CN111038191A - Auxiliary driving system of amphibious vehicle - Google Patents
Auxiliary driving system of amphibious vehicle Download PDFInfo
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- CN111038191A CN111038191A CN201911412215.3A CN201911412215A CN111038191A CN 111038191 A CN111038191 A CN 111038191A CN 201911412215 A CN201911412215 A CN 201911412215A CN 111038191 A CN111038191 A CN 111038191A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 1
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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
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- 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
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- 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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Abstract
The application discloses an assistant driving system of an amphibious vehicle, and relates to an assistant driving system of a special vehicle. According to the amphibious vehicle attitude and direction control method, environmental data around the vehicle body are obtained through three groups of measuring templates correspondingly installed right ahead and on two sides of the vehicle body, attitude data of the amphibious vehicle are obtained through the attitude and direction reference system, the environmental data around the vehicle body and the attitude data of the amphibious vehicle are obtained through the embedded computer and calculated, a control command 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 achieved. Therefore, the safety of the amphibious vehicle can be greatly improved by using the amphibious vehicle, the safety of a driver can be better protected, and the running speed can be more reasonably optimized.
Description
Technical Field
The application relates to an assistant driving system of a special vehicle, in particular to an assistant driving system of an amphibious vehicle.
Background
At present, many countries develop and manufacture amphibious vehicles, also called amphibious vehicles. The vehicle is a special vehicle which combines the dual functions of a vehicle and a ship, can travel on the land like an automobile, and can flood on water like a ship. Because the dual-purpose vehicle is adopted, the streamline of the speedboat is difficult to exist in the appearance, the low wind resistance of the vehicle is difficult to exist, and the two-handle vehicle can reach the limit state more easily in the driving process. In order to avoid accidents, an assistant driving system is needed to protect safety.
Disclosure of Invention
The present application is directed to overcome the above problems or at least partially solve or alleviate the above problems, and an object of the present application is to provide an assistant driving system for an amphibious vehicle, which can prevent accidents such as rollover, ship rollover, and collision caused by breakthrough of a limit, and enable a driver to drive the vehicle violently without danger, so as to achieve safe driving of the amphibious vehicle.
The application provides an assistant driving system of amphibious vehicle arranges the automobile body department at amphibious vehicle, and direction mechanism, brake mechanism, throttle mechanism and instrument acousto-optic device have been arranged to automobile body department, and direction mechanism, brake mechanism and throttle mechanism have corresponding direction controller, brake controller and throttle controller, include:
the system comprises three groups of measuring templates, a plurality of sensors and a plurality of sensors, wherein each group of measuring templates is correspondingly arranged right 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 used for acquiring attitude data of the amphibious vehicle;
the electric 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
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 a wire harness, is configured to acquire environmental data around a vehicle body and attitude data of the amphibious vehicle, performs calculation according to the data, outputs a control command 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 then intervenes in the driving direction and/or acceleration and deceleration of the amphibious vehicle to realize safe driving.
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 environment around the vehicle body; and
and the vision measuring unit is used for acquiring image information around the vehicle body.
Optionally, when the amphibious vehicle turns at high speed on land or in water, the auxiliary driving system acquires attitude data of the amphibious vehicle in real time through the attitude and azimuth reference system and transmits the attitude data to the embedded computer, the embedded computer calculates roll and pitch attitudes of the amphibious vehicle in real time and judges whether a current vehicle body reaches a safety reserved critical value according to lateral acceleration and longitudinal acceleration, and the embedded computer is configured to trigger the electronic control execution unit to control the instrument acousto-optic device to give an alarm to a driver in an instrument acousto-optic mode when the safety reserved 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 radar and the vision measurement units corresponding to the three sets of measurement templates when the embedded computer judges that the vehicle body approaches the critical value, and the embedded computer controls the electric control execution unit to send a control signal to the accelerator controller, the brake controller and/or the direction controller through a wire harness according to the real-time judgment, so as to realize the overall control of the vehicle body and ensure the safety.
Optionally, when the amphibious vehicle makes a sharp turn in water, the assistant driving system is configured to control the direction controller to increase the transition radius and control the accelerator controller to decrease the power output of the engine when the embedded computer detects that the vehicle is about to exceed the critical value of the vehicle body and turn over laterally and detects and judges that no obstacle exists around through the multi-line laser radar and the vision measuring unit corresponding to the three groups of measuring templates.
According to the auxiliary driving system of the amphibious vehicle, the environmental data around the vehicle body is obtained through the three groups of measuring templates correspondingly installed right in front of the vehicle body and on two sides of the vehicle body, the attitude data of the amphibious vehicle is obtained through the attitude and azimuth reference system, the environmental data around the vehicle body and the attitude data of the amphibious vehicle are obtained through the embedded computer and calculated, a control command is output to the electric control execution unit according to the calculation result, the electric control execution unit controls the direction controller, the brake controller and/or the accelerator controller to act, and then the driving direction and/or the acceleration and deceleration of the amphibious vehicle are interfered, safe driving is achieved, accidents such as vehicle overturning, ship overturning, collision and the like caused by limit breakthrough are prevented, and a driver can drive fiercely without danger. Therefore, the safety of the amphibious vehicle can be greatly improved by using the amphibious vehicle, the safety of a driver can be better protected, and the running speed can be more reasonably optimized.
The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic front view of an amphibious vehicle with an assisted steering system according to an embodiment of the present 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 represent the following meanings:
the system comprises a laser radar 1, a vision measuring unit 2, an accelerator controller 3, a brake controller 4, a direction controller 5, an embedded computer 6, a wire harness 7 and an attitude and azimuth reference system 8;
10 vehicle body.
Detailed Description
Fig. 1 is a schematic front view of an amphibious vehicle with an assisted steering system according to an embodiment of the present 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 also referring to fig. 2 to 3, the present embodiment provides a driving assistance system for an amphibious vehicle disposed at a vehicle body 10 of the amphibious vehicle. The body 10 is also usually provided with a steering mechanism, a brake mechanism, an accelerator mechanism and an instrument acousto-optic device. Wherein, the direction mechanism, the brake mechanism and the accelerator mechanism are provided with a direction controller 5, a brake controller 4 and an accelerator controller 3 which correspond to each other. The driving assistance system may generally include: three sets of measurement templates (not shown), a posture and orientation reference system 8, an electronic control execution unit (not shown) and an embedded computer 6. A set of measuring templates is correspondingly arranged right in front of and on two sides of the vehicle body 10, and the three sets of measuring templates are used for acquiring environmental data around the vehicle body 10. The attitude and orientation reference system 8 is mounted at a central 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 accelerator controller 3 and the embedded computer 6 through a wire harness 7. The electric control execution unit is used for receiving the control instruction of the embedded computer 6 and controlling the direction controller 5, the brake controller 4 and the accelerator controller 3. The embedded computer 6 is connected with each group of measuring 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, perform calculation according to the data, output a control instruction to the electric control execution unit according to a calculation result, and control the direction controller 5, the brake controller 4 and/or the accelerator controller 3 to act, so as to intervene in the driving direction and/or acceleration and deceleration of the amphibious vehicle, thereby realizing safe driving.
In specific implementation, the attitude and orientation reference system 8 may be an AHRS100 attitude and orientation reference system. The AHRS100 attitude and azimuth reference system is provided with 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 well respond in static, dynamic and impact vibration states and output stable attitude data.
In specific implementation, the electronic control execution unit may adopt an automotive electronic control unit ECU.
More specifically, in this embodiment, each set of measurement modules includes: a multiline lidar 1 and a vision measurement unit 2. The multiline laser radar 1 is used for identifying height information of objects around the vehicle body 10 and acquiring a 3D scanning image of the environment around the vehicle body 10, and changes of the environment of a previous frame and a next frame are compared by using a correlation algorithm, so that surrounding vehicles and pedestrians can be detected easily. The vision measuring unit 2 is used to acquire image information around the vehicle body 10.
In particular implementations, the multiline lidar 1 may be a 4-line lidar, an 8-line lidar, a 16-line lidar, a 32-line lidar, a 64-line lidar, or a 128-line lidar. The vision measuring unit 2 may include a camera and an image processor.
According to the auxiliary driving system of the amphibious vehicle, the environmental data around the vehicle body 10 is obtained through three groups of measuring templates correspondingly installed right in front of and on two sides of the vehicle body 10, the attitude data of the amphibious vehicle is obtained through the attitude and azimuth reference system 8, the environmental data around the vehicle body 10 and the attitude data of the amphibious vehicle are obtained through the embedded computer 6 and calculated, a control command is output to the electric control execution unit according to the 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 driving direction and/or the acceleration and deceleration of the amphibious vehicle are interfered, safe driving is achieved, and therefore accidents such as vehicle overturning, ship overturning, collision and the like caused by limit breakthrough are prevented, and a driver can drive violently without danger. Therefore, the safety of the amphibious vehicle can be greatly improved by using the amphibious vehicle, the safety of a driver can be better protected, and the running speed can be more reasonably optimized.
As shown in fig. 1 to 3, in this embodiment, when the amphibious vehicle turns at a high speed on the land or in the water, the assistant driving system acquires 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 or not 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 reaching the safety reserved critical value, and an alarm is sent to a driver in the form of instrument acousto-optic. The instrument acousto-optic means that the instrument emits sound and emits light.
As shown in fig. 1 to 3, in the present embodiment, when the amphibious vehicle is running on land or in water, the assistant driving system is configured to detect and determine the environment around the vehicle body 10 through the multiline laser radar 1 and the vision measuring unit 2 corresponding to the three sets of measuring templates when the embedded computer 6 determines that the vehicle body 10 approaches the critical value. And the embedded computer 6 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 wiring harness 7 according to the real-time condition judgment, so that the overall control of the vehicle body 10 is realized to ensure the safety.
For example, when the amphibious vehicle makes a sharp turn in water, the assistant driving system is configured to control the direction controller 5 to increase the transition radius and control the accelerator controller 3 to reduce the power output of the engine when the embedded computer 6 detects that the vehicle is turned over beyond the critical value of the vehicle body 10 and detects and judges that no obstacle exists around through the multi-line laser radar 1 and the vision measuring unit 2 corresponding to the three sets of measuring templates. The purpose of protecting the safety of the driver is achieved through the mode.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, "a plurality" means two or more unless specifically defined otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides an amphibious vehicle's driver assistance system, arranges automobile body (10) department at amphibious vehicle, and automobile body (10) department has arranged direction mechanism, brake mechanism, throttle mechanism and instrument reputation device, and direction mechanism, brake mechanism and throttle mechanism have corresponding directional controller (5), brake controller (4) and throttle controller (3), its characterized in that includes:
the system comprises three groups of measuring templates, wherein each group of measuring modules is correspondingly arranged right in front of and at two sides of the vehicle body (10) and is used for acquiring environmental data around the vehicle body (10);
the attitude and azimuth reference system (8) is arranged at the center 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 a control instruction 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 measuring modules, the attitude and azimuth reference system (8) and the electric control execution unit through a wire harness (7), is configured to acquire environmental data around the vehicle body (10) 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 (5), the brake controller (4) and/or the accelerator controller (3) to act, and then intervenes in the driving direction and/or acceleration and deceleration of the amphibious vehicle, and realizes safe driving.
2. The driver assistance system according to claim 1, wherein each set of measurement modules comprises:
the multi-line laser radar (1) is used for identifying height information of objects around the vehicle body (10) and acquiring a 3D scanning image of the environment around the vehicle body (10); and
and the vision measuring unit (2) is used for acquiring image information around the vehicle body (10).
3. The assistant driving system according to claim 2, wherein when the amphibious vehicle turns at high speed on land or in water, the assistant driving system collects 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 roll and pitch attitudes of the amphibious vehicle in real time and judges whether the current vehicle body (10) reaches a safety reserved critical value according to lateral acceleration and longitudinal acceleration, and the embedded computer (6) is configured to trigger the electronic control execution unit to control the instrument acousto-optic device to give an alarm to the driver in an instrument acousto-optic mode when the safety reserved critical value is reached.
4. The assistant driving system according to claim 2, wherein when the amphibious vehicle is driving on land or in water, the assistant driving system is configured to detect and judge the environment around the vehicle body (10) through the multiline laser radar (1) and the vision measuring unit (2) corresponding to the three sets of measuring templates when the embedded computer (6) judges that the vehicle body (10) approaches the critical value, and the embedded computer (6) controls the electric control execution unit to send control signals to the throttle controller (3), the brake controller (4) and/or the direction controller (5) through the wiring harness (7) according to the real-time condition judgment, so as to realize the overall control of the vehicle body (10) to ensure safety.
5. The assistant driving system according to claim 4, wherein when the amphibious vehicle makes a sharp turn in water, the assistant driving system is configured to control the direction controller (5) to increase the transition radius and control the throttle controller (3) to decrease the engine power output when the embedded computer (6) detects that the vehicle is about to exceed the critical value of the vehicle body (10) and the multi-line laser radar (1) corresponding to the three sets of measuring templates and the vision measuring unit (2) detect and judge that no obstacles exist around.
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 |
Applications Claiming Priority (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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| CN111038191A true CN111038191A (en) | 2020-04-21 |
| CN111038191B CN111038191B (en) | 2024-07-19 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150046032A1 (en) * | 2011-03-15 | 2015-02-12 | Jaguar Land Rover Limited | Wading vehicle control system |
| CN106573619A (en) * | 2014-08-21 | 2017-04-19 | 捷豹路虎有限公司 | Automatic speed control of a vehicle traversing a water obstacle |
| CN109774392A (en) * | 2019-01-30 | 2019-05-21 | 山东省国土测绘院 | A kind of adaptive mapping equipment in integrated land and water suitable for intertidal zone |
| CN109927498A (en) * | 2019-04-12 | 2019-06-25 | 中南大学 | The changeable amphibious quadrotor robot of body |
| 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 |
-
2019
- 2019-12-31 CN CN201911412215.3A patent/CN111038191B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150046032A1 (en) * | 2011-03-15 | 2015-02-12 | Jaguar Land Rover Limited | Wading vehicle control system |
| CN106573619A (en) * | 2014-08-21 | 2017-04-19 | 捷豹路虎有限公司 | Automatic speed control of a vehicle traversing a water obstacle |
| CN109774392A (en) * | 2019-01-30 | 2019-05-21 | 山东省国土测绘院 | A kind of adaptive mapping equipment in integrated land and water suitable for intertidal zone |
| CN109927498A (en) * | 2019-04-12 | 2019-06-25 | 中南大学 | The changeable amphibious quadrotor robot of body |
| 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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| CN111038191B (en) | 2024-07-19 |
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