The invention provides a vehicle slope obstacle crossing control method and device, an off-road vehicle and a storage medium, and belongs to the technical field of vehicle obstacle crossing. The slope obstacle crossing limit model comprises a front wheel/rear wheel obstacle crossing sub-model and an inter-axle chassis obstacle crossing sub-model which correspond to a stage that front wheels/rear wheels pass through a slope obstacle and a stage that an inter-axle chassis passes through the slope obstacle; vehicle arrangement parameters of the to-be-controlled vehicle are obtained, and the minimum ground clearance needed by obstacle crossing is determined based on the vehicle arrangement parameters and the slope obstacle crossing limit model; and determining an obstacle crossing passing mode based on the real-time driving information of the to-be-controlled vehicle and the minimum ground clearance required for obstacle crossing, and controlling the to-be-controlled vehicle based on the obstacle crossing passing mode. The slope obstacle crossing limit model constructed by the invention is more fit with the actual vehicle obstacle crossing process, the control precision of the chassis height when the vehicle crosses the obstacle on the slope is improved, and the passing performance of the vehicle is further enhanced.
本发明提供了一种车辆斜坡越障的控制方法、装置、越野车及存储介质,属于车辆越障技术领域,其方法包括:构建车辆跨越斜坡障碍物的斜坡越障极限模型,斜坡越障极限模型包括与前轮/后轮通过斜坡障碍物阶段、轴间底盘通过斜坡障碍物阶段对应的前轮/后轮越障子模型和轴间底盘越障子模型;获取待控制车辆的车辆布置参数,并基于车辆布置参数和斜坡越障极限模型确定越障所需最小离地间隙;基于待控制车辆的实时行驶信息和越障所需最小离地间隙确定越障通过模式,基于越障通过模式控制待控制车辆。本发明构建的斜坡越障极限模型与实际车辆越障过程更加贴合,提高了车辆在斜坡越障时底盘高度的控制精度,进而增强了车辆的通过性能。
Vehicle slope obstacle crossing control method and device, off-road vehicle and storage medium
车辆斜坡越障的控制方法、装置、越野车及存储介质
2024-09-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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