CN111038191B - Auxiliary driving system of amphibious vehicle - Google Patents
Auxiliary driving system of amphibious vehicle Download PDFInfo
- Publication number
- CN111038191B CN111038191B CN201911412215.3A CN201911412215A CN111038191B CN 111038191 B CN111038191 B CN 111038191B CN 201911412215 A CN201911412215 A CN 201911412215A CN 111038191 B CN111038191 B CN 111038191B
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- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000013459 approach Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The application discloses an amphibious vehicle auxiliary driving system, and relates to a special vehicle auxiliary driving system. According to the application, the environmental data around the vehicle body is acquired through the three groups of measuring templates correspondingly arranged in front of and at two sides of the vehicle body, the attitude data of the amphibious vehicle is acquired through the attitude azimuth reference system, the environmental data around the vehicle body and the attitude data of the amphibious vehicle are acquired through the embedded computer and calculated, a control instruction is output to the electric control execution unit according to a calculation result, and the electric control execution unit controls the direction controller, the brake controller and/or the accelerator controller to act, so that the running direction and/or the acceleration and deceleration of the amphibious vehicle are interfered, and safe driving is realized. Therefore, the application can greatly improve the safety of the amphibious vehicle, can better protect the safety of a driver, and enables the driver to reasonably optimize the running speed.
Description
Technical Field
The application relates to an auxiliary driving system of a special vehicle, in particular to an auxiliary driving system of an amphibious vehicle.
Background
Amphibious vehicles, also known as amphibians, are currently being developed in many countries. The special vehicle combines the dual functions of a vehicle and a ship, can run on land like an automobile and can flood on water like a ship. Because of the dual-purpose vehicle, the appearance is difficult to have a streamline of a yacht, and also difficult to have low wind resistance of the vehicle, and the two-handle vehicle is easier to reach a limit state in the driving process. To avoid accidents, auxiliary driving systems are required to protect safety.
Disclosure of Invention
The present application aims to overcome the above problems or at least partially solve or alleviate the above problems, and to provide an auxiliary driving system for an amphibious vehicle capable of preventing accidents such as roll-over or roll-over and collision due to break-through limits, enabling a driver to drive vigorously without danger, so as to achieve safe driving of the amphibious vehicle.
The application provides an auxiliary driving system of an amphibious vehicle, which is arranged at a vehicle body of the amphibious vehicle, wherein a direction mechanism, a brake mechanism, an accelerator mechanism and an instrument acousto-optic device are arranged at the vehicle body, and the direction mechanism, the brake mechanism and the accelerator mechanism are provided with corresponding direction controllers, brake controllers and accelerator controllers, and the auxiliary driving system comprises:
Three groups of measuring templates, each group of measuring modules is correspondingly arranged in front of and at two sides of the vehicle body and used for acquiring environmental data around the vehicle body;
the attitude and azimuth reference system is arranged at the central position of the vehicle body and is used for acquiring attitude data of the amphibious vehicle;
The electronic control execution unit is connected with the direction controller, the brake controller, the accelerator controller and the embedded computer through a wire harness and is used for receiving a control instruction of the embedded computer and controlling the direction controller, the brake controller and the accelerator controller; and
The embedded computer is connected with each group of measuring modules, the attitude and azimuth reference system and the electric control execution unit through wire harnesses, is configured to acquire environmental data around a vehicle body and attitude data of the amphibious vehicle, calculates according to the data, outputs a control instruction to the electric control execution unit according to a calculation result, controls the direction controller, the brake controller and/or the accelerator controller to act, and intervenes in the running direction and/or acceleration and deceleration of the amphibious vehicle, so that safe driving is realized.
Optionally, each set of measurement modules includes:
the multi-line laser radar is used for identifying the height information of objects around the vehicle body and acquiring a 3D scanning image of the surrounding environment of the vehicle body; and
And the vision measurement unit is used for acquiring image information around the vehicle body.
Optionally, when the amphibious vehicle turns on land or in water at high speed, the driving assisting system collects attitude data of the amphibious vehicle in real time through the attitude and direction reference system and transmits the attitude data to the embedded computer, the embedded computer calculates the roll and pitch attitudes of the amphibious vehicle in real time and judges whether the current vehicle body reaches a safety reservation critical value according to the transverse acceleration and the longitudinal acceleration, and the embedded computer is configured to trigger the electric control execution unit to control the instrument acousto-optic device to send warning to a driver in an instrument acousto-optic mode when the safety reservation critical value is reached.
Optionally, when the amphibious vehicle runs on land or in water, the auxiliary driving system is configured to detect and judge the environment around the vehicle body through the multi-line laser radars and the vision measuring units corresponding to the three groups of measuring templates when the embedded computer judges that the vehicle body approaches the critical value, and the embedded computer judges according to the real-time condition and controls the electric control executing unit to send control signals to the accelerator controller, the brake controller and/or the direction controller through the wire harness, so that overall control of the vehicle body is realized to ensure safety.
Optionally, when the amphibious vehicle turns suddenly in water, the driving assisting system is configured to control the direction controller to increase the transition radius through the electric control executing unit and control the throttle controller to reduce the power output of the engine when the embedded computer detects that the vehicle body is overturned beyond the critical value and the multi-line laser radar and vision measuring unit corresponding to the three measuring templates detect and judge that no obstacle exists around the vehicle body.
According to the amphibious vehicle auxiliary driving system, the environmental data around the vehicle body is acquired through the three groups of measuring templates correspondingly arranged right in front of and on two sides of the vehicle body, the attitude data of the amphibious vehicle is acquired through the attitude azimuth reference system, the environmental data around the vehicle body and the attitude data of the amphibious vehicle are acquired through the embedded computer and calculated, a control instruction is output to the electric control execution unit according to a calculation result, the electric control execution unit controls the direction controller, the brake controller and/or the accelerator controller to act, and then the running direction and/or acceleration and deceleration of the amphibious vehicle are interfered, so that safe driving is realized, and therefore, accidents such as rollover, ship rollover and collision caused by breaking through the limit are prevented, and a driver can drive violently without danger. Therefore, the application can greatly improve the safety of the amphibious vehicle, can better protect the safety of a driver, and enables the driver to reasonably optimize the running speed.
The above, as well as additional objectives, advantages, and features of the present application will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present application when read in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the application will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:
figure 1 is a schematic front view of an amphibious vehicle with a steering assist system according to one embodiment of the application;
FIG. 2 is a schematic top view of FIG. 1;
fig. 3 is a schematic right side view of fig. 1.
The symbols in the drawings are as follows:
The system comprises a multi-line laser radar 1, a vision measuring unit 2, a throttle controller 3, a brake controller 4, a direction controller 5, an embedded computer 6, a 7-wire harness and an 8-gesture azimuth reference system;
10 car body.
Detailed Description
Figure 1 is a schematic front view of an amphibious vehicle with a steering assist system according to one embodiment of the application. Fig. 2 is a schematic top view of fig. 1. Fig. 3 is a schematic right side view of fig. 1.
As shown in fig. 1, and referring also to fig. 2-3, the present embodiment provides an auxiliary driving system for an amphibious vehicle disposed at a vehicle body 10 of the amphibious vehicle. The vehicle body 10 is also typically provided with a steering mechanism, a braking mechanism, an accelerator mechanism, and instrument acousto-optic devices. The direction mechanism, the brake mechanism and the accelerator mechanism are provided with corresponding direction controllers 5, brake controllers 4 and accelerator controllers 3. The driving assistance system may generally include: three sets of measurement templates (not shown), a pose orientation reference system 8, an electronically controlled execution unit (not shown) and an embedded computer 6. A set of measurement templates are correspondingly installed in the right front and two sides of the vehicle body 10, and the three sets of measurement templates are used for acquiring environmental data around the vehicle body 10. The attitude azimuth reference system 8 is installed at the center position of the vehicle body 10. The attitude and azimuth reference system 8 is used for acquiring attitude data of the amphibious vehicle. The electric control execution unit is connected with the direction controller 5, the brake controller 4, the throttle controller 3 and the embedded computer 6 through the wire harness 7. The electric control execution unit is used for receiving a control instruction of the embedded computer 6 and controlling the direction controller 5, the brake controller 4 and the throttle controller 3. The embedded computer 6 is connected with each group of measurement modules, the attitude and azimuth reference system 8 and the electric control execution unit through a wire harness 7. The embedded computer 6 is configured to acquire environmental data around the vehicle body 10 and attitude data of the amphibious vehicle, calculate the environmental data according to the data, output a control instruction to the electric control execution unit according to a calculation result, control the direction controller 5, the brake controller 4 and/or the accelerator controller 3 to act, and further intervene in the running direction and/or acceleration and deceleration of the amphibious vehicle, so as to realize safe driving.
In particular, the attitude and heading reference system 8 may be an AHRS100 attitude and heading reference system. The AHRS100 attitude and azimuth reference system comprises a MEMS gyroscope, three MEMS accelerometers, a magnetic field meter, ADC analog-to-digital conversion, a temperature sensor, an expansion I/O interface and other modules. The AHRS100 attitude and azimuth reference system adopts a real-time operating system, a special data fusion filtering algorithm is embedded in a high-performance data processing chip, and the AHRS100 attitude and azimuth reference system can respond well under static, dynamic and impact vibration states and output stable attitude data.
In specific implementation, the electric control execution unit can adopt an electric control unit ECU for the vehicle.
More specifically, in the present embodiment, each set of measurement modules includes: a multi-line lidar 1 and a vision measurement unit 2. The multi-line laser radar 1 is used for identifying the height information of objects around the vehicle body 10 and acquiring a 3D scan of the surrounding environment of the vehicle body 10, and the surrounding vehicles and pedestrians can be detected easily by comparing the environment changes of the previous frame and the next frame through a correlation algorithm. The vision measuring unit 2 is used to acquire image information around the vehicle body 10.
In specific implementation, the multi-line laser radar 1 may be a 4-line laser radar, an 8-line laser radar, a 16-line laser radar, a 32-line laser radar, a 64-line laser radar or a 128-line laser radar. The vision measuring unit 2 may comprise a camera and an image processor.
According to the amphibious vehicle auxiliary driving system, the environmental data around the vehicle body 10 is acquired through the three groups of measuring templates correspondingly arranged right in front of and on two sides of the vehicle body 10, the attitude data of the amphibious vehicle is acquired through the attitude azimuth reference system 8, the environmental data around the vehicle body 10 and the attitude data of the amphibious vehicle are acquired through the embedded computer 6 and calculated, a control instruction is output to the electric control execution unit according to a calculation result, the electric control execution unit controls the direction controller 5, the brake controller 4 and/or the accelerator controller 3 to act, and then the running direction and/or acceleration and deceleration of the amphibious vehicle are interfered, so that safe driving is realized, and accidents such as vehicle turning, ship turning and collision caused by breaking through limit are prevented, and a driver can drive violently without danger. Therefore, the application can greatly improve the safety of the amphibious vehicle, can better protect the safety of a driver, and enables the driver to reasonably optimize the running speed.
As shown in fig. 1-3, in this embodiment, when the amphibious vehicle turns on land or in water at high speed, the auxiliary driving system acquires the attitude data of the amphibious vehicle in real time through the attitude and azimuth reference system 8 and transmits the attitude data to the embedded computer 6. The embedded computer 6 calculates the roll and pitch postures of the amphibious vehicle in real time, and judges whether the current vehicle body 10 reaches a safety reservation critical value according to the transverse acceleration and the longitudinal acceleration in the posture data. The embedded computer 6 is configured to trigger the electric control execution unit to control the instrument acousto-optic device when the safety reservation critical value is reached, and the instrument acousto-optic device gives a warning to a driver. The instrument sound and light means that the instrument emits sound and light.
As shown in fig. 1-3, in this embodiment, when the amphibious vehicle travels on land or in water, the driving assistance system is configured to detect and determine the environment around the vehicle body 10 through the multi-line lidar 1 and the vision measurement unit 2 corresponding to the three sets of measurement templates when the embedded computer 6 determines that the vehicle body 10 approaches the critical value. The embedded computer 6 judges according to real-time conditions, and controls the electric control execution unit to send control signals to the accelerator controller 3, the brake controller 4 and/or the direction controller 5 through the wire harness 7, so that overall control of the vehicle body 10 is realized to ensure safety.
For example, when the amphibious vehicle turns suddenly in water, the auxiliary driving system is configured to control the direction controller 5 to increase the transition radius and control the throttle controller 3 to reduce the power output of the engine when the embedded computer 6 detects that the vehicle body 10 is overturned beyond the critical value and the multi-line laser radar 1 and the vision measuring unit 2 corresponding to the three sets of measuring templates detect and judge that no surrounding obstacle exists. In this way, the purpose of protecting the safety of the driver is achieved.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" is two or more unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (2)
1. An auxiliary driving system of an amphibious vehicle is arranged at a vehicle body (10) of the amphibious vehicle, a direction mechanism, a brake mechanism, an accelerator mechanism and instrument acousto-optic devices are arranged at the vehicle body (10), and the direction mechanism, the brake mechanism and the accelerator mechanism are provided with a corresponding direction controller (5), a corresponding brake controller (4) and a corresponding accelerator controller (3), and the auxiliary driving system is characterized by comprising:
Three groups of measuring templates, each group of measuring templates is correspondingly arranged in front of and at two sides of the vehicle body (10) and used for acquiring environmental data around the vehicle body (10);
The attitude and azimuth reference system (8) is arranged at the central position of the vehicle body (10) and is used for acquiring attitude data of the amphibious vehicle;
The electric control execution unit is connected with the direction controller (5), the brake controller (4), the accelerator controller (3) and the embedded computer (6) through a wire harness (7) and is used for receiving control instructions of the embedded computer (6) and controlling the direction controller (5), the brake controller (4) and the accelerator controller (3); and
The embedded computer (6) is connected with each group of measurement modules, the attitude and azimuth reference system (8) and the electric control execution unit through a wire harness (7) and is configured to acquire environmental data around a vehicle body (10) and attitude data of the amphibious vehicle, calculate the environmental data according to the data, output a control instruction to the electric control execution unit according to a calculation result, control the action of the direction controller (5), the brake controller (4) and/or the accelerator controller (3) and further intervene in the running direction and/or acceleration and deceleration of the amphibious vehicle so as to realize safe driving;
Each set of measurement modules includes:
The multi-line laser radar (1) is used for identifying the height information of objects around the vehicle body (10) and acquiring a 3D scan of the surrounding environment of the vehicle body (10); and
A vision measurement unit (2) for acquiring image information around the vehicle body (10);
When the amphibious vehicle turns on land or in water at high speed, the auxiliary driving system acquires attitude data of the amphibious vehicle in real time through the attitude azimuth reference system (8) and transmits the attitude data to the embedded computer (6), the embedded computer (6) calculates the roll and pitch attitudes of the amphibious vehicle in real time, judges whether the current vehicle body (10) reaches a safety reservation critical value according to the transverse acceleration and the longitudinal acceleration, and the embedded computer (6) is configured to trigger the electric control execution unit to control the instrument acousto-optic device to send a warning to a driver in an instrument acousto-optic mode when the safety reservation critical value is reached;
When the amphibious vehicle runs on land or in water, the auxiliary driving system is configured to detect and judge the environment around the vehicle body (10) through the multi-line laser radar (1) and the vision measuring unit (2) corresponding to the three groups of measuring templates when the embedded computer (6) judges that the vehicle body (10) approaches to a critical value, and the embedded computer (6) judges according to real-time conditions to control the electric control executing unit to send control signals to the accelerator controller (3), the brake controller (4) and/or the direction controller (5) through the wire harness (7), so that overall control of the vehicle body (10) is realized to ensure safety.
2. The driving assistance system according to claim 1, wherein when the amphibious vehicle makes a sharp turn in water, the driving assistance system is configured to control the direction controller (5) to increase the transition radius and control the throttle controller (3) to reduce the engine power output when the embedded computer (6) detects that a rollover occurs beyond a critical value of the vehicle body (10) and when the multi-line lidar (1) and the vision measuring unit (2) corresponding to three sets of measuring templates detect and judge that no surrounding obstacle exists.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911412215.3A CN111038191B (en) | 2019-12-31 | 2019-12-31 | Auxiliary driving system of amphibious vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911412215.3A CN111038191B (en) | 2019-12-31 | 2019-12-31 | Auxiliary driving system of amphibious vehicle |
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| Publication Number | Publication Date |
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| CN111038191A CN111038191A (en) | 2020-04-21 |
| CN111038191B true CN111038191B (en) | 2024-07-19 |
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| CN211567567U (en) * | 2019-12-31 | 2020-09-25 | 大连浦州航空科技有限公司 | Auxiliary driving system of amphibious vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2489109B (en) * | 2011-03-15 | 2014-04-30 | Jaguar Land Rover Ltd | Wading vehicle control system |
| GB2529459B (en) * | 2014-08-21 | 2017-12-06 | Jaguar Land Rover Ltd | Automatic speed control of a vehicle traversing a water obstacle |
| CN109774392B (en) * | 2019-01-30 | 2020-09-08 | 山东省国土测绘院 | Integrated land and water self-adaptive mapping equipment suitable for intertidal zone |
| CN109927498B (en) * | 2019-04-12 | 2021-02-19 | 中南大学 | Multi-variant amphibious four-rotor robot |
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- 2019-12-31 CN CN201911412215.3A patent/CN111038191B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN211567567U (en) * | 2019-12-31 | 2020-09-25 | 大连浦州航空科技有限公司 | Auxiliary driving system of amphibious vehicle |
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