阅读说明：本技术 一种两栖车整车域控制器功能实现的方法 (Method for realizing functions of entire vehicle domain controller of amphibious vehicle ) 是由 程彰 李丞 朱仲文 王旭 魏庆 田涌君 李永军 王齐英 周炼 于 2020-11-25 设计创作，主要内容包括：本发明提供了一种两栖车整车域控制器功能实现的方法,整车域控制器通过接口连接控制台和整车子系统控制器；所述整车域控制器包括多个针对上下滩模式、水上模式、陆上模式进行对应控制的模块,用于实现不同模式下的车体控制；整车域控制器根据控制台发出的驾驶员驾驶意图指令以及车体状态信息对相应的模块进行控制。本发明所述的两栖车整车域控制器功能实现的方法基于水陆运输车特点的控制功能的开发,实现整车在不同行驶环境下的驱动能力。(The invention provides a method for realizing the functions of a whole vehicle domain controller of an amphibious vehicle, wherein the whole vehicle domain controller is connected with a control console and a whole vehicle subsystem controller through an interface; the whole vehicle domain controller comprises a plurality of modules for correspondingly controlling an upper beach mode, a lower beach mode, a water mode and a land mode, and is used for realizing vehicle body control in different modes; and the whole vehicle domain controller controls the corresponding modules according to the driving intention instruction of the driver sent by the control console and the vehicle body state information. The method for realizing the whole domain controller function of the amphibious vehicle is based on the development of the control function of the characteristics of the amphibious transport vehicle, and realizes the driving capability of the whole vehicle in different driving environments.)

1. A method for realizing the functions of a whole vehicle domain controller of an amphibious vehicle is characterized by comprising the following steps: the whole vehicle domain controller is connected with the control console and the whole vehicle subsystem controller through an interface;

the whole vehicle domain controller comprises a plurality of modules for correspondingly controlling an upper beach mode, a lower beach mode, a water mode and a land mode, and is used for realizing vehicle body control in different modes;

and the whole vehicle domain controller controls the corresponding modules according to the driving intention instruction of the driver sent by the control console and the vehicle body state information.

2. The method for realizing the functions of the controller of the amphibious vehicle domain according to claim 1, wherein the method comprises the following steps: the whole vehicle domain controller comprises an input layer module, wherein the input layer module comprises an operator control signal and state signals of all systems of the whole vehicle;

the operator control signal comprises signals of a human-computer integrated display interface and a control console, is used for inputting the state judgment and decision data of an operator into the main controller layer module, and receives a control instruction sent by the main controller layer module and the real-time state information of the whole vehicle;

the man-machine comprehensive display interface subsystem signal is used for displaying the whole vehicle state data; the console subsystem signal is used for controlling the running state of the vehicle; the state signals of all the systems of the whole vehicle mainly comprise state signals fed back by an engine, a gearbox, an intercooler, a steering rudder, a suspension, a crawler and an ABS subsystem, and are used for monitoring the state of the whole vehicle by a whole vehicle domain controller.

3. An amphibious vehicle domain controller function implementation method as claimed in claim 2, wherein the human-machine integrated display interface subsystem signals comprise: a land state display signal, a water state display signal, and a general state display signal.

4. A method for realizing the functions of an amphibious vehicle domain controller according to claim 2, wherein the method comprises the following steps: the console subsystem signals include a general steering section signal for steering the vehicle body, a land-running steering section signal for performing a land-running steering, a water-running steering section signal for a water-running steering, an auxiliary-running steering section signal for assisting the running steering, and an electric steering section signal for steering the vehicle.

5. A method for realizing the functions of an amphibious vehicle domain controller according to claim 4, wherein the method comprises the following steps: the general operation part signals comprise an operation mode selection signal, a land transfer case selection signal and an automatic cruise signal; the signals of the land running control part comprise gear selection signals, brake signals, accelerator signals, steering wheel signals and parking brake signals; the water navigation control part signal comprises a comprehensive steering signal; the auxiliary driving control part signal comprises a suspension lifting adjustment signal and a track lifting adjustment signal; the electric control part signal comprises a car light signal, an air conditioner signal and a water pump signal.

6. The method for realizing the functions of the controller of the amphibious vehicle domain according to claim 1, wherein the method comprises the following steps: the whole vehicle domain controller also comprises a main controller layer module, wherein the main controller layer module comprises a water control submodule module, a land control submodule, a track driving control submodule, a track lifting control submodule, a suspension lifting control submodule, an amphibious transfer case control submodule, an electric accessory control submodule and a fault processing submodule and is used for controlling the whole vehicle when the amphibious vehicle runs on land;

the whole vehicle controller directly controls a drainage system, a steering mechanism control module, a wave pressing plate adjusting module and a sea water pump to be used as executing elements required to be controlled by the water navigation running and realizes control according to various manipulations of a manipulation platform; the land control submodule is used for realizing the operation control of the whole vehicle during land running, controlling the power output of the engine according to the control operation signal on the operation platform and transmitting the output power of the engine to the wheels and the crawler belt through the transmission mechanism so as to drive the wheels and the crawler belt to rotate and realize the running on the land; the wheels and the crawler are in a lifting state when navigating on water, the crawler is mounted on a whole vehicle frame through a crawler lifting mechanism and is lifted in a matching way through a crawler lifting control submodule, and the wheels are mounted on a vehicle suspension frame and are lifted in a matching way through a suspension lifting control submodule; the electric accessory control sub-module is used for controlling the vehicle lamp and the air conditioner; and the fault processing submodule diagnoses and processes the fault based on the UDS protocol.

7. The method for realizing the functions of the controller of the amphibious vehicle domain according to claim 1, wherein the method comprises the following steps: the whole vehicle domain controller also comprises an output layer module which is used for receiving the control instruction of the main controller layer module and transmitting the control instruction to each whole vehicle subsystem controller through a CAN bus;

the whole vehicle subsystem controller comprises a suspension lifting controller, an AT gearbox controller, an engine controller ECU, an ABS brake controller, a hydraulic system controller, a cooling system controller, a vehicle electrical system controller and a crawler controller.

8. A method for realizing the functions of an amphibious vehicle domain controller according to claim 6, wherein the method comprises the following steps: the main controller layer module also comprises a whole vehicle mode management submodule for realizing switching among different modes of a land mode, an upper beach mode and a lower beach mode and a water mode;

the whole vehicle mode management submodule also comprises a mode identification switch used for identifying the current running mode;

the method for controlling the power of the whole vehicle area controller and the engine in a matched mode comprises the following steps:

the whole vehicle domain controller controls the engine to work at a corresponding power level through a whole vehicle working mode identification switch; the vehicle control unit sends a control instruction of a high-low power mode of the engine and a corresponding throttle signal to the engine controller, when the power of the engine is switched from the high-power mode to the low-power mode, the ECU of the engine controller reduces the torque of the engine at different rotating speeds, so that the power of the engine at the current rotating speed is reduced, and the maximum output power of the engine is reduced; the whole vehicle can work only in the water mode to allow the engine to work in a high-power level mode; meanwhile, considering that the land accelerator is difficult to perform stable power control on water, the whole vehicle accelerator signal is divided into a water mode accelerator and a land mode accelerator, and the whole vehicle accelerator is controlled by the whole vehicle controller through processing the power state of the engine and the accelerator signal sent to the engine to realize the power control of the whole vehicle.

9. The method for realizing the functions of the amphibious vehicle domain controller according to claim 8, wherein the method comprises the following steps: in the land mode, the matching method of the whole vehicle domain controller and the vehicle body is as follows:

firstly, judging whether the engine is in a vehicle state at present, if not, starting the engine, if the starting is finished, carrying out the next operation, if the starting is not successful, restarting, if the starting is not successful for three times, enabling the whole vehicle to enter a fault state and forbidding starting the engine; if the engine is started successfully, the whole vehicle domain controller identifies that the land mode switch signal is effective, and if the land mode switch signal is effective, the whole vehicle controller closes land power of the water-land transfer case and controls the whole vehicle to adjust all the systems to enter corresponding working states of land power modes.

10. The method for realizing the functions of the amphibious vehicle domain controller according to claim 8, wherein the method comprises the following steps: in the water mode, the matching method of the whole domain controller and the vehicle body is as follows:

in the water mode, the whole vehicle domain controller only responds to a water driving intention signal of a driver, and simultaneously needs to adjust target positions of a track and a suspension in order to reduce water driving resistance; when the vehicle works in the water mode, judging whether the engine is in a vehicle landing state or not in the first step, if not, starting the engine, if the starting is finished, carrying out the next operation, if the starting is not successful, restarting, if the starting is not successful for three times, enabling the whole vehicle to enter a fault state and forbidding starting the engine; if the engine is successfully started, the whole vehicle domain control is effective when the overwater mode switch signal is identified, and if the engine is effective, the whole vehicle controller closes the overwater power of the water and land transfer case, and simultaneously controls the whole vehicle to adjust each system to enter the corresponding working state of the overwater power mode;

when the vehicle is in the beach ascending mode and the beach descending mode, the matching method of the whole vehicle domain controller and the vehicle body is as follows:

when in the upper and lower beach mode, the whole vehicle domain controller only responds to the water throttle signal of a driver, and the whole vehicle domain controller needs to adjust the target positions of the track and the suspension; when the vehicle works in the upper and lower beach modes, firstly, whether the engine is in a vehicle landing state or not needs to be judged, if not, the engine is started, if the starting is finished, the next operation is carried out, if the starting is not successful, the vehicle is restarted, the three times of operation are unsuccessful, the whole vehicle enters a fault state, and the engine is prohibited to be started; if the engine is started successfully, the whole domain controller identifies whether the switch signal of the upper and lower beach modes is effective, if so, the whole domain controller closes the water and land power of the water and land transfer case, and simultaneously controls the whole vehicle to adjust each system to enter the corresponding working state of the upper and lower beach power modes; otherwise, the simultaneous connection of the onshore and offshore power is not allowed.

Technical Field

The invention belongs to the technical field of amphibious vehicle controller implementation, and particularly relates to a method for achieving functions of a whole vehicle domain controller of an amphibious vehicle.

Background

As a transport vehicle in a special field, the amphibious transport vehicle has strong flexibility and maneuverability, is universal in water paths, has good passing performance under complex working conditions, has good application prospects in the aspects of commercial entertainment, emergency and disaster relief, material transportation, beach rescue and landing and the like due to the technical characteristics, and has increased requirements in military and civil markets. In order to fully exert the multi-terrain driving advantages of the amphibious vehicle, the whole vehicle needs to be accurately controlled to work in a corresponding mode according to the driving environment of the whole vehicle, and meanwhile, the whole vehicle power components such as a crawler, a suspension, a spray pump and a gearbox are coordinated to work in a reasonable state, so that the capability of the amphibious vehicle passing through complex terrains is fully exerted.

Disclosure of Invention

In view of the above, the invention aims to provide a method for realizing the functions of the whole domain controller of the amphibious vehicle, so as to solve the problems that the driving range test is carried out based on the existing NEDC working condition, the test period is long, and the test result is inaccurate.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a method for realizing the function of a whole vehicle domain controller of an amphibious vehicle is characterized in that the whole vehicle domain controller is connected with a control console and a whole vehicle subsystem controller through an interface;

the whole vehicle domain controller comprises a plurality of modules for correspondingly controlling an upper beach mode, a lower beach mode, a water mode and a land mode, and is used for realizing vehicle body control in different modes;

and the whole vehicle domain controller controls the corresponding modules according to the driving intention instruction of the driver sent by the control console and the vehicle body state information.

Further, the whole vehicle domain controller comprises an input layer module, wherein the input layer module comprises an operator control signal and state signals of all systems of the whole vehicle;

the operator control signal comprises signals of a human-computer integrated display interface and a control console, is used for inputting the state judgment and decision data of an operator into the main controller layer module, and receives a control instruction sent by the main controller layer module and the real-time state information of the whole vehicle;

the man-machine comprehensive display interface subsystem signal is used for displaying the whole vehicle state data; the console subsystem signal is used for controlling the running state of the vehicle; the state signals of all the systems of the whole vehicle mainly comprise state signals fed back by an engine, a gearbox, an intercooler, a steering rudder, a suspension, a crawler and an ABS subsystem, and are used for monitoring the state of the whole vehicle by a whole vehicle domain controller.

Further, the man-machine integrated display interface subsystem signal comprises: a land state display signal, a water state display signal, and a general state display signal.

Further, the console subsystem signals include a general manipulation section signal for manipulating the vehicle body, a land-running manipulation section signal for performing a land-running manipulation, a water-running manipulation section signal for a water-running manipulation, an auxiliary-running manipulation section signal for assisting the running manipulation, and an electric manipulation section signal for manipulating the vehicle.

Further, the total maneuver portion signals include a work mode select signal, a land transfer case select signal, an auto cruise signal; the signals of the land running control part comprise gear selection signals, brake signals, accelerator signals, steering wheel signals and parking brake signals; the water navigation control part signal comprises a comprehensive steering signal; the auxiliary driving control part signal comprises a suspension lifting adjustment signal and a track lifting adjustment signal; the electric control part signal comprises a car light signal, an air conditioner signal and a water pump signal.

Furthermore, the whole vehicle domain controller also comprises a main controller layer module, wherein the main controller layer module comprises a water control submodule module, a land control submodule, a track driving control submodule, a track lifting control submodule, a suspension lifting control submodule, an amphibious transfer case control submodule, an electric accessory control submodule and a fault processing submodule, and is used for controlling the whole vehicle when the amphibious vehicle runs on land;

the whole vehicle controller directly controls a drainage system, a steering mechanism control module, a wave pressing plate adjusting module and a sea water pump to be used as executing elements required to be controlled by the water navigation running and realizes control according to various manipulations of a manipulation platform; the land control submodule is used for realizing the operation control of the whole vehicle during land running, controlling the power output of the engine according to the control operation signal on the operation platform and transmitting the output power of the engine to the wheels and the crawler belt through the transmission mechanism so as to drive the wheels and the crawler belt to rotate and realize the running on the land; the wheels and the tracks are in a lifting state when navigating on water, the tracks are arranged on a whole vehicle frame through a track lifting mechanism and are lifted through the track lifting control submodule in a matching manner, and the wheels are arranged on a vehicle suspension frame and are lifted through the suspension lifting control submodule in a matching manner; the electric accessory control sub-module is used for controlling the vehicle lamp and the air conditioner; and the fault processing submodule diagnoses and processes the fault based on the UDS protocol.

Further, the whole vehicle domain controller also comprises an output layer module, which is used for receiving a control instruction of the main controller layer module and transmitting the control instruction to each whole vehicle subsystem controller through a CAN bus;

the whole vehicle subsystem controller comprises a suspension lifting controller, an AT gearbox controller, an engine controller ECU, an ABS brake controller, a hydraulic system controller, a cooling system controller, a vehicle electrical system controller and a crawler controller.

Furthermore, the main controller layer module further comprises a whole vehicle mode management submodule for realizing switching among different modes of a land mode, an upper and lower beach mode and a water mode;

the whole vehicle mode management submodule also comprises a mode identification switch used for identifying the current running mode;

the method for controlling the power of the whole vehicle area controller and the engine in a matched mode comprises the following steps:

the whole vehicle domain controller controls the engine to work at a corresponding power level through a whole vehicle working mode identification switch; the vehicle control unit sends a control instruction of a high-low power mode of the engine and a corresponding throttle signal to the engine controller, when the power of the engine is switched from the high-power mode to the low-power mode, the ECU of the engine controller reduces the torque of the engine at different rotating speeds, so that the power of the engine at the current rotating speed is reduced, and the maximum output power of the engine is reduced; the whole vehicle can work only in the water mode to allow the engine to work in a high-power level mode; meanwhile, considering that the land accelerator is difficult to perform stable power control on water, the whole vehicle accelerator signal is divided into a water mode accelerator and a land mode accelerator, and the whole vehicle accelerator is controlled by the whole vehicle controller through processing the power state of the engine and the accelerator signal sent to the engine to realize the power control of the whole vehicle.

Further, in the land mode, the matching method of the whole vehicle domain controller and the vehicle body is as follows:

firstly, judging whether the engine is in a vehicle state at present, if not, starting the engine, if the starting is finished, carrying out the next operation, if the starting is not successful, restarting, if the starting is not successful for three times, enabling the whole vehicle to enter a fault state and forbidding starting the engine; if the engine is started successfully, the whole vehicle domain controller identifies that the land mode switch signal is effective, and if the land mode switch signal is effective, the whole vehicle controller closes land power of the water-land transfer case and controls the whole vehicle to adjust all the systems to enter corresponding working states of land power modes.

Further, in the water mode, the matching method of the whole domain controller and the vehicle body is as follows:

in the water mode, the whole vehicle domain controller only responds to a water driving intention signal of a driver, and simultaneously needs to adjust target positions of a track and a suspension in order to reduce water driving resistance; when the vehicle works in the water mode, judging whether the engine is in a vehicle landing state or not in the first step, if not, starting the engine, if the starting is finished, carrying out the next operation, if the starting is not successful, restarting, if the starting is not successful for three times, enabling the whole vehicle to enter a fault state and forbidding starting the engine; if the engine is successfully started, the whole vehicle domain control is effective when the overwater mode switch signal is identified, and if the engine is effective, the whole vehicle controller closes the overwater power of the water and land transfer case, and simultaneously controls the whole vehicle to adjust each system to enter the corresponding working state of the overwater power mode;

when the vehicle is in the beach ascending mode and the beach descending mode, the matching method of the whole vehicle domain controller and the vehicle body is as follows:

when in the upper and lower beach mode, the whole vehicle domain controller only responds to the water throttle signal of a driver, and the whole vehicle domain controller needs to adjust the target positions of the track and the suspension; when the vehicle works in the upper and lower beach modes, firstly, whether the engine is in a vehicle landing state or not needs to be judged, if not, the engine is started, if the starting is finished, the next operation is carried out, if the starting is not successful, the vehicle is restarted, the three times of operation are unsuccessful, the whole vehicle enters a fault state, and the engine is prohibited to be started; if the engine is started successfully, the whole domain controller identifies whether the switch signal of the upper and lower beach modes is effective, if so, the whole domain controller closes the water and land power of the water and land transfer case, and simultaneously controls the whole vehicle to adjust each system to enter the corresponding working state of the upper and lower beach power modes; otherwise, the simultaneous connection of the onshore and offshore power is not allowed.

Compared with the prior art, the method for realizing the functions of the whole domain controller of the amphibious vehicle has the following advantages:

the method for realizing the whole vehicle domain controller function of the amphibious vehicle is used for fully playing the traffic capacity of the amphibious vehicle under multiple application scenes and complex working conditions, and according to the characteristics of the amphibious vehicle, on the basis of designing the whole vehicle domain control function design, the development of control functions based on the characteristics of an amphibious transport vehicle, such as the design of a whole vehicle domain controller hardware interface scheme based on functional requirements, the whole vehicle working mode management, the crawler driving/lifting control, the engine high-low power control, the whole vehicle power control and smooth transition processing function, the suspension lifting control, the water driving control and the like, is completed, and the driving capability of the whole vehicle under different driving environments is realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a control structure diagram of a whole domain controller according to an embodiment of the present invention;

fig. 2 is a diagram of a whole domain controller architecture according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating a power output control of a vehicle domain controller and an engine according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating a power control of the global domain controller in the land mode according to an embodiment of the present invention;

FIG. 5 is a flow chart of power control of a whole vehicle domain controller in a marine mode according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating a power control process of the whole vehicle area controller in the upper and lower beach modes according to an embodiment of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

A method for realizing the function of a whole vehicle domain controller of an amphibious vehicle is characterized in that the whole vehicle domain controller is connected with a control console and a whole vehicle subsystem controller through an interface;

the whole vehicle domain controller comprises a plurality of modules for correspondingly controlling the whole vehicle, the water mode and the land mode and is used for realizing vehicle body control under different modes;

and the whole vehicle domain controller controls the corresponding modules according to the control command sent by the console and the vehicle body state information.

As shown in fig. 1 and 2, the entire domain controller architecture is divided into three layers.

The first layer input layer module mainly comprises an operator control signal and state signals of all systems of the whole vehicle, wherein the operator control signal comprises a man-machine comprehensive display interface and an operation console, and is used for inputting state judgment and decision data of an operator into the main controller layer module and sending a control instruction and real-time state information of the whole vehicle by the received main controller layer module. The man-machine comprehensive display interface is used for displaying the whole vehicle state data; the control console is used for controlling the running state of the vehicle; the state signals of all the systems of the whole vehicle mainly comprise state signals fed back by subsystems such as an engine, a gearbox, an intercooler, a steering rudder, a suspension, a crawler and an ABS (anti-lock brake system), and are used for monitoring the state of the whole vehicle by a whole vehicle domain controller.

The man-machine comprehensive display interface comprises onshore state display, overwater state display, comprehensive state display and the like, and an operator controls the posture of the vehicle in real time through the man-machine comprehensive display interface; the control console comprises a general control part for working mode selection, onshore transfer case selection, automatic cruising and the like, a onshore running control part for gear selection, braking, an accelerator, a steering wheel, parking braking and the like, an overwater navigation control part for comprehensive steering and the like, an auxiliary running control part for suspension lifting adjustment, crawler lifting adjustment and the like, an electric system control part for car lights, an air conditioner, a water pump signal and the like, and a driver comprehensively uses the control parts in the control console to realize normal driving and operation application at the highest level. Various switches, mode switching buttons/switches, joysticks, operation instruments and the like are arranged on the control console and used for realizing the control of the whole vehicle through the control console.

The second layer is a main controller layer module which comprises a whole vehicle mode management module, a water control module, a land control module, a crawler driving control module, a crawler lifting control module, a suspension control lifting module, an amphibious transfer case control module, an electric accessory control module, a fault processing module and other functional modules and is mainly responsible for whole vehicle control when the amphibious vehicle runs on the land. The water control module controls the amphibious vehicle to run on water, and comprises the steps of braking, sailing, backing, steering and the like according to a steering mechanism, controlling the output power of an engine through a water power mode and the like. The land control module is mainly used for realizing the running control of the whole vehicle, and when the vehicle runs on land, the power output of the engine is controlled according to the control operation signal on the operation platform, and the output power of the engine is transmitted to the vehicle and the crawler belt through the transmission mechanism, so that the vehicle and the crawler belt are driven to rotate, and the vehicle runs on the land. Meanwhile, due to the difference of land running states and water running states, when the wheels and the crawler run on water, the engine stops outputting power to the crawler and the wheels, the crawler is lifted, and the power is transmitted to the water jet propeller through the water and land transfer case, so that water sailing is realized. In order to reduce the resistance when the vehicle runs on water, the wheels and the crawler are in a lifting state when the vehicle runs on water, the wheels and the crawler are respectively arranged on a whole vehicle frame through the wheel lifting mechanism and the crawler lifting mechanism, and because the wheels are arranged on the suspension, the lifting control of the wheels can be realized by controlling the suspension lifting control module. Under the water working condition, the whole domain controller directly controls the executing elements required to be controlled by the water drainage system, the steering mechanism control module, the wave pressing plate adjusting module, the sea water pump and the like for water navigation running and realizes control according to various manipulations of the manipulation platform.

And the third layer is an output layer module, and the main controller layer module calculates and processes control instructions required to be executed by each subsystem. The control instruction is transmitted to each subsystem controller node through a hard wire/CAN network, and the subsystem controller is a controller corresponding to each execution node of the whole vehicle and is used for executing the control instruction of the whole vehicle domain controller.

The sub-controller nodes comprise a suspension lifting controller, an AT (automatic transmission) controller, an engine controller ECU (electronic control unit), an ABS (anti-lock brake system) brake controller, a hydraulic system controller, a cooling system controller, a vehicle electric system controller, a crawler controller and the like, and mainly complete related control instructions issued by the water controller and the whole vehicle controller and feed back state information of the controlled nodes in real time.

The overall domain controller and engine power level control method is as follows (as shown in fig. 3):

the main controller layer module also comprises a whole vehicle mode management submodule for realizing switching among different modes of a land mode, an upper beach mode and a lower beach mode and a water mode;

the whole vehicle mode management submodule further comprises a mode identification switch used for identifying the current operation mode.

According to the power requirement of the whole amphibious transport vehicle, the power difference of the engine is large when the amphibious transport vehicle runs on land and on water. The whole vehicle domain controller controls the engine to work at a corresponding power level through a whole vehicle working mode identification switch by considering the requirements of whole vehicle weight control and power differentiation and combining the technical and practical conditions of the engine. The whole domain controller sends a control instruction of a high-low power mode and a corresponding throttle signal to the engine controller, and when the power of the engine is switched from the high-power mode to the low-power mode, the ECU of the engine controller reduces the torque of the engine at different rotating speeds, so that the power of the engine at the current rotating speed is reduced, and the maximum output power of the engine is reduced. The entire vehicle will only operate in marine mode allowing the engine to operate in high power class mode. Meanwhile, considering that the onshore throttle is difficult to perform stable power control on water, the whole vehicle throttle signal is divided into a water mode throttle and an onshore mode throttle, and the whole vehicle throttle is controlled by a whole vehicle domain controller through processing a power state and a throttle signal of a transmission engine to the engine so as to realize the power control of the whole vehicle.

The matching method of the whole vehicle domain controller and the vehicle body under different modes is as follows:

in the land mode (as shown in fig. 4), the full domain controller only responds to the driver land driving intention signal, and the full domain controller needs to adjust the track and suspension positions and the target positions. When the vehicle works in the land mode, whether the engine is in a landing state or not needs to be judged in the first step, if not, the engine is started, if the starting is finished, the next operation is carried out, if the starting is not successful, the vehicle is restarted, the operation is not successful for three times, the whole vehicle enters a fault state, and the engine is forbidden to be started. If the engine is started successfully, the whole vehicle domain controller identifies whether the land upper mode switch signal is effective, and if the land upper mode switch signal is effective, the whole vehicle controller closes land power of the water-land transfer case and controls the whole vehicle to adjust all the systems to enter corresponding working states of land power modes.

In the marine mode (as shown in fig. 5), the whole domain controller only responds to the driver's marine driving intention signal, and simultaneously needs to adjust the track and the suspension position to target positions in order to reduce the resistance of marine driving. When the vehicle works in the water mode, whether the engine is in a landing state or not is judged in the first step, if not, the engine is started, if the starting is finished, the next operation is carried out, if the starting is not successful, the vehicle is restarted, the operation is not successful for three times, the whole vehicle enters a fault state, and the engine is forbidden to be started. If the engine is started successfully, the whole domain controller identifies whether the water mode switch signal is effective, and if the water mode switch signal is effective, the whole domain controller closes the water power of the water and land transfer case, and simultaneously controls the whole vehicle to adjust each system to enter a corresponding working state of the water power mode.

In the beach up and down mode (as shown in fig. 6), the whole domain controller only responds to the driving intention signal of the water throttle signal of the driver, and the whole domain controller needs to adjust the target positions of the crawler belt and the suspension. When the vehicle works in the upper and lower beach modes, whether the engine is in a vehicle state or not needs to be judged in the first step, if not, the engine is started, if the starting is finished, the next operation is carried out, if the starting is not successful, the vehicle is restarted, the vehicle fails for three times, the whole vehicle enters a fault state, and the engine is prohibited from being started. If the engine is started successfully, the whole vehicle domain controls and identifies whether the switch signal of the upper and lower beach modes is effective, if so, the whole vehicle domain controller closes the water and land power of the water and land transfer case, and simultaneously controls the whole vehicle to adjust each system to enter the corresponding working state of the upper and lower beach power modes. The other one is not allowed to simultaneously switch on the water and land power.

Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above described division of elements is merely a logical division, and other divisions may be realized, for example, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not executed. The units may or may not be physically separate, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.