to the drive demand torque reference value to obtain the initial drive torque demand of the special vehicle.

[0038] Based on the current speed signal of the special vehicle, the slope of the change in the initial drive torque demand is adjusted to generate the drive torque command for the special vehicle.

[0039] In a preferred embodiment, when the required power corresponding to the drive torque command exceeds the sustainable output power of the lithium battery, the inner steering drive torque and outer steering drive torque in the drive torque command are differentially derating based on the road adhesion coefficient and steering angle signal of the special vehicle to obtain the emergency drive torque distribution command for the special vehicle, including:

[0040] In response to the demand power corresponding to the drive torque command exceeding the sustainable output power of the lithium battery, the steering angle signal of the special vehicle is subjected to joint time-frequency domain analysis to obtain the steering dynamic correction coefficient of the special vehicle.

[0041] The road surface adhesion coefficient of the special vehicle is coupled with the driving torque command for analysis to obtain the real-time slip risk assessment factor of the special vehicle.

[0042] The steering dynamic correction coefficient and the real-time slip risk assessment factor are nonlinearly weighted and fused to obtain the torque distribution weight vector of the special vehicle. The torque distribution weight vector includes an inner weight component and an outer weight component.

[0043] Based on the torque distribution weight vector, the driving torque command is reconstructed to obtain the steering inner driving torque and steering outer driving torque of the special vehicle.

[0044] An emergency drive torque distribution command for the special vehicle is generated based on the steering inside drive torque and the steering outside drive torque.

[0045] In a preferred embodiment, the torque distribution weight vector is calculated using the following formula:

[0046] ;

[0047] In the formula, Assign a weight vector to the torque. The inner weight component, The outer weight component, This is the steering dynamic correction coefficient. The road surface adhesion coefficient is... The real-time slip risk assessment factor is... The preset adjustment factor, It is an exponential function with the natural constant as its base.

[0048] In a preferred embodiment, controlling the drive motor of the special vehicle to output drive torque according to the emergency drive torque distribution command, so that the special vehicle enters the emergency drive driving state, includes:

[0049] The emergency drive torque distribution command is parsed into a left drive motor torque command and a right drive motor torque command, and then sent to the left drive motor and right drive motor of the special vehicle respectively.

[0050] The real-time output torque values ​​of the left drive motor and the right drive motor are obtained respectively, and the real-time output torque values ​​are compared with the corresponding torque commands to obtain the torque tracking deviation value of the special vehicle.

[0051] Based on the torque tracking deviation value, the torque commands sent to the left drive motor and the right drive motor are adjusted until the real-time output torque value is consistent with the torque command, so that the special vehicle enters the emergency driving state.

[0052] To address the aforementioned problems, the present invention also provides an emergency drive system for an all-terrain tracked special vehicle based on a lithium battery, the system comprising:

[0053] The operating condition encoding module is used to encode the real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle, and obtain the operating condition feature vector of the special vehicle.

[0054] The mode determination module is used to perform mode matching determination between the working condition feature vector and the preset emergency start conditions to obtain the emergency drive request of the special vehicle, and mark the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode.

[0055] The power supply switching and power assessment module is used to respond to the emergency drive request and the lithium battery independent power supply mode, disconnect the electrical connection between the power generation equipment of the special vehicle and the medium voltage DC bus, connect the new energy lithium battery pack of the special vehicle to the medium voltage DC bus, and generate the sustainable output power of the lithium battery of the special vehicle based on the real-time state of charge and real-time temperature of the new energy lithium battery pack.

[0056] The torque command generation module is used to perform physical quantity inversion on the accelerator pedal opening signal and the brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle.

[0057] The derating allocation module is used to differentiate the derating allocation of the inner steering drive torque and the outer steering drive torque in the driving torque command according to the road adhesion coefficient and steering angle signal of the special vehicle when the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, so as to obtain the emergency driving torque allocation command of the special vehicle.

[0058] The drive execution module is used to control the drive motor of the special vehicle to output drive torque according to the emergency drive torque distribution command, so that the special vehicle enters the emergency drive driving state.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. This invention uses feature encoding of medium-voltage DC bus voltage, vehicle speed and torque signals to accurately construct operating condition feature vectors and complete emergency drive mode matching and determination, quickly realizing the disconnection of power generation equipment and safe connection of lithium battery pack. Combined with battery state of charge and real-time temperature, it accurately calculates sustainable output power, making emergency power supply switching more efficient and power output more in line with vehicle operation needs, ensuring the timeliness of emergency drive start-up and the stability of power supply status.

[0061] 2. This invention uses the road surface adhesion coefficient and steering angle to achieve differentiated derating of the driving torque on the inside and outside of the steering path, accurately adapting to the power constraints of the lithium battery and all-terrain driving conditions. Through precise tracking and dynamic adjustment of the drive motor torque, it optimizes the torque output control logic of emergency drive, improves the vehicle's handling and passability in emergency driving, and comprehensively enhances the overall efficiency and driving safety of emergency drive for all-terrain tracked special vehicles. Attached Figure Description

[0062] Figure 1 This is a flowchart illustrating an emergency drive method for an all-terrain tracked special vehicle based on a lithium battery, according to an embodiment of the present invention.

[0063] Figure 2 A functional block diagram of an emergency drive system for an all-terrain tracked special vehicle based on a lithium battery, provided in an embodiment of the present invention;

[0064] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0065] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0066] This application provides an emergency driving method for all-terrain tracked special vehicles based on lithium batteries. The executing entity of the emergency driving method for all-terrain tracked special vehicles based on lithium batteries includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the emergency driving method for all-terrain tracked special vehicles based on lithium batteries can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0067] Reference Figure 1 The diagram shown is a flowchart illustrating an emergency drive method for an all-terrain tracked special vehicle based on a lithium battery, according to an embodiment of the present invention. In this embodiment, the emergency drive method for an all-terrain tracked special vehicle based on a lithium battery includes:

[0068] A1. The real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle are feature-encoded to obtain the working condition feature vector of the special vehicle.

[0069] In this embodiment of the invention, the step of performing feature encoding on the real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle to obtain the operating condition feature vector of the special vehicle includes:

[0070] The real-time voltage value of the medium-voltage DC bus is divided into fluctuation ranges to obtain the voltage status identifier of the medium-voltage DC bus.

[0071] Discretize and sample the speed and torque signals of the special vehicle to obtain the speed-torque time sequence of the special vehicle;

[0072] The voltage state identifier is topologically mapped to the speed-torque time series to construct a multi-dimensional operating condition feature space for the special vehicle.

[0073] In the multi-dimensional operating condition feature space, the correlation between the amplitude change rate of the speed-torque time series and the voltage state identifier is weighted and fused.

[0074] Based on the fusion results, the load mutation characteristics of the special vehicle and the voltage drop characteristics of the medium-voltage DC bus are extracted, and the load mutation characteristics and the voltage drop characteristics are vector-joined to obtain the operating condition feature vector of the special vehicle.

[0075] The real-time voltage value of the medium-voltage DC bus is divided according to a preset continuous and non-overlapping fixed voltage value range. The real-time collected medium-voltage DC bus voltage value is compared with each preset voltage fluctuation range to determine the unique voltage fluctuation range to which the voltage value belongs. Each voltage fluctuation range is assigned a unique fixed identifier. The voltage status identifier of the medium-voltage DC bus is directly determined and obtained by matching the voltage value with the range.

[0076] The speed and torque signals of the special vehicle are synchronously collected at preset fixed time intervals. Each collection acquires the speed and torque data at the same moment. All the collected speed and torque data are arranged in the order of collection time to form a speed-torque time sequence of the special vehicle composed of speed and torque data corresponding to consecutive time points.

[0077] Using voltage status identifiers as the classification basis, the speed and torque data corresponding to each time group in the speed-torque time series are mapped to the voltage status identifier classification matched by the data acquisition time of that group. With voltage status, speed value, torque value, and acquisition time as independent dimensions, a multi-dimensional working condition feature space for special vehicles that can comprehensively characterize the vehicle's operating status is constructed through the correspondence and integration of multi-dimensional data.

[0078] Within the multidimensional operating condition feature space, the difference in speed amplitude and the difference in torque amplitude between two adjacent sets of data in the speed-torque time series are calculated sequentially. The ratio of the difference to the time interval is taken as the amplitude change rate. Then, the correlation between each set of amplitude change rate and the corresponding voltage status indicator is determined one by one. The amplitude change rate and the correlation degree are numerically merged according to a preset fixed weight ratio to complete the weighted fusion of the correlation between the amplitude change rate and the voltage status indicator of the speed-torque time series.

[0079] The pre-set judgment index for load mutation is that the torque amplitude change rate reaches a fixed value. Data features that meet this judgment index are extracted from the weighted fusion results as the load mutation features of the special vehicle. The pre-set judgment index for voltage drop is that the voltage status indicator corresponding interval is lower than a fixed voltage threshold. Data features that meet this judgment index are extracted from the weighted fusion results as the voltage drop features of the medium voltage DC bus. The load mutation features and voltage drop features are vector-combined and spliced ​​in a fixed order to directly obtain the operating condition feature vector of the special vehicle.

[0080] The beneficial effects are that by standardizing, mapping and weighting the medium-voltage DC bus voltage, vehicle speed and torque signals, the core features of load changes and voltage drops during vehicle operation can be completely extracted. The generated operating condition feature vector is complete in dimension and accurate in data, providing a stable and reliable basis for subsequent emergency drive mode matching, and effectively improving the accuracy and response efficiency of emergency drive request identification.

[0081] A2. Perform pattern matching and determination between the working condition feature vector and the preset emergency start conditions to obtain the emergency drive request of the special vehicle, and mark the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode.

[0082] In this embodiment of the invention, the step of performing pattern matching determination between the working condition feature vector and preset emergency start conditions to obtain the emergency drive request of the special vehicle, and marking the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode, includes:

[0083] Extract the voltage state identifier and load change feature from the operating condition feature vector to generate the feature set to be matched for the special vehicle;

[0084] The set of features to be matched is aligned with the preset emergency start conditions to obtain the matching result set of the special vehicle. The emergency start conditions include a voltage drop threshold range and a torque response lag time window.

[0085] Based on the matching result set, the current operating state machine of the special vehicle is locked, and an emergency drive request for the special vehicle is generated;

[0086] The mode identifier of the operating state machine in the special vehicle is rewritten to the lithium battery independent power supply mode.

[0087] By locating two pre-defined independent feature fields within the vector splicing structure of the working condition feature vector, the feature field corresponding to the voltage status identifier is accurately located first, and all voltage status information within that field is completely extracted. Then, the feature field corresponding to the load mutation feature is accurately located, and all load mutation-related information within that field is completely extracted. The extracted voltage status identifier information is placed at the front end of the feature combination, and the load mutation feature information is placed at the back end of the feature combination. The two feature contents are organized and collected according to this fixed arrangement, forming a complete set covering all core features of emergency drive judgment. This set is directly defined as the feature set to be matched for special vehicles.

[0088] The system retrieves preset emergency start conditions, which include a voltage drop threshold range with a fixed numerical range and a torque response lag time window with a fixed duration range. The actual voltage value corresponding to the voltage status identifier in the feature set to be matched is compared with the lower and upper limits of the voltage drop threshold range in turn to confirm whether the actual voltage value falls within the range. At the same time, the actual torque change duration corresponding to the load change feature in the feature set to be matched is compared with the start and end durations of the torque response lag time window in turn to confirm whether the actual torque change duration falls within the window range. The voltage comparison results and torque comparison results are recorded one by one. All recorded results are integrated to form the matching result set for special vehicles.

[0089] The voltage comparison results and torque comparison results in the matching result set are read sequentially. When the voltage comparison result indicates that the actual voltage value is within the voltage drop threshold range, and the torque comparison result indicates that the actual torque change duration is within the torque response lag time window, it is determined that the current operating state of the special vehicle meets the emergency drive triggering standard and enters the emergency triggering operating state. After receiving the determination result, the operating state machine immediately stops the switching process of all non-emergency states such as normal driving state and standby state, blocks the non-emergency state jump path of the state machine, and completes the locking of the current operating state machine of the special vehicle. After the state machine is locked, the emergency drive request of the special vehicle is triggered according to the emergency instruction generation specification process preset by the system.

[0090] Based on the internal storage address encoding of the running state machine, the physical storage area specifically storing the mode identifier in the locked current running state machine is located. First, the original conventional power supply mode identifier data in the storage area is cleared to ensure that there is no residual information interference in the storage area. Then, the standard identifier information of the lithium battery independent power supply mode is completely written into the storage area. After the writing is completed, the identifier information in the storage area is checked to be completely consistent with the standard content. The rewriting operation of the running state machine mode identifier is completed, and the running state machine is officially switched to the emergency drive mode of lithium battery independent power supply.

[0091] The beneficial effects are that through precise feature field location and extraction, rigorous dual-condition item-by-item verification, stable state machine process locking, and standardized identifier storage rewriting, it can complete the feature extraction, condition matching, state locking, and mode configuration of emergency drive completely and accurately, which greatly improves the accuracy and response speed of emergency drive request generation and provides stable and reliable instruction support and mode foundation for subsequent power supply switching operations.

[0092] A3. In response to the emergency drive request and the lithium battery independent power supply mode, disconnect the electrical connection between the power generation equipment of the special vehicle and the medium-voltage DC bus, connect the new energy lithium battery pack of the special vehicle to the medium-voltage DC bus, and generate the continuous output power of the lithium battery of the special vehicle according to the real-time state of charge and real-time temperature of the new energy lithium battery pack.

[0093] In this embodiment of the invention, the step of disconnecting the electrical connection between the power generation equipment of the special vehicle and the medium-voltage DC bus in response to the emergency drive request and the independent power supply mode of the lithium battery, connecting the new energy lithium battery pack of the special vehicle to the medium-voltage DC bus, and generating the sustainable output power of the lithium battery of the special vehicle based on the real-time state of charge and real-time temperature of the new energy lithium battery pack includes:

[0094] According to the emergency drive request, a shutdown command is sent to the power generation equipment of the special vehicle, and the power switching device between the power generation equipment and the medium-voltage DC bus is controlled to disconnect, so as to generate a passive status signal of the medium-voltage DC bus;

[0095] In response to the passive state signal, the pre-charge contactor between the new energy lithium battery pack of the special vehicle and the medium-voltage DC bus is closed, and the voltage ramp-up curve of the medium-voltage DC bus is monitored.

[0096] When the voltage ramp-up curve reaches the preset voltage threshold, the main positive contactor and the main negative contactor of the new energy lithium battery pack are closed, and the pre-charge contactor is opened to generate the access completion signal of the new energy lithium battery pack.

[0097] The real-time state-of-charge data of the battery management system in the new energy lithium battery pack and the real-time temperature data fed back by the battery thermal management system are used to determine the threshold and obtain the sustainable output power of the lithium battery of the special vehicle.

[0098] The step of determining the sustainable output power of the lithium battery of the special vehicle by performing threshold determination on the real-time state-of-charge data of the battery management system and the real-time temperature data fed back by the battery thermal management system in the new energy lithium battery pack includes:

[0099] The real-time state of charge data of the battery management system in the new energy lithium battery pack is classified by threshold to obtain the power safety level of the new energy lithium battery pack.

[0100] The real-time temperature data fed back by the battery thermal management system in the new energy lithium battery pack is classified into states to obtain the thermal risk range of the new energy lithium battery pack.

[0101] The power safety level and the thermal risk range are mapped to a preset power limit rule library to obtain the power constraint conditions of the new energy lithium battery pack.

[0102] Based on the power constraint conditions, the power demand of the special vehicle is dynamically limited to obtain the sustainable output power of the lithium battery of the special vehicle.

[0103] After receiving an emergency drive request, the vehicle's central control unit transmits a standardized shutdown command to the special vehicle's generator via the vehicle control bus. Upon receiving the shutdown command, the generator immediately cuts off its internal power input and stops electromagnetic power generation. The central control unit outputs a disconnection control signal through the drive circuit, causing the power switching devices between the generator and the medium-voltage DC bus to complete the disconnection action of completely separating the contacts. After the disconnection action is completed, the voltage detection module monitors the voltage status of the medium-voltage DC bus in real time. After confirming that there is no voltage input from any external power supply equipment on the bus, it generates and outputs a passive status signal for the medium-voltage DC bus.

[0104] After receiving the passive status signal through the vehicle signal link, the pre-charging contactor between the new energy lithium battery pack and the medium-voltage DC bus is output with a energizing control signal. After receiving the signal, the pre-charging contactor completes the energizing of its internal contacts to achieve circuit conduction. The central control unit continuously collects the real-time voltage data of the medium-voltage DC bus at fixed time intervals through the voltage acquisition module. The voltage data collected at each time point is recorded in the order of acquisition time to form a continuous and real-time monitorable voltage rise curve of the medium-voltage DC bus.

[0105] The data comparison module continuously checks the real-time voltage value in the voltage ramp-up curve against the system's preset voltage threshold. When the real-time voltage value in the voltage ramp-up curve reaches and stabilizes at the preset voltage threshold, the central control unit synchronously outputs a closing control signal to the main positive contactor and the main negative contactor of the new energy lithium battery pack. After the main positive contactor and the main negative contactor complete the contact closing and conduction in sequence, the central control unit outputs a disconnection control signal to the pre-charge contactor to completely separate its contacts. After the pre-charge contactor disconnects, the continuity detection module confirms that the new energy lithium battery pack and the medium-voltage DC bus have achieved a stable electrical connection, thereby generating a new energy lithium battery pack connection completion signal.

[0106] The battery management system retrieves real-time state-of-charge (SOC) data from the new energy lithium battery pack via its communication interface. This real-time SOC data is then compared sequentially with multiple preset fixed SOC thresholds within the system. Based on the comparison results, the fixed threshold level to which the real-time SOC data belongs is determined. This determined level is directly used as the energy safety level of the new energy lithium battery pack.

[0107] The real-time temperature data of the new energy lithium battery pack is obtained through the communication port of the battery thermal management system. The real-time temperature data is matched with multiple fixed temperature ranges preset in the system one by one. Based on the matching result, the unique fixed temperature range to which the real-time temperature data belongs is determined. The temperature range determined by the matching is directly defined as the thermal risk range of the new energy lithium battery pack.

[0108] The central control unit calls the system's internal preset power limit rule library, performs precise searches in the rule library according to the dual matching conditions of power safety level and thermal risk range, finds the power limit rule that completely corresponds to the current power safety level and thermal risk range, extracts the corresponding power upper limit value and continuous output limit requirements from the rule, and integrates the extracted power upper limit value and output limit requirements to form the complete power constraint conditions of the new energy lithium battery pack.

[0109] The central control unit obtains the power demand value generated by the special vehicle under the current driving state through the vehicle power acquisition module, compares the power demand value with the power upper limit value in the power constraint conditions, and adjusts the power demand value to the power upper limit value when the power demand value is higher than the power upper limit value. When the power demand value is lower than or equal to the power upper limit value, the power demand value is kept unchanged. The final power value determined after adjustment is the sustainable output power of the lithium battery of the special vehicle.

[0110] The beneficial effects are that through standardized operations of power generation equipment shutdown, power switch disconnection, pre-charge conduction, and main contactor switching, safe and shock-free switching of the medium-voltage DC bus power supply circuit can be achieved. Combined with precise classification of battery state of charge and scientific classification of temperature status, exclusive power constraint rules are matched and dynamic power limiting is completed. This can not only ensure the safety and stability of emergency power supply for lithium battery packs, but also make the output power accurately adapt to the actual needs of emergency driving of special vehicles, thus comprehensively improving the reliability of emergency power supply switching and power output control.

[0111] A4. Perform physical quantity inversion on the accelerator pedal opening signal and brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle.

[0112] In this embodiment of the invention, the step of performing physical quantity inversion on the accelerator pedal opening signal and the brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle includes:

[0113] The accelerator pedal opening signal of the special vehicle is nonlinearly mapped to obtain the reference value of the driving torque requirement of the special vehicle.

[0114] The brake pedal opening signal of the special vehicle is encoded into the braking torque command of the special vehicle.

[0115] When the braking forced torque command takes effect, the driving demand torque reference value is forcibly set to zero, and the special vehicle's creep feedback torque is generated according to the special vehicle's emergency driving mode.

[0116] When the braking forced torque command is not effective, the drive system of the special vehicle is nonlinearly gained and mapped according to the drive demand torque reference value to obtain the initial drive torque demand of the special vehicle.

[0117] Based on the current speed signal of the special vehicle, the slope of the change in the initial drive torque demand is adjusted to generate the drive torque command for the special vehicle.

[0118] The central control unit acquires the analog voltage signal of the accelerator pedal opening of the special vehicle in real time through the pedal signal acquisition module. The acquired continuous analog voltage signal is converted into discrete standard digital opening values ​​through the analog-to-digital conversion unit. These values ​​completely correspond to the full range of accelerator pedal opening from fully released to fully depressed. The system pre-stores a non-linear mapping table that corresponds one-to-one between the full range of accelerator pedal opening and the driving torque. The table divides the full range of accelerator pedal opening into multiple continuous and non-overlapping fixed opening ranges. Each opening range is bound to a unique torque output value. The digital opening value obtained in real time is compared with the fixed opening ranges in the table in sequence to accurately determine the unique opening range to which the digital opening value belongs. The torque output value bound to that range is extracted and directly determined as the reference value of the driving torque required by the special vehicle.

[0119] The central control unit collects the analog voltage signal of the brake pedal opening of the special vehicle in real time through the pedal signal acquisition module. The continuous analog voltage signal is converted into discrete standard digital brake opening value through the analog-to-digital conversion unit. This value completely corresponds to the full stroke opening state of the brake pedal from fully released to fully depressed. The system has a preset exclusive encoding rule for the brake pedal signal. This rule is used to encode the digital brake opening value with the braking execution state and braking torque control requirements. After encoding, a complete command message is formed, which includes the braking activation state, braking intensity level and torque limit requirements. This command message is directly defined as the braking forced torque command of the special vehicle.

[0120] The system detects the activation flag within the forced braking torque command in real time. When the activation flag is detected to be valid, meaning the forced braking torque command is in effect, the previously generated driving torque reference value is immediately forcibly modified to zero, completely blocking the output flow of the forward driving torque. The system pre-stores fixed creep torque parameters adapted to all-terrain driving in emergency driving mode, and directly calls these fixed creep torque parameters to generate creep feedback torque that matches the special vehicle in emergency driving mode.

[0121] The system monitors the activation flag within the forced braking torque command in real time. When the activation flag is detected to be invalid, meaning the forced braking torque command is not effective, the system retains the baseline value of the driving torque requirement as the core basis for torque calculation. The system pre-stores the nonlinear torque gain mapping rule adapted to the special vehicle drive system hardware. This rule sets the gain adjustment coefficient corresponding to different baseline torques based on the rated performance of the drive system. The system accurately matches the baseline value of the driving torque requirement with this mapping rule, obtains the corresponding gain adjustment coefficient, and completes the gain adjustment of the baseline torque to obtain the adjusted torque value. This value is directly determined as the initial driving torque requirement of the special vehicle.

[0122] The vehicle speed sensor signal of the special vehicle is collected in real time by the vehicle speed signal acquisition module. The collected vehicle speed sensor signal is converted into a standard digital vehicle speed value by the signal processing unit. The system pre-stores a relationship table that corresponds one-to-one between the full range of vehicle speed and the torque change slope. The relationship table divides the full range of vehicle speed into multiple continuous and non-overlapping fixed vehicle speed intervals. Each vehicle speed interval is bound to a unique torque change slope parameter. The digital vehicle speed value obtained in real time is compared with the fixed vehicle speed interval in the relationship table in turn to accurately determine the unique vehicle speed interval to which the digital vehicle speed value belongs. The torque change slope parameter bound to that interval is extracted. The slope parameter is used to smoothly adjust the output change rate of the initial drive torque demand to avoid sudden shocks in torque output. The final torque control command formed after the adjustment is completed is directly the drive torque command of the special vehicle.

[0123] The beneficial effects are as follows: by accurately obtaining the driving torque reference value that matches the driving intention through analog-to-digital conversion and nonlinear mapping of the accelerator pedal signal, the safety control logic of prioritizing braking is realized by relying on the dedicated coding of the braking signal, the appropriate creep feedback torque is generated in emergency mode to ensure low-speed driving stability, the torque gain mapping is completed to optimize the output intensity by combining the characteristics of the drive system hardware, and the torque change rate is smoothed by adjusting the slope associated with the vehicle speed. This ensures that the driving torque command matches the driving needs of emergency driving of special vehicles throughout the entire process, which greatly improves the smoothness of emergency driving, the accuracy of response and driving safety.

[0124] A5. When the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, the driving torque inside the steering wheel and the driving torque outside the steering wheel in the driving torque command are differentially derated according to the road adhesion coefficient and steering angle signal of the special vehicle to obtain the emergency driving torque distribution command of the special vehicle.

[0125] In this embodiment of the invention, when the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, based on the road adhesion coefficient and steering angle signal of the special vehicle, a differentiated derating allocation is performed on the inner steering driving torque and outer steering driving torque in the driving torque command to obtain the emergency driving torque allocation command for the special vehicle, including:

[0126] In response to the demand power corresponding to the drive torque command exceeding the sustainable output power of the lithium battery, the steering angle signal of the special vehicle is subjected to joint time-frequency domain analysis to obtain the steering dynamic correction coefficient of the special vehicle.

[0127] The road surface adhesion coefficient of the special vehicle is coupled with the driving torque command for analysis to obtain the real-time slip risk assessment factor of the special vehicle.

[0128] The steering dynamic correction coefficient and the real-time slip risk assessment factor are nonlinearly weighted and fused to obtain the torque distribution weight vector of the special vehicle. The torque distribution weight vector includes an inner weight component and an outer weight component.

[0129] Based on the torque distribution weight vector, the driving torque command is reconstructed to obtain the steering inner driving torque and steering outer driving torque of the special vehicle.

[0130] An emergency drive torque distribution command for the special vehicle is generated based on the steering inside drive torque and the steering outside drive torque.

[0131] The formula for calculating the torque distribution weight vector is as follows:

[0132] ;

[0133] In the formula, Assign a weight vector to the torque. The inner weight component, The outer weight component, This is the steering dynamic correction coefficient. The road surface adhesion coefficient is... The real-time slip risk assessment factor is... The preset adjustment factor, It is an exponential function with the natural constant as its base.

[0134] The central control unit calculates the required power value corresponding to the drive torque command in real time through the power calculation module. It then compares this value with the continuous output power value of the lithium battery bit by bit. Once it confirms that the required power value is greater than the continuous output power value of the lithium battery, it immediately initiates the steering angle signal processing flow. The high-precision steering angle sensor collects the analog steering angle signal of the special vehicle in real time and converts the analog signal into a standard digital steering angle signal. In the time domain, it extracts the continuous change value of the steering angle and the duration of the complete action point by point. In the frequency domain, it decomposes and extracts the steady-state holding characteristics and dynamic fluctuation characteristics of the steering angle. The numerical duration information extracted in the time domain and the steady-state fluctuation information extracted in the frequency domain are comprehensively integrated and judged. Based on the integration result, the dynamic adjustment parameters adapted to the current steering action are determined. These parameters are directly determined as the steering dynamic correction coefficient of the special vehicle.

[0135] The central control unit collects contact state signals such as contact pressure and friction feedback on the road surface where the special vehicle is currently traveling in real time through the all-terrain road surface condition sensing module. The collected multi-channel contact state signals are uniformly converted into standard numerical signals. Combined with the driving characteristics of the all-terrain tracked special vehicle on muddy, gravel and hard roads, the standard numerical signals are calibrated at multiple levels to finally obtain the road adhesion coefficient value that accurately represents the friction bearing capacity between the track and the road surface.

[0136] Using the target torque output value corresponding to the driving torque command as the core analysis benchmark, the road surface adhesion coefficient value and the target torque output value of the driving torque command are deeply correlated and adapted to accurately determine whether the current target torque output exceeds the road surface friction bearing capacity range. Based on the matching degree between torque output and road surface bearing, multi-level quantitative evaluation is performed, and the evaluation results are converted into standardized values. These values ​​are directly defined as real-time slip risk assessment factors that reflect the current slip risk level of the vehicle.

[0137] Based on historical test data of all-terrain tracked special vehicles in emergency driving scenarios such as mountains, swamps, and gravel, and empirical values ​​of torque distribution under different road conditions, combined with hardware performance parameters such as the rated torque of the vehicle drive motor and the rated voltage of the medium-voltage DC bus, after multiple rounds of test calibration and parameter optimization, a preset adjustment factor for adjusting the response amplitude of the exponential operation was determined. Following the general exponential operation rules in the field of mathematics, the product of the real-time slip risk assessment factor and the preset adjustment factor was subjected to exponential operation with the natural constant as the base, transforming the linear value of slip risk into a nonlinear weight adjustment parameter that adapts to the emergency drive control characteristics.

[0138] The steering dynamic correction coefficient and the road adhesion coefficient are multiplied to obtain the numerator value. The result of the exponential operation is added to the value 1 to obtain the denominator value. The numerator value is divided by the denominator value to obtain the inner weight component. The final calculation result of the inner weight component is then subtracted from the value 1 to obtain the outer weight component. The inner weight component and the outer weight component are combined in a fixed order to form the torque distribution weight vector of the special vehicle containing the complete distribution ratio.

[0139] Using the total target torque value of the drive torque command as the basis for vector reconstruction, the inner weight component in the torque distribution weight vector is proportionally matched with the total target torque value to obtain the torque output value specific to the inner steering side. This value is directly determined as the inner steering drive torque of the special vehicle. The outer weight component in the torque distribution weight vector is proportionally matched with the total target torque value to obtain the torque output value specific to the outer steering side. This value is directly determined as the outer steering drive torque of the special vehicle.

[0140] The values ​​of the steering inner and outer drive torques are standardized in format and range. The standardized parameters are then broken down into independent torque control parameters corresponding to the left and right drive motors, respectively. After the validity of the parameters is verified, a complete set of control parameters is formed. This set directly generates the emergency drive torque distribution command for special vehicles.

[0141] The beneficial effects are as follows: the steering dynamic correction coefficient is accurately obtained by joint analysis of the steering angle signal in the time and frequency domains; the accurate road adhesion coefficient is obtained by calibrating the characteristics of all-terrain road surfaces; the real-time slip risk is quantified by coupling analysis of torque and road load; the preset adjustment factor is calibrated and exponential calculation is completed based on multi-scenario test data; and the inner and outer weight components are obtained by standardized numerical calculation. Finally, the vector reconstruction and differentiated derating allocation of driving torque are realized. In emergency scenarios where lithium battery power is limited, the risk of vehicle steering slip is effectively avoided, and the control accuracy, driving stability and operation safety of all-terrain tracked special vehicles in emergency driving are greatly improved.

[0142] A6. According to the emergency drive torque distribution command, control the drive motor of the special vehicle to output drive torque, so that the special vehicle enters the emergency drive driving state.

[0143] In this embodiment of the invention, controlling the drive motor of the special vehicle to output drive torque according to the emergency drive torque distribution command, so that the special vehicle enters the emergency drive driving state, includes:

[0144] The emergency drive torque distribution command is parsed into a left drive motor torque command and a right drive motor torque command, and then sent to the left drive motor and right drive motor of the special vehicle respectively.

[0145] The real-time output torque values ​​of the left drive motor and the right drive motor are obtained respectively, and the real-time output torque values ​​are compared with the corresponding torque commands to obtain the torque tracking deviation value of the special vehicle.

[0146] Based on the torque tracking deviation value, the torque commands sent to the left drive motor and the right drive motor are adjusted until the real-time output torque value is consistent with the torque command, so that the special vehicle enters the emergency driving state.

[0147] The emergency drive torque distribution command undergoes internal field splitting and format parsing. According to the preset left and right drive motor torque parameter correspondence rules, the torque parameters adapted to the left drive motor are extracted from the command and encapsulated into a complete control command, which is the left drive motor torque command. The torque parameters adapted to the right drive motor are extracted from the command and encapsulated into a complete control command, which is the right drive motor torque command. The left drive motor torque command is sent to the left drive motor of the special vehicle through the vehicle-mounted drive dedicated communication bus, and the right drive motor torque command is sent to the right drive motor of the special vehicle.

[0148] The torque output data is collected in real time by the torque detection module configured on the left drive motor. After steady-state processing, the real-time output torque value of the left drive motor is obtained. The torque output data is collected in real time by the torque detection module configured on the right drive motor. After steady-state processing, the real-time output torque value of the right drive motor is obtained. The real-time output torque value of the left drive motor is compared bit by bit with the target torque value of the torque command of the left drive motor. The real-time output torque value of the right drive motor is compared bit by bit with the target torque value of the torque command of the right drive motor. The difference between the two comparisons is integrated. The integrated difference is the torque tracking deviation value of the special vehicle.

[0149] Based on the torque tracking deviation value, and following the preset torque closed-loop calibration rules, the target torque value of the left drive motor torque command is gradually adjusted, and the target torque value of the right drive motor torque command is gradually adjusted. The adjusted torque command is then sent back to the corresponding drive motor. The process of torque acquisition, value comparison, and command adjustment is repeated until the real-time output torque value of the left drive motor is completely consistent with the target torque value of the left drive motor torque command, and the real-time output torque value of the right drive motor is completely consistent with the target torque value of the right drive motor torque command. At this point, the special vehicle stably enters the emergency driving state.

[0150] The beneficial effects are that by accurately analyzing and distributing the emergency drive torque distribution command, the independent transmission and control of the torque commands of the left and right drive motors can be achieved. Combined with real-time torque acquisition and closed-loop deviation calibration, the deviation between the output torque of the drive motor and the command torque is continuously corrected, ensuring that the torque output accurately matches the command requirements, thereby improving the stability and handling precision of the emergency drive of special vehicles.

[0151] like Figure 2 The diagram shown is a functional block diagram of an emergency drive system for an all-terrain tracked special vehicle based on a lithium battery, provided in an embodiment of the present invention.

[0152] The lithium battery-based all-terrain tracked special vehicle emergency drive system 100 of this invention can be installed in an electronic device. Depending on the functions implemented, the lithium battery-based all-terrain tracked special vehicle emergency drive system 100 may include a working condition coding module 101, a mode determination module 102, a power supply switching and power assessment module 103, a torque command generation module 104, a derating allocation module 105, and a drive execution module 106. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and is stored in the memory of the electronic device.

[0153] In this embodiment, the functions of each module / unit are as follows:

[0154] The operating condition encoding module 101 is used to encode the real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle, and obtain the operating condition feature vector of the special vehicle.

[0155] The mode determination module 102 is used to perform mode matching determination between the working condition feature vector and the preset emergency start conditions to obtain the emergency drive request of the special vehicle, and mark the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode.

[0156] The power supply switching and power evaluation module 103 is used to respond to the emergency drive request and the lithium battery independent power supply mode, disconnect the electrical connection between the power generation equipment of the special vehicle and the medium voltage DC bus, connect the new energy lithium battery pack of the special vehicle to the medium voltage DC bus, and generate the sustainable output power of the lithium battery of the special vehicle according to the real-time state of charge and real-time temperature of the new energy lithium battery pack.

[0157] The torque command generation module 104 is used to perform physical quantity inversion on the accelerator pedal opening signal and the brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle.

[0158] The derating allocation module 105 is used to differentiate the derating allocation of the inner steering drive torque and the outer steering drive torque in the driving torque command according to the road adhesion coefficient and steering angle signal of the special vehicle when the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, so as to obtain the emergency driving torque allocation command of the special vehicle.

[0159] The drive execution module 106 is used to control the drive motor of the special vehicle to output drive torque according to the emergency drive torque distribution command, so that the special vehicle enters the emergency drive driving state.

[0160] In the several embodiments provided by this invention, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0161] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0162] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0163] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0164] This application embodiment can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An emergency drive method for all-terrain tracked special vehicles based on lithium batteries, characterized in that, The method includes: A1. The real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle are feature-encoded to obtain the working condition feature vector of the special vehicle. A2. Perform pattern matching and determination between the working condition feature vector and the preset emergency start conditions to obtain the emergency drive request of the special vehicle, and mark the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode. A3. In response to the emergency drive request and the lithium battery independent power supply mode, disconnect the electrical connection between the power generation equipment of the special vehicle and the medium-voltage DC bus, connect the new energy lithium battery pack of the special vehicle to the medium-voltage DC bus, and generate the continuous output power of the lithium battery of the special vehicle according to the real-time state of charge and real-time temperature of the new energy lithium battery pack. A4. Perform physical quantity inversion on the accelerator pedal opening signal and brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle. A5. When the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, the driving torque inside the steering wheel and the driving torque outside the steering wheel in the driving torque command are differentially derated according to the road adhesion coefficient and steering angle signal of the special vehicle to obtain the emergency driving torque distribution command of the special vehicle. A6. According to the emergency drive torque distribution command, control the drive motor of the special vehicle to output drive torque, so that the special vehicle enters the emergency drive driving state.

2. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 1, characterized in that, The step of encoding the real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle to obtain the operating condition feature vector of the special vehicle includes: The real-time voltage value of the medium-voltage DC bus is divided into fluctuation ranges to obtain the voltage status identifier of the medium-voltage DC bus. Discretize and sample the speed and torque signals of the special vehicle to obtain the speed-torque time sequence of the special vehicle; The voltage state identifier is topologically mapped to the speed-torque time series to construct a multi-dimensional operating condition feature space for the special vehicle. In the multi-dimensional operating condition feature space, the correlation between the amplitude change rate of the speed-torque time series and the voltage state identifier is weighted and fused. Based on the fusion results, the load mutation characteristics of the special vehicle and the voltage drop characteristics of the medium-voltage DC bus are extracted, and the load mutation characteristics and the voltage drop characteristics are vector-joined to obtain the operating condition feature vector of the special vehicle.

3. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 2, characterized in that, The step of performing pattern matching and determination between the working condition feature vector and preset emergency start conditions to obtain the emergency drive request of the special vehicle, and marking the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode, includes: Extract the voltage state identifier and load change feature from the operating condition feature vector to generate the feature set to be matched for the special vehicle; The set of features to be matched is aligned with the preset emergency start conditions to obtain the matching result set of the special vehicle. The emergency start conditions include a voltage drop threshold range and a torque response lag time window. Based on the matching result set, the current operating state machine of the special vehicle is locked, and an emergency drive request for the special vehicle is generated; The mode identifier of the operating state machine in the special vehicle is rewritten to the lithium battery independent power supply mode.

4. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 1, characterized in that, In response to the emergency drive request and the independent power supply mode of the lithium battery, the electrical connection between the power generation equipment of the special vehicle and the medium-voltage DC bus is disconnected, the new energy lithium battery pack of the special vehicle is connected to the medium-voltage DC bus, and the sustainable output power of the lithium battery of the special vehicle is generated according to the real-time state of charge and real-time temperature of the new energy lithium battery pack, including: According to the emergency drive request, a shutdown command is sent to the power generation equipment of the special vehicle, and the power switching device between the power generation equipment and the medium-voltage DC bus is controlled to disconnect, so as to generate a passive status signal of the medium-voltage DC bus; In response to the passive state signal, the pre-charge contactor between the new energy lithium battery pack of the special vehicle and the medium-voltage DC bus is closed, and the voltage ramp-up curve of the medium-voltage DC bus is monitored. When the voltage ramp-up curve reaches the preset voltage threshold, the main positive contactor and the main negative contactor of the new energy lithium battery pack are closed, and the pre-charge contactor is opened to generate the access completion signal of the new energy lithium battery pack. The real-time state-of-charge data of the battery management system in the new energy lithium battery pack and the real-time temperature data fed back by the battery thermal management system are used to determine the threshold and obtain the sustainable output power of the lithium battery of the special vehicle.

5. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 4, characterized in that, The step of determining the sustainable output power of the lithium battery of the special vehicle by performing threshold determination on the real-time state-of-charge data of the battery management system and the real-time temperature data fed back by the battery thermal management system in the new energy lithium battery pack includes: The real-time state of charge data of the battery management system in the new energy lithium battery pack is classified by threshold to obtain the power safety level of the new energy lithium battery pack. The real-time temperature data fed back by the battery thermal management system in the new energy lithium battery pack is classified into states to obtain the thermal risk range of the new energy lithium battery pack. The power safety level and the thermal risk range are mapped to a preset power limit rule library to obtain the power constraint conditions of the new energy lithium battery pack. Based on the power constraint conditions, the power demand of the special vehicle is dynamically limited to obtain the sustainable output power of the lithium battery of the special vehicle.

6. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 1, characterized in that, The step of performing physical quantity inversion on the accelerator pedal opening signal and brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle includes: The accelerator pedal opening signal of the special vehicle is nonlinearly mapped to obtain the reference value of the driving torque requirement of the special vehicle. The brake pedal opening signal of the special vehicle is encoded into the braking torque command of the special vehicle. When the braking forced torque command takes effect, the driving demand torque reference value is forcibly set to zero, and the special vehicle's creep feedback torque is generated according to the special vehicle's emergency driving mode. When the braking forced torque command is not effective, the drive system of the special vehicle is nonlinearly gained and mapped according to the drive demand torque reference value to obtain the initial drive torque demand of the special vehicle. Based on the current speed signal of the special vehicle, the slope of the change in the initial drive torque demand is adjusted to generate the drive torque command for the special vehicle.

7. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 1, characterized in that, When the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, based on the road adhesion coefficient and steering angle signal of the special vehicle, a differentiated derating allocation is performed on the inner steering driving torque and outer steering driving torque in the driving torque command to obtain the emergency driving torque allocation command of the special vehicle, including: In response to the demand power corresponding to the drive torque command exceeding the sustainable output power of the lithium battery, the steering angle signal of the special vehicle is subjected to joint time-frequency domain analysis to obtain the steering dynamic correction coefficient of the special vehicle. The road surface adhesion coefficient of the special vehicle is coupled with the driving torque command for analysis to obtain the real-time slip risk assessment factor of the special vehicle. The steering dynamic correction coefficient and the real-time slip risk assessment factor are nonlinearly weighted and fused to obtain the torque distribution weight vector of the special vehicle. The torque distribution weight vector includes an inner weight component and an outer weight component. Based on the torque distribution weight vector, the driving torque command is reconstructed to obtain the steering inner driving torque and steering outer driving torque of the special vehicle. An emergency drive torque distribution command for the special vehicle is generated based on the steering inside drive torque and the steering outside drive torque.

8. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 7, characterized in that, The formula for calculating the torque distribution weight vector is as follows: ； In the formula, Assign a weight vector to the torque. The inner weight component, The outer weight component, This is the steering dynamic correction coefficient. The road surface adhesion coefficient is... The real-time slip risk assessment factor is... The preset adjustment factor, It is an exponential function with the natural constant as its base.

9. The emergency drive method for all-terrain tracked special vehicles based on lithium batteries as described in claim 1, characterized in that, The step of controlling the drive motor of the special vehicle to output drive torque according to the emergency drive torque distribution command, so that the special vehicle enters the emergency drive driving state, includes: The emergency drive torque distribution command is parsed into a left drive motor torque command and a right drive motor torque command, and then sent to the left drive motor and right drive motor of the special vehicle respectively. The real-time output torque values ​​of the left drive motor and the right drive motor are obtained respectively, and the real-time output torque values ​​are compared with the corresponding torque commands to obtain the torque tracking deviation value of the special vehicle. Based on the torque tracking deviation value, the torque commands sent to the left drive motor and the right drive motor are adjusted until the real-time output torque value is consistent with the torque command, so that the special vehicle enters the emergency driving state.

10. An emergency drive system for all-terrain tracked special vehicles based on lithium batteries, characterized in that, The system for implementing the emergency drive method for an all-terrain tracked special vehicle based on a lithium battery as described in claim 1 includes: The operating condition encoding module is used to encode the real-time voltage value of the medium-voltage DC bus, the speed signal and torque signal of the special vehicle, and obtain the operating condition feature vector of the special vehicle. The mode determination module is used to perform mode matching determination between the working condition feature vector and the preset emergency start conditions to obtain the emergency drive request of the special vehicle, and mark the current emergency drive mode of the special vehicle as the lithium battery independent power supply mode. The power supply switching and power assessment module is used to respond to the emergency drive request and the lithium battery independent power supply mode, disconnect the electrical connection between the power generation equipment of the special vehicle and the medium voltage DC bus, connect the new energy lithium battery pack of the special vehicle to the medium voltage DC bus, and generate the sustainable output power of the lithium battery of the special vehicle based on the real-time state of charge and real-time temperature of the new energy lithium battery pack. The torque command generation module is used to perform physical quantity inversion on the accelerator pedal opening signal and the brake pedal opening signal of the special vehicle to obtain the driving torque command of the special vehicle. The derating allocation module is used to differentiate the derating allocation of the inner steering drive torque and the outer steering drive torque in the driving torque command according to the road adhesion coefficient and steering angle signal of the special vehicle when the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, so as to obtain the emergency driving torque allocation command of the special vehicle. The drive execution module is used to control the drive motor of the special vehicle to output drive torque according to the emergency drive torque distribution command, so that the special vehicle enters the emergency drive driving state.

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