CN115056620A - Soft terrain escaping method and device for vehicle and vehicle - Google Patents
Soft terrain escaping method and device for vehicle and vehicle Download PDFInfo
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- CN115056620A CN115056620A CN202210989624.5A CN202210989624A CN115056620A CN 115056620 A CN115056620 A CN 115056620A CN 202210989624 A CN202210989624 A CN 202210989624A CN 115056620 A CN115056620 A CN 115056620A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/41—Fluid actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
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- Vehicle Body Suspensions (AREA)
Abstract
The application discloses a soft terrain escaping method and device for a vehicle and the vehicle. The soft terrain escaping method for the vehicle comprises the following steps: acquiring auxiliary escaping request information; and after the auxiliary escaping request information is acquired, controlling a full-active suspension system and a driving limited slip system to work according to an escaping strategy. According to the soft terrain escaping method for the vehicle, when the vehicle enters soft terrain, the ground is tamped through the actuating cylinder, whether escaping conditions are met or not is analyzed according to specific rotation of the wheels of the vehicle, and under the escaping conditions, personnel in the vehicle are instructed to perform corresponding operation, so that escaping of the vehicle is achieved.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a soft terrain escaping method for a vehicle, a soft terrain escaping device for the vehicle and the vehicle.
Background
The prior road automobile is gradually equipped with a full-active suspension installed between a vehicle body and wheels, the full-active suspension comprises a ram, a traditional shock absorber on a common suspension is replaced by the ram, the acting force independent of the relative movement direction of a piston and a cylinder of the shock absorber can be generated, and the vehicle body can move up and down under the action of the ram when the vehicle runs on a flat road.
The vehicle traveles in the road conditions of difference, can meet various car, stranded car accident that fall into, and current vehicle device of getting rid of poverty is mostly outer hanging tyre chain, and it is applicable to freezing road conditions more, simultaneously because of the interval problem of tire and automobile body for the effective effect part of tyre chain can't be done too greatly, and individual motorcycle type is not suitable for. And part of the antiskid chains are matched with a jack for use, so that the use difficulty is increased. When the vehicle runs in deep muddy road conditions, loose sandy soil road conditions or loose terrains such as sand dunes and soil dunes, the existing escaping device can not solve the problem.
Disclosure of Invention
The present invention is directed to a method for escaping from soft terrain for vehicles to solve at least one of the above problems.
The invention provides the following scheme:
according to an aspect of the present invention, there is provided a soft terrain escaping method for a vehicle, the vehicle including an all-active suspension system and a driving limited slip system, the all-active suspension system including wheels and rams corresponding to the wheels, one ram being connected to one wheel, the soft terrain escaping method for a vehicle including:
acquiring basic information of trapped wheels transmitted by a driving limited slip system, wherein the basic information of the trapped wheels comprises information of the trapped wheels, one piece of information of the trapped wheels corresponds to one wheel, and the wheel with the information of the trapped wheels is called as a trapped wheel;
acquiring auxiliary escaping request information;
after the auxiliary escaping request information is obtained, controlling a full-active suspension system and a driving limited slip system to work according to an escaping strategy; wherein the content of the first and second substances,
after the auxiliary escaping request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to an escaping strategy comprises the following steps:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
and transmitting the actuating cylinder hammering signal to an actuating cylinder connected with a wheel corresponding to the information of the trapped wheel in the fully-active suspension system, so that the actuating cylinder provides force for the connected wheel according to the actuating cylinder hammering signal, and the wheel performs hammering action on the ground.
Optionally, before the obtaining of the auxiliary getting-out request information, the soft terrain getting-out method for a vehicle further includes:
acquiring a trapped signal transmitted by a driving limited slip system;
generating a trapped risk prompt according to the trapped signal and transmitting the trapped risk prompt to a vehicle interaction system;
the acquiring auxiliary getting-out-of-position request information comprises:
and acquiring auxiliary escaping request information fed back by the personnel in the vehicle according to the trapped risk prompt.
Optionally, after the auxiliary getting-out request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to the getting-out strategy further includes:
in the process of providing force for the actuating cylinder and the wheel connected with the actuating cylinder, judging whether the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition, if so, judging that the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition
And generating an actuating cylinder work stopping signal, and transmitting the actuating cylinder work stopping signal to the actuating cylinder which performs hammering action, so that the actuating cylinder which acquires the actuating cylinder work stopping signal stops working.
Optionally, after the generating the actuator cylinder stop working signal, the controlling the fully active suspension system and the driving limited slip system to work according to the getting rid of poverty strategy further includes:
generating prompt information of the driver stepping on the accelerator and transmitting the prompt information to the vehicle interaction system;
acquiring the vehicle condition after the driver performs the accelerator pedaling action according to the accelerator pedaling prompt information;
and judging whether the vehicle is trapped according to the vehicle condition, and if so, ending the soft terrain trapping method for the vehicle.
Optionally, controlling the fully active suspension system and the driving limited slip system to work according to the escaping strategy further comprises:
judging whether the vehicle is out of the poverty according to the vehicle condition, if not, judging whether the vehicle is out of the poverty
Generating a load loading signal;
transmitting the load loading signal to the actuator connected to the driving wheel, so that the actuator connected to the driving wheel applies a load to the wheel, and the wheel obtains a force towards the ground.
Optionally, controlling the fully active suspension system and the driving limited slip system to work according to the escaping strategy further comprises:
in the process that the actuating cylinder applies load to the ground, whether the wheel speed of the vehicle meets a preset wheel speed value or not is judged, and if yes, the wheel speed of the vehicle meets the preset wheel speed value
A load application adjustment signal is generated.
Optionally, during the working process of controlling the fully-active suspension system and the driving limited slip system according to the escaping strategy, the rotation condition of each wheel is adjusted and detected by the driving limited slip system.
Optionally, after the auxiliary getting-out request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to the getting-out strategy further includes:
in the process of providing force for the actuating cylinder and the wheel connected with the actuating cylinder, judging whether the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition, if not, judging that the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition
Judging whether the wheel corresponding to the actuating cylinder is a driving wheel or not, if so, judging whether the wheel corresponding to the actuating cylinder is a driving wheel or not
And finishing the escaping strategy, generating escaping failure information and sending the escaping failure information to the vehicle interaction system.
The application also provides a soft terrain escaping device for a vehicle, the soft terrain escaping device for a vehicle includes:
the acquisition module is used for acquiring the basic information of the trapped wheels transmitted by the driving limited slip system, wherein the basic information of the trapped wheels comprises information of the trapped wheels, one information of the trapped wheels corresponds to one wheel, and the wheel with the information of the trapped wheels is called as the trapped wheel;
the auxiliary escaping request acquisition module is used for acquiring auxiliary escaping request information;
the escape control module is used for controlling the fully active suspension system and the driving limited slip system to work according to an escape strategy after the auxiliary escape request information is acquired; wherein the content of the first and second substances,
after the auxiliary escaping request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to an escaping strategy comprises the following steps:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
and transmitting the actuating cylinder hammering signal to an actuating cylinder connected with a wheel corresponding to the information of the trapped wheel in the fully-active suspension system, so that the actuating cylinder provides force for the connected wheel according to the actuating cylinder hammering signal, and the wheel performs hammering action on the ground.
The application provides a vehicle, which comprises the soft terrain escaping device for the vehicle, a fully active suspension system and a driving limited slip system; wherein the content of the first and second substances,
the fully active suspension system is connected with the soft terrain escaping device for the vehicle, the fully active suspension system comprises at least four wheels and at least four actuating cylinders, and one wheel corresponds to one actuating cylinder;
the number of drive limited slip systems is the same as the number of wheels, one drive limited slip system is used to regulate and detect the rotation of one wheel.
When entering soft terrain, the method for getting rid of the soft terrain for the vehicle tamps the ground through the actuating cylinder, analyzes whether the getting rid of the soft terrain is achieved or not according to the specific rotation of the wheels of the vehicle, and commands personnel in the vehicle to perform corresponding operation under the condition that the getting rid of the soft terrain is achieved, so that the getting rid of the soft terrain for the vehicle is achieved, and compared with the prior art, the method for getting rid of the soft terrain for the vehicle has the following advantages;
1. the vehicle can get rid of the trouble on soft terrain without adding other new structures and devices;
2. the wheel condition of the vehicle when falling into soft terrain is judged, so that people in the vehicle can be more intelligently assisted to get rid of the trouble, and an optimal getting-out scheme is provided for the people in the vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a method for relieving soft terrain for a vehicle according to an embodiment of the present application;
fig. 2 is a system architecture diagram of an electronic device capable of implementing the soft terrain escaping method for a vehicle of the present application.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for relieving soft terrain for a vehicle according to an embodiment of the present application.
The vehicle of this application includes full active suspension system and drive limit slip system, specifically, the vehicle of this application installs 4 at least wheels to at least, at left front wheel, left rear wheel, right front wheel, the drive limit slip system is installed to right rear wheel, and at left front wheel, left rear wheel, right front wheel, install the pressurized strut that can produce vertical effort between right rear wheel and the automobile body.
In this embodiment, the driving limited slip system is used to adjust and detect the rotation of each wheel, and determine whether a trapped signal is present according to the rotation of the wheel.
The soft terrain escaping method for a vehicle shown in fig. 1 includes:
step 1: acquiring auxiliary escaping request information;
step 2: and after the auxiliary escaping request information is acquired, controlling the fully active suspension system and the driving limited slip system to work according to the escaping strategy.
When the soft terrain is entered, the ground is tamped by driving the wheels through the actuating cylinder, whether the soft terrain is in a soft terrain releasing condition is analyzed according to the specific rotation of the wheels of the vehicle, and personnel in the vehicle are instructed to perform corresponding operation when the soft terrain is in the soft terrain releasing condition, so that the vehicle is released;
1. the vehicle can get rid of the trouble on soft terrain without adding other new structures and devices;
2. the wheel condition of the vehicle when getting into soft terrain is judged, so that people in the vehicle can be assisted to get rid of the poverty more intelligently, and an optimal poverty-getting-out scheme is provided for the people in the vehicle.
In this embodiment, before obtaining the auxiliary getting-out request information, the method for getting out of soft terrain for vehicle further includes:
acquiring a trapped signal transmitted by a driving limited slip system;
generating a trapped risk prompt according to the trapped signal and transmitting the trapped risk prompt to a vehicle interaction system;
the acquiring of the auxiliary escaping request information comprises the following steps:
and acquiring auxiliary escaping request information fed back by the personnel in the vehicle according to the trapped risk prompt.
Even if a trapped signal is transmitted by driving the limited slip system, the method of the application can not be directly and automatically opened, because only a driver knows most whether trapping is really needed or not, and therefore auxiliary trapping request information is obtained through actions of personnel in the vehicle.
In this embodiment, before obtaining the auxiliary getting-out request information, the method for getting out of soft terrain for vehicle further includes:
acquiring the basic information of the trapped wheel transmitted by the driving limited slip system, wherein the basic information of the trapped wheel comprises information of the trapped wheel, one piece of information of the trapped wheel corresponds to one wheel, and the wheel with the information of the trapped wheel is called the trapped wheel.
In this embodiment, after the auxiliary escaping request information is acquired, the fully active suspension system and the driving limited slip system are controlled to work according to the escaping strategy:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
and transmitting the actuator cylinder hammering signal to the actuator cylinder connected with the wheel corresponding to the trapped wheel information in the fully-active suspension system, so that the actuator cylinder provides force for the connected wheel according to the actuator cylinder hammering signal, and the wheel performs hammering action on the ground.
In this embodiment, after the auxiliary getting-out request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to the getting-out strategy further includes:
in the process of providing force for the actuating cylinder and the wheel connected with the actuating cylinder, judging whether the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition, if so, judging that the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition
And generating an actuating cylinder work stopping signal, and transmitting the actuating cylinder work stopping signal to the actuating cylinder which performs hammering action, so that the actuating cylinder which acquires the actuating cylinder work stopping signal stops working.
In this embodiment, after generating the actuator deactivation signal, controlling the operation of the fully active suspension system and the driving limited slip system according to the release strategy further comprises:
generating prompt information of the driver stepping on the accelerator and transmitting the prompt information to the vehicle interaction system;
acquiring the vehicle condition after the driver performs the accelerator pedaling action according to the accelerator pedaling prompt information;
and judging whether the vehicle is trapped according to the vehicle condition, and if so, ending the process.
In this embodiment, controlling the operation of the fully active suspension system and the driving limited slip system according to the escaping strategy further comprises:
judging whether the vehicle is getting out of the way or not according to the vehicle condition, if not, judging that the vehicle is out of the way
Generating a load loading signal;
a load signal is transmitted to the ram such that the ram applies a load to the wheel such that the wheel acquires a force in a direction towards the ground.
In this embodiment, controlling the operation of the all-active suspension system and the driving limited slip system according to the escaping strategy further comprises:
in the process that the actuating cylinder applies load to the ground, whether the wheel speed of the vehicle meets a preset wheel speed value or not is judged, and if yes, the wheel speed of the vehicle meets the preset wheel speed value
A load application adjustment signal is generated.
In the embodiment, during the working process of controlling the fully active suspension system and the driving limited slip system according to the escaping strategy, the rotation condition of each wheel is adjusted and detected through the driving limited slip system.
In this embodiment, after the auxiliary getting-out request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to the getting-out strategy further includes:
judging whether the wheel corresponding to the actuating cylinder performing the hammering action meets the escaping condition or not in the process of performing the hammering action on the ground by the actuating cylinder, if not, judging that the wheel corresponding to the actuating cylinder performing the hammering action meets the escaping condition
Judging whether the wheel corresponding to the actuating cylinder is a driving wheel, if so, judging that the wheel corresponding to the actuating cylinder is a driving wheel
And finishing the escaping strategy and generating escaping failure information to be sent to the vehicle interaction system.
The present application is described in further detail below by way of examples, it being understood that the examples do not constitute any limitation to the present application.
In this embodiment, a car is taken as an example, the car has a fully active suspension system and a driving limited slip system, the car has a first wheel, a second wheel, a third wheel and a fourth wheel, each wheel is provided with the driving limited slip system, in this embodiment, the first wheel is connected with a first actuator cylinder, the second wheel is connected with a second actuator cylinder, the third wheel is connected with a third actuator cylinder, and the fourth wheel is connected with a fourth actuator cylinder.
When the driving anti-skid system on one or more wheels detects that the ground adhesion capability is insufficient, the driving slip limiting system mounted on the wheels with insufficient adhesion capability sends a trapped signal, and after the trapped signal transmitted by the driving slip limiting system is obtained, a trapped risk prompt is generated according to the trapped signal and transmitted to the vehicle interaction system.
And judging whether the current vehicle has the trapped risk or not by the personnel in the vehicle according to the trapped risk prompt, and if the personnel (such as a driver) in the vehicle confirms that the current vehicle has the trapped risk, manually starting a full-active suspension auxiliary trapping function so as to generate auxiliary trapping request information.
In one embodiment, when the antiskid system is driven to send the signal of getting trapped, a piece of basic information of getting trapped is given at the same time, and which wheel of the base vehicle needs to get trapped can be obtained through the basic information of getting trapped, for example, in this embodiment, the first wheel and the third wheel need to get trapped.
After the auxiliary getting-out request information is obtained, controlling the work of a full-active suspension system and a driving limited slip system according to a getting-out strategy, specifically, controlling the work of the full-active suspension system and the driving limited slip system according to the getting-out strategy comprises the following steps:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
transmitting a hammering signal of the actuating cylinder to the actuating cylinder in the fully-active suspension system so that the actuating cylinder performs hammering action on the ground according to the hammering signal of the actuating cylinder; in this embodiment, the wheels to be taken out of the way are the first wheel and the third wheel, and the actuator cylinder hammering signal is transmitted to the first actuator cylinder and the third actuator cylinder.
In the embodiment, each actuator cylinder needing to work generates sine main power with amplitude A and fixed frequency f according to an actuator cylinder hammering signal to hammer the ground (the power is transmitted to the ground through wheels), a load is applied to the ground, the firmness of the soft ground is enhanced, and in the working process, an actuator cylinder tamping signal can be generated and transmitted to a vehicle instrument system, so that a corresponding working mark is given on a vehicle instrument panel to prompt that the current full-active suspension auxiliary trap function is working.
Judging whether the wheel corresponding to the actuating cylinder performing the hammering action meets the escaping condition or not in the process of performing the hammering action on the ground by the actuating cylinder, if so, judging that the wheel corresponding to the actuating cylinder performing the hammering action meets the escaping condition
And generating an actuating cylinder work stopping signal, and transmitting the actuating cylinder work stopping signal to the actuating cylinder which performs hammering action, so that the actuating cylinder which acquires the actuating cylinder work stopping signal stops working.
Specifically, whether or not a wheel corresponding to a ram performing a hammering operation satisfies a release condition is determined as follows:
the method comprises the steps that a driving anti-skidding system continuously monitors whether wheels meet a releasing condition within a limited time in the working process of actuating cylinders, and judgment is carried out according to whether the slip rate of the wheels is lower than a threshold value.
For example, if the first wheel satisfies the above-mentioned release condition, the first actuator cylinder stops operating, and if the third wheel satisfies the above-mentioned release condition, the third actuator cylinder stops operating.
In this embodiment, if it is determined that the wheel corresponding to the ram performing the hammering action does not satisfy the escape condition within a limited time, it is determined whether the wheel corresponding to the ram is a driving wheel, for example, the third wheel does not satisfy the escape condition, but the third wheel is not the driving wheel, at this time, the method of the present application is not stopped, and if the wheel is the driving wheel, for example, the first wheel, the vehicle escape method using soft terrain of the present application is ended, a failure signal is generated, and a display is made through an instrument panel, indicating that the vehicle has failed to escape.
Assuming that when all the wheels in the vehicle are driven, or the wheels that do not satisfy the above-mentioned conditions are non-driven wheels, the driver can try to drive the vehicle to get out of the vehicle.
However, at this time, it may not be clear to the driver how to drive the vehicle to enable the vehicle to get out of the way, and therefore, at this time, a driver's accelerator-on prompt message is generated and transmitted to the vehicle interaction system, for example, a corresponding mark is given on the dashboard to prompt the driver to be able to press on the accelerator pedal;
acquiring the vehicle condition after the driver performs the accelerator pedaling action according to the accelerator pedaling prompt information, specifically, judging whether the driver depresses the accelerator pedal within the time T1, if not, determining that the driver probably does not want to change, and ending the soft terrain getting-out-of-position method for the vehicle;
judging whether the driver steps on the accelerator pedal within the time T1, if so, judging whether the driver steps on the accelerator pedal within the time T1
And judging whether the vehicle is trapped after the driver steps on the accelerator pedal according to the vehicle condition, and if so, finishing.
The mode of judging whether the vehicle is stranded after the driver steps on the accelerator pedal is more, for example, can judge whether the vehicle is marchd forward or retreat through camera device, judge whether the vehicle can carry out normal driving etc. through the wheel speed, no longer describe here.
In this embodiment, the present application further includes:
judging whether the vehicle is getting out of the way or not according to the vehicle condition, if not, judging that the vehicle is out of the way
Generating a load loading signal;
a load signal is transmitted to the ram to cause the ram to apply a load to the surface.
Specifically, when the driver depresses the accelerator pedal, the wheel speed of the driving wheel starts to increase, and when the wheel speed of the driving wheel K increases to a certain proportion q of the threshold value K (for example, q = 80%), but the vehicle is still not getting out of the trouble, the actuator corresponding to the driving wheel K (for example, the first wheel and the second wheel are driving wheels, and the first actuator and the second actuator are working at this time) applies a load to the wheel with a downward constant force F, where the load is a load of the wheel in a vertically downward direction with respect to the ground, that is, the force is a pressure in a direction toward the ground with respect to the wheel; it will be appreciated that in other embodiments, the rams may be controlled to operate together simultaneously, or one or more rams may be selected to operate at will.
In this embodiment, the present application further includes:
in the process that the actuating cylinder applies load to the ground, whether the wheel speed of the vehicle meets a preset wheel speed value or not is judged, and if yes, the wheel speed of the vehicle meets the preset wheel speed value
A load application adjustment signal is generated.
Specifically, when the constant force F of the ram is kept unchanged, after detecting that the acceleration of the driving wheel K is less than r (for example, r = 0) (which represents that the rotation force of the driving wheel is mostly converted into the friction force between the wheel and the ground, that is, the counterforce provided by the ground at the time of the vehicle walking can already help the vehicle to walk), a load application adjustment signal is generated, and the load application adjustment signal is used to make the ram force of the ram corresponding to the driving wheel K to the wheel decrease with the slope s until the wheel speed is less than t (for example, t =0.1 × K), and the ram stops applying downward force to the ground, and the vehicle soft terrain escaping method of the present application is ended.
It is understood that if the constant force F is kept constant, if the driving wheel acceleration cannot reach less than r (for example, r = 0) within the time T2, the vehicle soft terrain getting rid of the problem of the present application is ended, and the instrument panel indicates that the getting rid of the problem has failed.
The application also provides a soft terrain escaping device for the vehicle, which comprises an acquisition module, an auxiliary escaping request acquisition module and an escaping control module;
the acquisition module is used for acquiring the basic information of the trapped wheels transmitted by the driving limited slip system, wherein the basic information of the trapped wheels comprises information of the trapped wheels, one piece of information of the trapped wheels corresponds to one wheel, and the wheel with the information of the trapped wheels is called as a trapped wheel;
the auxiliary getting-out request acquisition module is used for acquiring auxiliary getting-out request information;
the escape control module is used for controlling the fully active suspension system and the driving limited slip system to work according to an escape strategy after the auxiliary escape request information is acquired; wherein the content of the first and second substances,
after the auxiliary escaping request information is obtained, the control of the fully active suspension system and the drive limited slip system according to the escaping strategy comprises the following steps:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
and transmitting the actuator cylinder hammering signal to the actuator cylinder connected with the wheel corresponding to the trapped wheel information in the fully-active suspension system, so that the actuator cylinder provides force for the connected wheel according to the actuator cylinder hammering signal, and the wheel performs hammering action on the ground.
The application also provides a vehicle, which comprises the soft terrain escaping device for the vehicle, a fully active suspension system and a driving anti-skidding system, wherein the soft terrain escaping device for the vehicle is the soft terrain escaping device for the vehicle; the fully active suspension system is connected with the soft terrain escaping device for the vehicle, the fully active suspension system comprises at least four wheels and at least four actuating cylinders, and one wheel corresponds to one actuating cylinder; the number of drive limited slip systems is the same as the number of wheels, one drive limited slip system is used to regulate and detect the rotation of one wheel.
Referring to fig. 2, the present application also provides an electronic device comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the method for escaping soft terrain for a vehicle.
The present application also provides a computer readable storage medium storing a computer program executable by an electronic device, which when run on the electronic device, causes the electronic device to perform the steps of the method for escaping soft terrain for a vehicle.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system. The hardware layer includes hardware such as a Central Processing Unit (CPU), a Memory Management Unit (MMU), and a Memory. The operating system may be any one or more computer operating systems that implement control of the electronic device through a Process (Process), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. In the embodiment of the present invention, the electronic device may be a handheld device such as a smart phone and a tablet computer, or an electronic device such as a desktop computer and a portable computer, which is not particularly limited in the embodiment of the present invention.
The execution main body of the electronic device control in the embodiment of the present invention may be the electronic device, or a functional module capable of calling a program and executing the program in the electronic device. The electronic device may acquire the firmware corresponding to the storage medium, the firmware corresponding to the storage medium is provided by a vendor, and the firmware corresponding to different storage media may be the same or different, which is not limited herein. After the electronic device acquires the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium is burned into the storage medium. The process of burning the firmware into the storage medium can be implemented by adopting the prior art, and is not described in the embodiment of the present invention.
The electronic device may further acquire a reset command corresponding to the storage medium, where the reset command corresponding to the storage medium is provided by a vendor, and the reset commands corresponding to different storage media may be the same or different, which is not limited herein.
At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device may respond to the reset command corresponding to the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the prior art, and is not described in detail in the embodiment of the present invention.
For convenience of description, the above devices are described as being divided into various units and modules by functions, respectively. Of course, the functions of the units and modules may be implemented in one or more software and/or hardware when the present application is implemented.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present application.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A soft terrain escaping method for a vehicle, wherein the vehicle comprises a full-active suspension system and a driving limited slip system, the full-active suspension system comprises wheels and actuating cylinders corresponding to the wheels, and one actuating cylinder is connected with one wheel, and the soft terrain escaping method for the vehicle comprises the following steps:
acquiring basic information of trapped wheels transmitted by a driving limited slip system, wherein the basic information of the trapped wheels comprises information of the trapped wheels, one piece of information of the trapped wheels corresponds to one wheel, and the wheel with the information of the trapped wheels is called as a trapped wheel;
acquiring auxiliary escaping request information;
after the auxiliary escaping request information is obtained, controlling a full-active suspension system and a driving limited slip system to work according to an escaping strategy; wherein the content of the first and second substances,
after the auxiliary escaping request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to an escaping strategy comprises the following steps:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
and transmitting the actuating cylinder hammering signal to an actuating cylinder connected with a wheel corresponding to the information of the trapped wheel in the fully-active suspension system, so that the actuating cylinder provides force for the connected wheel according to the actuating cylinder hammering signal, and the wheel performs hammering action on the ground.
2. A soft terrain relief method for a vehicle according to claim 1, wherein before the acquisition of the auxiliary relief request information, the soft terrain relief method for a vehicle further comprises:
acquiring a trapped signal transmitted by a driving limited slip system;
generating a trapped risk prompt according to the trapped signal and transmitting the trapped risk prompt to a vehicle interaction system;
the acquiring of the auxiliary stranded-escaping request information comprises the following steps:
and acquiring auxiliary escaping request information fed back by the personnel in the vehicle according to the trapped risk prompt.
3. The soft-terrain detrainment method for a vehicle according to claim 2, wherein the controlling the operation of the all-active suspension system and the driving limited slip system according to the detrainment strategy after the acquiring of the auxiliary detrainment request information further comprises:
in the process of providing force for the actuating cylinder and the wheel connected with the actuating cylinder, judging whether the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition, if so, judging that the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition
And generating an actuating cylinder work stopping signal, and transmitting the actuating cylinder work stopping signal to the actuating cylinder which performs hammering action, so that the actuating cylinder which acquires the actuating cylinder work stopping signal stops working.
4. The soft terrain delinquent method of claim 3, wherein after said generating the ram deactivation signal, said controlling the operation of the all-active suspension system and the drive limit slip system in accordance with the delinquent strategy further comprises:
generating prompt information of the driver stepping on the accelerator and transmitting the prompt information to the vehicle interaction system;
acquiring the vehicle condition after the driver performs the accelerator pedaling action according to the accelerator pedaling prompt information;
and judging whether the vehicle is getting rid of the trouble or not according to the vehicle condition, and if so, ending the soft terrain getting rid of the trouble method for the vehicle.
5. The soft terrain escape method of claim 4 wherein controlling the operation of the all-active suspension system and the drive limited slip system in accordance with the escape strategy further comprises:
judging whether the vehicle is out of the way or not according to the vehicle condition, if not, judging whether the vehicle is out of the way or not, and if not, judging whether the vehicle is out of the way or not
Generating a load loading signal;
transmitting the load loading signal to the actuator connected to the driving wheel, so that the actuator connected to the driving wheel applies a load to the wheel, and the wheel obtains a force towards the ground.
6. The soft terrain escape method of claim 5 wherein controlling the operation of the all-active suspension system and the drive limited slip system in accordance with the escape strategy further comprises:
in the process that the actuating cylinder applies load to the ground, whether the wheel speed of the vehicle meets a preset wheel speed value or not is judged, and if yes, the wheel speed of the vehicle meets the preset wheel speed value
A load application adjustment signal is generated.
7. A soft terrain escape method for vehicles as claimed in any one of claims 1 to 6, wherein during the operation of the all-active suspension system and the drive limited slip system controlled according to the escape strategy, the rotation of each wheel is regulated and detected by the drive limited slip system.
8. The soft terrain trapped-escaping method for vehicle of claim 3, wherein the controlling the fully active suspension system and the driving limited slip system to operate according to the trapped-escaping strategy after obtaining the auxiliary trapped-escaping request information further comprises:
in the process of providing force for the actuating cylinder and the wheel connected with the actuating cylinder, judging whether the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition, if not, judging that the wheel corresponding to the actuating cylinder performing hammering action meets the escaping condition
Judging whether the wheel corresponding to the actuating cylinder is a driving wheel or not, if so, judging whether the wheel corresponding to the actuating cylinder is a driving wheel or not
And finishing the escaping strategy, generating escaping failure information and sending the escaping failure information to the vehicle interaction system.
9. A soft terrain escaping device for a vehicle, characterized by comprising:
the acquisition module is used for acquiring the basic information of the trapped wheels transmitted by the driving limited slip system, wherein the basic information of the trapped wheels comprises information of the trapped wheels, one information of the trapped wheels corresponds to one wheel, and the wheel with the information of the trapped wheels is called as the trapped wheel;
the auxiliary escaping request acquisition module is used for acquiring auxiliary escaping request information;
the escape control module is used for controlling the fully active suspension system and the driving limited slip system to work according to an escape strategy after the auxiliary escape request information is acquired; wherein the content of the first and second substances,
after the auxiliary escaping request information is obtained, controlling the fully active suspension system and the driving limited slip system to work according to an escaping strategy comprises the following steps:
generating an actuator cylinder hammering signal according to the information of the trapped wheel;
and transmitting the actuating cylinder hammering signal to an actuating cylinder connected with a wheel corresponding to the information of the trapped wheel in the fully-active suspension system, so that the actuating cylinder provides force for the connected wheel according to the actuating cylinder hammering signal, and the wheel performs hammering action on the ground.
10. A vehicle comprising the vehicle soft-terrain escape apparatus of claim 9, an all-active suspension system, and a drive limited-slip system; wherein the content of the first and second substances,
the fully active suspension system is connected with the soft terrain escaping device for the vehicle, the fully active suspension system comprises at least four wheels and at least four actuating cylinders, and one wheel corresponds to one actuating cylinder;
the number of drive limited slip systems is the same as the number of wheels, one drive limited slip system is used to regulate and detect the rotation of one wheel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210989624.5A CN115056620B (en) | 2022-08-18 | 2022-08-18 | Soft terrain escaping method and device for vehicle and vehicle |
| PCT/CN2023/104779 WO2024037226A1 (en) | 2022-08-18 | 2023-06-30 | Soft terrain escape method and apparatus for vehicle, and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210989624.5A CN115056620B (en) | 2022-08-18 | 2022-08-18 | Soft terrain escaping method and device for vehicle and vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN115056620A true CN115056620A (en) | 2022-09-16 |
| CN115056620B CN115056620B (en) | 2022-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210989624.5A Active CN115056620B (en) | 2022-08-18 | 2022-08-18 | Soft terrain escaping method and device for vehicle and vehicle |
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| Country | Link |
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| CN (1) | CN115056620B (en) |
| WO (1) | WO2024037226A1 (en) |
Cited By (1)
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| WO2024037226A1 (en) * | 2022-08-18 | 2024-02-22 | 中国第一汽车股份有限公司 | Soft terrain escape method and apparatus for vehicle, and vehicle |
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Also Published As
| Publication number | Publication date |
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| CN115056620B (en) | 2022-11-11 |
| WO2024037226A1 (en) | 2024-02-22 |
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