WO2024037226A1 - 一种车辆用松软地形脱困方法、装置和车辆 - Google Patents
一种车辆用松软地形脱困方法、装置和车辆 Download PDFInfo
- Publication number
- WO2024037226A1 WO2024037226A1 PCT/CN2023/104779 CN2023104779W WO2024037226A1 WO 2024037226 A1 WO2024037226 A1 WO 2024037226A1 CN 2023104779 W CN2023104779 W CN 2023104779W WO 2024037226 A1 WO2024037226 A1 WO 2024037226A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- escape
- wheel
- vehicle
- actuator
- trapped
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 239000000725 suspension Substances 0.000 claims abstract description 59
- 230000009471 action Effects 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
Definitions
- the present application relates to the field of vehicle control technology, and specifically relates to a vehicle escape method on soft terrain, a vehicle escape device on soft terrain and a vehicle.
- the object of the present invention is to provide a vehicle escape method on soft terrain to solve at least one of the above technical problems.
- the present invention provides the following solutions:
- a method for escaping from loose terrain for a vehicle.
- the vehicle includes a fully active suspension system and a drive limited slip system.
- the fully active suspension system includes wheels and actuators corresponding to the wheels.
- an actuator is connected to a wheel, and the method for the vehicle to escape on soft terrain includes:
- the trapped basic information includes trapped wheel information.
- One trapped wheel information corresponds to one wheel.
- a wheel with trapped wheel information is called a trapped wheel;
- the fully active suspension system and the drive limited slip system are controlled according to the escape strategy;
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy includes:
- the actuator hammer signal is transmitted to the actuator connected to the wheel corresponding to the trapped wheel information in the fully active suspension system, so that the actuator hammer signal according to the actuator hammer signal is The wheel to which it is attached provides the force that causes the wheel to perform a hammering action against the ground.
- the vehicle escape method on soft terrain further includes:
- the request information for obtaining assistance in getting out of trouble includes:
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy further includes:
- controlling the operation of the fully active suspension system and the drive limited slip system according to the escape strategy further includes:
- the work of controlling the fully active suspension system and the drive limited-slip system according to the escape strategy further includes:
- the load loading signal is transmitted to the actuator connected to the driving wheel, so that the actuator connected to the driving wheel applies a load to the wheel, so that the wheel obtains a force toward the ground.
- the work of controlling the fully active suspension system and the drive limited-slip system according to the escape strategy further includes:
- the rotation of each wheel is adjusted and detected through the drive limited-slip system.
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy further includes:
- This application also provides a soft terrain escape device for vehicles, which includes:
- the acquisition module is used to obtain the trapped basic information transmitted by the driving limited-slip system.
- the trapped basic information includes trapped wheel information.
- One trapped wheel information corresponds to one wheel, and the wheel with trapped wheel information Called a trapped wheel;
- An auxiliary escape request acquisition module the auxiliary escape request acquisition module is used to acquire auxiliary escape request information
- An escape control module the escape control module is used to control the operation of the fully active suspension system and the drive limited slip system according to the escape strategy after obtaining the auxiliary escape request information;
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy includes:
- the actuator hammer signal is transmitted to the actuator connected to the wheel corresponding to the trapped wheel information in the fully active suspension system, so that the actuator hammer signal according to the actuator hammer signal is The wheel to which it is attached provides the force that causes the wheel to perform a hammering action against the ground.
- the present application provides a vehicle, which includes the vehicle soft terrain escape device, a fully active suspension system and a drive limited slip system as described above; wherein,
- the fully active suspension system is connected to the vehicle's soft terrain escape device.
- the fully active suspension system includes at least four wheels and at least four actuators, one wheel corresponding to one actuator;
- the number of drive limited-slip systems is the same as the number of wheels.
- One drive limited-slip system is used to adjust and detect the rotation of one wheel.
- the ground is compacted by the actuator, and based on the specific rotation of the vehicle's wheels, it is analyzed whether the escape condition is reached, and when the escape condition is reached, the vehicle is commanded
- the personnel inside perform corresponding operations to realize the vehicle's escape.
- Figure 1 is a schematic flowchart of a vehicle escape method on soft terrain according to an embodiment of the present application
- FIG. 2 is a system architecture diagram of an electronic device capable of implementing the vehicle's soft terrain escape method of the present application.
- Figure 1 is a schematic flowchart of a vehicle escape method on soft terrain according to an embodiment of the present application.
- the vehicle of this application includes a fully active suspension system and a drive limited-slip system. Specifically, the vehicle of this application is equipped with at least 4 wheels, and is equipped with drive wheels on at least the left front wheel, left rear wheel, right front wheel, and right rear wheel. Limited-slip system, and actuators that can generate vertical force are installed between the left front wheel, left rear wheel, right front wheel, right rear wheel and the body.
- the drive limited slip system is used to adjust and detect the rotation of each wheel, and determine whether a trapped signal occurs based on the rotation of the wheel.
- vehicle escape methods on soft terrain include:
- Step 1 Obtain the assistance request information
- Step 2 After obtaining the auxiliary escape request information, control the operation of the fully active suspension system and the drive limited slip system according to the escape strategy.
- the ground is compacted by driving the wheels through the actuator, and based on the specific rotation of the vehicle's wheels, it is analyzed whether the escape conditions are met, and when the escape conditions are achieved, Under the conditions, the personnel in the vehicle are commanded to perform corresponding operations to achieve the vehicle's escape.
- the vehicle escape method on soft terrain further includes:
- Obtaining assistance request information includes:
- the vehicle escape method on soft terrain further includes:
- the trapped basic information includes trapped wheel information.
- One trapped wheel information corresponds to one wheel.
- the wheel with trapped wheel information is called a trapped wheel.
- the fully active suspension system and the drive limited slip system are controlled according to the escape strategy:
- the actuator hammer signal is transmitted to the actuator connected to the wheel corresponding to the trapped wheel information in the fully active suspension system, so that the actuator provides power to the wheel connected to it according to the actuator hammer signal. force, causing the wheels to hammer against the ground.
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy further includes:
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy further includes:
- controlling the fully active suspension system and the drive limited-slip system according to the escape strategy further includes:
- the load loading signal is transmitted to the actuator so that the actuator applies a load to the wheel so that the wheel obtains a force toward the ground.
- controlling the fully active suspension system and the drive limited-slip system according to the escape strategy further includes:
- controlling the fully active suspension system and the drive limited slip system according to the escape strategy further includes:
- This embodiment takes a certain car as an example.
- the car has a fully active suspension system and a drive limited-slip system.
- the car has a first wheel, a second wheel, a third wheel and a fourth wheel. Each wheel is provided with Drive the limited slip system.
- the first wheel is connected to the first actuator
- the second wheel is connected to the second actuator
- the third wheel is connected to the third actuator
- the fourth wheel A fourth actuator is connected to the top.
- the drive limited-slip system installed on the wheel with insufficient adhesion will send a trapped signal.
- the trapped risk prompt is generated according to the trapped signal and passed to the vehicle interaction system. Specifically, in this embodiment, the trapped risk prompt is communicated with the people in the vehicle by making corresponding prompts on the instrument panel. Interaction.
- the person in the vehicle determines whether the current vehicle is at risk of being trapped based on the trapped risk prompt. If the person in the vehicle (such as the driver) confirms that the current vehicle is at risk of being trapped, the fully active suspension auxiliary escape function is manually turned on to generate an auxiliary escape function. Request information.
- the driving anti-skid system when the driving anti-skid system sends a trapped signal, it will also give a trapped basic information. Through the trapped basic information, it can be obtained which part of the vehicle is trapped.
- the wheels need to be freed. For example, in this embodiment, the first wheel and the third wheel need to be freed.
- the fully active suspension system and the drive limited slip system are controlled according to the escape strategy.
- the operations of the fully active suspension system and the drive limited slip system are controlled according to the escape strategy include:
- the actuator hammering signal is transmitted to the actuator in the fully active suspension system, so that the actuator hammers the ground according to the actuator hammering signal; among which, the actuator hammering signal is obtained
- the actuator is an actuator corresponding to the trapped wheel.
- the wheels that need to be rescued are the first wheel and the third wheel, and the actuator hammering signal is transmitted to the first actuator and the third wheel.
- each actuator that needs to work generates a sinusoidal active force with an amplitude A and a fixed frequency f according to the hammering signal of the actuator to hammer the ground (the force is transmitted to the ground through the wheel), and applies a load to the ground. , enhance the solidity of the soft ground.
- the actuator tamping signal can be generated and transmitted to the vehicle instrument system, so that the corresponding work mark is given on the vehicle instrument panel, prompting that the fully active suspension auxiliary escape function is currently working At work.
- the following method is used to determine whether the wheel corresponding to the actuator that performs the hammering action meets the escape conditions:
- the drive anti-skid system continuously monitors whether the wheel meets the escape conditions within a limited time, and judges whether the wheel slip rate is lower than the threshold value.
- the slip rate is low, It means that the friction between the wheel and the ground is large, and the ground can already provide a reverse force for the wheel.
- the wheel speed sensor signal is used to determine the slip rate.
- the rotational acceleration of wheel a is less than the threshold value p, it is determined that the wheel The road surface in contact with a has met the conditions for escape. At this time, the corresponding actuator stops hammering the ground.
- the first actuator stops working. If the third wheel meets the above-mentioned escape conditions, the third actuator stops working.
- the wheel corresponding to the actuator that performs the hammering action does not meet the escape condition
- the driver may not know how to drive the vehicle to get the vehicle out of trouble. Therefore, at this time, the driver's accelerator prompt information is generated and passed to the vehicle interaction system. For example, a corresponding sign is given on the instrument panel to prompt the driver to drive. The driver can depress the accelerator pedal;
- the vehicle condition it is judged whether the vehicle is out of trouble after the driver steps on the accelerator pedal. If so, it ends.
- the camera device can be used to determine whether the vehicle is moving forward or backward, and the wheel speed can be used to determine whether the vehicle is ready for normal driving, etc., which will not be described again here.
- the application further includes:
- the load loading signal is transmitted to the actuator to cause the actuator to apply load to the ground.
- the wheel speed of the driving wheel begins to increase.
- the actuator corresponding to the driving wheel k for example, the first wheel and the second wheel are the driving wheels, then the first actuator and the second actuator are working at this time
- the force F exerts a load on the wheel, which is a load in the vertical downward direction of the wheel on the ground, that is, the force is a pressure on the wheel in the direction of the ground; it can be understood that in other embodiments, You can also control each actuator to work together at the same time, or arbitrarily select one or more actuators to work.
- the application further includes:
- This application also provides a soft terrain escape device for vehicles, which includes an acquisition module, an auxiliary escape request acquisition module, and an escape control module;
- the acquisition module is used to obtain the trapped basic information transmitted by the driving limited-slip system.
- the trapped basic information includes trapped wheel information.
- One trapped wheel information corresponds to one wheel.
- the wheel with trapped wheel information is called a trapped wheel;
- the auxiliary escape request acquisition module is used to obtain auxiliary escape request information
- the escape control module is used to control the operation of the fully active suspension system and the drive limited slip system according to the escape strategy after obtaining the auxiliary escape request information;
- the work of controlling the fully active suspension system and the drive limited slip system according to the escape strategy includes:
- the actuator hammering signal is transmitted to the actuator connected to the wheel corresponding to the trapped wheel information in the fully active suspension system, so that the actuator is connected to the actuator according to the actuator hammering signal.
- the wheel provides the force that causes the wheel to perform a hammering action against the ground.
- the application also provides a vehicle, which includes a soft terrain escape device for vehicles, a fully active suspension system, and a drive anti-skid system.
- the soft terrain escape device for vehicles is the soft terrain escape device for vehicles as described above; fully active A suspension system is connected to the vehicle's soft terrain escape device, and the fully active suspension system includes at least four wheels and At least four actuators, one wheel corresponds to one actuator; the number of drive limited-slip systems is the same as the number of wheels, and one drive limited-slip system is used to adjust and detect the rotation of one wheel.
- this application also provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus; the memory stores a computer
- the program when executed by the processor, causes the processor to execute the steps of the vehicle's soft terrain escape method.
- the present application also provides a computer-readable storage medium that stores a computer program that can be executed by an electronic device.
- the electronic device causes the electronic device to execute the steps of the vehicle's escape method on soft terrain.
- the communication bus mentioned in the above electronic equipment can be a peripheral component interconnection standard
- PCI Peripheral Component Interconnect
- EISA Extended Industry Standard Architecture
- the communication bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.
- Electronic devices include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system.
- This hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory.
- the operating system can be any one or more computer operating systems that realize control of electronic devices through processes, such as Linux operating system, Unix operating system, Android operating system, iOS operating system or windows operating system, etc.
- the electronic device may be a handheld device such as a smartphone or a tablet computer, or may be an electronic device such as a desktop computer or a portable computer, which is not particularly limited in the embodiment of the present invention.
- the execution subject of electronic device control in the embodiment of the present invention may be an electronic device, or a functional module in the electronic device that can call a program and execute the program.
- the electronic device can obtain the firmware corresponding to the storage medium.
- the firmware corresponding to the storage medium is provided by the supplier.
- the firmware corresponding to different storage media can be the same or different, and is not limited here.
- After the electronic device obtains the firmware corresponding to the storage medium it can write the firmware corresponding to the storage medium into the storage medium, specifically, burn the firmware corresponding to the storage medium into the storage medium.
- the process of burning the firmware into the storage medium can be implemented using existing technology, and will not be described again in the embodiment of the present invention.
- the electronic device can also obtain the reset command corresponding to the storage medium.
- the reset command corresponding to the storage medium is provided by the supplier.
- the reset commands corresponding to different storage media can be the same or different, and are not limited here.
- the storage medium of the electronic device is a storage medium in which the corresponding firmware is written.
- the electronic device can respond to the reset command corresponding to the storage medium in the storage medium in which the corresponding firmware is written, so that the electronic device responds to the reset command corresponding to the storage medium.
- Reset command to reset the storage medium in which the corresponding firmware is written.
- the process of resetting the storage medium according to the reset command can be implemented with existing technology, and will not be described again in the embodiment of the present invention.
- the present application can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence or that contributes to the existing technology.
- the computer software product can be stored in a storage medium, such as ROM/RAM, disk , optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of this application.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
本申请公开了一种车辆用松软地形脱困方法、装置和车辆。所述车辆用松软地形脱困方法包括：获取辅助脱困请求信息；在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作。本申请的车辆用松软地形脱困方法在进入到松软地形时，通过作动筒来进行地面的夯实，并且根据车辆的车轮的具体转动来分析是否达到脱困条件，并在达到脱困条件下，指挥车辆内人员进行相应的操作，从而实现车辆的脱困。
Description
本申请涉及车辆控制技术领域，具体涉及一种车辆用松软地形脱困方法、车辆用松软地形脱困装置以及车辆。
目前的公路汽车已经开始逐渐配备车身与车轮之间安装的全主动悬架，其包括作动筒，普通悬架上的传统减振器则被作动筒替代，进而可以产生不依赖于减振器活塞与筒相对运动方向的作动力，车辆在平整路面行驶时车身也可以在作动筒的作用下上下运动。
车辆行驶在不同的路况中，可能会遇到各种各样的陷车、困车意外，现有的车辆脱困装置多为外挂式防滑链，其多适用于结冰路况，同时因轮胎与车体的间距问题，使得防滑链的有效作用部分无法做得太大，个别车型并不适用。部分防滑链还需要配合千斤顶使用，增加了使用难度。而当车辆行驶在深层泥泞路况、松软的沙土路况或沙丘、土丘等松软地形中，现有的脱困装置都无法解决该问题。
发明内容
本发明的目的在于提供一种车辆用松软地形脱困方法来至少解决上述的一个技术问题。
本发明提供了下述方案：
根据本发明的一个方面，提供一种车辆用松软地形脱困方法，所述车辆包括全主动悬架系统以及驱动限滑系统，所述全主动悬架系统包括车轮以及与车轮所对应的作动筒，一个作动筒与一个车轮连接，所述车辆用松软地形脱困方法包括：
获取驱动限滑系统所传递的被困基本信息，所述被困基本信息包括被困车轮信息，一个被困车轮信息对应一个车轮，具有被困车轮信息的车轮称为被困车轮；
获取辅助脱困请求信息；
在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作；其中，
所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作包括：
根据所述被困车轮信息生成作动筒锤击信号；
将所述作动筒锤击信号传递给全主动悬架系统中的被困车轮信息所对应的车轮所连接的作动筒，以使所述作动筒根据所述作动筒锤击信号为其所连接的车轮提供力，从而使车轮对地面进行锤击动作。
可选的，在所述获取辅助脱困请求信息之前，所述车辆用松软地形脱困方法进一步包括：
获取驱动限滑系统所传递的被困信号；
根据所述被困信号生成被困风险提示并传递给车辆交互系统；
所述获取辅助脱困请求信息包括：
获取车辆内人员根据所述被困风险提示所反馈的辅助脱困请求信息。
可选的，所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
在所述作动筒为与其所连接的车轮提供力的过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若是，则
生成作动筒停止工作信号，并将所述作动筒停止工作信号传递给进行锤击动作的作动筒，以使获取到所述作动筒停止工作信号的作动筒停止工作。
可选的，在所述生成作动筒停止工作信号之后，所述根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
生成驾驶员踩踏油门提示信息并传递给车辆交互系统；
获取驾驶员根据踩踏油门提示信息进行油门踩踏动作后的车辆情况；
根据车辆情况判断车辆是否脱困，若是，则结束所述车辆用松软地形脱困方法。
可选的，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
所述根据车辆情况判断车辆是否脱困，若否，则
生成载荷加载信号；
将所述载荷加载信号传递给驱动轮所连接的作动筒，以使所述驱动轮所连接的作动筒向车轮施加载荷，以使所述车轮获取一个朝向地面方向的力。
可选的，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
在所述作动筒向地面施加载荷过程中，判断车辆的轮速是否满足预设轮速值，若是，则
生成载荷施加调节信号。
可选的，在所述根据脱困策略控制全主动悬架系统以及驱动限滑系统工作过程中，通过驱动限滑系统调节并检测各个车轮的转动情况。
可选的，所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
在所述作动筒为与其所连接的车轮提供力的过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若否，则
判断所述作动筒对应的车轮是否为驱动轮，若是，则
结束所述脱困策略并生成脱困失败信息发送给车辆交互系统。
本申请还提供了一种车辆用松软地形脱困装置，所述车辆用松软地形脱困装置包括：
获取模块，所述获取模块用于获取驱动限滑系统所传递的被困基本信息，所述被困基本信息包括被困车轮信息，一个被困车轮信息对应一个车轮，具有被困车轮信息的车轮称为被困车轮；
辅助脱困请求获取模块，所述辅助脱困请求获取模块用于获取辅助脱困请求信息；
脱困控制模块，所述脱困控制模块用于在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作；其中，
所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作包括：
根据所述被困车轮信息生成作动筒锤击信号；
将所述作动筒锤击信号传递给全主动悬架系统中的被困车轮信息所对应的车轮所连接的作动筒，以使所述作动筒根据所述作动筒锤击信号为其所连接的车轮提供力，从而使车轮对地面进行锤击动作。
本申请提供了一种车辆，所述车辆包括如上所述的车辆用松软地形脱困装置、全主动悬架系统以及驱动限滑系统；其中，
所述全主动悬架系统与所述车辆用松软地形脱困装置连接，所述全主动悬架系统包括至少四个车轮以及至少四个作动筒，一个车轮与一个作动筒对应；
驱动限滑系统的数量与车轮的数量相同，一个驱动限滑系统用于调节并检测一个车轮的转动情况。
本申请的车辆用松软地形脱困方法在进入到松软地形时，通过作动筒来进行地面的夯实，并且根据车辆的车轮的具体转动来分析是否达到脱困条件，并在达到脱困条件下，指挥车辆内人员进行相应的操作，从而实现车辆的脱困，相对于现有技术，具有如下优点；
1、能够在不增加其他新结构以及装置的情况下，实现车辆在松软地形上的脱困；
2、根据车辆在陷入松软地形时的车轮情况进行判断，从而更为智能化的辅助车辆内人员进行脱困，为车辆内人员提供最优的脱困方案。
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一实施例的车辆用松软地形脱困方法的流程示意图；
图2是能够实现本申请的车辆用松软地形脱困方法的电子设备的系统架构图。
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
图1是本申请一实施例的车辆用松软地形脱困方法的流程示意图。
本申请的车辆包括全主动悬架系统以及驱动限滑系统，具体而言，本申请的车辆安装有至少4个车轮，并至少在左前车轮，左后车轮，右前车轮，右后车轮安装有驱动限滑系统，并在左前车轮，左后车轮，右前车轮，右后车轮与车身之间安装有可产生垂向作用力的作动筒。
在本实施例中，驱动限滑系统用于调节并检测各个车轮的转动情况，并根据车轮的转动情况判断是否出现被困信号。
如图1所示的车辆用松软地形脱困方法包括：
步骤1：获取辅助脱困请求信息；
步骤2：在获取到辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作。
本申请的车辆用松软地形脱困方法在进入到松软地形时，通过作动筒来驱动车轮的方式来进行地面的夯实，并且根据车辆的车轮的具体转动来分析是否达到脱困条件，并在达到脱困条件下，指挥车辆内人员进行相应的操作，从而实现车辆的脱困，相对于现有技术，具有如下优点；
1、能够在不增加其他新结构以及装置的情况下，实现车辆在松软地形上的脱困；
2、根据车辆在陷入松软地形时的车轮情况进行判断，从而更为智能化的辅助车辆内人员进行脱困，为车辆内人员提供最优的脱困方案。
在本实施例中，在获取辅助脱困请求信息之前，车辆用松软地形脱困方法进一步包括：
获取驱动限滑系统所传递的被困信号；
根据被困信号生成被困风险提示并传递给车辆交互系统；
获取辅助脱困请求信息包括：
获取车辆内人员根据被困风险提示所反馈的辅助脱困请求信息。
即使当驱动限滑系统传递的是被困信号，本申请的方法也不会直接自动打开，因为只有驾驶者才最为了解是否真正需要进行脱困，因此，通过车辆内人员的动作来获取辅助脱困请求信息。
在本实施例中，在获取辅助脱困请求信息之前，车辆用松软地形脱困方法进一步包括：
获取驱动限滑系统所传递的被困基本信息，被困基本信息包括被困车轮信息，一个被困车轮信息对应一个车轮，具有被困车轮信息的车轮称为被困车轮。
在本实施例中，在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作：
根据被困车轮信息生成作动筒锤击信号；
将作动筒锤击信号传递给全主动悬架系统中的被困车轮信息所对应的车轮所连接的作动筒，以使作动筒根据作动筒锤击信号为其所连接的车轮提供力，从而使车轮对地面进行锤击动作。
在本实施例中，在获取到辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
在作动筒为与其所连接的车轮提供力的过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若是，则
生成作动筒停止工作信号，并将作动筒停止工作信号传递给进行锤击动作的作动筒，以使获取到作动筒停止工作信号的作动筒停止工作。
在本实施例中，在生成作动筒停止工作信号之后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
生成驾驶员踩踏油门提示信息并传递给车辆交互系统；
获取驾驶员根据踩踏油门提示信息进行油门踩踏动作后的车辆情况；
根据车辆情况判断车辆是否脱困，若是，则结束。
在本实施例中，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
根据车辆情况判断车辆是否脱困，若否，则
生成载荷加载信号；
将载荷加载信号传递给作动筒，以使作动筒向车轮施加载荷，以使车轮获取一个朝向地面方向的力。
在本实施例中，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
在作动筒向地面施加载荷过程中，判断车辆的轮速是否满足预设轮速值，若是，则
生成载荷施加调节信号。
在本实施例中，在根据脱困策略控制全主动悬架系统以及驱动限滑系统工作过程中，通过驱动限滑系统调节并检测各个车轮的转动情况。
在本实施例中，在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：
在作动筒对地面进行锤击动作过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若否，则
判断作动筒对应的车轮是否为驱动轮，如是，则
结束脱困策略并生成脱困失败信息发送给车辆交互系统。
下面以举例的方式对本申请进行进一步详细阐述，可以理解的是，该举例并不构成对本申请的任何限制。
本实施例以某一轿车为例，该轿车具有全主动悬架系统以及驱动限滑系统，该轿车具有第一车轮、第二车轮、第三车轮以及第四车轮，每个车轮上都设置有驱动限滑系统，在本实施例中，第一车轮上连接有第一作动筒，第二车轮上连接有第二作动筒，第三车轮上连接有第三作动筒，第四车轮上连接有第四作动筒。
当一个或者多个轮子上的驱动防滑系统检测到地面附着能力不足时，附着能力不足的轮子所安装的驱动限滑系统会发送被困信号，在获取到驱动限滑系统所传递的被困信号后，根据所述被困信号生成被困风险提示并传递给车辆交互系统，具体而言，在本实施例中，被困风险提示通过在仪表盘上做出相应提示来进行与车辆内人员的交互。
车辆内人员根据该被困风险提示判断当前车辆是否有被困风险，如车辆内人员(例如驾驶员)确认当前车辆有被困风险，则手动开启全主动悬架辅助脱困功能，从而生成辅助脱困请求信息。
在一个实施例中，在驱动防滑系统发送被困信号时，同时也会给与一个被困基本信息，通过被困基本信息可以获取到到底车辆的哪个
轮子需要脱困，例如，在本实施例中，第一车轮以及第三车轮需要脱困。
在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作，具体而言，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作包括：
根据被困车轮信息生成作动筒锤击信号；
将作动筒锤击信号传递给全主动悬架系统中的作动筒，以使作动筒根据作动筒锤击信号对地面进行锤击动作；其中，获取到作动筒锤击信号的作动筒为与被困车轮对应的作动筒，在本实施例中，需要脱困的车轮为第一车轮以及第三车轮，则将作动筒锤击信号传递给第一作动筒以及第三作动筒。
在本实施例中，各个需要工作的作动筒根据作动筒锤击信号产生幅值为A，固定频率f的正弦主动力锤击地面(通过车轮将力传递给地面)，对地面施加载荷，增强松软地面的坚实性，在进行工作的过程中，可以生成作动筒夯实信号传递给车辆仪表系统，从而使得车辆仪表盘上给出相应工作标志，提示当前全主动悬架辅助脱困功能正在工作中。
在作动筒对地面进行锤击动作过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若是，则
生成作动筒停止工作信号，并将作动筒停止工作信号传递给进行锤击动作的作动筒，以使获取到所述作动筒停止工作信号的作动筒停止工作。
具体而言，采用如下方式判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件：
驱动防滑系统在作动筒工作的过程中，在一个限定时间内，持续监测车轮是否满足脱困条件，通过车轮的滑转率是否低于门限值来进行判断，当滑转率较低时，说明车轮与地面的摩擦力较大，地面已经可以为车轮提供反向力了，具体而言，使用轮速传感器信号判断滑转率，当车轮a的转动加速度小于门限值p时，判定车轮a接触的路面已经满足脱困条件，此时对应的作动筒停止锤击地面。
例如，假设第一车轮满足上述的脱困条件，则第一作动筒停止工作，若第三车轮满足上述的脱困条件，则第三作动筒停止工作。
在本实施例中，若在一个限定时间内，判断进行锤击动作的作动筒所对应的车轮没有满足脱困条件，则判断该作动筒所对应的车轮是否为驱动轮，例如，第三车轮没有满足脱困条件，但是第三车轮并非驱动轮，则此时不停止本申请的方法，如果该车轮是驱动轮，例如第一车轮，则结束本申请的车辆用松软地形脱困方法，并生成一个失败信号，通过仪表盘进行显示，表示车辆脱困失败。
假设当所有被困车轮均满足了上述的脱困条件，或者没有满足上述的脱困条件的车轮为非驱动轮，此时，事实上驾驶者即可以尝试驱动车辆进行脱困。
然而，在此时，可能驾驶员并不清楚如何驱动车辆能够使车辆脱困，因此，此时生成驾驶员踩踏油门提示信息并传递给车辆交互系统，例如，仪表盘上给出相应标志，提示驾驶员可以踩下油门踏板；
获取驾驶员根据踩踏油门提示信息进行油门踩踏动作后的车辆情况，具体而言，判断驾驶员是否在T1时间内踩下油门踏板，若否，则认为驾驶员可能不希望进行任何改变，则结束本申请的车辆用松软地形脱困方法；
判断驾驶员是否在T1时间内踩下油门踏板，若是，则
根据车辆情况判断在驾驶员踩下油门踏板后车辆是否脱困，若是，则结束。
判断驾驶员踩下油门踏板后车辆是否脱困的方式较多，例如，通过摄像装置可以判断车辆是否前进或者后退，通过车轮轮速判断车辆是否已经可以进行正常的行驶等，在此不再赘述。
在本实施例中，本申请进一步包括：
根据车辆情况判断车辆是否脱困，若否，则
生成载荷加载信号；
将载荷加载信号传递给作动筒，以使作动筒向地面施加载荷。
具体而言，当驾驶员踩下油门踏板后，驱动轮轮速开始增加，当驱动轮k轮速增加至门限值K的一定比例q时(比如q＝80％)，但是此时车辆仍然没有脱困的情况下，驱动轮k(例如第一车轮以及第二车轮为驱动轮，则此时为第一作动筒以及第二作动筒工作)所对应的作动器以向下的恒定力F施加对车轮的一个载荷，该载荷为车轮对地面的垂直向下方向的载荷，即该力对于车轮来说，是一个向地面方向的压力；可以理解的是，在其他实施例中，还可以同时控制各个作动筒一起工作，或者任意选择一个或多个作动筒工作。
在本实施例中，本申请进一步包括：
在作动筒向地面施加载荷过程中，判断车辆的轮速是否满足预设轮速值，若是，则
生成载荷施加调节信号。
具体而言，保持作动筒的恒力F不变，当检测到驱动轮k加速度小于r(比如r＝0)后(此时代表驱动轮的旋转力大部分转换为车轮与地面的摩擦力，即地面此时所提供的反力可能已经可以帮助车辆行走)，生成载荷施加调节信号，通过该载荷施加调节信号使驱动轮k
对应的作动筒对车轮的作动力以斜率s下降，直至轮速小于t(比如t＝0.1*K)时作动筒停止对地面施加向下的作用力，同时结束本申请的车辆用松软地形脱困方法。
可以理解的是，如果保持恒力F不变，如果在T2时间内驱动轮加速度无法达成小于r(比如r＝0)，则结束本申请的车辆用松软地形脱困方法，并在仪表盘提示脱困失败。
本申请还提供了一种车辆用松软地形脱困装置，所述车辆用松软地形脱困装置包括获取模块、辅助脱困请求获取模块以及脱困控制模块；
获取模块用于获取驱动限滑系统所传递的被困基本信息，被困基本信息包括被困车轮信息，一个被困车轮信息对应一个车轮，具有被困车轮信息的车轮称为被困车轮；
辅助脱困请求获取模块用于获取辅助脱困请求信息；
脱困控制模块用于在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作；其中，
在获取到辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作包括：
根据被困车轮信息生成作动筒锤击信号；
将作动筒锤击信号传递给全主动悬架系统中的被困车轮信息所对应的车轮所连接的作动筒，以使作动筒根据所述作动筒锤击信号为其所连接的车轮提供力，从而使车轮对地面进行锤击动作。
本申请还提供了一种车辆，所述车辆包括车辆用松软地形脱困装置、全主动悬架系统以及驱动防滑系统，车辆用松软地形脱困装置为如上所述的车辆用松软地形脱困装置；全主动悬架系统与所述车辆用松软地形脱困装置连接，所述全主动悬架系统包括至少四个车轮以及
至少四个作动筒，一个车轮与一个作动筒对应；驱动限滑系统的数量与车轮的数量相同，一个驱动限滑系统用于调节并检测一个车轮的转动情况。
参见图2，本申请还提供了一种电子设备，包括：处理器、通信接口、存储器和通信总线，其中，处理器，通信接口，存储器通过通信总线完成相互间的通信；存储器中存储有计算机程序，当计算机程序被处理器执行时，使得处理器执行车辆用松软地形脱困方法的步骤。
本申请还提供了一种计算机可读存储介质，其存储有可由电子设备执行的计算机程序，当计算机程序在电子设备上运行时，使得电子设备执行车辆用松软地形脱困方法的步骤。
上述电子设备提到的通信总线可以是外设部件互连标准
(Peripheral Component Interconnect，PCI)总线或扩展工业标准结构
(Extended Industry Standard Architecture，EISA)总线等。该通信总线可以分为地址总线、数据总线、控制总线等。为便于表示，图中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
电子设备包括硬件层，运行在硬件层之上的操作系统层，以及运行在操作系统上的应用层。该硬件层包括中央处理器(CPU，Central Processing Unit)、内存管理单元(MMU，Memory Management Unit)和内存等硬件。该操作系统可以是任意一种或多种通过进程(Process)实现电子设备控制的计算机操作系统，例如，Linux操作系统、Unix操作系统、Android操作系统、iOS操作系统或windows操作系统等。并且在本发明实施例中该电子设备可以是智能手机、平板电脑等手持设备，也可以是桌面计算机、便携式计算机等电子设备，本发明实施例中并未特别限定。
本发明实施例中的电子设备控制的执行主体可以是电子设备，或者是电子设备中能够调用程序并执行程序的功能模块。电子设备可以获取到存储介质对应的固件，存储介质对应的固件由供应商提供，不同存储介质对应的固件可以相同可以不同，在此不做限定。电子设备获取到存储介质对应的固件后，可以将该存储介质对应的固件写入存储介质中，具体地是往该存储介质中烧入该存储介质对应固件。将固件烧入存储介质的过程可以采用现有技术实现，在本发明实施例中不做赘述。
电子设备还可以获取到存储介质对应的重置命令，存储介质对应的重置命令由供应商提供，不同存储介质对应的重置命令可以相同可以不同，在此不做限定。
此时电子设备的存储介质为写入了对应的固件的存储介质，电子设备可以在写入了对应的固件的存储介质中响应该存储介质对应的重置命令，从而电子设备根据存储介质对应的重置命令，对该写入对应的固件的存储介质进行重置。根据重置命令对存储介质进行重置的过程可以现有技术实现，在本发明实施例中不做赘述。
为了描述的方便，描述以上装置时以功能分为各种单元、模块分别描述。当然在实施本申请时可以把各单元、模块的功能在同一个或多个软件和/或硬件中实现。
本领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非被特定定义，否则不会用理想化或过于正式的含义来解释。
对于方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明实施例并不受所描述的动作顺序的限制，因为依据本发明实施例，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作并不一定是本发明实施例所必须的。
通过以上的实施方式的描述可知，本领域的技术人员可以清楚地了解到本申请可借助软件加必需的通用硬件平台的方式来实现。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施方式或者实施方式的某些部分所述的方法。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。
Claims (10)
- 一种车辆用松软地形脱困方法，所述车辆包括全主动悬架系统以及驱动限滑系统，所述全主动悬架系统包括车轮以及与车轮所对应的作动筒，一个作动筒与一个车轮连接，其特征在于，所述车辆用松软地形脱困方法包括：获取驱动限滑系统所传递的被困基本信息，所述被困基本信息包括被困车轮信息，一个被困车轮信息对应一个车轮，具有被困车轮信息的车轮称为被困车轮；获取辅助脱困请求信息；在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作；其中，所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作包括：根据所述被困车轮信息生成作动筒锤击信号；将所述作动筒锤击信号传递给全主动悬架系统中的被困车轮信息所对应的车轮所连接的作动筒，以使所述作动筒根据所述作动筒锤击信号为其所连接的车轮提供力，从而使车轮对地面进行锤击动作。
- 如权利要求1所述的车辆用松软地形脱困方法，其特征在于，在所述获取辅助脱困请求信息之前，所述车辆用松软地形脱困方法进一步包括：获取驱动限滑系统所传递的被困信号；根据所述被困信号生成被困风险提示并传递给车辆交互系统；所述获取辅助脱困请求信息包括：获取车辆内人员根据所述被困风险提示所反馈的辅助脱困请求信息。
- 如权利要求2所述的车辆用松软地形脱困方法，其特征在于，所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：在所述作动筒为与其所连接的车轮提供力的过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若是，则生成作动筒停止工作信号，并将所述作动筒停止工作信号传递给进行锤击动作的作动筒，以使获取到所述作动筒停止工作信号的作动筒停止工作。
- 如权利要求3所述的车辆用松软地形脱困方法，其特征在于，在所述生成作动筒停止工作信号之后，所述根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：生成驾驶员踩踏油门提示信息并传递给车辆交互系统；获取驾驶员根据踩踏油门提示信息进行油门踩踏动作后的车辆情况；根据车辆情况判断车辆是否脱困，若是，则结束所述车辆用松软地形脱困方法。
- 如权利要求4所述的车辆用松软地形脱困方法，其特征在于，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：所述根据车辆情况判断车辆是否脱困，若否，则生成载荷加载信号；将所述载荷加载信号传递给驱动轮所连接的作动筒，以使所述驱动轮所连接的作动筒向车轮施加载荷，以使所述车轮获取一个朝向地面方向的力。
- 如权利要求5所述的车辆用松软地形脱困方法，其特征在于，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：在所述作动筒向地面施加载荷过程中，判断车辆的轮速是否满足预设轮速值，若是，则生成载荷施加调节信号。
- 如权利要求1至6中任意一项所述的车辆用松软地形脱困方法，其特征在于，在所述根据脱困策略控制全主动悬架系统以及驱动限滑系统工作过程中，通过驱动限滑系统调节并检测各个车轮的转动情况。
- 如权利要求3所述的车辆用松软地形脱困方法，其特征在于，所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作进一步包括：在所述作动筒为与其所连接的车轮提供力的过程中，判断进行锤击动作的作动筒所对应的车轮是否满足脱困条件，若否，则判断所述作动筒对应的车轮是否为驱动轮，若是，则结束所述脱困策略并生成脱困失败信息发送给车辆交互系统。
- 一种车辆用松软地形脱困装置，其特征在于，所述车辆用松软地形脱困装置包括：获取模块，所述获取模块用于获取驱动限滑系统所传递的被困基本信息，所述被困基本信息包括被困车轮信息，一个被困车轮信息对应一个车轮，具有被困车轮信息的车轮称为被困车轮；辅助脱困请求获取模块，所述辅助脱困请求获取模块用于获取辅助脱困请求信息；脱困控制模块，所述脱困控制模块用于在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作；其中，所述在获取到所述辅助脱困请求信息后，根据脱困策略控制全主动悬架系统以及驱动限滑系统工作包括：根据所述被困车轮信息生成作动筒锤击信号；将所述作动筒锤击信号传递给全主动悬架系统中的被困车轮信息所对应的车轮所连接的作动筒，以使所述作动筒根据所述作动筒锤击信号为其所连接的车轮提供力，从而使车轮对地面进行锤击动作。
- 一种车辆，其特征在于，所述车辆包括如权利要求9所述的车辆用松软地形脱困装置、全主动悬架系统以及驱动限滑系统；其中，所述全主动悬架系统与所述车辆用松软地形脱困装置连接，所述全主动悬架系统包括至少四个车轮以及至少四个作动筒，一个车轮与一个作动筒对应；驱动限滑系统的数量与车轮的数量相同，一个驱动限滑系统用于调节并检测一个车轮的转动情况。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210989624.5 | 2022-08-18 | ||
| CN202210989624.5A CN115056620B (zh) | 2022-08-18 | 2022-08-18 | 一种车辆用松软地形脱困方法、装置和车辆 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2024037226A1 true WO2024037226A1 (zh) | 2024-02-22 |
Family
ID=83207432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2023/104779 WO2024037226A1 (zh) | 2022-08-18 | 2023-06-30 | 一种车辆用松软地形脱困方法、装置和车辆 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115056620B (zh) |
| WO (1) | WO2024037226A1 (zh) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115056620B (zh) * | 2022-08-18 | 2022-11-11 | 中国第一汽车股份有限公司 | 一种车辆用松软地形脱困方法、装置和车辆 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1735519A (zh) * | 2002-12-06 | 2006-02-15 | 凯耐提克控股有限公司 | 车辆的液压悬挂系统 |
| CN101238003A (zh) * | 2005-03-01 | 2008-08-06 | 凯耐提克控股有限公司 | 用于车辆悬架系统的液压系统 |
| US20200130452A1 (en) * | 2017-03-17 | 2020-04-30 | Jaguar Land Rover Limited | Vehicle driving aid and method |
| CN112224208A (zh) * | 2020-09-11 | 2021-01-15 | 上海万捷汽车控制系统有限公司 | 一种车辆防滑脱困系统及方法 |
| CN113085808A (zh) * | 2021-04-23 | 2021-07-09 | 精诚工科汽车系统有限公司 | 车辆脱困控制方法与装置、制动系统、存储介质 |
| CN113335011A (zh) * | 2021-07-21 | 2021-09-03 | 中国第一汽车股份有限公司 | 一种车辆脱困的控制方法、车辆及存储介质 |
| CN115056620A (zh) * | 2022-08-18 | 2022-09-16 | 中国第一汽车股份有限公司 | 一种车辆用松软地形脱困方法、装置和车辆 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201215967D0 (en) * | 2012-09-06 | 2012-10-24 | Jaguar Cars | Vehicle control system and method |
| CN106828442B (zh) * | 2017-01-20 | 2019-11-15 | 济南匠夫万自动化科技有限公司 | 备用驱动装置及车辆 |
| CN107031278B (zh) * | 2017-02-22 | 2023-08-29 | 中信戴卡股份有限公司 | 一种使汽车从沙地打滑状态下脱困的方法 |
| US10974562B2 (en) * | 2018-08-17 | 2021-04-13 | Ford Global Technologies, Llc | Methods and apparatus to adjust vehicle suspension damping |
| CN109455053B (zh) * | 2018-11-09 | 2020-07-28 | 安徽江淮汽车集团股份有限公司 | 一种汽车自适应后悬架控制系统及控制方法 |
| CN110510015B (zh) * | 2019-08-26 | 2020-12-08 | 济南匠夫万自动化科技有限公司 | 履带式脱困装置及车辆 |
| JP1681599S (zh) * | 2020-04-30 | 2021-03-22 | ||
| CN111877445A (zh) * | 2020-08-10 | 2020-11-03 | 杭州常辉机械科技有限公司 | 一种可自搭桥高效率挖掘机辅助设备 |
| CN215662813U (zh) * | 2021-04-25 | 2022-01-28 | 中国第一汽车股份有限公司 | 一种带有后拖车钩座的越野车后横梁 |
-
2022
- 2022-08-18 CN CN202210989624.5A patent/CN115056620B/zh active Active
-
2023
- 2023-06-30 WO PCT/CN2023/104779 patent/WO2024037226A1/zh unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1735519A (zh) * | 2002-12-06 | 2006-02-15 | 凯耐提克控股有限公司 | 车辆的液压悬挂系统 |
| CN101238003A (zh) * | 2005-03-01 | 2008-08-06 | 凯耐提克控股有限公司 | 用于车辆悬架系统的液压系统 |
| US20200130452A1 (en) * | 2017-03-17 | 2020-04-30 | Jaguar Land Rover Limited | Vehicle driving aid and method |
| CN112224208A (zh) * | 2020-09-11 | 2021-01-15 | 上海万捷汽车控制系统有限公司 | 一种车辆防滑脱困系统及方法 |
| CN113085808A (zh) * | 2021-04-23 | 2021-07-09 | 精诚工科汽车系统有限公司 | 车辆脱困控制方法与装置、制动系统、存储介质 |
| CN113335011A (zh) * | 2021-07-21 | 2021-09-03 | 中国第一汽车股份有限公司 | 一种车辆脱困的控制方法、车辆及存储介质 |
| CN115056620A (zh) * | 2022-08-18 | 2022-09-16 | 中国第一汽车股份有限公司 | 一种车辆用松软地形脱困方法、装置和车辆 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115056620A (zh) | 2022-09-16 |
| CN115056620B (zh) | 2022-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2024037226A1 (zh) | 一种车辆用松软地形脱困方法、装置和车辆 | |
| WO2017129092A1 (zh) | 电动汽车的辅助制动系统及其控制方法及电动汽车 | |
| CN105300352A (zh) | 估算挂车道路坡度 | |
| RU2684835C1 (ru) | Способ оценки распределения нагрузок на дорогу, передаваемых через оси грузового автопоезда | |
| JP2022541876A (ja) | 車両動力学に関連付けされたモデルを検証するための方法 | |
| CN114802137B (zh) | 制动衰退补偿方法、装置、电子设备及计算机存储介质 | |
| CN110843783A (zh) | 一种基于路面识别驱动防滑预控制方法与系统 | |
| Ahmad et al. | Modelling and validation of the vehicle longitudinal model | |
| CN106828006A (zh) | 一种基于空气悬架控制的制动方法、系统及车辆 | |
| EP4140839A1 (en) | Vehicle control based on a dynamically configured sideslip limit | |
| JP2010532295A (ja) | 自動車の制御部材の位置センサから発信された信号の処理方法 | |
| CN110171404A (zh) | 行车安全距离控制方法、系统、设备及存储介质 | |
| WO2023029711A1 (zh) | 高速工况的底盘域控制方法及相关装置 | |
| CN112744086B (zh) | 一种车辆的控制方法、装置及汽车 | |
| EP4323250A1 (en) | Method for in-motion friction estimation based on steering pulses, computer program, computer readable medium, control device and vehicle | |
| CN114670648B (zh) | 电动汽车能量回收方法及电子设备 | |
| US20240100958A1 (en) | Method for controlling braking of vehicle | |
| KR20200036297A (ko) | 캠핑용 트레일러 제어방법 | |
| WO2024068013A1 (en) | Starting a standstill vehicle in accordance with a start strategy | |
| CN203496873U (zh) | 一种轮胎故障自动刹车装置及车辆 | |
| WO2024068012A1 (en) | Controlling suspension of a set of wheels | |
| EP4166368B1 (en) | A wheel slip boost function for a heavy-duty vehicle | |
| US20240042974A1 (en) | Braking trailers in a tractor-trailer combination | |
| RU2812000C1 (ru) | Способ предотвращения сноса и заноса колёс системой помощи водителю автопоезда | |
| CN114179578B (zh) | 车辆控制方法、装置及计算机可读存储介质 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 23854131 Country of ref document: EP Kind code of ref document: A1 |