Methods, apparatus, devices, and computer-readable storage media for reducing the turning radius of vehicles

Abstract

A method, apparatus, device, and computer-readable storage medium for reducing the turning radius of a vehicle are disclosed, belonging to the field of automotive technology. The method for reducing the turning radius includes: detecting a curve ahead of the vehicle's travel path, determining whether there is a high obstacle above the curve, and obtaining a determination result; based on the determination result, determining a target lift height for the air suspension system; controlling the air suspension system to rise to the target lift height to reduce the vehicle's turning radius. This solves the technical problem in the prior art where adding a rear-wheel steering mechanism to reduce the vehicle's turning radius, or adding wheel-side motors to achieve on-the-spot U-turns, leads to increased cost and vehicle weight; and achieves a reduction in the vehicle's turning radius without increasing cost or vehicle weight.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and specifically to a method, apparatus, device, and computer-readable storage medium for reducing the turning radius of a vehicle. Background Technology

[0002] With the rapid development of intelligent driving technology, people have increasingly higher demands for vehicle styling and driving comfort. To achieve a sleek appearance, vehicles often use large-diameter, wide tires; to reduce wind resistance, the front of the car typically adopts a low-slung, bullet-shaped design. Furthermore, because the engine compartment needs to house the motor or engine, which must be fixed to the front longitudinal beam, the width of the front longitudinal beam cannot be too narrow. Since the outer side of the front longitudinal beam is adjacent to the wheels, its width affects wheel rotation, so it cannot be too wide either. To meet higher crash test requirements, the maximum width within the range corresponding to the front longitudinal beam is usually selected and placed in a relatively low position. However, all of these factors are detrimental to reducing the vehicle's turning radius. Related technologies reduce the turning radius by adding a rear-wheel steering mechanism. However, adding a rear-wheel steering mechanism increases costs and vehicle weight. Summary of the Invention

[0003] This application provides a method, apparatus, device, and computer-readable storage medium for reducing the turning radius of a vehicle, which can solve the technical problems existing in the prior art, such as increasing costs and increasing the weight of the vehicle due to the addition of a rear-wheel steering mechanism to reduce the turning radius.

[0004] In a first aspect, embodiments of this application provide a method for reducing the turning radius of a vehicle, the method comprising:

[0005] If a curve is detected ahead of the vehicle's travel path, determine whether there are any high obstacles above the curve, and obtain the judgment result;

[0006] Based on the judgment results, the target lifting height of the air suspension system is determined;

[0007] The air suspension system is raised to the target lift height to reduce the vehicle's turning radius.

[0008] In conjunction with the first aspect, in one implementation, determining whether there is a high-altitude obstacle above the curve includes:

[0009] Acquire image data above the curve and determine whether there are any obstacles at a height in the image data.

[0010] In this embodiment, by acquiring image data above the curve and determining whether there are obstacles at a height in the image data, the accuracy of determining whether there are obstacles at a height in the image data can be improved.

[0011] In conjunction with the first aspect, in one implementation, determining the target lift height of the air suspension system based on the judgment result includes:

[0012] If the determination result is that there are no obstacles at a height, the maximum lifting height of the air suspension system is obtained, and the maximum lifting height is taken as the target lifting height.

[0013] In this embodiment, when the judgment result indicates that there are no obstacles at a height, the target lift height of the air suspension system can be quickly calculated by obtaining the maximum lift height of the air suspension system and using the maximum lift height as the target lift height, thereby improving calculation efficiency.

[0014] In conjunction with the first aspect, in one implementation, determining the target lift height of the air suspension system based on the judgment result includes:

[0015] If the judgment result indicates the presence of a high obstacle, the first height of the high obstacle in the image data is determined, and the current height of the vehicle in the vehicle height sensor is obtained. The height sensor is arranged at the suspension position corresponding to the wheel of the vehicle.

[0016] If the current height of the vehicle is less than the first height, calculate the height difference between the current height of the vehicle and the first height, and obtain the maximum lift height of the air suspension system;

[0017] When the height difference is greater than the maximum lifting height, the maximum lifting height is taken as the target lifting height;

[0018] When the height difference is less than the maximum lifting height, the height difference is taken as the target lifting height.

[0019] This embodiment describes how to determine the target lift height of the air suspension system under different circumstances when the judgment result indicates the presence of a high obstacle, thereby improving the accuracy of determining the target lift height of the air suspension system.

[0020] In conjunction with the first aspect, in one embodiment, the control of the air suspension system to raise to the target lift height to reduce the vehicle's turning radius includes:

[0021] The air suspension system is raised to the target lifting height to increase the distance between the vehicle's front longitudinal beam and the front wheels, thereby increasing the steering angle of the front wheels and reducing the vehicle's turning radius.

[0022] In this embodiment, by controlling the air suspension system to rise to the target lifting height, the distance between the vehicle's front longitudinal beam and the front wheels is increased, thereby increasing the steering angle of the front wheels and reducing the vehicle's turning radius. This solves the technical problem in the prior art where adding a rear-wheel steering mechanism to reduce the vehicle's turning radius or adding wheel-side motors to enable U-turns on the spot increases costs and vehicle weight. It achieves a reduction in the vehicle's turning radius without increasing costs or vehicle weight.

[0023] Secondly, embodiments of this application provide a device for reducing the turning radius of a vehicle, the device comprising:

[0024] The detection and judgment module is used to determine whether there are any high obstacles above the curve when a curve is detected in front of the vehicle's driving path, and to obtain the judgment result.

[0025] The determination module is used to determine the target lift height of the air suspension system based on the judgment result;

[0026] The control module is used to control the air suspension system to rise to the target lifting height in order to reduce the vehicle's turning radius.

[0027] In conjunction with the second aspect, in one implementation, the determining module is specifically used for:

[0028] If the determination result is that there are no obstacles at a height, the maximum lifting height of the air suspension system is obtained, and the maximum lifting height is taken as the target lifting height.

[0029] In conjunction with the second aspect, in one implementation, the determining module is specifically used for:

[0030] If the judgment result indicates the presence of a high obstacle, the first height of the high obstacle in the image data is determined, and the current height of the vehicle in the vehicle height sensor is obtained. The height sensor is arranged at the suspension position corresponding to the wheel of the vehicle.

[0031] If the current height of the vehicle is less than the first height, calculate the height difference between the current height of the vehicle and the first height, and obtain the maximum lift height of the air suspension system;

[0032] When the height difference is greater than the maximum lifting height, the maximum lifting height is taken as the target lifting height;

[0033] When the height difference is less than the maximum lifting height, the height difference is taken as the target lifting height.

[0034] In conjunction with the second aspect, in one implementation, the detection and judgment module is specifically used for:

[0035] Acquire image data above the curve and determine whether there are any obstacles at a height in the image data.

[0036] In conjunction with the second aspect, in one implementation, the control module is specifically used for:

[0037] The air suspension system is raised to the target lifting height to increase the distance between the vehicle's front longitudinal beam and the front wheels, thereby increasing the steering angle of the front wheels and reducing the vehicle's turning radius.

[0038] Thirdly, embodiments of this application provide a device for reducing the turning radius of a vehicle. The device for reducing the turning radius of a vehicle includes a processor, a memory, and a program for reducing the turning radius of a vehicle stored in the memory and executable by the processor. When the program for reducing the turning radius of a vehicle is executed by the processor, it implements the steps of the method for reducing the turning radius of a vehicle as described in any one of the first aspects.

[0039] Fourthly, embodiments of this application provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores a program for reducing the turning radius of a vehicle, wherein when the program for reducing the turning radius of a vehicle is executed by a processor, it implements the steps of the method for reducing the turning radius of a vehicle as described in any one of the first aspects.

[0040] The beneficial effects of the technical solutions provided in this application include:

[0041] First, a curve is detected ahead of the vehicle's travel path, and it is determined whether there are any high obstacles above the curve, thus obtaining a judgment result. Further, based on the judgment result, the target lift height of the air suspension system is determined. Then, the air suspension system is controlled to rise to the target lift height to reduce the vehicle's turning radius. This solves the technical problem in existing technologies where adding a rear-wheel steering mechanism to reduce the vehicle's turning radius or adding wheel-side motors to achieve on-the-spot U-turns increases cost and vehicle weight. This achieves a reduction in the vehicle's turning radius without increasing cost or vehicle weight. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating the first embodiment of the method for reducing the turning radius of a vehicle according to this application;

[0043] Figure 2 This is a schematic diagram of the structure of a vehicle front axle peripheral components according to one embodiment of this application;

[0044] Figure 3 A schematic diagram of steering angle and turning radius provided in one embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the device for reducing the turning radius of a vehicle according to this application;

[0046] Figure 5 This is a schematic diagram of the hardware structure of the device for reducing the turning radius of a vehicle involved in the embodiments of this application. Detailed Implementation

[0047] 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.

[0048] 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.

[0049] Firstly, embodiments of this application provide a method for reducing the turning radius of a vehicle. It should be noted that the method for reducing the turning radius of a vehicle in this application is applicable to vehicles equipped with an air suspension system.

[0050] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the method for reducing the turning radius of a vehicle according to this application. Figure 1 As shown, the method for reducing the turning radius of a vehicle includes:

[0051] Step 110: If a curve is detected ahead of the vehicle's travel path, determine whether there are any high obstacles above the curve and obtain the judgment result;

[0052] Among them, obstacles at height refer to obstacles such as bridges and tunnels erected above roads.

[0053] In practice, the system can detect whether there are curves ahead of the vehicle's driving path based on the planned path. The planned path is a pre-set path in the vehicle's built-in map software or the map software of a smart terminal connected to the vehicle. When no planned path is set, the system can also detect whether there are curves ahead of the vehicle's driving path using the vehicle's camera, lidar, ultrasonic radar, etc.

[0054] Furthermore, by using image data collected from maps or vehicle cameras, it is determined whether there are any obstacles above the curve, such as bridges or tunnels, to obtain a judgment result. The judgment result is either: there are obstacles above the curve, such as bridges or tunnels, or there are no obstacles above the curve.

[0055] Step 120: Based on the judgment result, determine the target lifting height of the air suspension system;

[0056] Furthermore, when the judgment result indicates that there are no high-altitude obstacles such as bridges or tunnels above the curve, it means that the air springs in the air suspension system can be raised to their maximum height, and the maximum height that the air springs can be raised to is determined as the target lifting height of the air suspension system.

[0057] When the assessment indicates the presence of obstacles such as bridges or tunnels above the curve, it is necessary to further determine the adjustable range of the air springs in the air suspension system based on the vehicle's current height and the height of the obstacle. Then, by assessing the adjustable range of the air springs, the target lift height of the air suspension system can be determined.

[0058] Step 130: Control the air suspension system to rise to the target lifting height in order to reduce the vehicle's turning radius.

[0059] Furthermore, after determining the target lift height of the air suspension system, the first time required for the vehicle to lift the air suspension system to the target lift height is calculated based on the lifting speed of the air springs in the air suspension system. Using the first time, vehicle speed, acceleration, etc., the first displacement that the vehicle can travel within the first time is determined. When the distance between the vehicle and the curve decreases to the first displacement, the air suspension controller outputs a signal to the air suspension supply device. The air supply device uses an air pump to inflate the air springs so that when the vehicle enters the curve, the air suspension system has already risen to the target lift height.

[0060] During the process of raising the height of the air suspension system, it is determined in real time whether the air suspension system has reached the target height. Specifically, this is achieved by acquiring the current vehicle height from the vehicle height sensor. The height sensor is positioned at the suspension location corresponding to the vehicle's wheels, with its bracket connected to the vehicle body. The height sensor link is connected to the air suspension control arm, and it changes with the suspension control arm to detect changes in vehicle height. The target height is then added to the current vehicle height, and this sum is used as the target height from the height sensor. The sensor reading is then checked to see if it reaches the target height. If it does, the air suspension system is considered to have reached the target height. Once the target height is reached, the air suspension controller sends a signal to the air suspension air supply device, which then stops operating and ceases inflating the air springs in the air suspension system.

[0061] It is understandable that the front longitudinal beams of a vehicle include the left and right longitudinal beams of the front compartment. Figure 2 This is a schematic diagram of the structure of a vehicle front axle peripheral components according to one embodiment of this application, as shown below. Figure 2 As shown, the components surrounding the vehicle's front axle include the left front wheel 1, air spring 3, steering gear 10, and left longitudinal beam 11 in the front compartment. Figure 2 The double-headed arrow in the figure indicates the distance between the left longitudinal beam 11 of the front compartment and the left front wheel 1.

[0062] Assuming the normal steering angle is A° and the reserve steering angle is B°, when the air suspension system is raised, the left and right longitudinal beams of the vehicle's front compartment also rise, indirectly increasing the distance between the front longitudinal beams and the front wheels. This increases the rotation space of the two front wheels, resulting in an increase in the steering angle of the front wheels, which can reach A° + B°. Figure 3 This is a schematic diagram of steering angle and turning radius provided in one embodiment of this application. Figure 3 It can be seen that increasing the steering angle of the front wheels of a vehicle can reduce the turning radius of the vehicle.

[0063] In this embodiment, firstly, a curve is detected ahead of the vehicle's travel path, and it is determined whether there are any high obstacles above the curve, thus obtaining a judgment result. Further, based on the judgment result, the target lift height of the air suspension system is determined. Then, the air suspension system is controlled to rise to the target lift height to reduce the vehicle's turning radius. This solves the technical problem in the prior art where adding a rear-wheel steering mechanism to reduce the vehicle's turning radius, or adding wheel-side motors to achieve a U-turn function, leads to increased cost and vehicle weight. This achieves a reduction in the vehicle's turning radius without increasing cost or vehicle weight.

[0064] Furthermore, in one embodiment, determining whether there is a high obstacle above the curve includes:

[0065] Acquire image data above the curve and determine whether there are any obstacles at a height in the image data.

[0066] In practice, image data above the curve can be collected using cameras, lidar, ultrasonic radar, etc., mounted on the vehicle. This image data can then be analyzed and identified to determine if there are any high-altitude obstacles such as bridges or tunnels above the curve. The cameras can be surround-view cameras, such as fisheye cameras with an F0V greater than 180°.

[0067] In this embodiment, by acquiring image data above the curve and determining whether there are obstacles at a height in the image data, the accuracy of determining whether there are obstacles at a height in the image data can be improved.

[0068] Further, in one embodiment, determining the target lift height of the air suspension system based on the judgment result includes:

[0069] If the determination result is that there are no obstacles at a height, the maximum lifting height of the air suspension system is obtained, and the maximum lifting height is taken as the target lifting height.

[0070] It can be understood that the angle formed between the height sensor bracket and the air suspension link is the height sensor swing angle. There is a one-to-one correspondence between the height sensor swing angle and the lift height of the air suspension system. During the vehicle design phase, the placement and displacement of the height sensor are determined, thus determining the maximum swing angle of the height sensor and the maximum lift height of the air suspension system.

[0071] In this embodiment, when the judgment result indicates that there are no obstacles at a height, the target lift height of the air suspension system can be quickly calculated by obtaining the maximum lift height of the air suspension system and using the maximum lift height as the target lift height, thereby improving calculation efficiency.

[0072] Further, in one embodiment, determining the target lift height of the air suspension system based on the judgment result includes:

[0073] Step 210: If the judgment result indicates the presence of a high obstacle, determine the first height of the high obstacle in the image data, and obtain the current height of the vehicle from the vehicle height sensor, which is located at the suspension position corresponding to the vehicle's wheels.

[0074] In specific implementation, when the judgment result indicates the presence of obstacles at height such as bridges or tunnels, the first height of the obstacle at height is determined based on the location information in the image data, while the current height of the vehicle is obtained from the vehicle height sensor, and then the first height and the current height of the vehicle are compared.

[0075] Step 220: If the current height of the vehicle is less than the first height, calculate the height difference between the current height of the vehicle and the first height, and obtain the maximum lifting height of the air suspension system;

[0076] Furthermore, if the current height of the vehicle is less than the first height, the height difference between the current height of the vehicle and the first height is calculated, and the maximum lift height of the air suspension system is obtained, so as to combine the height difference and the maximum lift height of the air suspension system to determine the adjustable space of the air spring in the air suspension system.

[0077] Step 230: When the height difference is greater than the maximum lifting height, the maximum lifting height is taken as the target lifting height;

[0078] When the height difference is less than the maximum lifting height, the height difference is taken as the target lifting height.

[0079] In practice, when the height difference is greater than the maximum lifting height, it indicates that the adjustable space of the air spring in the air suspension system is large enough to lift the air according to the maximum lifting height of the air suspension system. At this time, the maximum lifting height is taken as the target lifting height.

[0080] When the height difference is less than the maximum lift height, it indicates that the adjustable space of the air spring in the air suspension system is limited and the maximum lift height of the air suspension system cannot be reached. In this case, the height difference can only be used as the target lift height.

[0081] In this embodiment, firstly, when the judgment result indicates the presence of a high obstacle, the first height of the high obstacle in the image data is determined, and the current vehicle height is obtained from the vehicle height sensor, which is located at the suspension position corresponding to the vehicle's wheels. Further, if the current vehicle height is less than the first height, the height difference between the current vehicle height and the first height is calculated, and the maximum lift height of the air suspension system is obtained. Then, when the height difference is greater than the maximum lift height, the maximum lift height is used as the target lift height; when the height difference is less than the maximum lift height, the height difference is used as the target lift height. This embodiment describes how to determine the target lift height of the air suspension system under different circumstances when the judgment result indicates the presence of a high obstacle, which can improve the accuracy of determining the target lift height of the air suspension system.

[0082] Secondly, embodiments of this application also provide a device for reducing the turning radius of a vehicle.

[0083] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the device for reducing the turning radius of a vehicle according to this application. Figure 4 As shown, the device 400 for reducing the turning radius of a vehicle includes:

[0084] The detection and judgment module 410 is used to determine whether there is a high obstacle above the curve when a curve is detected in front of the vehicle's driving path, and to obtain a judgment result.

[0085] The determining module 420 is used to determine the target lifting height of the air suspension system based on the judgment result;

[0086] The control module 430 is used to control the air suspension system to rise to the target lifting height in order to reduce the vehicle's turning radius.

[0087] Furthermore, in one embodiment, the determining module is specifically used for:

[0088] If the determination result is that there are no obstacles at a height, the maximum lifting height of the air suspension system is obtained, and the maximum lifting height is taken as the target lifting height.

[0089] Furthermore, in one embodiment, the determining module is specifically used for:

[0090] If the judgment result indicates the presence of a high obstacle, the first height of the high obstacle in the image data is determined, and the current height of the vehicle in the vehicle height sensor is obtained. The height sensor is arranged at the suspension position corresponding to the wheel of the vehicle.

[0091] If the current height of the vehicle is less than the first height, calculate the height difference between the current height of the vehicle and the first height, and obtain the maximum lift height of the air suspension system;

[0092] When the height difference is greater than the maximum lifting height, the maximum lifting height is taken as the target lifting height;

[0093] When the height difference is less than the maximum lifting height, the height difference is taken as the target lifting height.

[0094] Furthermore, in one embodiment, the detection and judgment module is specifically used for:

[0095] Acquire image data above the curve and determine whether there are any obstacles at a height in the image data.

[0096] Furthermore, in one embodiment, the control module is specifically used for:

[0097] The air suspension system is raised to the target lifting height to increase the distance between the vehicle's front longitudinal beam and the front wheels, thereby increasing the steering angle of the front wheels and reducing the vehicle's turning radius.

[0098] The functions of each module in the above-mentioned device for reducing the turning radius of a vehicle correspond to the steps in the above-mentioned method embodiment for reducing the turning radius of a vehicle, and their functions and implementation processes will not be described in detail here.

[0099] Thirdly, embodiments of this application provide a device for reducing the turning radius of a vehicle. The device for reducing the turning radius of a vehicle can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0100] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of a device for reducing the turning radius of a vehicle, as described in an embodiment of this application. In this embodiment, the device for reducing the turning radius of a vehicle may include a processor, a memory, a communication interface, and a communication bus.

[0101] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0102] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal devices within a device that reduces the vehicle's turning radius, 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.

[0103] 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.

[0104] The processor can be a general-purpose processor, which can call a program stored in memory to reduce the turning radius of a vehicle and execute the method for reducing the turning radius of a vehicle provided in this application embodiment. For example, the general-purpose processor can be a central processing unit (CPU). The steps of the method executed when the program for reducing the turning radius of the vehicle is called include: detecting a curve ahead of the vehicle's travel path, determining whether there is a high obstacle above the curve, and obtaining a determination result; based on the determination result, determining the target lift height of the air suspension system; and controlling the air suspension system to rise to the target lift height to reduce the turning radius of the vehicle.

[0105] When the program for reducing the vehicle's turning radius is invoked, the following steps are also performed: acquiring image data above the curve and determining whether there are any obstacles at a height in the image data.

[0106] When the procedure for reducing the vehicle's turning radius is invoked, the following steps are also performed: if the determination result indicates that there are no obstacles at a height, the maximum lift height of the air suspension system is obtained, and the maximum lift height is used as the target lift height.

[0107] When the program for reducing the vehicle's turning radius is invoked, the following steps are also performed: if the judgment result indicates the presence of a high obstacle, determine the first height of the high obstacle in the image data, and obtain the current vehicle height from the vehicle height sensor, which is located at the suspension position corresponding to the vehicle's wheels; if the current vehicle height is less than the first height, calculate the height difference between the current vehicle height and the first height, and obtain the maximum lift height of the air suspension system; when the height difference is greater than the maximum lift height, use the maximum lift height as the target lift height; when the height difference is less than the maximum lift height, use the height difference as the target lift height.

[0108] When the procedure for reducing the vehicle's turning radius is invoked, the following steps are also performed: controlling the air suspension system to rise to the target lift height to increase the distance between the vehicle's front longitudinal beam and the vehicle's front wheels, thereby increasing the steering angle of the vehicle's front wheels and reducing the vehicle's turning radius.

[0109] The functions of each module in the device for reducing the turning radius of a vehicle correspond to the steps in the method embodiment for reducing the turning radius of a vehicle, and their functions and implementation processes will not be described in detail here.

[0110] 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.

[0111] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0112] The present application provides a computer-readable storage medium storing a program for reducing the turning radius of a vehicle, wherein when the program for reducing the turning radius of a vehicle is executed by a processor, the steps of the method for reducing the turning radius of a vehicle as described above are implemented.

[0113] The steps of the method implemented when the procedure for reducing the turning radius of a vehicle is executed include: detecting a curve ahead of the vehicle's driving path, determining whether there is a high obstacle above the curve, and obtaining a determination result; based on the determination result, determining the target lift height of the air suspension system; and controlling the air suspension system to rise to the target lift height in order to reduce the turning radius of the vehicle.

[0114] When the program for reducing the vehicle's turning radius is invoked, the following steps are also performed: acquiring image data above the curve and determining whether there are any obstacles at a height in the image data.

[0115] When the procedure for reducing the vehicle's turning radius is invoked, the following steps are also performed: if the determination result indicates that there are no obstacles at a height, the maximum lift height of the air suspension system is obtained, and the maximum lift height is used as the target lift height.

[0116] When the program for reducing the vehicle's turning radius is invoked, the following steps are also performed: if the judgment result indicates the presence of a high obstacle, determine the first height of the high obstacle in the image data, and obtain the current vehicle height from the vehicle height sensor, which is located at the suspension position corresponding to the vehicle's wheels; if the current vehicle height is less than the first height, calculate the height difference between the current vehicle height and the first height, and obtain the maximum lift height of the air suspension system; when the height difference is greater than the maximum lift height, use the maximum lift height as the target lift height; when the height difference is less than the maximum lift height, use the height difference as the target lift height.

[0117] When the procedure for reducing the vehicle's turning radius is invoked, the following steps are also performed: controlling the air suspension system to rise to the target lift height to increase the distance between the vehicle's front longitudinal beam and the vehicle's front wheels, thereby increasing the steering angle of the vehicle's front wheels and reducing the vehicle's turning radius.

[0118] The functions of each module of the aforementioned computer-readable storage medium correspond to the steps in the above-described method embodiment for reducing the turning radius of a vehicle, and their functions and implementation processes will not be described in detail here.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 reducing the turning radius of a vehicle, characterized in that, The methods for reducing the turning radius of a vehicle include: If a curve is detected ahead of the vehicle's travel path, determine whether there are any high obstacles above the curve, and obtain the judgment result; Based on the judgment results, the target lifting height of the air suspension system is determined; The air suspension system is raised to the target lifting height to increase the distance between the vehicle's front longitudinal beam and the front wheels, thereby increasing the steering angle of the front wheels and reducing the vehicle's turning radius.

2. The method for reducing the turning radius of a vehicle as described in claim 1, characterized in that, The determination of whether there are high obstacles above the curve includes: Acquire image data above the curve and determine whether there are any obstacles at a height in the image data.

3. The method for reducing the turning radius of a vehicle as described in claim 1, characterized in that, Determining the target lift height of the air suspension system based on the judgment result includes: If the determination result is that there are no obstacles at a height, the maximum lifting height of the air suspension system is obtained, and the maximum lifting height is taken as the target lifting height.

4. The method for reducing the turning radius of a vehicle as described in claim 2, characterized in that, Determining the target lift height of the air suspension system based on the judgment result includes: If the judgment result indicates the presence of a high obstacle, the first height of the high obstacle in the image data is determined, and the current height of the vehicle in the vehicle height sensor is obtained. The height sensor is arranged at the suspension position corresponding to the wheel of the vehicle. If the current height of the vehicle is less than the first height, calculate the height difference between the current height of the vehicle and the first height, and obtain the maximum lift height of the air suspension system; When the height difference is greater than the maximum lifting height, the maximum lifting height is taken as the target lifting height; When the height difference is less than the maximum lifting height, the height difference is taken as the target lifting height.

5. A device for reducing the turning radius of a vehicle, characterized in that, The device for reducing the turning radius of the vehicle includes: The detection and judgment module is used to determine whether there are any high obstacles above the curve when a curve is detected in front of the vehicle's driving path, and to obtain the judgment result. The determination module is used to determine the target lift height of the air suspension system based on the judgment result; The control module is used to control the air suspension system to rise to the target lifting height, thereby increasing the distance between the vehicle's front longitudinal beam and the vehicle's front wheels, thus increasing the steering angle of the vehicle's front wheels and reducing the vehicle's turning radius.

6. The device for reducing the turning radius of a vehicle as described in claim 5, characterized in that, The determination of whether there are high obstacles above the curve includes: Acquire image data above the curve and determine whether there are any obstacles at a height in the image data.

7. The device for reducing the turning radius of a vehicle as described in claim 5, characterized in that, The determining module is specifically used for: If the determination result is that there are no obstacles at a height, the maximum lifting height of the air suspension system is obtained, and the maximum lifting height is taken as the target lifting height.

8. The device for reducing the turning radius of a vehicle as described in claim 6, characterized in that, The determining module is specifically used for: If the judgment result indicates the presence of a high obstacle, the first height of the high obstacle in the image data is determined, and the current height of the vehicle in the vehicle height sensor is obtained. The height sensor is arranged at the suspension position corresponding to the wheel of the vehicle. If the current height of the vehicle is less than the first height, calculate the height difference between the current height of the vehicle and the first height, and obtain the maximum lift height of the air suspension system; When the height difference is greater than the maximum lifting height, the maximum lifting height is taken as the target lifting height; When the height difference is less than the maximum lifting height, the height difference is taken as the target lifting height.

9. A device for reducing the turning radius of a vehicle, characterized in that, The device for reducing vehicle turning radius includes a processor, a memory, and a program for reducing vehicle turning radius stored in the memory and executable by the processor, wherein when the program for reducing vehicle turning radius is executed by the processor, it implements the steps of the method for reducing vehicle turning radius as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for reducing the turning radius of a vehicle, wherein when the program for reducing the turning radius of a vehicle is executed by a processor, it implements the steps of the method for reducing the turning radius of a vehicle as described in any one of claims 1 to 4.

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