Rear lower guard adjustment method, device, apparatus, and readable storage medium

Abstract

The application provides a rear lower protection device adjusting method, device, equipment and readable storage medium, the method comprises the following steps: calculating the ground clearance prediction value according to the slope difference of the slope point within the preset distance in front of the vehicle and the ground clearance measurement value of the rear lower protection device, wherein the ground clearance measurement value is within the ground clearance allowable range, and the ground clearance prediction value is used for predicting the ground clearance of the rear lower protection device when the vehicle passes through the slope point; determining the height adjusting direction and the height adjusting amount according to the ground clearance prediction value and the ground clearance allowable range; and adjusting the ground clearance of the rear lower protection device according to the height adjusting direction and the height adjusting amount. Through the application, the ground clearance of the rear lower protection device when the vehicle passes through the slope point is predicted, and then the height adjusting direction and the height adjusting amount are determined, so that the ground clearance of the rear lower protection device is accurately adjusted in advance, and the rear lower protection device is prevented from being damaged and losing the protection effect by knocking against the ground.

Description

Technical Field

[0001] This application relates to the field of vehicle safety technology, specifically to a method, device, equipment, and readable storage medium for adjusting a rear underrun protection device. Background Technology

[0002] Rear underrun protection devices for cargo trucks are safety devices that prevent the rear-ending vehicle from going under the other vehicle in a rear-end collision. They are essential equipment for cargo trucks. However, because national standards strictly regulate the maximum ground clearance of rear underrun protection devices, they are typically kept at a low ground clearance, making them susceptible to damage from impacts with the ground due to changes in slope, thus rendering them ineffective. Summary of the Invention

[0003] This application provides a method, device, equipment, and readable storage medium for adjusting a rear underrun protection device, which can solve the technical problem in the prior art that the rear underrun protection device is easily affected by changes in slope and damaged by impacts with the ground, thus losing its protective function.

[0004] In a first aspect, embodiments of this application provide a method for adjusting a rear underrun protection device, the method comprising:

[0005] The predicted ground clearance value is calculated based on the slope difference of the slope change point within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device. The measured ground clearance value is within the allowable ground clearance value. The predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes through the slope change point.

[0006] Determine the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground.

[0007] Adjust the ground clearance of the lower protective device according to the height adjustment direction and amount.

[0008] Furthermore, in one embodiment, the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount further includes:

[0009] The available adjustment time is calculated based on the distance between the vehicle and the slope change point and the current vehicle speed, and the required adjustment time is determined based on the height adjustment amount;

[0010] If the available adjustment time is less than the required adjustment time, reduce the vehicle speed so that the new available adjustment time is greater than or equal to the required adjustment time.

[0011] Further, in one embodiment, the step of determining the height adjustment direction and height adjustment amount based on the predicted height above ground and the allowable height above ground includes:

[0012] If the predicted height above ground is less than the lower limit of the allowable height above ground, the height adjustment direction is determined to be away from the ground, and the height adjustment amount is the difference between the lower limit and the predicted height above ground.

[0013] Further, in one embodiment, the step of determining the height adjustment direction and height adjustment amount based on the predicted height above ground and the allowable height above ground includes:

[0014] If the predicted height above ground is greater than the upper limit, the height adjustment direction is determined to be closer to the ground, and the height adjustment amount is the smaller of the difference between the predicted height above ground and the upper limit, and the difference between the measured height above ground and the lower limit.

[0015] Furthermore, in one embodiment, after the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount, the method further includes:

[0016] After the vehicle passes the slope change point, adjust the ground clearance of the lower protection device according to the opposite direction of the height adjustment direction and the height adjustment amount.

[0017] Further, in one embodiment, the step of calculating the predicted ground clearance value based on the slope difference of the slope change points within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device includes:

[0018] The predicted ground clearance value is calculated based on the ground clearance prediction formula, which is as follows:

[0019] H1=H0-L·Δi

[0020] Where H1 is the predicted height above ground, H0 is the measured height above ground, L is the rear overhang length, and Δi is the slope difference.

[0021] Furthermore, in one embodiment, before the step of calculating the predicted ground clearance value based on the slope difference of the slope change points within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device, the method further includes:

[0022] Continuously monitor whether there are any slope change points within a preset distance in front of the vehicle;

[0023] If a slope change point exists, obtain the slope difference at the slope change point and the measured value of the ground clearance of the rear underrun protection device.

[0024] Secondly, embodiments of this application also provide a rear underrun protection device adjustment device, the rear underrun protection device adjustment device comprising:

[0025] The prediction module is used to calculate the predicted ground clearance value based on the slope difference of the slope change point within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device. The measured ground clearance value is within the allowable ground clearance value, and the predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes through the slope change point.

[0026] The adjustment analysis module is used to determine the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground.

[0027] The adjustment execution module is used to adjust the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount.

[0028] Thirdly, embodiments of this application also provide a rear underrun protection device adjustment device, the rear underrun protection device adjustment device including a processor, a memory, and a rear underrun protection device adjustment program stored in the memory and executable by the processor, wherein when the rear underrun protection device adjustment program is executed by the processor, the steps of the above-described rear underrun protection device adjustment method are implemented.

[0029] Fourthly, embodiments of this application also provide a readable storage medium storing a rear underrun protection device adjustment program, wherein when the rear underrun protection device adjustment program is executed by a processor, it implements the steps of the aforementioned rear underrun protection device adjustment method.

[0030] In this application, a predicted ground clearance value is calculated based on the slope difference at a predetermined distance ahead of the vehicle and the measured ground clearance of the rear underrun protection device. The measured ground clearance value is within the permissible ground clearance range. This predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes the slope change point. The direction and amount of height adjustment are determined based on the predicted ground clearance value and the permissible ground clearance range. The ground clearance of the rear underrun protection device is then adjusted according to the direction and amount of height adjustment. This application allows for the prediction of the ground clearance of the rear underrun protection device when the vehicle passes the slope change point, thereby determining the direction and amount of height adjustment. This enables accurate adjustment of the rear underrun protection device's ground clearance in advance, preventing damage from impact with the ground and ensuring that the ground clearance of the rear underrun protection device always meets regulatory requirements. Attached Figure Description

[0031] Figure 1 This is a flowchart illustrating the adjustment method of the rear lower protective device in one embodiment of this application;

[0032] Figure 2 This is a schematic diagram illustrating two types of slope changes;

[0033] Figure 3This is a diagram showing the vehicle passing through a slope change point.

[0034] Figure 4 This is a schematic diagram of the functional modules of the rear lower protective device adjustment device in one embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the hardware structure of the rear lower protection device adjustment device involved in the embodiment of this application. Detailed Implementation

[0036] 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.

[0037] 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.

[0038] In a first aspect, embodiments of this application provide a method for adjusting a rear underrun protection device.

[0039] Figure 1 A schematic flowchart of a method for adjusting a rear lower protective device according to an embodiment of this application is shown.

[0040] Reference Figure 1 In one embodiment, the method for adjusting the rear lower protective device includes the following steps:

[0041] S11. The predicted ground clearance value is calculated based on the slope difference of the slope change point within the preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device. The measured ground clearance value is within the allowable ground clearance value. The predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes through the slope change point.

[0042] Figure 2 The diagram illustrates two types of slope variations.

[0043] Slope is the degree of steepness of a land surface unit. It is usually expressed as the ratio of the vertical height *h* of a slope to the horizontal distance *l*, denoted by the letter *i*. It represents the percentage difference in elevation between two points relative to their distance, i = h / l × 100%, which is also the tangent of the slope angle. A slope change point is the intersection of two adjacent slope segments. The slope difference refers to the algebraic difference in slope between two adjacent slope segments on the longitudinal profile of a road, that is, the difference in slope between the slope segment before and after the slope change point. (Refer to...) Figure 2The slope of slope segment 2 is greater than that of slope segment 1, and the slope difference at slope change point 1 is greater than zero. The slope of slope segment 3 is less than that of slope segment 2, and the slope difference at slope change point 2 is less than zero.

[0044] In this embodiment, the upper limit of the allowable ground clearance range is used to ensure that the ground clearance meets regulatory requirements. For example, if the upper limit of the ground clearance for a certain vehicle model is specified as 500mm, then the upper limit of the allowable ground clearance range is set to 500mm. The lower limit of the allowable ground clearance range is used to ensure that the rear underrun protection device does not collide with the ground. For example, the lower limit of the allowable ground clearance range can be set to 100mm.

[0045] Figure 3 A schematic diagram is shown when a vehicle passes through a gradient change point.

[0046] Reference Figure 3 H0 is the measured ground clearance of the rear underrun protection device. When a vehicle passes a gradient change point with a gradient difference greater than zero, refer to... Figure 3 The dotted line extending upwards and to the right indicates that the ground clearance of the rear underrun protection device will decrease. The calculated predicted ground clearance will be lower than the measured value. If the predicted ground clearance is lower than the lower limit of the allowable ground clearance range, the rear underrun protection device is prone to colliding with the ground when the vehicle passes through a slope change point. When the vehicle passes through a slope change point with a gradient greater than zero, refer to... Figure 3 The dotted line extending to the lower right of the center increases the ground clearance of the rear underrun protection device. The calculated predicted ground clearance value will be greater than the measured ground clearance value. If the predicted ground clearance value is greater than the upper limit of the allowable ground clearance range, the ground clearance of the rear underrun protection device will not meet the regulatory requirements when the vehicle passes through the slope change point.

[0047] Continue to refer to Figure 3 In one embodiment, the step of calculating the predicted ground clearance value based on the slope difference of the slope change points within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device includes:

[0048] The predicted ground clearance value is calculated based on the ground clearance prediction formula, which is as follows:

[0049] H1=H0-L·Δi

[0050] Where H1 is the predicted height above ground, H0 is the measured height above ground, L is the rear overhang length, and Δi is the slope difference.

[0051] S12. Determine the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground.

[0052] S13. Adjust the ground clearance of the lower protective device according to the height adjustment direction and height adjustment amount.

[0053] Specifically, when the predicted ground clearance is within the permissible range, no adjustment to the rear underrun protection device's ground clearance is required. When the predicted ground clearance is less than the lower limit of the permissible range, the ground clearance of the rear underrun protection device needs to be increased (adjusted away from the ground) to prevent it from colliding with the ground when the vehicle passes a slope change point. When the predicted ground clearance is greater than the upper limit of the permissible range, the ground clearance of the rear underrun protection device needs to be decreased (adjusted closer to the ground) so that it also meets regulatory requirements when the vehicle passes a slope change point. The height adjustment amount is determined based on the difference between the predicted ground clearance and the permissible ground clearance range.

[0054] Normally, the predicted and measured ground clearance values ​​after altitude adjustment can both meet the permissible ground clearance range. However, in some extreme cases, the predicted and measured ground clearance values ​​after altitude adjustment may not both meet the permissible ground clearance range simultaneously.

[0055] For example, increasing the ground clearance of the rear underrun protection device will result in a predicted ground clearance value corresponding to the new ground clearance measurement value that is greater than or equal to the lower limit of the allowable ground clearance range, thus preventing the rear underrun protection device from colliding with the ground when the vehicle passes through a slope change point. However, the new ground clearance measurement value may be greater than the upper limit of the allowable ground clearance range, and the ground clearance of the rear underrun protection device may not meet the regulatory requirements for a short period of time before and after the vehicle passes through the slope change point.

[0056] For example, during the process of reducing the ground clearance of the rear underrun protection device, if the new ground clearance measurement value reaches the lower limit of the allowable ground clearance range, the ground clearance of the rear underrun protection device cannot be further reduced. Otherwise, the underrun protection device will collide with the ground before and after the vehicle passes the slope change point. However, the corresponding predicted ground clearance value is still greater than the upper limit of the allowable ground clearance range. When the vehicle passes the slope change point, the ground clearance of the rear underrun protection device will still not meet the regulatory requirements.

[0057] It is understandable that the safety hazards caused by the impact and damage to the rear underrun protection device are far greater than the failure to meet the regulatory requirements for the height above the ground in a short period of time. Therefore, in the above extreme cases, it is necessary to prioritize ensuring that the rear underrun protection device does not collide with the ground.

[0058] Further, in one embodiment, the step of determining the height adjustment direction and height adjustment amount based on the predicted height above ground and the allowable height above ground includes:

[0059] If the predicted height above ground is less than the lower limit of the allowable height above ground, the height adjustment direction is determined to be away from the ground, and the height adjustment amount is the difference between the lower limit and the predicted height above ground.

[0060] In this embodiment, the rear underrun protection device will not collide with the ground when the vehicle passes the slope change point. In the short period before and after the vehicle passes the slope change point, the ground clearance of the rear underrun protection device may not meet the regulatory requirements.

[0061] Further, in one embodiment, the step of determining the height adjustment direction and height adjustment amount based on the predicted height above ground and the allowable height above ground includes:

[0062] If the predicted height above ground is greater than the upper limit, the height adjustment direction is determined to be closer to the ground, and the height adjustment amount is the smaller of the difference between the predicted height above ground and the upper limit, and the difference between the measured height above ground and the lower limit.

[0063] In this embodiment, when the difference between the predicted ground clearance and the upper limit is less than or equal to the difference between the measured ground clearance and the lower limit, the rear underrun protection device will not collide with the ground when the vehicle passes through a slope change point, and the ground clearance of the rear underrun protection device will always meet the regulatory requirements. When the difference between the predicted ground clearance and the upper limit is greater than the difference between the measured ground clearance and the lower limit, the ground clearance of the rear underrun protection device will not meet the regulatory requirements when the vehicle passes through a slope change point, but it will be as close as possible to the regulatory requirements to reduce safety hazards.

[0064] Therefore, in this embodiment, a predicted ground clearance value is calculated based on the slope difference at a predetermined distance in front of the vehicle and the measured ground clearance of the rear underrun protection device. The measured ground clearance value is within the allowable ground clearance range. This predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes the slope change point. The height adjustment direction and amount are determined based on the predicted ground clearance value and the allowable ground clearance range. The ground clearance of the rear underrun protection device is then adjusted according to the height adjustment direction and amount. Through this embodiment, the ground clearance of the rear underrun protection device when the vehicle passes the slope change point is predicted, thereby determining the height adjustment direction and amount. This allows for accurate adjustment of the rear underrun protection device's ground clearance in advance, preventing damage from impact with the ground and ensuring that the ground clearance of the rear underrun protection device always meets regulatory requirements.

[0065] It should be noted that there is already relevant research on how to monitor slope change points, how to obtain the slope difference at slope change points, and how to set up adjustable rear underrun protection devices, which are not the focus of this application and will not be elaborated here.

[0066] Furthermore, in one embodiment, the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount further includes:

[0067] The available adjustment time is calculated based on the distance between the vehicle and the slope change point and the current vehicle speed, and the required adjustment time is determined based on the height adjustment amount;

[0068] If the available adjustment time is less than the required adjustment time, reduce the vehicle speed so that the new available adjustment time is greater than or equal to the required adjustment time.

[0069] The height adjustment operation itself requires a certain amount of time, and this time is affected by the amount of height adjustment. When the vehicle speed is high and the height adjustment amount is large, the vehicle may reach the hill change point before the height adjustment is completed, causing a safety hazard. In this embodiment, the required adjustment time and the available adjustment time are compared. When the available adjustment time is less than the required adjustment time, the vehicle speed is reduced to extend the available adjustment time, thereby ensuring that there is enough time for the height to be adjusted to the required position.

[0070] Furthermore, in one embodiment, after the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount, the method further includes:

[0071] After the vehicle passes the slope change point, adjust the ground clearance of the lower protection device according to the opposite direction of the height adjustment direction and the height adjustment amount.

[0072] In this embodiment, after the vehicle passes the slope change point, the ground clearance of the rear underrun protection device is adjusted in the opposite direction based on the same height adjustment amount, so that the ground clearance of the rear underrun protection device returns to its state before adjustment, ensuring that it is within the allowable ground clearance range. For the aforementioned extreme cases, this embodiment can minimize the time when the ground clearance of the rear underrun protection device does not meet the regulatory requirements, thereby reducing safety hazards.

[0073] As another optional implementation, after the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount, the following is further included:

[0074] After the vehicle passes the slope change point, a new ground clearance measurement value is obtained;

[0075] If the new ground clearance measurement value is not within the allowable ground clearance range, then determine the new height adjustment direction and height adjustment amount based on the new ground clearance measurement value and the allowable ground clearance range, and adjust the ground clearance of the lower protective device according to the new height adjustment direction and height adjustment amount.

[0076] If the new ground clearance measurement is within the allowable ground clearance range, then maintain the ground clearance of the rear underrun protection device.

[0077] Furthermore, in one embodiment, before the step of calculating the predicted ground clearance value based on the slope difference of the slope change points within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device, the method further includes:

[0078] Continuously monitor whether there are any slope change points within a preset distance in front of the vehicle;

[0079] If a slope change point exists, obtain the slope difference at the slope change point and the measured value of the ground clearance of the rear underrun protection device.

[0080] In this embodiment, when there is a slope change point within a preset distance in front of the vehicle, the slope difference of the slope change point and the ground clearance of the rear underrun protection device are obtained. When there is no slope change point within a preset distance in front of the vehicle, the ground clearance of the rear underrun protection device is not obtained. Therefore, there is no need to collect the ground clearance of the rear underrun protection device at high frequency, which helps to reduce energy consumption and save computing resources.

[0081] Secondly, embodiments of this application also provide a rear underrun protection device adjustment device.

[0082] Figure 4 A schematic diagram of the functional modules of the rear lower protective device adjustment device in one embodiment of this application is shown.

[0083] Reference Figure 4 In one embodiment, the rear lower protective device adjustment device includes:

[0084] The prediction module 10 is used to calculate the predicted ground clearance value based on the slope difference of the slope change point within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device. The measured ground clearance value is within the allowable ground clearance value, and the predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes through the slope change point.

[0085] The adjustment analysis module 20 is used to determine the height adjustment direction and height adjustment amount based on the predicted height above ground and the allowable height above ground.

[0086] The adjustment execution module 30 is used to adjust the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount.

[0087] Furthermore, in one embodiment, the rear underrun protection device adjustment device further includes a vehicle speed control module, used for:

[0088] The available adjustment time is calculated based on the distance between the vehicle and the slope change point and the current vehicle speed, and the required adjustment time is determined based on the height adjustment amount;

[0089] If the available adjustment time is less than the required adjustment time, reduce the vehicle speed so that the new available adjustment time is greater than or equal to the required adjustment time.

[0090] Furthermore, in one embodiment, the adjustment analysis module 20 is used for:

[0091] If the predicted height above ground is less than the lower limit of the allowable height above ground, the height adjustment direction is determined to be away from the ground, and the height adjustment amount is the difference between the lower limit and the predicted height above ground.

[0092] Furthermore, in one embodiment, the adjustment analysis module 20 is used for:

[0093] If the predicted height above ground is greater than the upper limit, the height adjustment direction is determined to be closer to the ground, and the height adjustment amount is the smaller of the difference between the predicted height above ground and the upper limit, and the difference between the measured height above ground and the lower limit.

[0094] Furthermore, in one embodiment, the adjustment execution module 30 is also used for:

[0095] After the vehicle passes the slope change point, adjust the ground clearance of the lower protection device according to the opposite direction of the height adjustment direction and the height adjustment amount.

[0096] Furthermore, in one embodiment, the prediction module 10 is used to:

[0097] The predicted ground clearance value is calculated based on the ground clearance prediction formula, which is as follows:

[0098] H1=H0-L·Δi

[0099] Where H1 is the predicted height above ground, H0 is the measured height above ground, L is the rear overhang length, and Δi is the slope difference.

[0100] Furthermore, in one embodiment, the rear lower protective device adjustment device further includes an information acquisition module, used for:

[0101] Continuously monitor whether there are any slope change points within a preset distance in front of the vehicle;

[0102] If a slope change point exists, obtain the slope difference at the slope change point and the measured value of the ground clearance of the rear underrun protection device.

[0103] The functions of each module in the aforementioned rear lower protective device adjustment device correspond to the steps in the aforementioned rear lower protective device adjustment method embodiment, and their functions and implementation processes will not be described in detail here.

[0104] Thirdly, embodiments of this application provide a rear underrun protection device adjustment device, which can be a device with data processing capabilities such as a personal computer (PC), a laptop computer, or a server.

[0105] Figure 5 A schematic diagram of the hardware structure of the rear underrun protection device adjustment device involved in the embodiment of this application is shown.

[0106] Reference Figure 5 In this embodiment of the application, the rear lower protective device adjustment device may include a processor, a memory, a communication interface, and a communication bus.

[0107] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0108] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the rear underrun protection device adjustment equipment, as well as interfaces used for interconnecting the rear underrun protection device adjustment equipment 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.

[0109] 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.

[0110] The processor can be a general-purpose processor, which can call the rear underrun protection device adjustment program stored in the memory and execute the rear underrun protection device adjustment method 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 rear underrun protection device adjustment program is called can be referred to in the various embodiments of the rear underrun protection device adjustment method of this application, and will not be repeated here.

[0111] 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.

[0112] Fourthly, embodiments of this application also provide a readable storage medium.

[0113] The present application has a readable storage medium storing a rear underrun protection device adjustment program, wherein when the rear underrun protection device adjustment program is executed by a processor, the steps of the rear underrun protection device adjustment method as described above are implemented.

[0114] The method implemented when the rear lower protective device adjustment procedure is executed can be referred to in various embodiments of the rear lower protective device adjustment method of this application, and will not be repeated here.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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 adjusting a rear underrun protection device, characterized in that, The method for adjusting the rear lower protective device includes: The predicted ground clearance value is calculated based on the slope difference of the slope change point within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device. The measured ground clearance value is within the allowable ground clearance value. The predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes through the slope change point. Determine the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground. The ground clearance of the lower protective device is adjusted according to the height adjustment direction and amount; The step of calculating the predicted ground clearance value based on the slope difference of the slope change points within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device includes: The predicted ground clearance value is calculated based on the ground clearance prediction formula, which is as follows: in, This is the predicted height above ground. This is the measured height above the ground. Rear overhang length Due to slope difference; The steps of determining the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground include: If the predicted height above ground is greater than the upper limit, the height adjustment direction is determined to be closer to the ground, and the height adjustment amount is the smaller of the difference between the predicted height above ground and the upper limit, and the difference between the measured height above ground and the lower limit.

2. The method for adjusting the rear lower protective device as described in claim 1, characterized in that, Before the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount, the following is also included: The available adjustment time is calculated based on the distance between the vehicle and the slope change point and the current vehicle speed, and the required adjustment time is determined based on the height adjustment amount; If the available adjustment time is less than the required adjustment time, reduce the vehicle speed so that the new available adjustment time is greater than or equal to the required adjustment time.

3. The method for adjusting the rear lower protective device as described in claim 1, characterized in that, The steps of determining the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground include: If the predicted height above ground is less than the lower limit of the allowable height above ground, the height adjustment direction is determined to be away from the ground, and the height adjustment amount is the difference between the lower limit and the predicted height above ground.

4. The method for adjusting the rear lower protective device as described in claim 1, characterized in that, Following the step of adjusting the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount, the method further includes: After the vehicle passes the slope change point, adjust the ground clearance of the lower protection device according to the opposite direction of the height adjustment direction and the height adjustment amount.

5. The method for adjusting the rear lower protective device as described in any one of claims 1 to 4, characterized in that, Before the step of calculating the predicted ground clearance value based on the slope difference of the slope change points within a preset distance in front of the vehicle and the measured ground clearance value of the rear underrun protection device, the following is also included: Continuously monitor whether there are any slope change points within a preset distance in front of the vehicle; If a slope change point exists, obtain the slope difference at the slope change point and the measured value of the ground clearance of the rear underrun protection device.

6. A rear underrun protection device adjustment device, characterized in that, The rear lower protective device adjustment device includes: The prediction module is used to calculate the predicted ground clearance value based on the slope difference of the slope change point within a preset distance in front of the vehicle and the ground clearance measurement value of the rear underrun protection device. The ground clearance measurement value is within the allowable ground clearance range, and the predicted ground clearance value is used to predict the ground clearance of the rear underrun protection device when the vehicle passes through the slope change point. The adjustment analysis module is used to determine the direction and amount of height adjustment based on the predicted height above ground and the allowable range of height above ground. The adjustment execution module is used to adjust the ground clearance of the lower protective device according to the height adjustment direction and the height adjustment amount. The prediction module is specifically used to calculate the predicted ground clearance value based on the ground clearance prediction formula, which is as follows: in, This is the predicted height above ground. This is the measured height above the ground. Rear overhang length Due to slope difference; The adjustment analysis module is specifically used to determine the height adjustment direction to be closer to the ground if the predicted height above the ground is greater than the upper limit. The height adjustment amount is the smaller of the difference between the predicted height above the ground and the upper limit, and the difference between the measured height above the ground and the lower limit.

7. A rear underrun protection device adjustment device, characterized in that, The rear underrun protection device adjustment device includes a processor, a memory, and a rear underrun protection device adjustment program stored in the memory and executable by the processor, wherein when the rear underrun protection device adjustment program is executed by the processor, it implements the steps of the rear underrun protection device adjustment method as described in any one of claims 1 to 5.

8. A readable storage medium, characterized in that, The readable storage medium stores a rear underrun protection device adjustment program, wherein when the rear underrun protection device adjustment program is executed by a processor, it implements the steps of the rear underrun protection device adjustment method as described in any one of claims 1 to 5.

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