Method, device and equipment for enabling vehicle to pass through steps and readable storage medium

Abstract

The invention discloses a method, device and equipment for a vehicle to pass through steps and a readable storage medium, and the method for the vehicle to pass through the steps comprises the steps that when it is recognized that the steps appear in front of the vehicle, whether the vehicle can pass through the steps or not is judged; when it is judged that the vehicle can pass through the steps, the moment when each wheel of the vehicle makes contact with the steps is predicted, and the adjustment amount of each wheel air spring of the vehicle is determined; for each wheel of the vehicle, the air spring descending adjustment amount of the wheel is controlled at the moment that the wheel is in contact with the step, so that the trafficability of the vehicle is improved. Through the application, for each wheel of the vehicle, the height of the air spring of the wheel is reduced at the moment when the wheel is in contact with the step, so that the friction force of the wheel can be increased by adjusting the gravity center of the vehicle and increasing the load bearing of the wheel, the vehicle can pass the step more easily, and the power performance of the vehicle does not need to be enhanced; the step passing performance of the vehicle can be improved only by actively adjusting the height of the wheel air spring.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus, device, and readable storage medium for a vehicle to pass over a step. Background Art

[0002] Off-road capability is one of the important performance indicators of a vehicle. It refers to the vehicle's ability, under a certain load, to traverse various rough roads and off-road areas and overcome various obstacles at a sufficiently high average speed. Rough roads and off-road areas refer to soft soil, deserts, snowfields, swamps, and other soft and uneven terrain. Various obstacles refer to steep slopes, side slopes, steps, and ditches.

[0003] However, vehicles currently have poor traversability on stepped surfaces. Summary of the Invention

[0004] This application provides a method, apparatus, device, and readable storage medium for a vehicle to pass over steps, aiming to solve the current technical problem of poor vehicle passability over steps.

[0005] In a first aspect, embodiments of this application provide a method for a vehicle to pass over a step, the method comprising: When a step is detected in front of the vehicle, it is determined whether the vehicle can pass the step; When it is determined that the vehicle can pass over the step, the timing of each wheel contacting the step is predicted, and the adjustment amount of the air springs for each wheel is determined. For each wheel of the vehicle, the amount of air spring descent is adjusted at the moment the wheel contacts the step to improve the vehicle's passability.

[0006] Optionally, determining whether a vehicle can pass the step includes: If the width of the step is not less than the preset width, the height of the step is not greater than the preset height, and the angle between the horizontal and vertical planes of the step is not less than the preset angle, then it is determined that the vehicle can pass through the step.

[0007] Optionally, the prediction of the moment when each wheel of the vehicle contacts the step includes: Based on the vehicle's direction of travel, speed, and distance from the step, predict the moment when each wheel of the vehicle will contact the step.

[0008] Optionally, determining the adjustment amount of the air spring for each wheel of the vehicle includes: Predict the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step; Based on the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step, the adjustment amount of the air spring for each wheel is determined by consulting a calibration relationship table. The calibration relationship table includes the correspondence between the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, the order in which each wheel contacts the step, and the adjustment amount of the air spring for each wheel.

[0009] Optionally, prior to controlling the air spring descent adjustment of each wheel at the moment of contact with the step to improve vehicle passability, the following steps are included: For each wheel of the vehicle, calculate the height of the vehicle chassis from the ground after the wheel air spring descent adjustment. If the height of the vehicle chassis from the ground is not greater than the step height after the wheel air springs are lowered by the adjustment amount, then reduce the adjustment amount of the wheel air springs until the height of the vehicle chassis from the ground is greater than the step height after the wheel air springs are lowered by the adjustment amount.

[0010] Optionally, controlling the air spring descent adjustment of each wheel at the moment of contact with the step to improve vehicle passability includes: When a confirmation command to pass through a step is received, the air springs of each wheel are adjusted to lower at the moment the wheel contacts the step to improve the vehicle's passability.

[0011] Secondly, embodiments of this application provide a device for a vehicle to pass over a step, the device comprising: The judgment module is used to determine whether the vehicle can pass the step when a step is detected in front of it. The prediction and determination module is used to predict the moment when each wheel of the vehicle contacts the step when it is determined that the vehicle can pass through the step, and to determine the adjustment amount of the air spring of each wheel of the vehicle. The control module is used to adjust the amount of air spring descent of each wheel when it contacts a step, thereby improving the vehicle's passability.

[0012] Optionally, the determination module is used for: If the width of the step is not less than the preset width, the height of the step is not greater than the preset height, and the angle between the horizontal and vertical planes of the step is not less than the preset angle, then it is determined that the vehicle can pass through the step.

[0013] Thirdly, embodiments of this application provide a device for a vehicle to pass through a step. The device includes a processor, a memory, and a program for the vehicle to pass through a step stored in the memory and executable by the processor. When the program for the vehicle to pass through a step is executed by the processor, it implements the steps of the method for the vehicle to pass through a step as described above.

[0014] Fourthly, embodiments of this application provide a readable storage medium storing a program for a vehicle to pass through a step, wherein when the program for a vehicle to pass through a step is executed by a processor, the steps of the method for a vehicle to pass through a step as described above are implemented.

[0015] The beneficial effects of the technical solutions provided in this application include: In this embodiment, when a step is detected in front of the vehicle, it is determined whether the vehicle can pass the step. If it is determined that the vehicle can pass the step, the moment when each wheel of the vehicle contacts the step is predicted, and the adjustment amount of the air spring of each wheel is determined. For each wheel of the vehicle, at the moment the wheel contacts the step, the adjustment amount of the air spring of the wheel is controlled to lower, thereby improving the vehicle's passability. Through this embodiment, for each wheel of the vehicle, by timely lowering the height of the air spring of that wheel at the moment the wheel contacts the step, the center of gravity of the vehicle can be adjusted, increasing the load-bearing capacity of that wheel, thereby increasing the friction of the wheel, making it easier for the vehicle to pass the step. This embodiment does not rely on enhancing the vehicle's power; it can improve the vehicle's step-passing performance simply by actively adjusting the height of the wheel air springs. Attached Figure Description

[0016] Figure 1 This is a first flowchart illustrating an embodiment of the method for a vehicle to traverse a step according to this application; Figure 2 This is a schematic diagram of a step according to an embodiment of the method for a vehicle to pass through a step in this application; Figure 3 This is a second flowchart illustrating an embodiment of the method for a vehicle to traverse steps according to this application; Figure 4 This is a schematic diagram of the functional modules of an embodiment of the vehicle step-crossing device of this application; Figure 5 This is a schematic diagram of the hardware structure of the device for a vehicle to pass through a step in the embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0019] In a first aspect, embodiments of this application provide a method for a vehicle to pass over steps.

[0020] In one embodiment, reference is made to Figure 1 , Figure 1 This is a first flowchart illustrating an embodiment of the method for a vehicle to traverse a step according to this application, as shown below. Figure 1 As shown, the methods for vehicles to traverse steps include: Step S10: When a step is detected in front of the vehicle, determine whether the vehicle can pass the step.

[0021] In this embodiment, the main application is to improve the performance of vehicles traversing steps. First, it is necessary to identify whether a step appears in front of the vehicle. Specifically, an onboard camera or LiDAR can be used to acquire 3D point cloud information of the obstacle in front of the vehicle. A 3D planar model of the obstacle is then fitted based on the 3D point cloud information. Based on this 3D planar model, a machine learning model can be used to predict whether the obstacle is a step structure. Before using the machine learning model, it needs to be pre-trained to establish a connection between the 3D planar model and the step structure. Alternatively, the obstacle can be detected by comparing angles and dimensions based on the 3D planar model. When an obstacle is detected to have both horizontal and vertical planes that satisfy a preset angular relationship, it is confirmed to be a step structure. When a step is detected in front of the vehicle, to ensure the vehicle can traverse the step and improve its safety, further determination is made regarding whether the vehicle can pass the step.

[0022] Step S20: When it is determined that the vehicle can pass the step, predict the moment when each wheel of the vehicle contacts the step, and determine the adjustment amount of the air spring of each wheel of the vehicle.

[0023] In this embodiment, when it is determined that the vehicle can pass the step, the timing of each wheel of the vehicle contacting the step can be predicted based on the vehicle's driving direction, speed, and distance from the step, and the adjustment amount of the air spring of each wheel can be determined based on the height of the step.

[0024] Step S30: For each wheel of the vehicle, at the moment the wheel contacts the step, control the amount of descent adjustment of the air spring of the wheel to improve the vehicle's passability.

[0025] In this embodiment, an active control strategy is adopted for each wheel of the vehicle. Since the moment when each wheel contacts the step has been predicted in advance and the adjustment amount of the air spring of each wheel has been determined, the air spring of the wheel is actively and promptly lowered when the wheel contacts the step. As the height of the air spring decreases, the center of gravity of the vehicle shifts to that wheel, increasing the load on that wheel and thus increasing the friction of that wheel. This makes it easier for the vehicle to pass over the step, thereby improving the vehicle's step-passing performance. This embodiment does not require the enhancement of vehicle power; it can improve the vehicle's step-passing performance simply by actively adjusting the height of the wheel air spring.

[0026] In this embodiment, the main application is to improve the vehicle's performance in traversing steps. First, it identifies whether a step is in front of the vehicle. To ensure the vehicle can pass the step and improve its safety, it further determines whether the vehicle can pass. When it is determined that the vehicle can pass, the timing of each wheel's contact with the step can be predicted based on the vehicle's direction of travel, speed, and distance from the step. The adjustment amount of the air springs for each wheel is also determined based on the step's height. For each wheel, an active control strategy is adopted. Since the timing of each wheel's contact with the step has been predicted in advance, and the adjustment amount of the air springs for each wheel has been determined, the air springs are actively lowered at the moment of contact. As the air spring height decreases, the vehicle's center of gravity shifts towards that wheel, increasing its load-bearing capacity and friction. This makes it easier for the vehicle to pass the step, thus improving its performance. This embodiment does not require enhancing the vehicle's power; it improves the vehicle's step-crossing performance simply by actively adjusting the height of the wheel air springs.

[0027] Furthermore, in one embodiment, determining whether a vehicle can pass the step includes: If the width of the step is not less than the preset width, the height of the step is not greater than the preset height, and the angle between the horizontal and vertical planes of the step is not less than the preset angle, then it is determined that the vehicle can pass through the step.

[0028] In this embodiment, refer to Figure 2 , Figure 2 This is a schematic diagram of a step according to an embodiment of the method for a vehicle to pass over a step, as described in this application. Figure 2As shown, not all steps are passable by vehicles, such as steps that are too high or too narrow. To ensure that vehicles can pass through steps and improve their safety, the following conditions must be met simultaneously to determine whether a vehicle can pass through a step: the width of the step is not less than a preset width, such as twice the width of the vehicle; the height of the step is not greater than a preset height, such as 20 centimeters; and the angle between the horizontal and vertical planes of the step is not less than a preset angle, such as 80 degrees.

[0029] Furthermore, in one embodiment, predicting the time when each wheel of the vehicle contacts the step includes: Based on the vehicle's direction of travel, speed, and distance from the step, predict the moment when each wheel of the vehicle will contact the step.

[0030] In this embodiment, the vehicle's current orientation angle can be obtained through an onboard inertial measurement unit or steering angle sensor, the vehicle's speed can be obtained in real time through a vehicle speed sensor, and the distance between the vehicle and the step can be measured through a camera or lidar. By combining the vehicle's driving direction with the angle relative to the step, the order in which each wheel contacts the step can be determined. Based on the vehicle's driving direction, driving speed, and distance to the step, the moment when each wheel of the vehicle contacts the step can be calculated using a vehicle kinematics model.

[0031] Furthermore, in one embodiment, reference is made to Figure 3 , Figure 3 This is a second flowchart illustrating an embodiment of the method for a vehicle to traverse a step according to this application, as shown below. Figure 3 As shown, determining the adjustment amount of the air spring for each wheel of the vehicle includes: Step S01: Predict the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step. Step S02: Based on the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step, determine the adjustment amount of the air spring for each wheel by looking up a calibration relationship table. The calibration relationship table includes the correspondence between the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, the order in which each wheel contacts the step, and the adjustment amount of the air spring for each wheel.

[0032] In this embodiment, the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step are closely related to the adjustment amount of each wheel's air spring. Therefore, a test of the vehicle passing over the step can be conducted in advance to calibrate the data relationship between the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, the order in which each wheel contacts the step, and the adjustment amount of each wheel's air spring, thus obtaining a calibration relationship table. Then, when a specific vehicle passes over a step, the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step can be predicted first, and then the adjustment amount of each wheel's air spring can be determined by looking up the calibration relationship table. It is easy to understand that the higher the step height, the greater the corresponding adjustment amount of the wheel's air spring, in order to increase the load-bearing capacity of the wheel and increase the friction of the wheel.

[0033] Further, in one embodiment, prior to step S30, for each wheel of the vehicle, the following steps are included: For each wheel of the vehicle, calculate the height of the vehicle chassis from the ground after the wheel air spring descent adjustment. If the height of the vehicle chassis from the ground is not greater than the step height after the wheel air springs are lowered by the adjustment amount, then reduce the adjustment amount of the wheel air springs until the height of the vehicle chassis from the ground is greater than the step height after the wheel air springs are lowered by the adjustment amount.

[0034] In this embodiment, the determined adjustment amount of the air spring for each wheel of the vehicle may cause the vehicle chassis to hit the step after controlling the reduction adjustment amount of the air spring. Therefore, in order to avoid the situation where the vehicle chassis hits the step, it is necessary to limit the maximum value of the adjustment amount of the air spring for each wheel of the vehicle. Specifically, for each wheel of the vehicle, the height of the vehicle chassis from the ground after the reduction adjustment amount of the air spring is first calculated. If the height of the vehicle chassis from the ground after the reduction adjustment amount of the air spring is not greater than the height of the step, the adjustment amount of the air spring is dynamically reduced, for example, by 2 centimeters each time, until the condition that the height of the vehicle chassis from the ground after the reduction adjustment amount of the air spring is greater than the height of the step is met.

[0035] Further, in one embodiment, step S30 includes: When a confirmation command to pass through a step is received, the air springs of each wheel are adjusted to lower at the moment the wheel contacts the step to improve the vehicle's passability.

[0036] In this embodiment, to further improve the safety of the vehicle passing over the step, after determining that the vehicle can pass over the step, a reminder is sent to the driver via voice and instrument panel to indicate whether the vehicle has passed over the step. The driver can confirm via voice and button. When the driver's confirmation instruction to pass over the step is received, the air spring of each wheel is adjusted to lower at the moment the wheel contacts the step, so that the vehicle can pass over the step.

[0037] Secondly, embodiments of this application also provide a device for a vehicle to pass over steps.

[0038] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the vehicle-passing-step device of this application, as shown below. Figure 4 As shown, the device for a vehicle to pass over a step includes: The judgment module 10 is used to determine whether the vehicle can pass the step when a step is detected in front of the vehicle. The prediction and determination module 20 is used to predict the moment when each wheel of the vehicle contacts the step when it is determined that the vehicle can pass through the step, and to determine the adjustment amount of the air spring of each wheel of the vehicle. The control module 30 is used to control the amount of air spring descent of each wheel when the wheel contacts the step, so as to improve the vehicle's passability.

[0039] Furthermore, in one embodiment, the determination module 10 is used to: If the width of the step is not less than the preset width, the height of the step is not greater than the preset height, and the angle between the horizontal and vertical planes of the step is not less than the preset angle, then it is determined that the vehicle can pass through the step.

[0040] Furthermore, in one embodiment, the prediction determination module 20 is used for: Based on the vehicle's direction of travel, speed, and distance from the step, predict the moment when each wheel of the vehicle will contact the step.

[0041] Furthermore, in one embodiment, the prediction determination module 20 is used for: Predict the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step; Based on the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step, the adjustment amount of the air spring for each wheel is determined by consulting a calibration relationship table. The calibration relationship table includes the correspondence between the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, the order in which each wheel contacts the step, and the adjustment amount of the air spring for each wheel.

[0042] Furthermore, in one embodiment, the device for the vehicle to traverse the steps further includes an adjustment module for: For each wheel of the vehicle, calculate the height of the vehicle chassis from the ground after the wheel air spring descent adjustment. If the height of the vehicle chassis from the ground is not greater than the step height after the wheel air springs are lowered by the adjustment amount, then reduce the adjustment amount of the wheel air springs until the height of the vehicle chassis from the ground is greater than the step height after the wheel air springs are lowered by the adjustment amount.

[0043] Furthermore, in one embodiment, the control module 30 is used for: When a confirmation command to pass through a step is received, the air springs of each wheel are adjusted to lower at the moment the wheel contacts the step to improve the vehicle's passability.

[0044] The functions of each module in the above-mentioned vehicle step-passing device correspond to the steps in the above-mentioned method embodiment for vehicle step-passing, and their functions and implementation processes will not be described in detail here.

[0045] Thirdly, embodiments of this application provide a device for a vehicle to pass over steps.

[0046] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of a device for a vehicle to pass through a step, as described in an embodiment of this application. In this embodiment, the device for a vehicle to pass through a step may include a processor, a memory, a communication interface, and a communication bus.

[0047] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0048] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the device that enables the vehicle to traverse the steps, as well as interfaces used for interconnecting the device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0049] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0050] The processor can be a general-purpose processor, which can call the program for a vehicle to pass through the steps stored in the memory and execute the method for a vehicle to pass through the steps provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the program for a vehicle to pass through the steps is called can be referred to in the various embodiments of the method for a vehicle to pass through the steps in this application, and will not be repeated here.

[0051] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0052] Fourthly, embodiments of this application also provide a readable storage medium.

[0053] The present application has a readable storage medium storing a program for a vehicle to pass through a step, wherein when the program for a vehicle to pass through a step is executed by a processor, the steps of the method for a vehicle to pass through a step as described above are implemented.

[0054] The method implemented when the procedure for a vehicle to pass through a step is executed can be referred to in various embodiments of the method for a vehicle to pass through a step in this application, and will not be repeated here.

[0055] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0056] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0057] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0058] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0059] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0060] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0061] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for a vehicle to traverse steps, characterized in that, The method for the vehicle to pass over the steps includes: When a step is detected in front of the vehicle, it is determined whether the vehicle can pass the step; When it is determined that the vehicle can pass over the step, the timing of each wheel contacting the step is predicted, and the adjustment amount of the air springs for each wheel is determined. For each wheel of the vehicle, the amount of air spring descent is adjusted at the moment the wheel contacts the step to improve the vehicle's passability.

2. The method for a vehicle to traverse steps as described in claim 1, characterized in that, The determination of whether a vehicle can pass the step includes: If the width of the step is not less than the preset width, the height of the step is not greater than the preset height, and the angle between the horizontal and vertical planes of the step is not less than the preset angle, then it is determined that the vehicle can pass through the step.

3. The method for a vehicle to traverse steps as described in claim 1, characterized in that, The predicted time when each wheel of the vehicle contacts the step includes: Based on the vehicle's direction of travel, speed, and distance from the step, predict the moment when each wheel of the vehicle will contact the step.

4. The method for a vehicle to traverse steps as described in claim 1, characterized in that, The determination of the adjustment amount for the air springs of each wheel of the vehicle includes: Predict the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step; Based on the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, and the order in which each wheel contacts the step, the adjustment amount of the air spring for each wheel is determined by consulting a calibration relationship table. The calibration relationship table includes the correspondence between the step height, the vehicle speed when passing over the step, the angle of the vehicle's direction of travel relative to the step, the order in which each wheel contacts the step, and the adjustment amount of the air spring for each wheel.

5. The method for a vehicle to traverse steps as described in claim 1, characterized in that, Before controlling the air spring descent adjustment of each wheel at the moment of contact with the step to improve vehicle passability, the following steps are included: For each wheel of the vehicle, calculate the height of the vehicle chassis from the ground after the wheel air spring descent adjustment. If the height of the vehicle chassis from the ground is not greater than the step height after the wheel air springs are lowered by the adjustment amount, then reduce the adjustment amount of the wheel air springs until the height of the vehicle chassis from the ground is greater than the step height after the wheel air springs are lowered by the adjustment amount.

6. The method for a vehicle to traverse steps as described in claim 1, characterized in that, The method of controlling the descent of the air springs of each wheel of the vehicle at the moment the wheel contacts the step to improve the vehicle's passability includes: When a confirmation command to pass through a step is received, the air springs of each wheel are adjusted to lower at the moment the wheel contacts the step to improve the vehicle's passability.

7. A device for a vehicle to pass over steps, characterized in that, The device for the vehicle to pass over the steps includes: The judgment module is used to determine whether the vehicle can pass the step when a step is detected in front of it. The prediction and determination module is used to predict the moment when each wheel of the vehicle contacts the step when it is determined that the vehicle can pass through the step, and to determine the adjustment amount of the air spring of each wheel of the vehicle. The control module is used to adjust the amount of air spring descent of each wheel when it contacts a step, thereby improving the vehicle's passability.

8. The device for a vehicle to pass over a step as described in claim 7, characterized in that, The judgment module is used for: If the width of the step is not less than the preset width, the height of the step is not greater than the preset height, and the angle between the horizontal and vertical planes of the step is not less than the preset angle, then it is determined that the vehicle can pass through the step.

9. A device for vehicles to pass through steps, characterized in that, The device for a vehicle to pass over a step includes a processor, a memory, and a program for a vehicle to pass over a step stored in the memory and executable by the processor, wherein when the program for a vehicle to pass over a step is executed by the processor, it implements the steps of the method for a vehicle to pass over a step as described in any one of claims 1 to 6.

10. A readable storage medium, characterized in that, The readable storage medium stores a program for a vehicle to pass through a step, wherein when the program for a vehicle to pass through a step is executed by a processor, the steps of the method for a vehicle to pass through a step as described in any one of claims 1 to 6 are implemented.

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