CN-121973573-A - Amphibious vehicle navigation driving system, amphibious vehicle and navigation driving control method

CN121973573ACN 121973573 ACN121973573 ACN 121973573ACN-121973573-A

Abstract

The application provides a navigation driving system of an amphibious vehicle, the amphibious vehicle and a navigation driving control method, and relates to the technical field of vehicles. The navigation driving system comprises a first propeller, a second propeller and a third propeller, wherein the first propeller is arranged in the middle of the head of the amphibious vehicle, the second propeller is arranged on the left side of the tail of the amphibious vehicle, the third propeller is arranged on the right side of the tail of the amphibious vehicle, and the first propeller, the second propeller and the third propeller are all used for providing driving force for navigation in water of the amphibious vehicle and can be used for adjusting driving force output angles. The application can achieve the effect of flexibly controlling the navigation posture and driving force of the amphibious vehicle in water.

Inventors

WANG YABIN
ZHANG DEWANG
HU CHENGSHUAI
ZOU JIANHUA
HAO PENG
HUI BINGWEI

Assignees

浙江吉利控股集团有限公司
吉利汽车研究院（宁波）有限公司

Dates

Publication Date: 20260505
Application Date: 20260403

Claims (12)

1. A navigation driving system of an amphibious vehicle is characterized by comprising a first propeller, a second propeller, a third propeller and a navigation controller; The first propeller is arranged in the middle of the head of the amphibious vehicle; The second propeller is arranged at the left side of the tail part of the amphibious vehicle; The third propeller is arranged on the right side of the tail part of the amphibious vehicle; The first propeller, the second propeller and the third propeller are all used for providing driving force for underwater navigation of the amphibious vehicle under the control of the navigation controller, and the driving force output angle can be adjusted.
2. The amphibious vehicle cruise drive system according to claim 1, wherein the first propeller, the second propeller and the third propeller are each provided on a chassis of the amphibious vehicle.
3. The amphibious vehicle cruise drive system according to claim 1, wherein the first, second and third propellers are distributed in isosceles triangle positions.
4. An amphibious vehicle comprising a vehicle body and a sailing drive system for the amphibious vehicle as claimed in any one of claims 1 to 3.
5. A sailing drive control method of an amphibious vehicle, applied to the sailing drive system of an amphibious vehicle as claimed in any one of claims 1 to 4, the target propeller including a first propeller, a second propeller or a third propeller, the sailing drive control method of the amphibious vehicle comprising: monitoring navigation attitude data of the amphibious vehicle in water; Determining a posture adjustment requirement according to the navigation posture data; and adjusting the driving force output of the target propeller according to the posture adjustment requirement so as to keep the posture balance of the amphibious vehicle.
6. The amphibious vehicle cruise drive control method according to claim 5, wherein the attitude adjustment demand includes plough-in, the adjusting the drive force output of the target propeller according to the attitude adjustment demand includes: And adjusting the driving force output angle of the first propeller to a first direction according to the plough-in angle of the amphibious vehicle, wherein the first direction is a downward direction perpendicular to the vehicle body.
7. The amphibious vehicle cruise drive control method according to claim 5, wherein the attitude adjustment demand includes a roll to a target side, the target side including a left side or a right side, the adjusting the driving force output angle of the target propeller according to the attitude adjustment demand includes: According to the roll angle of the amphibious vehicle on the target side, the driving force output angle of the target propeller arranged on the target side of the tail is controlled to be adjusted to a first direction, the driving force output size of the target propeller arranged on the target side of the tail is increased, and the second direction is a downward direction perpendicular to the vehicle body.
8. The navigation drive control method of an amphibious vehicle according to any one of claims 5 to 7, further comprising: And controlling the driving force output angle of the first propeller to be adjusted in a first direction so that the first propeller and a target propeller arranged on the target side of the tail of the vehicle cooperatively adjust the posture of the amphibious vehicle.
9. The navigation drive control method of an amphibious vehicle according to any one of claims 5 to 7, further comprising: And in response to the detection that the amphibious vehicle increases the sailing speed under the straight-line forward sailing working condition in water, increasing the driving force output of the first propeller in the first direction so as to enable the amphibious vehicle to keep the gesture balance under the straight-line forward sailing working condition.
10. The navigation drive control method of an amphibious vehicle according to any one of claims 5 to 7, comprising: And controlling the second direction adjustment of the driving force output direction of the second propeller and the third propeller in response to the condition that the amphibious vehicle is in the straight-line backward navigation in water, wherein the second direction is a direction which is parallel to the axial direction of the amphibious vehicle and points to the head of the vehicle.
11. The navigation drive control method of an amphibious vehicle according to any one of claims 5 to 7, comprising: In response to monitoring that the amphibious vehicle is in a water steering working condition, determining a driving force difference value between driving force output sizes of the second propeller and the third propeller capable of meeting steering requirements according to steering wheel angle information; And adjusting the driving force output sizes of the second propeller and the third propeller according to the driving force difference value.
12. The navigation drive control method of an amphibious vehicle according to claim 5 or 7, further comprising: in response to monitoring that the working condition of the amphibious vehicle meets a floating condition, starting the first propeller, the second propeller and the third propeller to provide driving force for the amphibious vehicle; And in response to the detection that all wheels of the amphibious vehicle bottom out, starting the wheels to rotate so as to provide driving force for the amphibious vehicle.

Description

Amphibious vehicle navigation driving system, amphibious vehicle and navigation driving control method Technical Field The application relates to the technical field of vehicles, in particular to a navigation driving system of an amphibious vehicle, the amphibious vehicle and a navigation driving control method. Background Along with the development of vehicle technology and the continuous expansion of the personalized demands of the off-road vehicles, the amphibious vehicle is becoming a fashion widely accepted, the amphibious driving system is more efficient and intelligent, the adaptability and playability of the vehicle are greatly improved, besides the basic off-road attribute, the vehicle can easily cross rivers, even lakes and cope with sudden flood emergency escape, and the full off-road scene coverage is truly realized. The problem of controlling the posture of the amphibious vehicle in water becomes an important difficulty facing the amphibious vehicle. In the related art, the amphibious vehicle is propelled to sail in water through four-wheel paddling drive, and the sailing posture is difficult to control in the mode. Disclosure of Invention The embodiment of the application provides a navigation driving system of an amphibious vehicle, the amphibious vehicle and a navigation driving control method, which are used for achieving the effect of flexibly controlling the navigation posture and driving force of the amphibious vehicle in water. In a first aspect, an amphibious vehicle navigation driving system according to an embodiment of the present application includes a first propeller, a second propeller, and a third propeller; The first propeller is arranged in the middle of the head of the amphibious vehicle; the second propeller is arranged at the left side of the tail part of the amphibious vehicle; The third propeller is arranged on the right side of the tail part of the amphibious vehicle; the first propeller, the second propeller and the third propeller are all used for providing driving force for underwater navigation of the amphibious vehicle, and the driving force output angle can be adjusted. In one possible embodiment, the first propeller, the second propeller and the third propeller are each provided on a chassis of the amphibious vehicle. In one possible embodiment, the first propeller, the second propeller and the third propeller are distributed in isosceles triangle positions. In a second aspect, an embodiment of the present application provides an amphibious vehicle comprising a vehicle body and a sailing drive system in various embodiments of the first aspect. In a third aspect, an embodiment of the present application provides a method for controlling driving of an amphibious vehicle, which is applied to a driving system of an amphibious vehicle in various embodiments of the first aspect, where a target propeller includes a first propeller, a second propeller, or a third propeller, and the method for controlling driving of an amphibious vehicle includes: monitoring navigation attitude data of the amphibious vehicle in water; Determining attitude adjustment requirements according to the navigation attitude data; and according to the posture adjustment requirement, adjusting the driving force output of the target propeller so as to keep the posture balance of the amphibious vehicle. In one possible embodiment, the attitude adjustment requirement includes plough-in, and adjusting the driving force output of the target propeller according to the attitude adjustment requirement includes: According to plough-in angles of the amphibious vehicle, the driving force output angle of the first propeller is adjusted to a first direction, and the first direction is a downward direction perpendicular to the vehicle body. In one possible embodiment, the attitude adjustment demand includes rolling toward a target side including a left side or a right side, and adjusting the driving force output angle of the target propeller according to the attitude adjustment demand includes: According to the roll angle of the amphibious vehicle on the target side, the driving force output angle of the target propeller arranged on the target side of the tail is controlled to be adjusted to a first direction, the driving force output size of the target propeller arranged on the target side of the tail is increased, and a second direction is perpendicular to the downward direction of the vehicle body. In one possible embodiment, the method further comprises controlling the driving force output angle of the first propeller to be adjusted in the first direction so that the first propeller adjusts the posture of the amphibious vehicle in cooperation with a target propeller provided on the target side of the tail. In one possible embodiment, the method further comprises: And in response to the detection that the amphibious vehicle increases the sailing speed under the straight-line forward sailing working condition in