421 results about "Wheelbase" patented technology

The invention provides a loading safety monitoring method and system for a rear-loading vehicle and the vehicle. The method comprises the following steps that the arc height variable quantity of a plate spring of the vehicle in the current loading state is collected; based on the arc height variable quantity, a vehicle total weight estimated value is obtained through calculation; based on the axle load estimation values of the front axle and the rear axle and the axle distance of the vehicle, estimating the current gravity center height of the vehicle, and dynamically compensating the gravity center height according to the dynamic state parameters; and calculating a stability risk coefficient of the vehicle according to the total weight estimated value of the vehicle and the compensated gravity center height so as to carry out early warning. Displacement sensors are arranged on a front plate spring and a rear plate spring of a vehicle to collect arc height variation in real time, an axle load and a vehicle total weight estimated value are calculated based on a pre-calibrated plate spring rigidity coefficient, the gravity center height of the vehicle is estimated to evaluate the stability of the vehicle, and meanwhile the gravity center height is dynamically compensated based on dynamic parameters in the driving process. The evaluation precision under complex working conditions is improved, and the transportation safety is guaranteed.

The invention relates to the technical field of electric digital data processing, in particular to a shock absorber data processing method and system based on digital twinning, and the method comprises the steps: obtaining a multi-channel data signal of a shock absorber, and constructing a panoramic vibration data tensor; extracting a discrete digital sequence on a panoramic vibration data tensor time dimension, executing a variational mode decomposition algorithm, and separating and extracting a transient impact feature vector flow; constructing a double-time-axis sliding mapping window, and mapping the transient impact feature vector flow to a future node of a prediction response time axis based on a front and rear wheel preview mechanism of a vehicle wheelbase; operating the time sequence recurrent neural network model, and predicting and generating a target state data matrix of future nodes; and in the numerical constraint space, a prediction type damping adjustment instruction data packet is solved and generated through a rolling optimization algorithm. Through prospective state prediction and optimization solution, the problem of data timeliness caused by calculation delay in digital twinning is solved, and real-time, predictive and safe adjustment of the shock absorber is realized.

The invention discloses a vehicle kinetic parameter identification method based on constrained nonlinear optimization, which comprises the following steps: establishing a vehicle two-degree-of-freedom transverse kinetic model based on a small-slip-angle tire and a road cross slope, acquiring a vehicle historical driving data measurement value, acquiring a to-be-estimated vehicle kinetic parameter, and identifying the to-be-estimated vehicle kinetic parameter according to the to-be-estimated vehicle kinetic parameter. Constructing a constrained nonlinear optimization problem about the yaw velocity, solving to obtain an estimated value sequence of the kinetic parameters of the vehicle, carrying out statistics on the sequence, and taking a statistical median as a final estimated value; on one hand, a vehicle transverse dynamics model including a road cross slope is adopted; on the other hand, the constraint of vehicle parameters is considered, a nonlinear optimization problem is constructed, and the vehicle front axle distance (the longitudinal distance from a front axle to the vehicle mass center), the vehicle rear axle distance (the longitudinal distance from a rear axle to the vehicle mass center), the front wheel cornering stiffness, the rear wheel cornering stiffness and the vehicle total mass are identified at the same time.

The invention provides a target vehicle pose detection method and system based on a single-line laser radar point cloud, and relates to the technical field of vehicle positioning, and the method comprises the following steps: S1, carrying out the preprocessing of point cloud data collected by a laser radar based on a DBSCAN algorithm, screening out noise points, and generating an effective cluster; s2, performing L-shaped feature fitting on each cluster, and calculating a tire center point coordinate; s3, calculating vehicle pose data according to the at least three tire center points, wherein the vehicle pose data comprises a wheelbase, a vehicle center coordinate and a parking angle; and S4, transmitting the vehicle pose data to a parking AGV control system through a communication protocol. The method has the beneficial effects that by adopting the positioning method integrating the laser radar and AGV four-wheel positioning, the vehicle navigation and positioning precision is further improved; a laser radar point cloud is combined with an L-shaped feature fitting algorithm, the pose of a target vehicle is obtained in the walking process of the parking AGV, the pose detection efficiency of the parking AGV is improved, and the walking fluency of the parking AGV is improved.

The invention provides a parking path planning method and device of a semitrailer and terminal equipment. The method comprises the steps that the initial vehicle state, the target parking position and the parking area of the semitrailer are obtained; converting the semitrailer system model corresponding to the semitrailer into an equivalent single vehicle model; wherein the trailer rear axle center of the semitrailer is determined as the rear axle center of the single-vehicle model, the center distance between the hinged point of the tractor of the semitrailer and the trailer and the rear axle center of the trailer is determined as the single-vehicle axle distance in the single-vehicle model, and the tractor is determined as the single-vehicle wheel of the single-vehicle model; determining a model node path of the single vehicle model in the parking area based on a mixed A * algorithm by using the initial vehicle state and the target parking position; and determining the parking path of the tractor according to the model node path, the corresponding relationship between the semitrailer system model and the single vehicle model and the kinematics relationship between the tractor and the trailer. According to the method, the parking safety and efficiency of the semitrailer can be improved.

The invention relates to the technical field of automobile detection, in particular to a wheel base difference vision measurement method based on a rim circle common tangent, which comprises the following steps: S1, image acquisition: acquiring projection images of two rims on one side of a vehicle through a monocular camera fixed on a bracket; s2, determining internal parameters of the camera and the circle center of the rim: carrying out edge detection and ellipse fitting on the rim image, and calculating the internal parameters of the camera by combining a circular point and absolute conic constraint; s3, determining external parameters of the camera: resolving a rotation matrix and a translation vector of the camera based on the geometrical relationship between the inner and outer common tangent of the ellipse and the image; s4, solving a wheelbase difference: obtaining the positions of the circle centers of the left and right rims in the world coordinate system, and calculating the spatial distance difference as the wheelbase difference; through image processing and geometric modeling, the method is low in cost and suitable for accurate measurement of the wheelbase difference of multiple vehicle types, and has the advantages of being easy and convenient to operate, small in error and low in equipment requirement.

The utility model discloses a tray for transporting a vehicle and a frame type container. The tray for transporting the vehicle comprises a main frame, at least two tire fixers and at least two forklift grooves, the tire fixer is arranged at the side part of the main frame and is used for limiting a front wheel or a rear wheel of a vehicle parked on the tray, and the fixing position of the tire fixer on the main frame can be adjusted along the length direction of the main frame; the two forklift grooves are formed in the main frame and spaced by a preset distance to be matched with forks of the forklift, and inlets and outlets of the forklift grooves are formed in the side portion or the end portion of the main frame and used for allowing the forks of the forklift to go in and out of the forklift grooves. According to the utility model, the tire fixer is arranged on the pallet, so that the pallet is suitable for fixing vehicles with different axle distances and wheel treads, and the forklift grooves are formed in the pallet, so that the pallet is suitable for a forklift to carry the pallet, the vehicles are convenient to load and unload in a container, and the container is used for railway transportation, thereby obviously reducing the cost of railway transportation vehicles.

The invention provides a train instantaneous speed estimation method and system, and belongs to the technical field of rail transit operation monitoring, and the method comprises the steps: collecting a vertical or transverse dynamic displacement signal of a steel rail, and dividing the time domain dynamic displacement data of a certain measurement channel into a plurality of sliding window subsequences according to a fixed length; smoothing each sliding window sub-sequence in sequence to obtain a de-noising smooth waveform of the complete signal; performing wave crest detection on the obtained smooth waveform, and determining the position of a signal wave crest; serialization processing is carried out according to the time sequence, and every two adjacent wave crests are paired so as to judge the bogie and the carriage; and reversely calculating the instantaneous speed of the train according to the identified wave crest time interval and the time difference when each bogie passes by in combination with the train marshalling number, the train fixed distance and the wheelbase information. The method can effectively estimate the instantaneous running speed of each compartment of the train, and has good self-adaptability to signals under the influence of various random parameters.

The invention provides a non-contact wheelbase-free detection RGV vehicle carrying method and device, and the method comprises the steps: responding to a vehicle taking instruction, and controlling a chassis walking part to drive RGV positioning equipment to move to a position below a to-be-carried vehicle; clamping arms of the front clamping part and the rear clamping part are controlled to be switched to a semi-open state; acquiring a first lateral distance and a second lateral distance; according to the RGV structure size data, the first lateral distance and the second lateral distance, the chassis walking part and the axle distance adjusting part are controlled to move cooperatively, so that the front clamping part and the rear clamping part reach the preset positions correspondingly; clamping arms of the front clamping part and the rear clamping part are controlled to be switched to be in a fully-open state; and the chassis walking part is controlled, and the RGV positioning equipment is moved to the target storage area. According to the method, the defects that a traditional RGV needs to be carried by a preset wheelbase, and the adaptability is poor are effectively overcome.

The invention provides a vehicle control method and related equipment. The vehicle control method comprises the steps that the curvature variable quantity of a to-be-driven path of a vehicle is obtained; under the condition that the curvature variable quantity is greater than or equal to a preset variable quantity, determining a plurality of first preview distances of the vehicle on the path, and determining cost values corresponding to the first preview distances; determining a second preview distance in each first preview distance according to the cost value, and determining a to-be-driven position of the vehicle on the path according to the second preview distance and the current position of the vehicle; according to the to-be-driven position, the current pose parameter of the vehicle and the wheelbase of the vehicle, a first target steering angle is determined, and the current steering angle of a steering wheel in the vehicle is controlled to be adjusted to the first target steering angle, so that the vehicle is driven to the to-be-driven position. According to the invention, the driving safety of the vehicle is improved.

The utility model relates to a vehicle battery replacement positioning platform device suitable for different wheelbases, which comprises a parking platform, two first positioning grooves and two second positioning grooves are arranged on the parking platform, the positions of the two first positioning grooves and the two second positioning grooves respectively correspond to each wheel of a vehicle, and the second positioning grooves are arranged in a long strip shape. And the two first adjusting mechanisms are arranged in the first positioning groove. And the two second adjusting mechanisms are arranged in the second positioning grooves. The second adjusting mechanism comprises two adjusting assemblies and a moving assembly. The two adjusting assemblies are oppositely arranged on the side, close to the first positioning groove, in the second positioning groove and the side, away from the first positioning groove, in the second positioning groove. The moving assembly is arranged between the two adjusting assemblies. And the long-strip-shaped second positioning groove and the movable second adjusting mechanism can be compatible with vehicles with different wheelbases, and the universality of the battery replacing station is improved.

The present application relates to a kind of wheelbase adjustable double wheel suspensions and vehicle applying the suspension, belong to vehicle chassis technical field, especially relate to the balanced suspension control technical category;Double wheel suspension is connected two wheels by multiple connecting rod mechanism according to the wheelbase set, double wheel bearing, suspension mechanism linkage, double shock absorber coordinated deformation, provide a kind of longitudinal double wheel balanced suspension, with the characteristics of good ground adaptability and longitudinal stability, applied to the balanced suspension system of various multipurpose vehicles;On this basis, a kind of two-wheeled electric vehicle is proposed, vehicle wheelbase dynamic adjustable, front and rear shock absorber coordinated deformation, provide a new method for electric motorcycle design.

The utility model provides a four stand column testbed and four stand column equipment including the same, the four stand column testbed comprises a tire tray, a strip-shaped clamp and an actuator, the clamp is provided with a plurality of first connecting holes in one side area along the horizontal direction, the other side area is provided with a plurality of second connecting holes, and the first connecting holes are communicated with the second connecting holes. The tire tray is connected with the first connecting hole through a plurality of first connecting pieces, the actuator is connected with the second connecting hole through a plurality of second connecting pieces, and the positions of the tire tray and the actuator are mutually staggered. According to the utility model, the fixture is additionally arranged, so that the position of the tire tray is changed, the equipment can be effectively used for testing vehicle models with smaller wheel track, and the wheel track adjusting range can reach 960mm to 2320mm. According to the four-column test bench, the compatibility of test equipment is improved, and the four-column test bench can cope with tests of some special vehicle types.

The invention discloses a vehicle image enhancement method, a related device, equipment, a medium and a product, and the method comprises the steps: obtaining vehicle parameters of a current vehicle, and obtaining an actual positioning position, an actual inertial navigation direction angle, driving data and camera data of the current vehicle at a current moment; mapping based on the steering wheel angle to obtain a front wheel angle of the current vehicle; predicting a predicted inertial navigation direction angle and a predicted positioning position of the current vehicle at a future moment based on the front wheel steering angle, the vehicle wheelbase, the driving speed, the actual inertial navigation direction angle and the actual positioning position; generating a projection transformation matrix at a future moment based on the camera internal reference, the camera external reference, the predicted positioning position, the actual inertial navigation direction angle and the predicted inertial navigation direction angle; and based on the projection transformation matrix at the future moment, respectively carrying out pixel-level remapping on images shot by the plurality of cameras to obtain a look-around image of the current vehicle. According to the scheme, the stability and the response timeliness of the look-around image can be improved.

The utility model discloses a mechanical arm of a lifting machine for automobile maintenance, and relates to the technical field of automobile maintenance. The gravity of an automobile cannot be uniformly distributed on a supporting arm, the bearing force deviation phenomenon occurs, and after the bearing force deviation exceeds the designed bearing range of the supporting arm, rollover or local collapse occurs. The device comprises a connecting seat and a supporting mechanism, wherein the supporting mechanism is arranged on one side of the connecting seat. Through the arrangement of the supporting mechanism, the supporting rod, the movable rod and the connecting base, after the movable rod is adjusted to the ideal length matched with different vehicle types, the elastic potential energy of the limiting spring can be used for pushing the fixing clamping block to be accurately embedded into the clamping groove preset in the top end of the movable rod, and the movable rod can be firmly fixed; therefore, the bearing seat can adapt to automobiles with different axle distances and different automobile body structures, the automobiles are stably supported, the gravity of the automobiles can be evenly dispersed through the bearing seat, and the risk that the automobiles overturn in the maintaining and lifting process can be reduced.

The utility model provides a disconnected type vehicle frame and a mine truck, the disconnected type vehicle frame comprises a front vehicle frame and a rear vehicle frame, a slewing bearing is arranged between the front vehicle frame and the rear vehicle frame, the outer ring of the slewing bearing is fixedly connected to the rear end part of the front vehicle frame, and the inner ring of the slewing bearing is fixedly connected to the front end part of the rear vehicle frame; and the inner ring and the outer ring of the slewing bearing are rotationally connected. Compared with an existing integral frame vehicle, the front frame and the rear frame adopting the slewing bearing can rotate in a small range in the advancing direction, so that an axle can be in better contact with the ground, the driving force of the vehicle is increased, and the cross-country performance of the vehicle is improved; compared with an existing articulated truck that a power assembly and a transfer case are both installed on a front truck, the power assembly of the disconnected truck frame adopting the slewing bearing is installed on the front truck frame, the transfer case is installed on the rear truck frame, the size of a front overhang and a wheel base of the whole truck is small, the length of the whole truck is reduced, applicability is improved, and wide application and popularization prospects are achieved.

This invention discloses an all-terrain vehicle, comprising a frame, a front wheel assembly, and a rear wheel assembly. The front wheel assembly is mounted on the frame and includes two front wheels with a track width of W1. The rear wheel assembly is mounted on the frame and includes two rear wheels with a track width of W2. The wheelbase between the front and rear wheels is L, wherein 0.72 ≤ W1 / L ≤ 0.82, and / or 0.72 ≤ W2 / L ≤ 0.82. The all-terrain vehicle provided by this invention has the advantages of smooth handling and high lateral stability, low requirements for user driving skills, and good user driving experience and comfort.

The application discloses a hydraulic weighing system for heavy-load vehicles at high-speed intersections, and belongs to the technical field of heavy-load transportation, which comprises a plurality of pits evenly spaced along the longitudinal direction of a road, a road panel arranged at the opening of the pit, an oil cylinder corresponding to the road panel arranged in the pit, a middle partition plate of the oil cylinder separating the inner side of the oil cylinder into an upper oil cylinder groove and a lower storage groove, a piston fixed at the bottom of the road panel and slidingly arranged in the oil cylinder groove, and an oil bag arranged between the piston and the middle partition plate; a pressure measuring instrument is installed in the storage groove, and the output end of the pressure measuring instrument is connected to the oil bag; the pressure measuring instrument can convert the current actual axle load according to the pressure change amount, and the weighing data information of each road panel is returned to a central control computer, and the computer outputs the size of each axle load and the axle spacing. The application can be used for accurately calculating the total weight of vehicles and goods, and can also consider more detailed load factors such as the axle load and the wheelbase.

The utility model discloses a multi-layer lifting type automobile carrying device, relates to the technical field of automobile carrying, and aims to solve the problem that an existing automobile carrier cannot carry a plurality of automobiles at a time. The device comprises a frame body, a chassis is arranged at the bottom of the frame body, at least two layers of automobile carrying platforms are arranged on the frame body in a lifting mode, and the chassis is arranged on the frame body. Two sets of automobile taking and conveying arms are arranged on any layer of automobile carrying platform, the automobile taking and conveying arms can telescopically take and convey automobiles in the width direction of the automobile carrying platform, and the two sets of automobile taking and conveying arms can move in the direction close to each other or away from each other so as to adapt to different automobile wheelbases. And the control device is used for controlling the running states of the chassis, the vehicle carrying platform and the vehicle taking and conveying arm, so that the vehicles can be taken and conveyed in a multi-layer and two-way mode at the same time, multiple vehicles are carried at a time, and the vehicle carrying efficiency is improved.

The present application relates to the technical field of bridge quality detection, especially to a continuous beam bridge different span loading load test method, comprising the following steps: determining a control section on the continuous beam bridge; measuring the axle load and the wheelbase of the test vehicle; calculating and analyzing the interval area of the calculated bending moment change effect function with the moving vehicle; analyzing and calculating the interval area of the measured bending moment change effect function with the moving vehicle; comparing the ratio of the interval area of the calculated bending moment change effect function with the moving vehicle and the interval area of the measured bending moment change effect function with the moving vehicle through the calibration coefficient to determine whether the bearing capacity requirement is met. The continuous beam bridge different span loading load test method can effectively reduce the arrangement of measuring points and the need for test vehicles, and quickly and accurately judge the bearing capacity state of the bridge by calculating the bending moment change effect function with the moving vehicle and the measured bending moment change effect function with the moving vehicle.

The utility model relates to the technical field of tractors, and discloses a variable axle distance front axle connecting assembly and a front axle, comprising a front axle which is located at the front end of a tractor, two groups of connecting frames are symmetrically sleeved in the middle of the front axle, and the front axle is respectively and fixedly connected with a front axle seat and an oil pan through the two groups of connecting frames; the front axle seat is provided with a first screw hole, the oil pan is provided with a second screw hole, and the first screw hole and the second screw hole are fixedly connected with the two connecting frames through bolts respectively. The longitudinal position of the front axle relative to a tractor body can be conveniently changed by changing the mounting positions of the connecting frame on different screw hole groups on the front axle seat and the oil pan, so that the axle distance of the tractor can be adjusted, and the problems that the existing front axle is fixed and the axle distance cannot be changed are solved; therefore, the tractor can better meet the requirements of different scenes such as heavy-load operation such as deep ploughing / deep scarification and small-space flexible operation.

The invention discloses a test method for judging whether a damaged T-beam bridge target can meet the passing requirement of an armored vehicle, and belongs to the field of test and evaluation. According to the method, factors such as brake, wheel track and wheel base of the armored vehicle are considered, an equivalent loading block is used for simulating the armored vehicle, and a loading test is carried out at the most unfavorable position of a T-beam bridge target through graded load loading. If the bridge collapses in the loading process, taking a lower level of load to represent the target traffic capacity of the damaged T-beam bridge; and if the bridge is not collapsed, loading a larger level of load until the load is loaded to the maximum tonnage of the simulated armored vehicle, and finally judging whether the T-beam bridge target can meet the passing of the armored vehicle or not. According to the test method, the equivalent loading block is used for replacing the armored vehicle, a graded load loading mode is used, the traffic capacity of the damaged T-beam bridge target is obtained, the test cost is saved, safety risks are avoided, and accurate judgment can be provided for whether the military armored vehicle passes through the damaged T-beam bridge target or not.

The invention provides a commercial vehicle camera monitoring system with trailer wheelbase estimation. A method for determining the wheelbase of a trailer attached to a towing vehicle includes a) identifying two-dimensional trailer wheel positions in an image, b) associating the two-dimensional trailer wheel positions with corresponding trailer angles, c) converting the two-dimensional trailer wheel positions to three-dimensional trailer wheel positions, d) calculating the wheelbase from the three-dimensional trailer wheel positions, and e) determining the wheelbase of the trailer attached to the towing vehicle. E) acquiring a new two-dimensional trailer wheel position, f) performing steps b) to d) on the new two-dimensional trailer wheel position, and g) calculating the average wheelbase on the basis of the previous average wheelbase and the new two-dimensional trailer wheel position.

The application discloses a seamless wheelbase adjusting mechanism and a lifting machine, and relates to the technical field of lifting machines. The seamless wheelbase adjusting mechanism is applied to the lifting machine. The lifting machine comprises a frame body, and the frame body is provided with a through gap at a position corresponding to a wheel of a vehicle. The seamless wheelbase adjusting mechanism comprises: a wheel bearing mechanism arranged at the gap and used for bearing the wheel; a driving mechanism used for driving the wheel bearing mechanism to move horizontally along a first direction, wherein the first direction is the length direction of the vehicle; and a following mechanism connected with the wheel bearing mechanism and moving along the first direction with the wheel bearing mechanism, and the following mechanism shields the gap between the wheel bearing mechanism and the frame body. After the vehicle finishes battery replacement, the vehicle will not be stuck due to the gap when the vehicle passes through the gap between the wheel bearing mechanism and the frame body, so that the two plates forming the gap will not be broken due to long-term impact of the wheel, and the user experience is improved.

The present invention relates to the technical field of tire pressure system matching, and provides a matching device for a tire pressure measurement system. The matching device comprises a matching platform; driving structures, adjustment frames A, adjustment frames B, and matching assemblies are provided on the top of the matching platform; an adjustment assembly is fixedly arranged on the outer side of each adjustment frame A; a positioning structure is fixedly arranged on the outer side of each adjustment frame B; and the adjustment frames are linked by means of linkage structures. The specific positions of four tire pressure matching units can be adjusted on the basis of the wheel base and the wheel track of a vehicle, facilitating simultaneous triggering of wake-up of four tire pressure sensors of the vehicle, and solving the problem of low activation efficiency of tire pressure sensors caused by inconvenience in simultaneous triggering of wake-up of the four tire pressure sensors of the vehicle.

The invention provides a pure electric drive wheel fixing device of a new energy automobile chassis dynamometer, and relates to the technical field of new energy automobiles, the pure electric drive wheel fixing device comprises a mounting seat, a self-adaptive driving mechanism, a clamping and fixing mechanism, a sliding seat, a sliding groove and a supporting seat; the wheel fixing device has the advantages of being reasonable and simple in structure, low in production cost and convenient to install, through cooperative action of the telescopic mechanism and the clamping mechanism, lifting of the connecting base and moving of the clamping block can be achieved, wheel fixing can be completed without complex manual operation, the operation process is greatly simplified, the labor cost is reduced, and meanwhile equipment installation and later maintenance are facilitated; by means of cooperation of a driving assembly in the self-adaptive driving mechanism, a sliding base and a sliding groove, the clamping and fixing mechanism can be driven to flexibly adjust the transverse position, the fixing requirements of non-driving wheels of new energy automobiles with different axle distances can be met, frequent replacement of accessories or manual calibration is not needed, the adaptation capacity of diversified automobile types is effectively improved, and the practicability is high. And the large-scale detection operation requirements are met.

The utility model relates to the technical field of dynamometers, in particular to a four-wheel-drive dynamometer with an adjustable front and rear axle distance, which comprises a bottom frame, a fixed table arranged on the upper side of the rear end of the bottom frame, a track arranged on the front side of the fixed table, a movable table arranged on the track, a rear roller group arranged on the upper side of the fixed table, a first transmission wheel coaxially arranged at the left end of the rear roller group, and a second transmission wheel coaxially arranged at the right end of the first transmission wheel. A front roller set is arranged on the upper side of the moving table, a third transmission wheel is arranged at the left end of the front roller set, a fifth transmission wheel and a sixth transmission wheel are arranged on the bottom frame, a first tensioning wheel and a second tensioning wheel are arranged below the third transmission wheel, and the first transmission wheel and the sixth transmission wheel are connected through a first synchronous belt. The fifth transmission wheel and the sixth transmission wheel are connected through a second synchronous belt, the third transmission wheel is sleeved with the middle of the second synchronous belt in a transmission mode, and the portions, located on the front side and the rear side of the third transmission wheel, of the second synchronous belt are attached to the opposite sides of the first tensioning wheel and the second tensioning wheel in a transmission mode respectively.

The invention provides a vehicle anti-collision method and device, a vehicle, a storage medium and a computer program product, and the method comprises the steps: generating a first prediction track according to the operation state information, the current speed, the vehicle wheelbase and the steering angle of the vehicle; according to the current speed and the corresponding course angle variable quantity, a left side maximum correction angle and a right side maximum correction angle are obtained through the prediction model, and a first steering correction angle and a second steering correction angle are determined; and performing anti-collision processing according to the first prediction trajectory, the second prediction trajectory, the third prediction trajectory, the vehicle speed and the boundary dimension information of the vehicle and other vehicles. According to the invention, the precision and stability of trajectory prediction can be improved, and the limitation of single trajectory prediction is overcome; the generalization ability of the model can be enhanced, and the dependence on high-quality annotation data is reduced; high-risk collision scenes can be accurately recognized, effective avoidance measures are taken, and the false alarm rate caused by prediction errors is reduced.

The application discloses a design method and system for front suspension, rear suspension and wheelbase of a light truck, and the method comprises the following steps: S1, inputting initial front suspension, initial rear suspension and initial wheelbase; S2, calculating the approach angle of the truck, and judging whether the approach angle meets the control requirement of the approach angle; if yes, executing S3, otherwise returning to S1; S3, calculating the departure angle of the truck, and judging whether the departure angle meets the control requirement of the departure angle; if yes, executing S4, otherwise returning to S1; S4, calculating the longitudinal passing radius of the truck, and judging whether the longitudinal passing radius meets the control requirement of the radius; if yes, executing S5, otherwise returning to S1; and S5, outputting the front suspension, the rear suspension and the wheelbase according to the target function of the front suspension, the rear suspension and the wheelbase. The method can quickly select the appropriate size of the front suspension, the rear suspension and the wheelbase, reduces the workload, improves the design efficiency, is suitable for all two-axle light trucks, reduces the design cost and increases the practicability.