CN114646288A - Measuring method and measuring device for wading depth of vehicle, computer equipment and vehicle - Google Patents
Measuring method and measuring device for wading depth of vehicle, computer equipment and vehicle Download PDFInfo
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- CN114646288A CN114646288A CN202210247506.7A CN202210247506A CN114646288A CN 114646288 A CN114646288 A CN 114646288A CN 202210247506 A CN202210247506 A CN 202210247506A CN 114646288 A CN114646288 A CN 114646288A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 239000000725 suspension Substances 0.000 claims abstract description 85
- 241000976416 Isatis tinctoria subsp. canescens Species 0.000 claims description 24
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 claims description 9
- 238000000691 measurement method Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 20
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- 230000001133 acceleration Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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Abstract
The application discloses a method for measuring vehicle wading depth, which comprises the steps of obtaining the posture of a vehicle; acquiring the height of a suspension of a vehicle before and after wading the vehicle; calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension; the wading depth of the vehicle is determined based on the buoyancy experienced by the vehicle. The invention also discloses a device for measuring the wading depth of the vehicle, which comprises an attitude sensor, a position sensor and a controller, wherein the attitude sensor is used for acquiring the attitude of the vehicle; the position sensor is used for acquiring the height of a suspension of the vehicle; the controller is used for calculating buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension, and determining the wading depth of the vehicle based on the buoyancy borne by the vehicle. The application also discloses a computer device and a vehicle. The embodiment of the application reduces the measuring cost of the wading depth of the vehicle and prolongs the service life of the measuring device.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a method for measuring vehicle wading depth, a device for measuring vehicle wading depth, computer equipment and a vehicle.
Background
When the vehicle passes through the wading road section, the air inlet of the engine is required to be positioned above the water surface, and the air outlet of the engine also needs to be modified to be positioned above the water surface. In order to improve the safety performance of the vehicle, the wading depth of the vehicle needs to be measured, whether the wading depth exceeds the wading limit of the vehicle is judged, and a driver is informed to take measures.
In the prior art, various wading sensors are adopted, the distance from a vehicle reference position to the water surface is measured in an ultrasonic or laser mode, and the wading depth of a vehicle is converted and calculated.
In the prior art, the wading sensor is independently arranged, so that the cost is high. And the wading sensor needs to be frequently soaked in muddy water, so that the sensor is polluted and corroded, the accuracy of the sensor is easily reduced or the sensor fails, and the safety of the life and property of a driver is seriously damaged.
Disclosure of Invention
In view of this, the embodiments of the present application are expected to provide a method, a device, a computer device and a vehicle for measuring a vehicle wading depth, so as to solve the problem of high cost of measuring the vehicle wading depth.
In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:
in a first aspect of the present application, a method for measuring a vehicle wading depth is provided, including:
acquiring the posture of the vehicle;
acquiring the height of a suspension of the vehicle before and after the vehicle wades;
calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension;
determining a wading depth of the vehicle based on buoyancy experienced by the vehicle.
Further, when the vehicle wades in a horizontal road, the buoyancy force applied to the vehicle is as follows:
wherein f is the buoyancy to which the vehicle is subjected, hi1For a first height of the suspension when the vehicle is not waded on a horizontal road surface, hi2The second height of the suspension is the second height of the suspension when the vehicle wades on the horizontal road surface, n is the number of the suspensions, and k is the spring stiffness of the suspension.
Further, when the vehicle wades on a road surface with a downward slope, the buoyancy borne by the vehicle is as follows:
wherein f is the buoyancy to which the vehicle is subjected, hi1For a first height of the suspension when the vehicle is not waded on a horizontal road surface, hi3The third height of the suspension is the third height of the suspension when the vehicle wades on the slope road surface, h is the initial length of the suspension, n is the number of the suspensions, k is the spring stiffness of the suspension, and alpha is the slope angle of the slope road surface.
Further, the step of determining the wading depth of the vehicle based on the buoyancy exerted on the vehicle specifically comprises:
determining wading depth corresponding to the buoyancy force borne by the vehicle according to a preset comparison table; wherein the predetermined look-up table indicates a mapping relationship between buoyancy received by the vehicle and a vehicle wading depth.
Further, the predetermined look-up table is obtained in the following manner:
and measuring the buoyancy f borne by the vehicle when the vehicle passes through different wading depths in a test field, and storing the buoyancy corresponding to the different wading depths. Further, the step of determining the wading depth of the vehicle based on the buoyancy exerted on the vehicle specifically comprises:
and establishing a functional relation according to the vehicle peripheral dimension model, and calculating the wading depth corresponding to the buoyancy force borne by the vehicle.
Further, the measuring method further comprises:
displaying and/or broadcasting the wading depth of the vehicle; or the like, or, alternatively,
and when the wading depth of the vehicle reaches a threshold value, displaying the wading depth of the vehicle and giving an alarm.
In a second aspect of the present application, there is provided a vehicle wading depth measuring device, including:
an attitude sensor for acquiring an attitude of the vehicle;
a position sensor for acquiring a height of a suspension of the vehicle;
and the controller is used for calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension, and determining the wading depth of the vehicle based on the buoyancy borne by the vehicle.
Further, the controller includes:
the computing module is used for computing the buoyancy borne by the vehicle according to the height change value of the suspension;
the storage module is used for storing a preset comparison table, and the preset comparison table indicates the mapping relation between the buoyancy force borne by the vehicle and the wading depth of the vehicle; and
and the reading module is used for determining the wading depth of the vehicle corresponding to the buoyancy force borne by the vehicle according to the preset comparison table.
Further, the controller includes:
the storage module is used for storing a functional relation of the vehicle periphery size model;
the calculation module is used for calculating the buoyancy borne by the vehicle according to the height change value of the suspension and calculating the wading depth corresponding to the buoyancy borne by the vehicle according to the functional relation; and
and the reading module is used for reading the wading depth of the vehicle calculated by the calculating module.
Further, the controller further comprises:
the display module is used for displaying the wading depth of the vehicle; and/or the presence of a gas in the gas,
and the alarm module is used for giving an alarm when the wading depth of the vehicle reaches a threshold value.
In a third aspect of the application, there is provided a computer device comprising one or more processing modules configured to execute computer instructions stored in a storage module to perform a measurement method as described in any one of the above.
In a fourth aspect of the present application, there is provided a vehicle including:
a suspension; and
a measuring device according to any preceding claim.
In a fifth aspect of the application, a vehicle is provided comprising the computer device described above.
According to the measuring method, the measuring device, the computer equipment and the vehicle for the vehicle wading depth, the height of the suspension of the vehicle before and after the vehicle wades is obtained by obtaining the posture of the vehicle, the buoyancy borne by the vehicle is calculated according to the posture of the vehicle and the height change of the suspension, the wading depth of the vehicle is determined based on the buoyancy borne by the vehicle, and the measuring cost is reduced.
Drawings
Fig. 1 is a schematic flow chart of a method for measuring a vehicle wading depth according to an embodiment of the present disclosure;
FIG. 2 is a device for measuring a wading depth of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a vehicle on a horizontal road surface according to an embodiment of the present disclosure;
FIG. 4 shows the vehicle of the embodiment of the present application in a wading state on a horizontal road surface;
fig. 5 shows a wading state in which the vehicle of the embodiment of the present application is on a sloping road surface.
Description of reference numerals:
1. a vehicle; 11. a suspension; 12. a measuring device; 121. an attitude sensor; 122. a position sensor; 123. a controller; 13. a vehicle body; 14. and (7) wheels.
Detailed Description
It should be noted that, in the present application, technical features in examples and embodiments may be combined with each other without conflict, and the detailed description in the specific embodiment should be understood as an explanation of the gist of the present application and should not be construed as an improper limitation to the present application.
The general off-road vehicles and cars need to pass through a wading road section when passing through a culvert or a ponding road surface in rainy seasons. For hard off-road vehicles, a wading depth of about 900mm is generally required. When the vehicle passes through the wading road section, the air inlet of the engine is required to be positioned above the water surface, and the air outlet of the engine also needs to be modified to be positioned above the water surface. In order to improve the safety performance of the vehicle, the wading depth of the vehicle needs to be measured, whether the wading depth exceeds the wading limit of the vehicle is judged, and a driver is informed to take measures.
In view of the above, in a first aspect of the embodiments of the present application, referring to fig. 1, there is provided a method for measuring a wading depth of a vehicle, including:
s1, acquiring the posture of the vehicle;
s2, acquiring the height of the suspension of the vehicle before and after the vehicle wades;
s3, calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension;
and S4, determining the wading depth of the vehicle based on the buoyancy force borne by the vehicle.
According to the method for measuring the wading depth of the vehicle, the wading depth of the vehicle is determined by obtaining the attitude of the vehicle and the height change of the suspension and calculating the buoyancy, for example, a position and attitude sensor and a position sensor configured for the vehicle can be used, the wading depth is prevented from being measured by using an extra wading sensor, and the measurement cost is reduced. The service life of the measuring device is prolonged as the wading sensor is not needed.
The vehicle of the embodiment of the application can be a passenger vehicle or a commercial vehicle, the passenger vehicle is a common car or an off-road vehicle, and the off-road vehicle is a hard off-road vehicle. The suspension of the vehicle may be an independent suspension, a dependent suspension, or a hybrid configuration of both. The suspension can adopt a plate spring, a spiral spring, an air spring or the like. The loaded state of the vehicle may be an unloaded state, a rated mass state, or other preset state.
The following describes the measurement method in the examples of the present application in detail with reference to specific examples.
And S1, acquiring the posture of the vehicle.
In this step, the vehicle posture refers to the inclined state of the vehicle 1 with respect to the horizontal reference plane. Further, the vehicle attitude may be an azimuth angle of the longitudinal axis and/or the lateral axis of the vehicle with respect to the horizontal reference axis or the vertical reference axis. It is understood that the vehicle is driven on a road surface, the road surface is not always horizontal, and the posture of the vehicle can be converted into the slope angle of the road surface.
The posture acquisition mode is not limited, and the posture of the vehicle 1 may be acquired by providing a posture sensor, a level or a satellite navigation positioning system. When the attitude is acquired by the satellite navigation positioning system, specifically, the slope angle of the road surface can be acquired in time by vehicle navigation. Referring to fig. 2, when the gesture is acquired by the gesture sensor 121, the kind of the gesture sensor 121 may be a gyroscope, an angle sensor, or the like.
And S2, acquiring the height of the suspension of the vehicle before and after the vehicle wades.
In this step, referring to fig. 2 to 5 in combination, the height of the suspension 11 of the vehicle 1 before and after the vehicle 1 wades may be acquired by providing the position sensor 122, the height of the suspension 11 being measured in the vertical axis direction of the vehicle 1. The position sensor can be a vehicle body height sensor, an axle height sensor or a suspension height sensor.
In one embodiment, a first height of a suspension is obtained when a vehicle is not wading on a horizontal road surface; when the vehicle wades on a horizontal road surface, acquiring a second height of the suspension; when the vehicle wades on a slope road surface, acquiring a third height of the suspension; and acquiring height values of the vehicle before and after wading for calculating the buoyancy borne by the vehicle.
And S3, calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension.
In this step, the slope angle of the driving road surface can be determined by obtaining the posture of the vehicle 1, the change in the height of the suspension 11 can calculate the change in the gravity of the vehicle 1, and the buoyancy exerted on the vehicle 1 can be calculated through force analysis.
In one embodiment, referring to fig. 4, when the vehicle 1 is involved in water on a horizontal road surface, the slope angle is 0. The buoyancy to which the vehicle 1 is subjected is:
wherein f is the buoyancy to which the vehicle 1 is subjected, hi1Is a first height, h, of the suspension 11 when the vehicle 1 is not involved in water on a horizontal roadi2N is the number of the suspensions 11, and k is the spring rate of the suspensions 11, which is the second height of the suspensions 11 when the horizontal road vehicle 1 wades. It can be understood that the vehicle 1 wades in a horizontal road surface, the height of the suspension 11 is changed by buoyancy, and the buoyancy can be obtained by calculating the change of the gravity of the whole vehicle before and after the vehicle 1 wades in the horizontal road surface. The number of suspensions 11 refers to the number of suspensions provided on both sides of an axle, for example, if the vehicle has 2 axles and wheels 14 are provided on both sides of each axle, the number of suspensions 11 is 4.
Illustratively, taking a hard off-road vehicle as an example, the suspension 11 of the vehicle 1 is a non-independent suspension with 4 front and rear wheels, the suspension employs coil springs, and each wheel 14 is correspondingly provided with one coil spring. The buoyancy experienced by the vehicle 1 is:
in an embodiment, referring to fig. 5, when the vehicle 1 wades on a slope road surface, for example, wading on a riverbed, the slope angle of the vehicle 1 is obtained as α, and the buoyancy force applied to the vehicle 1 is:
wherein f is the buoyancy to which the vehicle 1 is subjected, hi1Is a first height, h, of the suspension 11 when the vehicle 1 is not involved in wateri3For the third height of the suspension 11 when the vehicle 1 wades on the slope road surface, h is the initial length of the suspension 11, n is the number of the suspensions 11, k is the spring stiffness of the suspension 11, and α is the slope angle of the slope road surface. The gravity of the vehicle 1 is calculated as (h) by calculating the change in the height of the horizontal road suspension 11i1H) k, resolving all forces to a direction perpendicular to the river slope for force analysis, and calculating the buoyancy force to which the vehicle 1 is subjected.
Illustratively, taking a hard off-road vehicle as an example, the suspension 11 of the vehicle 1 is a non-independent suspension with 4 front and rear wheels, the suspension employs coil springs, and each wheel 14 is correspondingly provided with one coil spring. The vehicle 1 is subjected to a buoyancy of
And S4, determining the wading depth of the vehicle based on the buoyancy force applied to the vehicle.
In this step, the mapping relationship between the buoyancy applied to the vehicle 1 and the wading depth may be obtained in advance to determine the wading depth, and the displacement may also be determined by the buoyancy to calculate the wading depth.
In one embodiment, the step of determining the wading depth of the vehicle 1 based on the buoyancy experienced by the vehicle 1 is: determining wading depth corresponding to the buoyancy force borne by the vehicle 1 according to a preset comparison table; wherein the predetermined look-up table indicates a mapping relationship between buoyancy received by the vehicle 1 and a wading depth of the vehicle 1.
Illustratively, the predetermined look-up table is obtained by: the buoyancy f received by the vehicle 1 is measured in the test field when the vehicle 1 is at different wading depths, and the buoyancy corresponding to the different wading depths is stored, for example, in the controller 123 of the vehicle 1. The method for obtaining the buoyancy f borne by the vehicle 1 through the test field measurement is simple and is suitable for obtaining the mapping relation between the buoyancy of the horizontal road surface and the wading depth.
For the hard off-road vehicle, the oil storage capacity of the oil tank of the vehicle and the weight change of passengers account for very small weight of the whole vehicle, so that the buoyancy measurement of different wading depths can be carried out according to the safest weight in a test field, and the influence of the oil storage capacity of the oil tank and the weight change of the passengers in the actual use process of the vehicle can be ignored. For other vehicles, if the load capacity changes greatly, test tests are required to be performed corresponding to different load states, for example, tests can be performed according to an unloaded state, a fully loaded state and the like, and the mapping relation between the buoyancy and the wading depth under different load states is obtained.
In an embodiment, considering the difficulty of simulation of the wading condition test field of the slope road surface, a functional relation can be established according to the peripheral dimension model of the vehicle 1, and the wading depth corresponding to the buoyancy of the vehicle 1 can be calculated. Since the vehicle body 13 is inclined when the vehicle 1 wades on the slope and the wading depth is different at different positions of the vehicle 1, the wading depth of the vehicle 1 obtained by the calculation needs to be converted into the wading depth of the reference position of the vehicle 1.
Exemplarily, the water discharge amount when the vehicle 1 wades is V ═ f/(ρ g); wherein V is the displacement of the vehicle 1 when wading, f is the buoyancy of the vehicle 1, ρ is the density of water, and g is the acceleration of gravity. And calculating the wading depth of the vehicle 1 needing to control the reference point through the peripheral dimension model of the vehicle 1, the slope angle of the road surface, the position of the engine and the driving direction of the vehicle on the slope road surface.
In one embodiment, the measuring method further comprises displaying and/or broadcasting the wading depth of the vehicle 1, and the driver is allowed to receive the wading information of the vehicle 1 in a broadcasting mode.
In an embodiment, the measuring method further comprises displaying the wading depth of the vehicle 1 and issuing an alarm when the wading depth of the vehicle 1 reaches a threshold value. The display may be highlighted or flashed in conjunction with an alarm to draw the attention of the driver. It will be appreciated that the water flow is fluctuating when the vehicle 1 is waded and the threshold value is set so that the height of the air inlet and exhaust of the vehicle 1 cannot be exceeded, and for example the threshold value may be 80% of the height of the air inlet and exhaust of the vehicle 1 (based on the lower position of the air inlet and exhaust), with a margin being left to reduce the risk of water flow floating into the air inlet or exhaust.
In a second aspect of the embodiments of the present application, referring to fig. 2, there is provided a vehicle wading depth measuring device, including: attitude sensor 121, position sensor 122, and controller 123. The attitude sensor 121 is used to acquire the attitude of the vehicle 1 and measure the slope angle when the vehicle 1 is on a slope road. For example, the attitude sensor 121 comprises a longitudinal accelerometer of the vehicle 1 that subtracts the acceleration of the speed of the wheel 14 to obtain the acceleration due to gravity, and thus the longitudinal gradient. The attitude sensor 121 is not limited to a specific type, and may be a gyroscope, an angle sensor, or the like. The position sensor 122 is used to acquire the height of the suspension 11 of the vehicle 1. The position sensor 122 may be contact or proximity. The attitude sensor 121 and the position sensor 122 may be independent sensing devices or sensing devices that are functionally integrated. The controller 123 is configured to calculate buoyancy applied to the vehicle 1 according to the attitude of the vehicle 1 and the change in height of the suspension 11, and determine the wading depth of the vehicle 1 based on the buoyancy applied to the vehicle 1. For example, the controller 123 may be a computer device, such as an Electronic Control Unit (ECU), which is also referred to as a vehicle computer or an on-board computer.
In one embodiment, the controller 123 includes a calculation module, a storage module, and a reading module. It is understood that the computing module, the storage module and the reading module may be independent hardware modules divided according to functions or be an integral device with integrated functions. Different functional modules, whether individual modules or integral devices, are all within the scope of the present application as long as the functions of the controller according to the embodiments of the present application are adopted.
Illustratively, the calculation module calculates the buoyancy force to which the vehicle 1 is subjected according to the height variation value of the suspension 11. The calculation module contains several groups of calculation formulas, and is suitable for buoyancy calculation of horizontal road wading or slope road wading. It will be appreciated that the calculation module may receive signals transmitted by the attitude sensors to determine the use of the calculation formula. The storage module stores a predetermined look-up table indicating a mapping relationship between buoyancy to which the vehicle 1 is subjected and a wading depth of the vehicle 1. The reading module determines the wading depth of the vehicle 1 corresponding to the buoyancy force borne by the vehicle 1 according to a preset comparison table.
Specifically, the predetermined comparison table is a value table, the relevant values can be obtained by measurement in a vehicle test field, the buoyancy f received by the vehicle 1 is measured when the vehicle 1 passes through different water depths, and the buoyancy corresponding to the different water depths is filled in the value table.
The memory module stores, as an example, a functional relation of a peripheral dimensional model of the vehicle 1. The calculation module calculates the buoyancy force borne by the vehicle 1 according to the height change value of the suspension 11, and calculates the wading depth corresponding to the buoyancy force borne by the vehicle 1 according to the functional relation. The reading module reads out the wading depth of the vehicle 1 calculated by the calculation module.
Specifically, the vehicle 1 wades with water at a displacement V ═ f/(ρ g); wherein V is the displacement of the vehicle 1 when wading, f is the buoyancy of the vehicle 1, ρ is the density of water, and g is the acceleration of gravity. The calculation module calculates the wading depth of the vehicle 1 at the required control point according to the driving direction of the vehicle on the slope road surface through the peripheral dimension model of the vehicle 1 and the position of the engine stored in the memory and the road surface slope angle acquired by the attitude sensor 121.
In an embodiment, the controller further comprises a display module to display the wading depth of the vehicle 1. The display module is in signal connection with the reading module, and the wading depth is displayed after the reading module signal is acquired. The display module is not limited in kind, and may be a display, a dashboard, or the like.
In an embodiment, the controller further comprises an alarm module for issuing an alarm when the wading depth reaches a threshold value. The alarm module gives an alarm when the wading depth reaches a threshold value so as to judge when the vehicle 1 is in the wading dangerous depth, and the vehicle 1 is started when the wading depth reaches the threshold value. The threshold value of the alarm module is set according to the type of vehicle 1, and due to the movement of the water surface, for example due to ripples/waves/splashes in the water, the threshold value is typically set to 80% of the height of the lower position of both the air intake and the air exhaust in order to reduce the risk of water floating into the air intake or the air exhaust. The alarm module is in signal connection with the reading module, and gives an alarm when the reading module feeds back that the wading depth reaches a threshold value. The alarm mode of the alarm module is not limited, and can be sound, pictures or sound and picture combination. For example, the alarm module is electrically connected with the vehicle-mounted sound, and when the wading depth reaches a threshold value, the wading depth and the safety warning are broadcasted through the vehicle-mounted sound.
In a third aspect of the application, there is provided a computer device comprising one or more processing modules configured to execute computer instructions stored in the storage module to perform any of the above-described measurement methods. The computer device may be the controller of the above embodiment, and the processing module may be the calculating module and the reading module in the above embodiment.
In one embodiment, an embodiment of the present application provides a computer system, including: a programmable circuit; and software encoded on at least one computer readable medium for programming a programmable circuit to implement any of the above-described measurement methods. The computer apparatus described above mounts the computer system.
In one embodiment, the present application provides a computer-readable medium having computer-readable instructions thereon, which when executed by a computer, cause the computer to perform all the steps of any one of the above-mentioned measurement methods. The computer readable medium may be one or more. The computer device described above is configured with the computer-readable medium.
In a fourth aspect of the present application, a vehicle is provided, comprising a suspension 11 and any one of the above-mentioned measuring devices 12.
In one embodiment, referring to fig. 3, the vehicle 1 includes a suspension 11, a measuring device 12, a vehicle body 13, and wheels 14. The position where the measuring device 12 is installed is not limited, and may be provided on the vehicle body 13 and/or the suspension 11, respectively, depending on the function of each component.
In a fifth aspect of the application, a vehicle is provided comprising any one of the computer devices described above.
The above description is only a preferred embodiment of the present application, and is not intended to limit the present application, and it is obvious to those skilled in the art that various modifications and variations can be made in the present application. All changes, equivalents, modifications and the like which come within the spirit and principle of the application are intended to be embraced therein.
Claims (14)
1. A method for measuring the wading depth of a vehicle is characterized by comprising the following steps:
acquiring the posture of the vehicle;
acquiring the height of a suspension of the vehicle before and after the vehicle wades;
calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension;
determining a wading depth of the vehicle based on buoyancy experienced by the vehicle.
2. The method according to claim 1, wherein when the vehicle wades on a horizontal surface, the vehicle is subjected to buoyancy forces of:
wherein f is the buoyancy to which the vehicle is subjected, hi1For a first height of the suspension when the vehicle is not waded on a horizontal road surface, hi2The second height of the suspension is the second height of the suspension when the vehicle wades on the horizontal road surface, n is the number of the suspensions, and k is the spring stiffness of the suspension.
3. The method of claim 1, wherein when the vehicle wades on a sloped surface, the vehicle is subjected to buoyancy forces of:
wherein f is the buoyancy to which the vehicle is subjected, hi1To a first height of the suspension when the vehicle is not waded on a level road, hi3H is the initial length of the suspension, n is the number of the suspensions, k is the spring stiffness of the suspension, and alpha is the third height of the suspension when the vehicle wades on the slope road surfaceThe slope angle of slope road surface.
4. The method according to claim 1, wherein the step of determining the wading depth of the vehicle based on the buoyancy force experienced by the vehicle comprises:
determining wading depth corresponding to the buoyancy force borne by the vehicle according to a preset comparison table; wherein the predetermined look-up table indicates a mapping relationship between buoyancy received by the vehicle and a vehicle wading depth.
5. The measurement method according to claim 4, wherein the predetermined look-up table is obtained by:
and measuring the buoyancy f borne by the vehicle when the vehicle passes through different wading depths in a test field, and storing the buoyancy corresponding to the different wading depths.
6. The measurement method according to claim 1, wherein the step of determining the wading depth of the vehicle based on the buoyancy experienced by the vehicle comprises:
and establishing a functional relation according to the vehicle peripheral dimension model, and calculating the wading depth corresponding to the buoyancy force borne by the vehicle.
7. The measurement method according to claim 1, further comprising:
displaying and/or broadcasting the wading depth of the vehicle; or the like, or, alternatively,
and when the wading depth of the vehicle reaches a threshold value, displaying the wading depth of the vehicle and giving an alarm.
8. A vehicle wading depth measuring device, comprising:
an attitude sensor for acquiring an attitude of the vehicle;
a position sensor for acquiring a height of a suspension of the vehicle;
and the controller is used for calculating the buoyancy borne by the vehicle according to the attitude of the vehicle and the height change of the suspension, and determining the wading depth of the vehicle based on the buoyancy borne by the vehicle.
9. The measurement device of claim 8, wherein the controller comprises:
the computing module is used for computing the buoyancy borne by the vehicle according to the height change value of the suspension;
the storage module is used for storing a preset comparison table, and the preset comparison table indicates the mapping relation between the buoyancy force borne by the vehicle and the wading depth of the vehicle; and
and the reading module is used for determining the wading depth of the vehicle corresponding to the buoyancy force borne by the vehicle according to the preset comparison table.
10. The measurement device of claim 8, wherein the controller comprises:
the storage module is used for storing a functional relation of the vehicle periphery size model;
the calculation module is used for calculating the buoyancy borne by the vehicle according to the height change value of the suspension and calculating the wading depth corresponding to the buoyancy borne by the vehicle according to the functional relation; and
and the reading module is used for reading the wading depth of the vehicle calculated by the calculating module.
11. The measurement device of claim 8, wherein the controller further comprises:
the display module is used for displaying the wading depth of the vehicle; and/or the presence of a gas in the atmosphere,
and the alarm module is used for giving an alarm when the wading depth of the vehicle reaches a threshold value.
12. A computer device comprising one or more processing modules configured to execute computer instructions stored in a memory module to perform a measurement method according to any one of claims 1 to 7.
13. A vehicle, characterized by comprising:
a suspension; and
a measuring device according to any one of claims 8 to 11.
14. A vehicle characterized by comprising the computer device of claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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