Vehicle posture adjusting method and device suitable for reducing steering radius of multi-axle vehicle

Abstract

The invention relates to the technical field of multi-axle vehicle walking, and discloses a vehicle posture adjusting method and device suitable for reducing the steering radius of a multi-axle vehicle. Preprocessing the basic state data to obtain standardized vehicle posture preprocessing data; working condition adaptation judgment is conducted according to the vehicle posture preprocessing data, and a working condition judgment result is obtained; according to the working condition judgment result, corresponding vehicle posture adjusting operation is executed; and after vehicle posture adjustment is completed, a confirmation result that the vehicle enters the target working condition and a result that the steering radius is reduced or recovered to a preset state are obtained. The vehicle posture adjusting method and device suitable for reducing the steering radius of the multi-axle vehicle serve as a control strategy basis for reducing the steering radius of the multi-axle vehicle in a targeted mode, the problems that the multi-axle vehicle is large in number of axles, long in axle distance and too large in steering radius can be solved, and the maneuvering performance of the multi-axle vehicle is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-axle vehicle walking, in particular to a vehicle posture adjusting method and device suitable for reducing the turning radius of a multi-axle vehicle. BACKGROUND

[0002] As a core component of the vehicle walking system, the oil gas spring has a nonlinear stiffness curve, which can effectively improve the body vibration and improve the driving comfort; at the same time, it can also be controlled through the hydraulic oil circuit to realize the functions of vehicle posture lifting and vehicle posture leveling.

[0003] For a multi-axle vehicle (the number of axles > 2), the turning radius of the whole vehicle is often large due to the long wheelbase, and it is difficult to realize the whole vehicle maneuverability.

[0004] When the idea of lifting the last axle to shorten the wheelbase is used to reduce the turning radius, because the mass center of the whole vehicle is fixed, the lifting process will inevitably cause the transfer of axle load, and then cause the vehicle to appear "head up" phenomenon, which destroys the vehicle posture stability. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a vehicle posture adjusting method and device suitable for reducing the turning radius of a multi-axle vehicle, which is used to solve the problem of large turning radius of the whole vehicle caused by the long body and large wheelbase of the multi-axle vehicle.

[0006] In a first aspect, a vehicle posture adjusting method suitable for reducing the turning radius of a multi-axle vehicle is provided, comprising: obtaining basic state data of the vehicle; preprocessing the basic state data to obtain standardized vehicle posture preprocessing data; determining the working condition according to the vehicle posture preprocessing data to obtain a working condition determination result; performing corresponding vehicle posture adjusting operation according to the working condition determination result; after completing the vehicle posture adjusting, obtaining the confirmation result of the vehicle entering the target working condition and the result of reducing or restoring the turning radius to the preset state.

[0007] Further, the basic state data of the vehicle includes the cylinder length data of the axle oil gas spring. The cylinder length data of each axle oil gas spring is collected by the sensor carried by the vehicle. Further, preprocessing the basic state data to obtain standardized vehicle posture preprocessing data, comprising:

[0008] eliminating abnormal fluctuation data in the basic state data to obtain data in the effective data interval; ​The length deviation data is obtained by comparing the cylinder length data of each axle oil gas spring with the preset calibration reference value. The length deviation data is standardized vehicle posture preprocessing data.

[0009] Further, the working condition adaptation determination is performed according to the vehicle posture preprocessing data, and a working condition determination result is obtained, including: Extract the length deviation data to determine whether the current vehicle posture is within the horizontal adaptation range; If the length deviation of all axles is within the horizontal adaptation threshold range, it is determined that the current vehicle posture meets the special steering working condition adaptation requirement; If the length deviation of any axle exceeds the horizontal adaptation threshold range, it is determined that the current vehicle posture needs to be maintained or switched to normal driving working condition; wherein, the working condition determination result only includes meeting the special steering working condition adaptation requirement or meeting the normal driving working condition adaptation requirement.

[0010] Further, when the working condition determination result is that the special steering working condition adaptation requirement is met, the corresponding vehicle posture adjustment operation is performed, including: Perform a locking operation on the second-to-last axle of the vehicle; After completing the locking operation, perform a lifting operation on the last axle of the vehicle until the length of the power cylinder of the axle oil gas spring reaches the preset lifting target value.

[0011] Further, the locking operation on the second-to-last axle of the vehicle includes: Obtain the current pressure data of the hydraulic oil path between the second-to-last axle oil gas spring and the power cylinder; Control the vehicle hydraulic valve group to actuate to block the hydraulic oil path between the second-to-last axle oil gas spring and the power cylinder; Detect the pressure change state of the hydraulic oil path to confirm whether the oil path blocking state is achieved; After the oil path blocking is completed, the closed state of the hydraulic oil inside the power cylinder is maintained, and the pressure data inside the power cylinder is collected in real time to verify whether the closed state is continuously effective; When the pressure data inside the power cylinder continuously maintains within the preset closed threshold, it is determined that the second-to-last axle forms a rigid support structure, and the locking operation is completed.

[0012] Further, when the working condition determination result is that the normal driving working condition adaptation requirement is met, the corresponding vehicle posture adjustment operation is performed, including: Perform a lowering operation on the last axle of the vehicle until the length of the power cylinder of the axle oil gas spring returns to the preset calibration reference value; Control the hydraulic valve group to release the oil path blocking state of the second-to-last axle and terminate the rigid locking; Based on the length deviation data in the vehicle posture preprocessing data, the vehicle posture leveling operation is performed to make the length deviation of all axes within the horizontal fitting threshold range, and the vehicle returns to the horizontal vehicle posture.

[0013] In a second aspect, a vehicle posture adjustment device for reducing the turning radius of a multi-axle vehicle is provided, characterized in that it is based on any one of the vehicle posture adjustment methods for reducing the turning radius of a multi-axle vehicle described above, and comprises: an acquisition module configured to acquire basic state data of the vehicle; a preprocessing module configured to preprocess the basic state data to obtain standardized vehicle posture preprocessing data; a determination module configured to determine the working condition based on the vehicle posture preprocessing data to obtain a working condition determination result; an adjustment operation module configured to perform corresponding vehicle posture adjustment operations based on the working condition determination result; a result confirmation module configured to obtain a confirmation result of the vehicle entering the target working condition and a result of the turning radius being reduced or restored to the preset state after the vehicle posture adjustment is completed.

[0014] In a third aspect, a terminal is provided, comprising a processor, an input device, an output device, and a memory, which are connected to each other, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to invoke the program instructions to execute the vehicle posture adjustment method for reducing the turning radius of a multi-axle vehicle as described above.

[0015] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, the computer program comprises program instructions, and the program instructions, when executed by a processor, cause the processor to execute the vehicle posture adjustment method for reducing the turning radius of a multi-axle vehicle as described above.

[0016] The application with the above technical solution has the following advantages: 1. The application defines the driving working condition for reducing the turning radius, and decomposes the conversion method between working conditions into two processes, which are completed in steps, i.e., the conversion between the special steering and normal driving working conditions is realized.

[0017] 2. The application optimizes the conversion process, and it is verified that the conversion time of the special steering working condition is less than 3 minutes.

[0018] 3. The application is simple for the user to operate, only needs to press a specific button, and realizes the conversion between working conditions through one-key operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present application, the drawings required to be used in the specific embodiments will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn according to the actual proportion.

[0020] Figure 1 Flow chart for switching from normal driving condition to special steering condition in the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to the present application; Figure 2 Flow chart for switching from special steering condition to normal driving condition in the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to the present application; Figure 3 Schematic diagram of turning radius in normal driving condition in the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to the present application; Figure 4 Schematic diagram of turning radius in special steering condition in the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to the present application; Figure 5 Flow chart of the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to the present application; Figure 6 Flow chart of the vehicle posture adjustment device for reducing the steering radius of a multi-axle vehicle according to the present application. DETAILED DESCRIPTION

[0021] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, but cannot limit the protection scope of the present application.

[0022] As shown in Figures 1-6 The present embodiment takes a four-axle wheeled vehicle as an example (wheelbase parameters: 2650mm+2700mm+2650mm, equipped with a vehicle posture adjustable oil gas spring system, a hydraulic valve group control unit, and a displacement sensor), and the four-axle vehicle needs to complete steering operation in a narrow lane in a factory area. When the vehicle is normally in full-axle landing, the steering radius is about 13377mm (exceeding the requirement for passing) under the same front wheel turning angle, and the method of the present application needs to be used to switch to the special steering condition to reduce the steering radius. After completing steering, the normal driving condition needs to be switched back to ensure the stability of long-distance driving.

[0023] The vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to the present application comprises: obtaining basic state data of the vehicle; preprocessing the basic state data to obtain standardized vehicle posture preprocessing data; determining the working condition according to the vehicle posture preprocessing data to obtain a working condition determination result; performing corresponding vehicle posture adjustment operation according to the working condition determination result; After the vehicle attitude adjustment is completed, a confirmation result of the vehicle entering a target working condition and a result of the steering radius being reduced or restored to a preset state are obtained.

[0024] In this embodiment, the basic state data of the vehicle is obtained, including: The basic state data of the vehicle includes the power cylinder length data of the axle air spring; The power cylinder length data of each axle air spring is collected by the sensor carried by the vehicle.

[0025] Specifically, based on the hardware components carried by the vehicle, the core data, the power cylinder length data of the axle air spring (reflecting the degree of vehicle attitude inclination), is collected as follows: The power cylinder length data of the axle air spring is collected by the displacement sensor installed on the cylinder of each axle air spring power cylinder, and the current length of the first to fourth axle power cylinder is recorded as L1, L2, L3 and L4. Integrate the basic data set, integrate the above raw data according to the preset format (such as axle number-power cylinder length), and form the complete vehicle basic state data.

[0026] In this embodiment, the basic state data is preprocessed to obtain standardized vehicle attitude preprocessing data, including: Eliminate abnormal fluctuation data in the basic state data to obtain data within the effective data range; Compare the power cylinder length data of each axle air spring with the preset calibration reference value to obtain length deviation data; The length deviation data is the standardized vehicle attitude preprocessing data.

[0027] Specifically, this step converts the discrete and undeterminable raw data into standardized data suitable for working condition determination requirements through filtering, conversion and integration of the raw data, and the specific operation is as follows: Eliminate abnormal fluctuation data, adopt a preset data validity screening rule (such as filtering values outside the data fluctuation range in normal driving scenarios, such as power cylinder length jump values caused by instantaneous road bumps), eliminate abnormal values in the basic state data, and retain raw data within the effective data range; Calculate the length deviation data, call the preset calibration reference value of each air spring power cylinder before the vehicle is shipped (the value is the standard length of the power cylinder in the vehicle horizontal state), compare the effective power cylinder length data of each axle with the calibration reference value one by one, and calculate the length deviation data of each axle; Integrate the standardized data, integrate the length deviation data according to the vehicle attitude determination dimension (such as horizontality-length deviation), and obtain the standardized vehicle attitude preprocessing data.

[0028] In this embodiment, the working condition adaptation determination is performed according to the vehicle posture pretreatment data, and a working condition determination result is obtained, including: The length deviation data is extracted to determine whether the current vehicle posture is within the horizontal adaptation range; If the length deviation of all axes is within the horizontal adaptation threshold range, it is determined that the current vehicle posture meets the special steering working condition adaptation requirement; If the length deviation of any axis exceeds the horizontal adaptation threshold range, it is determined that the current vehicle posture needs to be maintained or switched to the normal driving working condition; wherein the working condition determination result only includes meeting the special steering working condition adaptation requirement or meeting the normal driving working condition adaptation requirement.

[0029] Specifically, based on the standardized vehicle posture pretreatment data, it is determined whether the vehicle is adapted to the target working condition from the two dimensions of vehicle posture horizontality and load safety, as follows: It is determined whether the vehicle posture is within the horizontal adaptation range, the length deviation data in the vehicle posture pretreatment data is extracted, and the preset horizontal adaptation threshold is called (such as length deviation ≤ threshold is considered as vehicle posture horizontality), if the length deviation of all axes is within the threshold range, it is determined that the current vehicle posture is within the horizontal adaptation range; otherwise, it is determined that it is not within the horizontal adaptation range; The working condition determination result is generated, combined with the vehicle posture horizontal adaptation determination result, if the results meet the requirements, according to the actual driving demand (such as the need to reduce the steering radius in narrow scenes to adapt to the special steering working condition, and the normal road driving to adapt to the normal driving working condition), the working condition determination result meeting the special steering working condition adaptation requirement or the normal driving working condition adaptation requirement is generated; If any result does not meet the requirements, the working condition determination result is not generated, and the vehicle posture needs to be adjusted first.

[0030] In this embodiment, when the working condition determination result meets the special steering working condition adaptation requirement, the corresponding vehicle posture adjustment operation is performed, including: The penultimate axis of the vehicle is locked; After completing the locking operation, the last axis of the vehicle is lifted until the length of the cylinder of the oil spring of the axis reaches the preset lifting target value.

[0031] In this embodiment, the locking operation is performed on the penultimate axis of the vehicle, including: The current pressure data of the hydraulic oil circuit between the oil spring and the cylinder of the penultimate axis is obtained; The vehicle hydraulic valve group is controlled to act to block the hydraulic oil circuit between the oil spring and the cylinder of the penultimate axis; The pressure change state of the hydraulic oil circuit is detected to confirm whether the oil circuit blocking state is achieved; After the oil path is blocked, the closed state of the hydraulic oil in the power cylinder is maintained, the pressure data in the power cylinder is collected in real time, and whether the closed state is continuously effective is verified. When the pressure data in the power cylinder continuously maintains within the preset closed threshold, it is determined that the penultimate shaft forms a rigid support structure, and the locking operation is completed.

[0032] In this embodiment, when the working condition determination result is that the normal driving working condition adaptation requirement is met, the corresponding vehicle posture adjustment operation is performed, including: The last shaft of the vehicle is subjected to the lowering operation until the power cylinder length of the oil spring of the shaft returns to the preset calibration reference value; The control hydraulic valve group releases the oil path blocking state of the penultimate shaft, and terminates the rigid locking; Based on the length deviation data in the vehicle posture preprocessing data, the vehicle posture leveling operation is performed, so that the length deviation of all shafts is within the horizontal adaptation threshold range, and the vehicle returns to the horizontal vehicle posture.

[0033] Specifically, according to the working condition determination result, the corresponding vehicle posture adjustment operation is performed, and this step is divided into two types of scenes, special steering working condition and normal driving working condition, for adjusting operation, and the operation process relies on vehicle posture preprocessing data, and the specific operation process is as follows: When the working condition determination result is that the special steering working condition adaptation requirement is met, the vehicle posture horizontality verification and leveling are performed. If the vehicle posture preprocessing data shows that the current vehicle posture does not reach the horizontal adaptation range, the oil gas spring power cylinder of the corresponding shaft is controlled to stretch and contract based on the length deviation data (such as excessive length deviation of a shaft leading to inclination), the vehicle posture leveling operation is performed, and the length deviation meets the horizontal adaptation threshold; if the vehicle posture has reached the horizontal adaptation range, the leveling step is skipped. The principle of the locking operation is: In this embodiment, the mass center of gravity of the four-axle vehicle is a fixed value, and when the last shaft (the fourth shaft) lifting operation is subsequently performed, the load originally borne by the fourth shaft will be transferred to the penultimate shaft, resulting in an increase in the load of the third shaft from the beginning; If the third shaft does not perform the locking operation, the oil gas spring power cylinder will be compressed due to the additional shaft load, and the power cylinder compression will lower the height of the rear part of the vehicle body and relatively raise the front part, eventually causing the head to be raised, thereby damaging the vehicle posture stability.

[0034] Therefore, the locking operation of the third shaft needs to be performed first, and a rigid support is formed by blocking the hydraulic oil path to resist the compression force caused by the load transfer, thereby avoiding the head-raising phenomenon.

[0035] Performing the penultimate shaft locking operation: The penultimate shaft of the vehicle is subjected to the locking operation, and the operation process is as follows: First, through the pressure monitoring function of the hydraulic valve group, the current pressure data of the hydraulic oil circuit between the penultimate axle oil gas spring and the power cylinder is obtained; Send instructions to the hydraulic valve group to control the valve group to act, block the hydraulic oil circuit between the axle oil gas spring and the power cylinder; Continuously detect the pressure change state of the hydraulic oil circuit to confirm whether the oil circuit blocking state is achieved; After the oil circuit is blocked, the internal hydraulic oil of the power cylinder is kept closed, and the pressure data in the power cylinder is collected in real time to verify whether the closed state is continuously effective; When the pressure data in the power cylinder continuously maintains within the preset closed threshold, it is determined that the penultimate axle forms a rigid support structure, and the locking operation is completed; Perform the last axle lifting operation: Control the contraction of the oil gas spring power cylinder of the last axle of the vehicle to lift the axle wheel; Stop the lifting operation.

[0036] When the working condition determination result meets the normal driving working condition adaptation requirement, perform the last axle lowering operation: Control the elongation of the oil gas spring power cylinder of the last axle of the vehicle to lower the axle wheel; Real-time monitor the length data of the axle power cylinder until the length returns to the preset calibration reference value, and stop lowering; Release the penultimate axle lock: Send instructions to the hydraulic valve group to control the valve group to act, release the oil circuit blocking state between the penultimate axle oil gas spring and the power cylinder, and terminate the rigid locking of the axle; Perform the vehicle posture leveling operation: Based on the length deviation data in the vehicle posture preprocessing data, control the extension and contraction of the oil gas spring power cylinder of each axle to adjust the length of the power cylinder, so that the length deviation of all axles meets the horizontal adaptation threshold, and the vehicle returns to the horizontal vehicle posture.

[0037] After completing the vehicle posture adjustment, obtain the confirmation result of the vehicle entering the target working condition and the result of the turning radius being reduced or restored to the preset state; Target working condition confirmation: Collect the adjusted vehicle posture data (such as power cylinder length deviation, penultimate axle locking state), and compare with the adaptation requirements of the target working condition (such as the penultimate axle locking for special steering working condition, the power cylinder length of the last axle reaching the preset lifting target value, and the vehicle posture being horizontal; The power cylinder length of the last axle returns to the preset calibration reference value for normal driving working condition, no locking, and the vehicle posture is horizontal), if it is completely consistent, the confirmation result of the vehicle successfully entering the target working condition is obtained; Turning radius state confirmation: The actual steering radius is calculated through the steering angle monitoring data of the vehicle steering system and the effective wheelbase data (e.g. the effective wheelbase is shortened when the last axle leaves the ground in a special steering condition, and the effective wheelbase is restored in a normal driving condition); the actual steering radius is compared with the preset requirement (e.g. the steering radius needs to be reduced to within the preset threshold in a special steering condition, and the steering radius needs to be restored to the standard value in a normal driving condition); if the requirement is met, the result of reducing or restoring the steering radius to the preset state is obtained; The final result is integrated: The target condition confirmation result and the steering radius state result are integrated to form the final result of this vehicle posture adjustment, which is fed back to the vehicle control system for subsequent driving state monitoring.

[0038] In some other embodiments, a vehicle posture adjustment device suitable for reducing the steering radius of a multi-axle vehicle is provided, characterized in that it is based on any one of the vehicle posture adjustment methods suitable for reducing the steering radius of a multi-axle vehicle as described above, comprising: The acquisition module is configured to acquire the basic state data of the vehicle; The preprocessing module is configured to preprocess the basic state data to obtain standardized vehicle posture preprocessing data; The determination module is configured to determine the working condition based on the vehicle posture preprocessing data to obtain a working condition determination result; The adjustment operation module is configured to perform corresponding vehicle posture adjustment operations according to the working condition determination result; The result confirmation module is configured to obtain the confirmation result of the vehicle entering the target working condition and the result of reducing or restoring the steering radius to the preset state after completing the vehicle posture adjustment.

[0039] In some other embodiments, a terminal is provided, comprising a processor, an input device, an output device and a memory, which are connected to each other, wherein the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to invoke the program instructions to execute the vehicle posture adjustment method suitable for reducing the steering radius of a multi-axle vehicle as described in any one of the above embodiments.

[0040] In some other embodiments, a computer readable storage medium is provided, which stores a computer program, the computer program comprises program instructions, and the program instructions make the processor execute the vehicle posture adjustment method suitable for reducing the steering radius of a multi-axle vehicle as described in any one of the above embodiments when executed by the processor.

[0041] It should be noted that, for the foregoing method embodiments, the sequences of the described actions are not necessarily required to achieve the objects of the application, and certain steps can be performed in other sequences or even concurrently. Additionally, the described embodiments are merely provided as examples, and not all of the actions described are necessarily required to achieve desired results.

[0042] In the above embodiments, the description of each embodiment is focused on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0043] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, another division manner can be adopted. For example, a plurality of units or components can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical or other forms.

[0044] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. can be located in one place or distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0045] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software program module.

[0046] If the integrated unit is realized in the form of a software program module and sold or used as an independent product, it can be stored in a computer readable memory. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a memory and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned memory includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0047] A person of ordinary skill in the art can understand that all or part of the steps of the various methods of the above embodiments can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer readable memory, and the memory can include a flash disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0048] The embodiments of the present application are described in detail above, and the specific examples are applied to the principles and implementation modes of the present application. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for a person of ordinary skill in the art, according to the idea of the present application, the specific implementation mode and application.

Claims

1. A vehicle attitude adjustment method suitable for reducing the turning radius of a multi-axle vehicle, characterized in that, The method comprises the following steps: acquiring basic state data of a vehicle; preprocessing the basic state data to obtain standardized vehicle posture preprocessing data; determining working condition adaptation based on the vehicle posture preprocessing data to obtain a working condition determination result; performing corresponding vehicle posture adjustment operations according to the working condition determination result; after the vehicle posture adjustment is completed, obtaining a confirmation result of the vehicle entering a target working condition and a result of the steering radius being reduced or restored to a preset state.

2. The vehicle attitude adjustment method for reducing the turning radius of a multi-axle vehicle according to claim 1, characterized in that, The method for acquiring basic state data of a vehicle comprises the following steps: the basic state data of the vehicle comprises cylinder length data of an axle oil spring; the cylinder length data of each axle oil spring is collected by a sensor mounted on the vehicle.

3. The vehicle attitude adjustment method for reducing the turning radius of a multi-axle vehicle according to claim 2, characterized in that, The method for preprocessing the basic state data to obtain standardized vehicle posture preprocessing data comprises the following steps: eliminating abnormal fluctuation data in the basic state data to obtain data in an effective data interval; comparing the cylinder length data of each axle oil spring with a preset calibration reference value to obtain length deviation data; the length deviation data is the standardized vehicle posture preprocessing data.

4. The vehicle attitude adjustment method for reducing the turning radius of a multi-axle vehicle according to claim 3, characterized in that, The method for determining working condition adaptation based on the vehicle posture preprocessing data to obtain a working condition determination result comprises the following steps: extracting the length deviation data to determine whether the current vehicle posture is within a horizontal adaptation range; if the length deviation of all axles is within a horizontal adaptation threshold range, it is determined that the current vehicle posture meets the special steering working condition adaptation requirement; if the length deviation of any axle exceeds the horizontal adaptation threshold range, it is determined that the current vehicle posture needs to be maintained or switched to a normal driving working condition; wherein the working condition determination result only includes meeting the special steering working condition adaptation requirement or meeting the normal driving working condition adaptation requirement.

5. The vehicle attitude adjustment method for reducing the turning radius of a multi-axle vehicle according to claim 4, wherein When the working condition determination result is that the special steering working condition adaptation requirement is met, the corresponding vehicle posture adjustment operation comprises the following steps: performing a locking operation on the second-to-last axle of the vehicle; after the locking operation is completed, performing a lifting operation on the last axle of the vehicle until the cylinder length of the axle oil spring reaches a preset lifting target value.

6. The vehicle attitude adjustment method for reducing the turning radius of a multi-axle vehicle according to claim 5, wherein The method for performing a locking operation on the second-to-last axle of the vehicle comprises the following steps: acquiring current pressure data of a hydraulic oil path between the second-to-last axle oil spring and the cylinder; controlling the vehicle hydraulic valve group to act to block the hydraulic oil path between the second-to-last axle oil spring and the cylinder; detecting the pressure change state of the hydraulic oil path to confirm whether the oil path blocking state is achieved; after the oil path blocking is completed, maintaining the closed state of the hydraulic oil inside the cylinder, collecting the pressure data inside the cylinder in real time, and verifying whether the closed state is continuously effective; when the pressure data inside the cylinder is continuously maintained within a preset closed threshold, it is determined that the second-to-last axle forms a rigid support structure, and the locking operation is completed.

7. The vehicle attitude adjustment method for reducing the turning radius of a multi-axle vehicle according to claim 4, wherein When the working condition determination result is that the normal driving working condition adaptation requirement is met, the corresponding vehicle posture adjustment operation comprises the following steps: performing a lowering operation on the last axle of the vehicle until the cylinder length of the axle oil spring returns to the preset calibration reference value; controlling the hydraulic valve group to release the oil path blocking state of the second-to-last axle and terminate the rigid locking; based on the length deviation data in the vehicle posture preprocessing data, performing vehicle posture leveling operations to make the length deviation of all axles within the horizontal adaptation threshold range, and the vehicle returns to the horizontal vehicle posture.

8. A vehicle attitude adjustment device suitable for reducing the turning radius of a multi-axle vehicle, characterized by, The vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to any one of claims 1 to 7, comprising: an acquisition module configured to acquire basic state data of the vehicle; a preprocessing module configured to preprocess the basic state data to obtain standardized vehicle posture preprocessing data; a determination module configured to determine a working condition according to the vehicle posture preprocessing data to obtain a working condition determination result; an adjustment operation module configured to perform a corresponding vehicle posture adjustment operation according to the working condition determination result; a result confirmation module configured to obtain a confirmation result of the vehicle entering a target working condition and a result of the steering radius being reduced or restored to a preset state after the vehicle posture adjustment is completed.

9. A terminal, characterized by comprising: A computer readable storage medium stores a computer program, the computer program comprising program instructions, the program instructions, when executed by a processor, causing the processor to execute the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, the computer program comprising program instructions, the program instructions, when executed by a processor, causing the processor to execute the vehicle posture adjustment method for reducing the steering radius of a multi-axle vehicle according to any one of claims 1 to 7.

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