CN-122008904-A - Driving cooperative control method and system for wading vehicle

CN122008904ACN 122008904 ACN122008904 ACN 122008904ACN-122008904-A

Abstract

The invention provides a running cooperative control method and a running cooperative control system for a vehicle involved in water, which belong to the technical field of vehicle motion control in water and comprise the steps of dynamically judging a leading propulsion mode which is required to be started at present and generating a corresponding torque competition cooperative instruction through a preset mode arbitration strategy based on real-time working condition information of the vehicle when the vehicle sails on water, and respectively controlling at least two water-jet propulsion motors and at least four wheel end motors of the vehicle to cooperatively work according to the torque competition cooperative instruction so as to drive the vehicle to run in water. According to the invention, the different driving motors of the vehicle are cooperatively controlled based on the mode arbitration strategy, so that the driving force of the vehicle can be ensured while the stability of the operation can be effectively maintained when the vehicle sails on water.

Inventors

DAI LIHONG
Yao Jiaoru
HU PENG
SUN QICHUN
DUAN JIANFENG

Assignees

奇瑞汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260227

Claims (10)

1. A travel cooperative control method for a wading vehicle, characterized by comprising: when a vehicle enters a water navigation mode, acquiring real-time working condition information of the vehicle, wherein the real-time working condition information comprises real-time vehicle speed, water depth information and tire slip rate; Based on the real-time working condition information, dynamically judging a dominant propulsion mode which is required to be started at present through a preset mode arbitration strategy, wherein the dominant propulsion mode comprises a first mode which takes wheel end motor driving as a dominant mode and a second mode which takes water jet propulsion motor driving as a dominant mode; The method comprises the steps of judging a dominant propulsion mode, generating a corresponding torque competition coordination instruction according to the judged dominant propulsion mode, wherein the torque competition coordination instruction is used for adjusting the torque output of another non-dominant propulsion system while the propulsion system in the dominant propulsion mode provides a main driving force so as to avoid propulsion collision and optimize energy consumption; and respectively controlling at least two water jet propulsion motors and at least four wheel end motors of the vehicle to perform cooperative work according to the torque competition coordination instruction so as to drive the vehicle to run in water.
2. The travel cooperative control method for a wading vehicle according to claim 1, wherein dynamically determining a dominant propulsion mode based on the real-time operating condition information comprises: When the real-time vehicle speed is lower than a first set threshold value and the water depth information indicates that the vehicle is in a semi-floating and semi-sliding state, the first mode is started in an arbitration mode; the second mode is arbitrated to be enabled when the real-time vehicle speed is above a second set threshold and the water depth information indicates that the vehicle is in a fully floating state.
3. A travel cooperative control method for a wading vehicle according to claim 2, wherein in the first mode, the wheel-side motor is controlled to provide main torque for forward and reverse by a torque competition cooperative command, while the water jet propulsion motor is controlled to provide auxiliary torque smaller than a preset proportion.
4. A driving cooperative control method for a wading vehicle according to claim 2, wherein in the second mode, the water jet propulsion motor is controlled to provide main propulsion by a torque competition cooperative command, and the total output torque of the wheel end motor is controlled not to exceed a dynamic limit value inversely related to the real-time vehicle speed, and the torque distribution of the wheel end motor is preferentially used to provide differential steering torque, and the direct propulsion is used as secondary torque distribution.
5. The method for cooperative control of traveling of a wading vehicle according to claim 1, wherein the mode arbitration strategy further comprises immediately starting the second mode without using real-time vehicle speed and water depth information as arbitration basis and reducing the torque of the wheel motor at the side where slip occurs when the slip rate of any one of the driving wheels exceeds a safety threshold.
6. The method for cooperative control of traveling of a vehicle according to claim 1, further comprising a transitional mode processing step, wherein when the real-time working condition information is in a critical area of mode switching, the water jet propulsion motor and the wheel end motor are controlled to carry out torque handover according to a smooth transitional curve, so that the continuity of the driving force of the vehicle is ensured.
7. The method according to claim 1, wherein the operation state of the dominant propulsion system is monitored in real time during the cooperative control of the vehicle, and when the occurrence of output failure or serious performance decay of the dominant propulsion system is monitored, the current mode arbitration result is switched to another propulsion system as an emergency dominant propulsion system, and the corresponding maximum safe torque is output.
8. A travel cooperative control system for a wading vehicle, comprising: The working condition information acquisition module is configured to acquire real-time working condition information of the vehicle when the vehicle enters an on-water navigation mode, wherein the real-time working condition information comprises real-time vehicle speed, water depth information and tire slip rate; The mode arbiter is connected with the working condition information acquisition module and is configured to dynamically judge a dominant propulsion mode which is required to be started at present and output a dominant propulsion mode judgment signal through a preset mode arbitration strategy based on the real-time working condition information, wherein the dominant propulsion mode comprises a first mode which takes wheel end motor drive as a dominant mode and a second mode which takes water jet propulsion motor drive as a dominant mode; A torque coordination controller connected with the mode arbiter and configured to generate a specific torque competition coordination instruction according to the dominant propulsion mode judgment signal; a water jet propulsion execution unit configured to include at least two water jet propulsion motors and their drivers; The wheel end propulsion and execution unit is configured to comprise at least four wheel end motors and drivers thereof which can be independently controlled; The water spraying propulsion executing unit and the wheel end propulsion executing unit are controlled by the torque coordination controller to execute the torque competition coordination instruction.
9. The cooperative driving control system for a vehicle according to claim 8, wherein the mode arbiter stores an arbitration map having vehicle speed and water depth information as two-dimensional inputs and a dominant propulsion mode as output, the arbitration map defining an effective area and a critical area of the first mode and the second mode.
10. A travel cooperative control system for a wading vehicle according to claim 8, wherein the torque coordination controller has integrated therein a torque distribution template corresponding to each dominant propulsion mode, the torque distribution template defining base torque distribution relationships and limit constraints between the water jet propulsion motor and each wheel end motor in the respective modes.

Description

Driving cooperative control method and system for wading vehicle Technical Field The invention belongs to the technical field of underwater vehicle motion control, and particularly relates to a running cooperative control method and system for a wading vehicle. Background The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. With the change of living environment and the diversification of vehicle performance, development of the running function of the vehicle in water becomes necessary. However, the weight distribution of the car body in water is quite different from that of land due to buoyancy, so that the gravity center is easily unstable, and side turning can occur due to slight carelessness. In addition, dynamic interference factors such as the steady change of water flow and continuous impact of spray cause the vehicle to keep running stably in the water to become extremely difficult. The existing vehicles which can run in water in the market adopt a floating mode, the rotation speed of each wheel is regulated in real time by a central controller by means of driving of four wheel end motors and four wheels, the required torque of the whole vehicle is calculated through the speed of the vehicle and the depth of an accelerator and redistributed to the wheel end driving motors, and the tires are driven to generate thrust through the water beating effect, so that floating running is realized. However, the vehicle runs in water only by wheel rotation, and the tire adhesion is insufficient, which has problems of limited driving force and poor vehicle operability. Disclosure of Invention In order to overcome the defects in the prior art, the invention provides a driving cooperative control method and a driving cooperative control system for a wading vehicle, which are used for controlling different driving motors of the vehicle cooperatively based on a mode arbitration strategy, so that the driving force of the vehicle can be ensured while the driving stability of the vehicle is effectively maintained during the navigation on water. To achieve the above object, one or more embodiments of the present invention provide the following technical solutions: the first aspect of the invention provides a travel cooperative control method for a wading vehicle. A travel cooperative control method for a wading vehicle, comprising: when a vehicle enters a water navigation mode, acquiring real-time working condition information of the vehicle, wherein the real-time working condition information comprises real-time vehicle speed, water depth information and tire slip rate; Based on the real-time working condition information, dynamically judging a dominant propulsion mode which is required to be started at present through a preset mode arbitration strategy, wherein the dominant propulsion mode comprises a first mode which takes wheel end motor driving as a dominant mode and a second mode which takes water jet propulsion motor driving as a dominant mode; The method comprises the steps of judging a dominant propulsion mode, generating a corresponding torque competition coordination instruction according to the judged dominant propulsion mode, wherein the torque competition coordination instruction is used for adjusting the torque output of another non-dominant propulsion system while the propulsion system in the dominant propulsion mode provides a main driving force so as to avoid propulsion collision and optimize energy consumption; and respectively controlling at least two water jet propulsion motors and at least four wheel end motors of the vehicle to perform cooperative work according to the torque competition coordination instruction so as to drive the vehicle to run in water. Further, dynamically determining a dominant propulsion mode based on the real-time operating condition information includes: When the real-time vehicle speed is lower than a first set threshold value and the water depth information indicates that the vehicle is in a semi-floating and semi-sliding state, the first mode is started in an arbitration mode; the second mode is arbitrated to be enabled when the real-time vehicle speed is above a second set threshold and the water depth information indicates that the vehicle is in a fully floating state. Further, in the first mode, the wheel end motor is controlled to provide main torque for forward and reverse through the torque competition coordination command, and the water jet propulsion motor is controlled to provide auxiliary torque smaller than a preset proportion. Further, in the second mode, the water jet propulsion motor is controlled to provide main propulsion through the torque competition coordination command, meanwhile, the total output torque of the wheel end motor is controlled not to exceed a dynamic limit value which is inversely related to the real-time vehicle speed, the torque distribution o