阅读说明：本技术 一种水陆全地形车辆的整车控制方法 (Whole vehicle control method of amphibious all-terrain vehicle ) 是由 李丞 程彰 朱仲文 江维海 魏庆 汪源 王旭 王通 于 2020-11-25 设计创作，主要内容包括：本发明提供了一种水陆全地形车辆的整车控制方法,包括整车域控制器以及通过CAN网络与整车域控制器连接的各节点控制器；所述CAN网络包括整车CAN网络和动力CAN网络,所述整车CAN网络和动力CAN网络均与整车域控制器连接；所述悬架控制器、综合显示屏、主仪表控制器、履带控制器均连接整车CAN网络；所述变速箱控制器、中冷系统控制器、发动机控制器、转向舵编码器、车身控制器和ABS控制器均连接动力CAN网络。本发明所述的水陆全地形车辆的整车控制方法通过在不同模式下对各节点控制器及发动机的输出的功率等级进行控制,实现整车在不同行驶环境下的驱动能力。(The invention provides a whole vehicle control method of an amphibious all-terrain vehicle, which comprises a whole vehicle domain controller and node controllers connected with the whole vehicle domain controller through a CAN network; the CAN network comprises a whole vehicle CAN network and a power CAN network, and both the whole vehicle CAN network and the power CAN network are connected with a whole vehicle area controller; the suspension controller, the comprehensive display screen, the main instrument controller and the crawler controller are all connected with a whole vehicle CAN network; the gearbox controller, the intercooling system controller, the engine controller, the steering rudder encoder, the automobile body controller and the ABS controller are all connected with a power CAN network. The whole vehicle control method of the amphibious all-terrain vehicle disclosed by the invention controls the output power levels of each node controller and the engine under different modes, so that the driving capability of the whole vehicle under different driving environments is realized.)

1. A whole vehicle control method of an amphibious all-terrain vehicle is characterized by comprising the following steps: the system comprises a whole vehicle domain controller, an engine controller, a gearbox controller, an inter-cooling system controller, a crawler controller, a suspension controller, an ABS controller, a vehicle body controller, a main instrument controller, a comprehensive display screen and a steering rudder encoder, wherein the engine controller, the gearbox controller, the inter-cooling system controller, the crawler controller, the suspension controller, the ABS controller, the vehicle body controller, the main instrument controller, the comprehensive display screen and the steering rudder encoder are connected with the whole;

the CAN network comprises a whole vehicle CAN network and a power CAN network, and both the whole vehicle CAN network and the power CAN network are connected with a whole vehicle area controller;

the suspension controller, the comprehensive display screen, the main instrument controller and the crawler controller are all connected with a whole vehicle CAN network;

the gearbox controller, the intercooling system controller, the engine controller, the steering rudder encoder, the automobile body controller and the ABS controller are all connected with a power CAN network.

2. The method of controlling a completion of an amphibious all terrain vehicle of claim 1, wherein: the whole vehicle working mode comprises a land mode, a water mode and an upper and lower beach mode; the whole vehicle domain controller determines the current working mode of the whole vehicle according to the mode identification switch signal and the working state of the engine, and executes different control methods according to different working modes;

the mode identification switch signal is only valid when the engine is in the on-board state.

3. The method of integrated control of an amphibious vehicle as claimed in claim 2, characterised in that: the land mode comprises a land driving mode, and when the land driving mode is adopted, the control method of the whole vehicle comprises the following steps:

when the vehicle runs on land, the mode identification switch is in a land mode position, a land mode request signal is output to the whole vehicle area controller, the whole vehicle area controller detects that the land mode is effective, the crawler is in a lifting state and the engine is in a landing state, the whole vehicle area controller controls the suspension to lift to a target position and the engine to work in a low-power mode, and meanwhile, the whole vehicle area controller only responds to a land accelerator driving signal and controls the land and water transfer case to disconnect power transmitted to the jet pump and open land power; the engine realizes the power transmission of the whole vehicle through the amphibious transfer case and the AT gearbox; the AT gearbox gear management completes the management of the gearbox gear through the VCU according to the actual vehicle speed; and in the process of the land running of the whole vehicle, the whole vehicle domain controller does not respond to a request signal for the suspension system to carry out lifting adjustment.

4. The method of integrated control of an amphibious vehicle as claimed in claim 2 or 3, characterised in that: the land mode also comprises a land obstacle crossing mode, and when the land obstacle crossing mode is adopted, the control method of the whole vehicle is as follows:

in the land obstacle crossing mode, the crawler controller controls the crawler to be in a lower state, and inspects crawler position signals and pressure signals, and when any condition is met, the lower part of the crawler is stopped and locked;

the straight-going and steering conditions are judged through the steering wheel corner in the process that the track participates in driving; the judgment method comprises the following steps: the method comprises the steps that firstly, whether the absolute value of the steering wheel angle is larger than a set steering angle allowance or not is judged, and if the absolute value of the steering wheel angle is smaller than the set steering angle allowance, the vehicle does not perform steering operation; if the absolute value of the steering wheel angle is larger than the steering angle margin, the vehicle is judged to be in a steering state, whether the vehicle speed is larger than zero is further judged, if the vehicle speed is larger than zero, the vehicle is in steering during running, the high-speed state and the low-speed state need to be subsequently judged, and if the vehicle speed is not larger than zero, the vehicle is in pivot steering.

5. The method of controlling a complete vehicle of an amphibious all terrain vehicle of claim 2, characterized in that when in marine mode, the complete vehicle is controlled as follows:

when the vehicle runs on water, the mode identification switch is in a water mode position, a water mode request signal is output to the whole vehicle domain controller, the whole vehicle domain controller detects that the water mode is effective, and the engine is in a vehicle landing state;

the whole domain controller controls the positions of the suspension and the crawler to enter a lifting state, controls land power of the water-land transfer case, connects the water power transmission chain and controls the engine to work in a high-power mode; the whole vehicle area controller controls the corrugated plates to be in an extending state so as to increase the buoyancy of the whole vehicle on water;

the method for controlling the power of the marine mode comprises the following steps: firstly, judging the water mode running direction of the whole vehicle, detecting a water reversing signal by a whole vehicle domain controller, controlling the whole vehicle to run forwards when the signal is invalid, and controlling the whole vehicle to run backwards when the signal is valid;

when the vehicle runs forwards, judging whether the whole vehicle runs straight or turns, judging whether the absolute value of the turning angle of a steering rudder is larger than the turning angle allowance or not, and if the absolute value of the turning angle of the steering rudder is smaller than the turning angle allowance, judging that the whole vehicle runs straight; if the steering angle is larger than the preset steering angle, judging whether the steering angle signal is positive or negative to determine the left-right steering state of the whole vehicle, and controlling the closed steering function of the main rudder, the left rudder and the left rudder;

when the reversing signal is effective, the whole vehicle runs backwards; when the vehicle runs backwards, judging whether the whole vehicle runs straight or turns, judging whether the absolute value of the turning angle of the steering rudder is larger than the turning angle allowance or not, and if the absolute value of the turning angle of the steering rudder is smaller than the turning angle allowance, judging whether the whole vehicle runs straight; if the steering angle signal is greater than the preset steering angle, the left-right steering state of the whole vehicle is determined by judging the positive and negative of the steering angle signal, and the closed steering function of the main rudder, the left side rudder and the left side rudder is controlled.

6. The method of controlling a completion of an amphibious all terrain vehicle of claim 5, wherein: when the water level controller is in the water mode, the whole vehicle area controller controls the water suction pump to pump water when the liquid level signal received by the whole vehicle area controller in the container reaches a set threshold value.

7. The method of controlling a complete vehicle of an amphibious all terrain vehicle of claim 2, wherein the beach up and down modes include a beach up mode, and when in beach up mode, the complete vehicle control method is as follows:

the overwater power transmission chain is in a break-through state, and after the whole domain controller controls and controls the crawler and the suspension to be put down to the lowest position, the amphibious transfer case is controlled to break through the onshore power transmission chain; in the process of switching between high power and low power, the load of the engine needs to be smoothly processed, and the impact caused by power high-low conversion is reduced.

8. The method of integrated control of an amphibious vehicle as claimed in claim 2 or 7, characterised in that: the beach getting-on and putting-off mode further comprises a beach getting-off mode, and when the beach getting-off mode is adopted, the control method of the whole vehicle is as follows:

the on-land power transmission chain is in a break-through state, the whole domain controller controls the crawler and the suspension to be put down to the middle position and then controls the amphibious transfer case to break through the on-land power transmission chain, and AT the moment, in order to guarantee the safety of components, when the crawler participates in driving, the AT variable case is locked to be in a 1-gear position.

9. The method of controlling a completion of an amphibious all terrain vehicle of claim 1, wherein: all faults are classified into three levels according to severity, according to the source of the fault of the vehicle and according to severity: the first-level fault is the most serious fault, and the whole vehicle system must be stopped; the vehicle enters a power limiting mode to reduce the speed for running when the vehicle has a secondary fault; and the third-level fault is an alarm fault and is only processed by prompting.

Technical Field

The invention belongs to the technical field of amphibious vehicle controller implementation, and particularly relates to a whole vehicle control method of an amphibious all-terrain 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 design a whole vehicle control method of an amphibious vehicle according to the characteristics of the amphibious vehicle in order to fully exert the traffic capacity of the amphibious vehicle in multiple application scenes and complex working conditions, and to realize the driving capability of the whole vehicle in different driving environments.

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

a whole vehicle control method of an amphibious all-terrain vehicle comprises a whole vehicle domain controller, and an engine controller, a gearbox controller, an inter-cooling system controller, a crawler controller, a suspension controller, an ABS controller, a vehicle body controller, a main instrument controller, a comprehensive display screen and a steering vane encoder which are connected with the whole vehicle domain controller through a CAN network;

the CAN network comprises a whole vehicle CAN network and a power CAN network, and both the whole vehicle CAN network and the power CAN network are connected with a whole vehicle area controller;

the suspension controller, the comprehensive display screen, the main instrument controller and the crawler controller are all connected with a whole vehicle CAN network;

the gearbox controller, the intercooling system controller, the engine controller, the steering rudder encoder, the automobile body controller and the ABS controller are all connected with a power CAN network.

Further, the whole vehicle working mode comprises a land mode, a water mode and an upper and lower beach mode; the whole vehicle domain controller determines the current working mode of the whole vehicle according to the mode identification switch signal and the working state of the engine, and executes different control methods according to different working modes;

the mode identification switch signal is only valid when the engine is in the on-board state.

Further, the land mode comprises a land driving mode, and when the land driving mode is adopted, the control method of the whole vehicle comprises the following steps:

when the vehicle runs on land, the mode identification switch is in a land mode position, a land mode request signal is output to the whole vehicle area controller, the whole vehicle area controller detects that the land mode is effective, the crawler is in a lifting state and the engine is in a landing state, the whole vehicle area controller controls the suspension to lift to a target position and the engine to work in a low-power mode, and meanwhile, the whole vehicle area controller only responds to a land accelerator driving signal and controls the land and water transfer case to disconnect power transmitted to the jet pump and open land power; the engine realizes the power transmission of the whole vehicle through the amphibious transfer case and the AT gearbox; the AT gearbox gear management completes the management of the gearbox gear through the VCU according to the actual vehicle speed; and in the process of the land running of the whole vehicle, the whole vehicle domain controller does not respond to a request signal for the suspension system to carry out lifting adjustment.

Further, the land mode also comprises a land obstacle crossing mode, and when the land obstacle crossing mode is adopted, the control method of the whole vehicle is as follows:

in the land obstacle crossing mode, the crawler controller controls the crawler to be in a lower state, and inspects crawler position signals and pressure signals, and when any condition is met, the lower part of the crawler is stopped and locked;

the straight-going and steering conditions are judged through the steering wheel corner in the process that the track participates in driving; the judgment method comprises the following steps: the method comprises the steps that firstly, whether the absolute value of the steering wheel angle is larger than a set steering angle allowance or not is judged, and if the absolute value of the steering wheel angle is smaller than the set steering angle allowance, the vehicle does not perform steering operation; if the absolute value of the steering wheel angle is larger than the steering angle margin, the vehicle is judged to be in a steering state, whether the vehicle speed is larger than zero is further judged, if the vehicle speed is larger than zero, the vehicle is in steering during running, the high-speed state and the low-speed state need to be subsequently judged, and if the vehicle speed is not larger than zero, the vehicle is in pivot steering.

Further, when the vehicle is in the water mode, the control method of the whole vehicle is as follows:

when the vehicle runs on water, the mode identification switch is in a water mode position, a water mode request signal is output to the whole vehicle domain controller, the whole vehicle domain controller detects that the water mode is effective, and the engine is in a vehicle landing state;

the whole domain controller controls the positions of the suspension and the crawler to enter a lifting state, controls land power of the water-land transfer case, connects the water power transmission chain and controls the engine to work in a high-power mode; the whole vehicle area controller controls the corrugated plates to be in an extending state so as to increase the buoyancy of the whole vehicle on water;

the method for controlling the power of the marine mode comprises the following steps: firstly, judging the water mode running direction of the whole vehicle, detecting a water reversing signal by a whole vehicle domain controller, controlling the whole vehicle to run forwards when the signal is invalid, and controlling the whole vehicle to run backwards when the signal is valid; when the vehicle runs forwards, judging whether the whole vehicle runs straight or turns, judging whether the absolute value of the turning angle of a steering rudder is larger than the turning angle allowance or not, and if the absolute value of the turning angle of the steering rudder is smaller than the turning angle allowance, judging that the whole vehicle runs straight; if the steering angle is larger than the preset steering angle, judging whether the steering angle signal is positive or negative to determine the left-right steering state of the whole vehicle, and controlling the closed steering function of the main rudder, the left rudder and the left rudder;

when the reversing signal is effective, the whole vehicle runs backwards; when the vehicle runs backwards, judging whether the whole vehicle runs straight or turns, judging whether the absolute value of the turning angle of the steering rudder is larger than the turning angle allowance or not, and if the absolute value of the turning angle of the steering rudder is smaller than the turning angle allowance, judging whether the whole vehicle runs straight; if the steering angle signal is greater than the preset steering angle, the left-right steering state of the whole vehicle is determined by judging the positive and negative of the steering angle signal, and the closed steering function of the main rudder, the left side rudder and the left side rudder is controlled.

Further, when the water-borne type vehicle is in the water-borne mode, the whole vehicle area controller controls the water suction pump to pump water when the liquid level signal received by the whole vehicle area controller in the container reaches a set threshold value.

Further, the beach ascending and descending mode comprises a beach ascending mode, and when the beach ascending mode is adopted, the control method of the whole vehicle is as follows:

the overwater power transmission chain is in a break-through state, and after the whole domain controller controls and controls the crawler and the suspension to be put down to the lowest position, the amphibious transfer case is controlled to break through the onshore power transmission chain; in the process of switching between high power and low power, the load of the engine needs to be smoothly processed, and the impact caused by power high-low conversion is reduced.

Further, the beach ascending and descending mode further comprises a beach descending mode, and when the beach descending mode is adopted, the control method of the whole vehicle is as follows:

the on-land power transmission chain is in a break-through state, the whole domain controller controls the crawler and the suspension to be put down to the middle position and then controls the amphibious transfer case to break through the on-land power transmission chain, and AT the moment, in order to guarantee the safety of components, when the crawler participates in driving, the AT variable case is locked to be in a 1-gear position.

Further, all faults are classified into three levels according to severity according to the fault source of the vehicle and the severity: the first-level fault is the most serious fault, and the whole vehicle system must be stopped; the vehicle enters a power limiting mode to reduce the speed for running when the vehicle has a secondary fault; and the third-level fault is an alarm fault and is only processed by prompting.

Compared with the prior art, the whole vehicle control method of the amphibious all-terrain vehicle has the following advantages:

the whole vehicle control method of the amphibious vehicle fully exerts the traffic capacity of the amphibious vehicle in a multi-application scene and a complex working condition, and designs the whole vehicle control system function and the whole vehicle CAN network structure of the amphibious vehicle for the amphibious vehicle according to the characteristics of the amphibious vehicle; the whole vehicle domain controller controls the whole vehicle to work in a reasonable working mode through a mode switch and the current actual state of the whole vehicle, and simultaneously adjusts the crawler belt, the suspension, the gearbox and the water and land transfer case to be in corresponding working positions; the working modes mainly comprise a land mode, a water mode and an upper and lower beach mode. Meanwhile, in different driving environments of water and land, the driving resistance of the whole vehicle is inconsistent, and the driving capability of the whole vehicle in different driving environments is realized by controlling an accelerator signal and the output power level of an engine in different modes.

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 diagram of a vehicle powertrain architecture;

FIG. 2 is a CAN network architecture diagram;

FIG. 3 is a schematic diagram of the power transmission of a land based normal drive vehicle;

FIG. 4 is a schematic diagram of land obstacle crossing mode power transfer;

FIG. 5 is a diagram illustrating the identification of the operational status of the marine mode control;

fig. 6 is a schematic diagram of marine mode power transfer:

FIG. 7 is a schematic view of power transmission in the beach going up and down mode;

fig. 8 is a diagram of vehicle fault determination and processing.

Description of reference numerals:

1. a whole vehicle domain controller; 2. a comprehensive display screen; 3. a suspension controller; 4. a track controller; 5. an AT gearbox; 6. an intercooling system controller; 7. an engine controller; 8. a master meter controller; 9. a steering encoding controller; 10. a vehicle body controller.

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.

Power transmission arrangement of whole vehicle power system (as shown in figure 1)

In order to meet the requirement of the driving power of the whole vehicle under different working modes, the energy use efficiency of the system is improved. The power transmission system comprises a whole vehicle power chain, wherein a land transfer case is connected to the output shaft end of a power source engine, and power is transmitted to a land transmission power chain and a water power transmission chain through the land transfer case.

Design of whole vehicle CAN network architecture (as shown in figure 2)

The whole amphibious vehicle control system mainly comprises nodes such as a whole vehicle domain controller 1, an engine controller 7, a gearbox controller, an intercooling system controller 6, a crawler controller 4, a suspension controller 3, an anti-lock system, a vehicle body controller 10, a main instrument controller 8, a comprehensive display screen 2 and the like. In order to ensure the communication efficiency of the whole vehicle and reduce the load rate of the CAN network of the whole vehicle, the CAN network of the whole amphibious vehicle control system adopts the design of double CAN networks, the CAN network of the whole vehicle comprises a whole vehicle domain controller 1, a suspension controller 3, a crawler controller 4, a comprehensive display screen 2 and 5 nodes of 8 main instrument controllers, and terminal resistors are arranged on the comprehensive display screen 2 and the whole vehicle domain controller 1, and because wheels are arranged on the suspension, the lifting of the wheels is controlled by the suspension controller 3, and the movement and the lifting of the crawler are controlled by the crawler controller 4. The power CAN has 7 nodes such as a whole vehicle domain controller 1, an AT gearbox 5, an inter-cooling system controller 6, an engine controller 7, a steering rudder encoder, a vehicle body controller 10, an ABS system and the like.

Working mode identification and processing

The whole vehicle domain controller 1 determines the working mode of the whole vehicle through the mode identification switch signal and the current working state of the engine. The mode recognition switch input is only valid when the engine is in a landing state. Meanwhile, in order to prevent accidental signal loss or artificial misoperation in the driving process in the whole vehicle driving process, the mode input signal is required to judge the effectiveness so as to ensure the safety of a driver and a subsystem component.

Land mode functionality

The working conditions of the whole vehicle during land running are divided into land running and land obstacle crossing modes.

As shown in fig. 3, when driving on land, the mode recognition switch is in the land mode position, and outputs a land mode request signal to the whole land controller 1, the whole land controller 1 detects that the land mode is effective, the track is in the lifting state, and the engine is in the landing state, the whole land controller 1 controls the suspension to lift to the target position and the engine to work in the low power mode, and controls the land transfer case to disconnect the power transmitted to the jet pump and open the land power only in response to the land accelerator signal. The engine realizes the power transmission of the whole vehicle through the amphibious transfer case and the AT gearbox 5. And the gear management of the AT gearbox 5 is completed by the VCU according to the actual vehicle speed. In order to ensure the running safety, the domain controller does not respond to a request signal for the suspension system to carry out lifting adjustment in the running process of the whole vehicle.

As shown in fig. 4, in the obstacle crossing mode on land, compared with the function of traveling on land, the position of the crawler is in a lower state, and in order to ensure the safety of the crawler in the driving process and prevent the damage of the crawler due to the excessive local pressure, the crawler position signal and the pressure signal need to be checked, and when any condition is met, the lower part of the crawler is stopped and locked.

And in the process that the crawler participates in driving, the straight running and steering conditions are judged through the steering wheel angle. The first step is to judge whether the absolute value of the steering wheel angle is larger than the set steering angle allowance, if so, the vehicle does not perform the steering operation. If the absolute value of the steering wheel angle is larger than the steering angle margin, the vehicle is judged to be in a steering state, whether the vehicle speed is larger than zero is further judged, if the vehicle speed is larger than zero, the vehicle is in steering during running, the high-speed state and the low-speed state need to be subsequently judged, and if the vehicle speed is not larger than zero, the vehicle is in pivot steering.

Water model function

As shown in fig. 5, when traveling on water, the mode recognition switch is in the water mode position, and outputs a water mode request signal to the whole vehicle domain controller 1, and the whole vehicle domain controller 1 detects that the water mode is valid and the engine is in the landing state.

In order to reduce the resistance of water running, the whole-domain controller 1 controls the positions of the suspension and the crawler to be in a lifting state, controls the land power of the water-land transfer case, switches on the water power transmission chain and controls the engine to work in a high-power mode. The whole domain controller 1 controls the corrugated plates to be in an extending state so as to increase the buoyancy of the whole vehicle on water. And (3) receiving a liquid level signal in the container at the controller 1 of the whole container area, and controlling a water suction pump to work when the water level reaches a set threshold value close to the water level.

As shown in fig. 6, in the water mode power control, first, the water mode driving direction of the entire vehicle is determined, the entire vehicle domain controller 1 detects a water reverse signal, controls the entire vehicle to drive forward when the signal is invalid, and controls the entire vehicle to drive backward when the signal is valid. When the vehicle runs forwards, judging whether the whole vehicle runs straight or turns, judging whether the absolute value of the turning angle a of the steering rudder is larger than the turning angle allowance b or not, and if the absolute value of the turning angle a of the steering rudder is smaller than the turning angle allowance b, the whole vehicle runs straight. If the steering angle signal is greater than the preset steering angle, the left-right steering state of the whole vehicle is determined by judging the positive and negative of the steering angle signal, and the closed steering function of the main rudder, the left side rudder and the left side rudder is controlled.

And when the backing signal is effective, controlling the whole vehicle to run backwards. When the vehicle runs backwards, judging whether the whole vehicle runs straight or turns, judging whether the absolute value of the turning angle a of the steering rudder is larger than the turning angle allowance b or not, and if the absolute value of the turning angle a of the steering rudder is smaller than the turning angle allowance b, the whole vehicle runs straight. If the steering angle signal is greater than the preset steering angle, the left-right steering state of the whole vehicle is determined by judging the positive and negative of the steering angle signal, and the closed steering function of the main rudder, the left side rudder and the left side rudder is controlled.

Beach up and down mode (as shown in figure 7)

The upper and lower beach modes may be classified into an upper beach mode and a lower beach mode.

And in the overband mode, the whole vehicle enters a transition mode of a land mode from the overwater mode, the overwater power transmission chain is in a break-through state at the moment, and the whole vehicle domain controller 1 controls the amphibious transfer case to break through the land power transmission chain after controlling the crawler and the suspension to be placed at the lowest position. In the process of switching between high power and low power, the load of the engine needs to be smoothly processed, and the impact caused by power high-low conversion is reduced.

The beach mode is down put, and whole car is in the transition mode of mode on water by land mode entering, and land power transmission chain is in the state of making up this moment, and whole domain controller 1 control controls behind crawler, the suspension put down intermediate position, controls the amphibious transfer case and makes up power transmission chain on water, and in order to guarantee the safety of part this moment, when the crawler participates in the drive, AT variable case locking is 1 fender.

System fault diagnosis and handling

Aiming at the whole vehicle system of the amphibious all-terrain vehicle, the whole vehicle fault sources mainly comprise 8 major sources of faults of a whole vehicle domain controller 1, an engine fault, a gearbox fault, an inter-cooling system fault, a crawler system fault, a suspension system fault, a sensor fault, an electric accessory fault, a hydraulic system fault and the like,

the present invention addresses the source of failure of an amphibious atv, as shown in fig. 8, with all failures classified by their severity into three levels: primary, secondary, and tertiary faults. The first-level fault is the most serious fault, and the whole vehicle system must be stopped; the vehicle enters a power limiting mode to reduce the speed for running when the vehicle has a secondary fault; and the third-level fault is an alarm fault and is only processed by prompting.

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.