CN113320341B - Unmanned off-road vehicle tire inflation and deflation control system and equipment - Google Patents
Unmanned off-road vehicle tire inflation and deflation control system and equipment Download PDFInfo
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- CN113320341B CN113320341B CN202110693957.9A CN202110693957A CN113320341B CN 113320341 B CN113320341 B CN 113320341B CN 202110693957 A CN202110693957 A CN 202110693957A CN 113320341 B CN113320341 B CN 113320341B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/001—Devices for manually or automatically controlling or distributing tyre pressure whilst the vehicle is moving
- B60C23/002—Devices for manually or automatically controlling or distributing tyre pressure whilst the vehicle is moving by monitoring conditions other than tyre pressure or deformation
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Abstract
The invention provides a system and a device for controlling inflation and deflation of tires of an unmanned off-road vehicle, wherein the system comprises: the environment sensing system is used for sensing information in front of the vehicle, calculating the relative speed and the relative distance between the environment sensing system and the obstacle, identifying the information of the road in front, and sending the relative speed, the relative distance and the information of the road in front to the planning decision controller; the planning decision system is used for acquiring the accurate positioning coordinates of the vehicle and road information stored in a current road section map in real time, outputting the category of the current road in real time and sending the category to the vehicle control system; and the vehicle control system is used for judging the current empty and full load state of the vehicle, acquiring a road working mode corresponding to the central tire inflation and deflation system, outputting tire air pressure target value signals of front and rear wheels according to the corresponding road working mode, and controlling the air pressure of the front and rear tires. The invention can automatically inflate and deflate the tires of the unmanned off-road vehicle in running.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving of vehicles, in particular to a system and equipment for controlling inflation and deflation of tires of an unmanned off-road vehicle.
Background
Because the road condition of the off-road vehicle is more complicated than that of the common vehicle, the air pressure of the tires needs to be reduced on a soft road surface to increase the ground contact area of the tires so as to increase the ground adhesion, thereby improving the trafficability of the vehicle; on the other hand, on urban and highway roads, it is necessary to increase the tire pressure to reduce the rolling resistance and thereby improve the dynamic performance and economical efficiency of the vehicle. Based on manned off-road vehicles, when needing to adjust tire pressure, the driver can judge the appropriate tire pressure mode according to the road condition at first, then realizes tire inflation and deflation control through the control switch on the operation panel. However, currently, unmanned off-road vehicles are an emerging development in the industry, and because unmanned off-road vehicles are not driven manually, the unmanned off-road vehicles cannot control the inflation and deflation of the tires of the vehicles. Therefore, it is an urgent technical problem in the art to develop a tire inflation and deflation control system and device for an unmanned off-road vehicle, which can effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
In view of the above problems in the prior art, embodiments of the present invention provide a system and an apparatus for controlling inflation and deflation of tires of an unmanned off-road vehicle.
In a first aspect, embodiments of the present invention provide an unmanned off-road vehicle tire inflation and deflation control system, comprising: the environment sensing system is used for sensing information in front of the vehicle, calculating the relative speed and the relative distance between the environment sensing system and the obstacle, identifying the information of the road in front, and sending the relative speed, the relative distance and the information of the road in front to the planning decision controller; the planning decision system is used for acquiring the accurate positioning coordinates of the vehicle and road information stored in a current road section map in real time, outputting the category of the current road in real time and sending the category to the vehicle control system; and the vehicle control system is used for judging the current empty and full load state of the vehicle, acquiring a road working mode corresponding to the central tire inflation and deflation system, outputting tire air pressure target value signals of front and rear wheels according to the corresponding road working mode, and controlling the air pressure of the front and rear tires.
On the basis of the content of the system embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention comprises the following environment sensing systems: a laser radar for measuring a relative distance between the vehicle and the obstacle; the camera is used for acquiring obstacles, traffic signs and traffic indicator lamps in front of the vehicle; the millimeter wave radar is used for calculating the millimeter-scale distance variation between the vehicle and the obstacle; and the environment perception controller is used for calculating and obtaining the relative speed between the vehicle and the obstacle according to the relative distance and the millimeter-scale distance variation.
On the basis of the content of the system embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention comprises a planning decision system and a control system, wherein the planning decision system comprises: the planning decision controller is used for presetting three road categories of a highway road surface, a cross-country road surface and a soft road surface, comparing road information stored in a current road section map with road information identified by the environment sensing system, outputting the category of the current road in real time, and sending the category of the current road to the vehicle control system; the navigation positioning system is used for acquiring the coordinate position of the vehicle in real time, matching the coordinate position with the environmental characteristic information sensed by the environmental sensing system, determining the accurate positioning coordinate of the vehicle and acquiring the road information stored in the current road section map; the map system is used for acquiring a map of a current road section where the vehicle runs; and the vehicle networking equipment is used for providing external network access for the vehicle.
On the basis of the content of the system embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention comprises the following components: and the inertial navigation system is used for acquiring the speed and attitude information of the current vehicle.
On the basis of the content of the system embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention comprises the following components: the chassis controller is used for receiving the attitude information sent by the planning decision controller, judging the empty and full load state of the current vehicle, receiving the category of the current road sent by the planning decision controller, converting the category into a road working mode corresponding to the central tire inflation and deflation system, and outputting tire air pressure target value signals of front and rear wheels according to the empty and full load state of the current vehicle and the corresponding road working mode; and the central tire inflation and deflation system controller is used for controlling the air pressure of the front tire and the rear tire according to the target tire air pressure signals of the front wheel and the rear wheel.
On the basis of the content of the system embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention comprises the following components: the multi-beam laser radar is arranged at the top of the vehicle and used for sensing the surrounding environment information of the vehicle; the low-beam laser radar is arranged at the left-right symmetrical position in front of the vehicle and is used for sensing information of roads and obstacles in front of the vehicle.
On the basis of the content of the system embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention comprises the following cameras: the multi-view camera is used for performing three-dimensional imaging on an object from multiple directions; the thermal imaging night vision camera is used for imaging an infrared radiation object at night; the low-light night vision camera is used for imaging objects reflecting moonlight at night.
Based on the above system embodiments, the system for controlling tire inflation and deflation of an unmanned all terrain vehicle according to an embodiment of the present invention, which controls the air pressures of the front and rear tires according to the tire air pressure target value signals of the front and rear wheels, includes: judging whether the current vehicle speed meets the vehicle speed limiting requirement corresponding to the working mode, if not, keeping the current tire pressure unchanged, if so, judging the current tire pressure value and the target tire pressure value, and if the target tire pressure value is equal to the current tire pressure value, keeping the front and rear tire pressures unchanged; if the target tire pressure value is larger than the current tire pressure value, performing tire inflation to the target value; if the target tire pressure value is smaller than the current tire pressure value, performing tire deflation to the target value, performing a pressure maintaining action after the tire central inflation and deflation system completes tire inflation and deflation, monitoring the vehicle speed by a chassis controller in the pressure maintaining process of the tire central inflation and deflation system, if the vehicle speed does not exceed the maximum limit vehicle speed of the selected working mode, continuing to perform the pressure maintaining action, and if the vehicle speed exceeds the maximum limit vehicle speed of the selected working mode and keeps more than one minute, automatically adjusting the tire pressure by the system; if the current mode is a soft road mode, when the vehicle speed is more than 5 kilometers per hour and is kept for one minute, the tires are inflated according to a cross-country road mode, and when the vehicle speed is more than 30 kilometers per hour and is kept for one minute, the tires are inflated according to a highway road mode; if the current mode is the off-road mode, the speed is more than 30 kilometers per hour and is kept for one minute, the tire is inflated according to the on-road mode; and after inflation is finished, the central tire inflation and deflation system controller continues to perform pressure maintaining action.
In a second aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor invokes the program instructions to implement the unmanned off-road vehicle tire inflation and deflation control system provided in any of the various implementations of the first aspect.
In a third aspect, embodiments of the present invention provide a non-transitory computer readable storage medium storing computer instructions that cause a computer to implement the unmanned off-road vehicle tire inflation and deflation control system provided in any of the various implementations of the first aspect.
The unmanned off-road vehicle tire inflation and deflation control system and equipment provided by the embodiment of the invention can automatically inflate and deflate tires of the running unmanned off-road vehicle by performing system integration on the environment sensing system, the planning decision system and the vehicle control system, thereby realizing accurate judgment and control on the inflation and deflation of the tires on different road conditions and improving the running stability of the unmanned off-road vehicle on different road conditions.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of a tire inflation/deflation control system for an unmanned all terrain vehicle provided by an embodiment of the present invention;
fig. 2 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of another unmanned off-road vehicle tire inflation and deflation control system provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 5 is a schematic view of a camera structure according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a navigation positioning system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the on-board mounting effect of the unmanned all terrain vehicle tire inflation and deflation control system provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
With the rapid development of the automatic driving technology, the intellectualization and the unmanned of the off-road vehicle become reality gradually, and particularly, the application of the unmanned off-road vehicle based on specific scenes such as a mining area, a forest area and an oil field is more obvious. Based on the unmanned off-road vehicle, the central tire inflation and deflation system also needs to synchronously realize unmanned control, and the tire pressure of the tire can be automatically adjusted according to real-time road conditions. Based on this, the present invention provides an unmanned off-road vehicle tire inflation and deflation control system, referring to fig. 1, the system includes: the environment sensing system is used for sensing information in front of the vehicle, calculating the relative speed and the relative distance between the environment sensing system and the obstacle, identifying the information of the road in front, and sending the relative speed, the relative distance and the information of the road in front to the planning decision controller; the planning decision system is used for acquiring the accurate positioning coordinates of the vehicle and road information stored in a current road section map in real time, outputting the category of the current road in real time and sending the category to the vehicle control system; and the vehicle control system is used for judging the current empty and full load state of the vehicle, acquiring a road working mode corresponding to the tire central inflation and deflation system, outputting tire air pressure target value signals of front and rear wheels according to the corresponding road working mode, and controlling the air pressure of the front and rear tires.
Referring to fig. 3, based on the content of the above system embodiment, as an optional embodiment, the system for controlling inflation and deflation of a tire of an unmanned off-road vehicle provided in the embodiment of the present invention includes: a laser radar for measuring a relative distance between the vehicle and the obstacle; the camera is used for acquiring obstacles, traffic signs and traffic indicator lamps in front of the vehicle; the millimeter wave radar is used for calculating the millimeter-scale distance variation between the vehicle and the obstacle; and the environment perception controller is used for calculating and obtaining the relative speed between the vehicle and the obstacle according to the relative distance and the millimeter-scale distance variation.
Specifically, the environment perception system comprises a laser radar, a camera, a millimeter wave radar and other sensors and an environment perception controller. On one hand, the system senses information such as obstacles, traffic lights, signs and the like in front of the vehicle, calculates the relative speed and the relative distance between the system and the obstacles and sends the information to a planning decision controller. And on the other hand, the information of the front road is intelligently identified and sent to the planning decision controller.
Referring to fig. 3, based on the content of the above system embodiment, as an alternative embodiment, the system for controlling tire inflation and deflation of an unmanned off-road vehicle provided in the embodiment of the present invention includes: the planning decision controller is used for presetting three road categories of a highway road surface, a cross-country road surface and a soft road surface, comparing road information stored in a current road section map with road information identified by the environment sensing system, outputting the category of the current road in real time, and sending the category of the current road to the vehicle control system; the navigation positioning system is used for acquiring the coordinate position of the vehicle in real time, matching the coordinate position with the environmental characteristic information sensed by the environmental sensing system, determining the accurate positioning coordinate of the vehicle and acquiring the road information stored in the current road section map; the map system is used for acquiring a map of a current road section where the vehicle runs; the vehicle networking equipment is used for providing external network access for the vehicle.
Specifically, the planning decision system comprises a planning decision controller, a navigation positioning system, a map system and a vehicle networking device. The navigation positioning system can acquire the coordinate position of the vehicle in real time, and the coordinate position is matched with environmental characteristic information such as obstacles, traffic signs and the like sensed by the environmental sensing system to realize multi-sensor fusion positioning so as to determine the accurate positioning coordinate of the vehicle, and then detailed road information stored in a current road section map is acquired. The planning decision controller is used for presetting three road types of a highway surface, an off-road surface, a soft surface and the like, firstly comparing, fusing and classifying detailed road information stored in a map and road information intelligently identified by an environment sensing system, then outputting the type information (one of the three road types of the highway surface, the off-road surface or the soft surface) of the current road in real time, and finally sending the road type information to the chassis controller. An INS (inertial navigation system) in the navigation positioning system is used for acquiring the speed and attitude information of the current vehicle and sending the speed and attitude information to the chassis controller through the planning decision controller. The map system contains road detail information accurate to the centimeter level, including but not limited to information such as sand, mud, snow surface conditions, positive and negative obstacles such as ramps and trenches, the slope and curvature of the road, the location and type of lane lines, the location and height of traffic signs and signal lights, and the like. The vehicle networking equipment in the planning decision system can realize vehicle networking so as to support real-time updating of a map system and interconnection and intercommunication between the unmanned cross-country vehicle and a background. The environment perception controller is communicated with the planning decision controller and the planning decision controller is communicated with the chassis controller through the Ethernet. The chassis controller and the tire central inflation and deflation system controller are communicated through a CAN bus. Wherein, highway road surface includes: asphalt and cement pavements in cities, high speed, national roads and the like; the off-road pavement includes: pavements such as no roads, dirt roads, ramps, trenches and the like; the soft road surface includes: sand, swamp, mud, snow, wet, etc.
Based on the content of the above system embodiment, as an optional embodiment, the system for controlling inflation and deflation of the tires of the unmanned all-terrain vehicle provided in the embodiment of the present invention, the navigation positioning system, comprises: and the inertial navigation system is used for acquiring the speed and attitude information of the current vehicle.
Referring to fig. 3, based on the content of the above system embodiment, as an alternative embodiment, the system for controlling tire inflation and deflation of the unmanned all terrain vehicle provided in the embodiment of the present invention includes: the chassis controller is used for receiving the attitude information sent by the planning decision controller, judging the empty and full load state of the current vehicle, receiving the category of the current road sent by the planning decision controller, converting the category into a road working mode corresponding to a central tire inflation and deflation system, and outputting tire air pressure target value signals of front and rear wheels according to the empty and full load state of the current vehicle and the corresponding road working mode; and the central tire inflation and deflation system controller is used for controlling the air pressure of the front tire and the rear tire according to the tire air pressure target value signals of the front wheel and the rear wheel.
Specifically, the vehicle control system includes a chassis controller and a central tire inflation and deflation system controller. And the chassis controller receives the vehicle speed signal sent by the planning decision controller and then sends the vehicle speed signal to the central tire inflation and deflation system controller. The chassis controller firstly receives the attitude information sent by the planning decision controller to judge the empty and full load state of the current vehicle, then receives the current road type information sent by the planning decision controller to convert the current road type information into a working mode (one of three working modes of highway, off-road or soft) corresponding to the central tire inflation and deflation system, and finally outputs tire pressure target value signals of front and rear wheels according to the empty and full load state of the current vehicle and the corresponding working mode to send the tire pressure target value signals to the central tire inflation and deflation system controller. The central tire inflation and deflation system controller firstly judges whether the current vehicle speed meets the vehicle speed limiting requirement corresponding to the working mode, if not, the current tire pressure is kept unchanged, and if so, the current tire pressure value and the target tire pressure value are further judged: the target tire pressure value is equal to the current tire pressure value, and the front tire pressure and the rear tire pressure are kept unchanged; if the target tire pressure value is larger than the current tire pressure value, performing tire inflation to the target value; and if the target tire pressure value is less than the current tire pressure value, performing tire deflation to the target value. The central tire inflation and deflation system performs a pressure maintaining action after the tire inflation and deflation are completed. In the pressure maintaining process of the tire central inflation and deflation system, the chassis controller constantly monitors the vehicle speed, if the vehicle speed does not exceed the maximum vehicle speed limit of the selected working mode, the pressure maintaining action is continuously executed, and if the vehicle speed exceeds the maximum vehicle speed limit of the selected working mode and is kept for more than n minutes (n can be set according to specific conditions, and can be 1), the system automatically adjusts the tire pressure: if the current mode is a soft mode, the system inflates the tires in an off-road mode when the vehicle speed is more than 5km/h and keeps for n minutes, and the system inflates the tires in an on-road mode when the vehicle speed is further more than 30km/h and keeps for n minutes; similarly, if the current mode is off-road mode, the system will inflate the tires according to the on-road mode when the vehicle speed is more than 30km/h and keeps for n minutes; and after the inflation is finished, the central tire inflation and deflation system continues to perform the pressure maintaining action. Therefore, the real-time automatic adjustment and control of the tire pressure of the unmanned off-road vehicle under different loads and different road types can be realized.
Referring to fig. 4, based on the content of the above system embodiment, as an alternative embodiment, the system for controlling tire inflation and deflation of an unmanned off-road vehicle provided in the embodiment of the present invention includes: the multi-beam laser radar is arranged at the top of the vehicle and used for sensing the surrounding environment information of the vehicle; the low-beam laser radar is arranged at the left-right symmetrical position in front of the vehicle and is used for sensing information of roads and obstacles in front of the vehicle.
Specifically, the laser radar comprises a multi-beam laser radar arranged right above the vehicle for sensing the surrounding environment information of the vehicle, and two low-beam laser radars arranged at the left-right symmetrical positions in front of the vehicle respectively for sensing the road near the front of the vehicle and the information of positive and negative obstacles.
Referring to fig. 5, based on the content of the above system embodiment, as an alternative embodiment, the unmanned off-road vehicle tire inflation and deflation control system provided in the embodiment of the present invention, the camera includes: the multi-view camera is used for carrying out three-dimensional imaging on an object from multiple directions; the thermal imaging night vision camera is used for imaging an infrared radiation object at night; the low-light night vision camera is used for imaging objects reflecting moonlight at night.
Specifically, the camera comprises a visual fusion scheme of a multi-view camera, a thermal imaging night vision camera and a low-light night vision camera so as to realize all-weather and all-day visual perception identification. The navigation positioning system can refer to fig. 6, and the navigation positioning system adopts a GNSS-RTK (i.e. global satellite navigation system-real time dynamic difference) and INS (i.e. inertial navigation system) fusion positioning scheme to realize centimeter-level positioning accuracy. An INS in the navigation positioning system provides a speed signal and an attitude signal for a vehicle, and the attitude signal is used for judging the empty and full load state of the vehicle. The speed signal provided by the INS can eliminate the original speed sensor in the central inflation and deflation system of the tire, so that the cost and the structural complexity are reduced.
Based on the content of the above system embodiment, as an optional embodiment, the system for controlling tire inflation and deflation of an unmanned all terrain vehicle provided in the embodiment of the present invention, wherein the control of the air pressures of the front and rear tires according to the tire air pressure target value signals of the front and rear wheels, comprises: judging whether the current vehicle speed meets the vehicle speed limiting requirement corresponding to the working mode, if not, keeping the current tire pressure unchanged, if so, judging the current tire pressure value and the target tire pressure value, and if the target tire pressure value is equal to the current tire pressure value, keeping the front and rear tire pressures unchanged; if the target tire pressure value is larger than the current tire pressure value, performing tire inflation to the target value; if the target tire pressure value is smaller than the current tire pressure value, performing tire deflation to the target value, performing a pressure maintaining action after the tire central inflation and deflation system completes tire inflation and deflation, monitoring the vehicle speed by a chassis controller in the pressure maintaining process of the tire central inflation and deflation system, if the vehicle speed does not exceed the maximum limit vehicle speed of the selected working mode, continuing to perform the pressure maintaining action, and if the vehicle speed exceeds the maximum limit vehicle speed of the selected working mode and keeps more than one minute, automatically adjusting the tire pressure by the system; if the current mode is a soft road mode, when the vehicle speed is more than 5 kilometers per hour and is kept for one minute, the tires are inflated according to a cross-country road mode, and when the vehicle speed is more than 30 kilometers per hour and is kept for one minute, the tires are inflated according to a highway road mode; if the current mode is the off-road mode, the speed is more than 30 kilometers per hour and is kept for one minute, the tire is inflated according to the on-road mode; and after the inflation is finished, the central tire inflation and deflation system controller continues to perform the pressure maintaining action.
The unmanned off-road vehicle tire inflation and deflation control system and equipment provided by the embodiment of the invention can automatically inflate and deflate tires of the running unmanned off-road vehicle by performing system integration on the environment sensing system, the planning decision system and the vehicle control system, thereby realizing accurate judgment and control on the inflation and deflation of the tires on different road conditions and improving the running stability of the unmanned off-road vehicle on different road conditions.
The vehicle-mounted effect of the unmanned off-road vehicle tire inflation and deflation control system provided by the embodiment of the invention can be seen in fig. 7, and the system comprises a controller 1, a central control valve 2, a wheel edge valve 3, a rotary air chamber 4, a tire pressure sensor 5, an air storage cylinder 6 and tires 7. The controller 1 is connected with the chassis controller through a CAN bus. The controller 1 is connected with the central control valve 2 through a wire harness, and the controller 1 is wirelessly connected with the tire pressure sensor 5. The central control valve 2 is connected with the rotary air chamber 4 and the wheel edge valve 3 through pipelines. An air compressor or an inflating pump of the engine provides an air source for the air storage cylinder 6 through a pipeline, and the air storage cylinder 6 is connected with the central control valve 2 through a pipeline. The central control valve 2 is connected with an exhaust muffler to reduce noise when the system is deflated. The tire pressure sensor 5 is installed inside the tire 7 for monitoring the gas pressure of the tire 7 in real time. The rotary air chamber 4 and the wheel edge valve 3 are arranged on a wheel and are communicated with a tire 7 through a pipeline. And (3) an inflation process: the controller 1 sends an inflation signal to the central control valve 2, the inflation valve of the central control valve 2 is opened, and the air flows to the tire 7 through the air storage cylinder 6, the central control valve 2, the rotary air chamber 4 and the wheel side valve 3. Air release process: the controller 1 sends an air release signal to the central control valve 2, an air release valve of the central control valve 2 is opened, and air in the tire 7 is exhausted from the central control valve 2 through the wheel-side valve 3. And (3) pressure maintaining process: the controller 1 sends a pressure maintaining signal to the central control valve 2, and the inflation and deflation valves of the central control valve 2 are kept closed at the moment.
The system of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 2, including: at least one processor (processor)201, a communication Interface (communication Interface)204, at least one memory (memory)202 and a communication bus 203, wherein the at least one processor 201, the communication Interface 204 and the at least one memory 202 are configured to communicate with each other via the communication bus 203. The at least one processor 201 may invoke logic instructions in the at least one memory 202 to implement the various systems provided in the system embodiments.
Furthermore, the logic instructions in the at least one memory 202 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be substantially implemented or contributed to by the prior art, or the technical solution may be implemented in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the system according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to implement the methods or systems of the various embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides an unmanned cross country vehicle tire inflation and deflation control system which characterized in that includes: the environment sensing system is used for sensing information in front of the vehicle, calculating relative speed and relative distance between the vehicle and an obstacle, identifying front road information, and sending the relative speed, the relative distance and the front road information to the planning decision controller; the planning decision system is used for acquiring the accurate positioning coordinates of the vehicle and road information stored in a current road section map in real time, outputting the category of the current road in real time and sending the category to the vehicle control system; the vehicle control system is used for judging the current vehicle empty and full load state, acquiring a road working mode corresponding to the tire central inflation and deflation system, outputting tire air pressure target value signals of front and rear wheels according to the corresponding road working mode, and controlling the air pressure of the front and rear tires;
the control of the air pressure of the front and rear tires based on the tire air pressure target value signals of the front and rear wheels includes: judging whether the current vehicle speed meets the vehicle speed limiting requirement corresponding to the working mode, if not, keeping the current tire pressure unchanged, if so, judging the current tire pressure value and the target tire pressure value, and if the target tire pressure value is equal to the current tire pressure value, keeping the front and rear tire pressures unchanged; if the target tire pressure value is larger than the current tire pressure value, performing tire inflation to the target value; if the target tire pressure value is smaller than the current tire pressure value, executing tire deflation to the target value, executing a pressure maintaining action by the central tire inflation and deflation system after completing tire inflation and deflation, monitoring the vehicle speed by the chassis controller constantly in the pressure maintaining process of the central tire inflation and deflation system, if the vehicle speed does not exceed the maximum limit vehicle speed of the selected working mode, continuing executing the pressure maintaining action, and if the vehicle speed exceeds the maximum limit vehicle speed of the selected working mode and keeps for more than one minute, automatically adjusting the tire pressure by the system; if the current mode is a soft road mode, when the vehicle speed is more than 5 kilometers per hour and is kept for one minute, the tires are inflated according to a cross-country road mode, and when the vehicle speed is more than 30 kilometers per hour and is kept for one minute, the tires are inflated according to a highway road mode; if the current mode is the off-road mode, the speed is more than 30 kilometers per hour and is kept for one minute, the tire is inflated according to the on-road mode; and after the inflation is finished, the central tire inflation and deflation system controller continues to perform the pressure maintaining action.
2. The unmanned off-road vehicle tire air charge and discharge control system of claim 1, wherein the environmental awareness system comprises: a laser radar for measuring a relative distance between the vehicle and the obstacle; the camera is used for acquiring obstacles, traffic signs and traffic indicator lamps in front of the vehicle; the millimeter wave radar is used for calculating the millimeter-scale distance variation between the vehicle and the obstacle; and the environment perception controller is used for calculating and obtaining the relative speed between the vehicle and the obstacle according to the relative distance and the millimeter-scale distance variation.
3. The unmanned off-road vehicle tire inflation and deflation control system of claim 2, wherein the planning decision system comprises: the planning decision controller is used for presetting three road categories of a highway road surface, a cross-country road surface and a soft road surface, comparing road information stored in a current road section map with road information identified by the environment sensing system, outputting the category of the current road in real time, and sending the category of the current road to the vehicle control system; the navigation positioning system is used for acquiring the coordinate position of the vehicle in real time, matching the coordinate position with the environmental characteristic information sensed by the environmental sensing system, determining the accurate positioning coordinate of the vehicle and acquiring the road information stored in the current road section map; the map system is used for acquiring a map of a current road section where the vehicle runs; and the vehicle networking equipment is used for providing external network access for the vehicle.
4. The unmanned off-road vehicle tire inflation and deflation control system of claim 3, wherein the navigational positioning system comprises: and the inertial navigation system is used for acquiring the speed and attitude information of the current vehicle.
5. The unmanned off-road vehicle tire air charge and discharge control system of claim 4, wherein the vehicle control system comprises: the chassis controller is used for receiving the attitude information sent by the planning decision controller, judging the empty and full load state of the current vehicle, receiving the category of the current road sent by the planning decision controller, converting the category into a road working mode corresponding to the central tire inflation and deflation system, and outputting tire air pressure target value signals of front and rear wheels according to the empty and full load state of the current vehicle and the corresponding road working mode; and the central tire inflation and deflation system controller is used for controlling the air pressure of the front tire and the rear tire according to the target tire air pressure signals of the front wheel and the rear wheel.
6. The unmanned off-road vehicle tire air charge and discharge control system of claim 5, wherein the lidar comprises: the multi-beam laser radar is arranged at the top of the vehicle and used for sensing the surrounding environment information of the vehicle; the low-beam laser radar is arranged at the left-right symmetrical position in front of the vehicle and is used for sensing information of roads and obstacles in front of the vehicle.
7. The unmanned off-road vehicle tire air charge and discharge control system of claim 6, wherein the camera comprises: the multi-view camera is used for carrying out three-dimensional imaging on an object from multiple directions; the thermal imaging night vision camera is used for imaging an infrared radiation object at night; the low-light night vision camera is used for imaging objects reflecting moonlight at night.
8. An electronic device, comprising:
at least one processor, at least one memory, a communication interface, and a bus; wherein,
the processor, the memory and the communication interface complete mutual communication through the bus;
the memory stores program instructions executable by the processor, which are invoked by the processor to implement the system of any one of claims 1 to 7.
9. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to implement the system of any one of claims 1 to 7.
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| CN115352428B (en) * | 2022-07-22 | 2024-05-24 | 东风越野车有限公司 | Information interaction control system and method based on automatic driving refitted vehicle |
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| CN110758025A (en) * | 2018-07-26 | 2020-02-07 | 华为技术有限公司 | Tire pressure regulating method, automobile and computer readable medium |
| CN112224212A (en) * | 2020-12-08 | 2021-01-15 | 北京航空航天大学 | Vehicle control system based on road surface condition tactile perception |
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| US9511634B2 (en) * | 2014-10-30 | 2016-12-06 | Elwha Llc | Systems and methods for anticipatory tire pressure control |
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| CN108819625A (en) * | 2018-05-24 | 2018-11-16 | 南京工程学院 | Off-road tire central air-charging and air-discharging system and control method based on slippage rate control |
| CN110758025A (en) * | 2018-07-26 | 2020-02-07 | 华为技术有限公司 | Tire pressure regulating method, automobile and computer readable medium |
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