A vehicle sand rolling simulation method, device, equipment and readable storage medium

Abstract

A vehicle sand rolling simulation method, device, equipment and readable storage medium, comprising: constructing a whole vehicle simulation model and a discrete element model representing sand particles, and determining key contact areas and non-key contact areas in the whole vehicle simulation model; setting interaction parameters, including sand particle interaction parameters and interaction parameters between the discrete element model and the whole vehicle simulation model, wherein the contact relationship between the vehicle and the sand particles is defined by a discrete element and structure surface coupling mode for the key contact areas, and the acting force is calculated based on the geometric boundary of the sand particles; constructing a whole vehicle sand rolling simulation model according to the discrete element model, the whole vehicle simulation model and the interaction parameters; and performing vehicle sand rolling simulation based on the whole vehicle sand rolling simulation model. The whole vehicle is divided into key contact areas and non-key contact areas in the application, the contact relationship of the key areas is defined by a discrete element and structure surface coupling mode, the simulation fidelity is ensured, and the balance between calculation efficiency and simulation accuracy is realized.

Description

Technical Field

[0001] This application relates to the field of vehicle simulation testing, specifically to a method, apparatus, equipment, and readable storage medium for simulating vehicle rolling over in sand. Background Technology

[0002] Vehicles are prone to rollover accidents during off-road driving, especially in complex road conditions such as sand. To improve vehicle safety, it is necessary to accurately assess the dynamic response, structural deformation, and occupant safety of vehicles during sand rollovers during the research and development phase. Therefore, an efficient and accurate assessment method to simulate the sand rollover process has become an urgent need in the industry, aiming to reduce development cycles and improve design reliability.

[0003] Currently, the mainstream solution for evaluating vehicle rollover performance in sand is to conduct multiple rounds of real-world testing, collecting data by actually driving vehicles into sand pits and causing them to roll. In addition, some simulation analysis methods have been explored for simulating the interaction between vehicles and the ground, such as using the general discrete element method to define sand particle properties or the finite element method to simulate the vehicle's structural response.

[0004] However, real-vehicle testing is expensive and causes significant damage to vehicles, making it difficult to meet the needs of frequent iterations in the early stages of R&D. Furthermore, existing conventional simulation methods face a challenge in balancing computational efficiency and simulation accuracy when applied to sand rollover scenarios. Specifically, handling the complex interactions between a large number of sand particles and the vehicle model consumes excessive computational resources, leading to excessively long simulation cycles. Simultaneously, existing contact calculation models lack sufficient accuracy in simulating the interaction forces under complex rollover conditions, failing to effectively simulate the vehicle's sand rollover characteristics. This results in poor consistency between simulation results and real test data, hindering effective guidance for the optimized design of vehicle structures. Summary of the Invention

[0005] This application provides a vehicle sand rollover simulation method, apparatus, equipment, and readable storage medium, which can solve the technical problems in the prior art that lead to excessive consumption of computing resources, resulting in excessively long simulation cycles, and insufficient accuracy in simulating interaction forces under complex rollover conditions, thus failing to effectively simulate the vehicle sand rollover characteristics and resulting in poor consistency between simulation results and real test data.

[0006] In a first aspect, embodiments of this application provide a method for simulating vehicle rollover on sand, including: Construct a full vehicle simulation model and a discrete element model representing sand particles, and determine the key contact areas and non-key contact areas in the full vehicle simulation model; Interaction parameters are set, including the interaction parameters between sand grains and the interaction parameters between the discrete element model and the whole vehicle simulation model. Among them, the contact relationship between the vehicle and sand grains is defined by the coupling method of discrete element and structural surface for key contact areas, and the force is calculated based on the geometric boundary of the sand grains. A simulation model of a vehicle rolling over in sand is constructed based on the discrete element model, the whole vehicle simulation model, and the interaction parameters. Simulation of vehicle rolling on sand is conducted based on a whole-vehicle rolling simulation model.

[0007] In conjunction with the first aspect, in one implementation, a discrete element model characterizing sand grains is constructed, including: Define the shape parameters and physical property parameters of the sand grains. The shape parameters include the shape and size of the sand grains, and the physical property parameters include the density and elastic modulus of the sand grains.

[0008] In conjunction with the first aspect, in one embodiment, the interaction parameters between sand grains include normal stiffness, tangential stiffness, translational friction coefficient, rolling friction coefficient, normal damping force, and tangential damping force.

[0009] In conjunction with the first aspect, in one implementation, the contact relationship of the critical contact area is defined using a discrete element method coupled with structural surfaces, including: The discrete element model is defined as the contact body, and the structural surfaces in the key contact areas of the whole vehicle simulation model are defined as the main contact bodies.

[0010] In conjunction with the first aspect, in one implementation, setting the interaction parameters further includes: For non-critical areas, the contact relationship is defined using a point-to-surface contact method.

[0011] In conjunction with the first aspect, in one implementation, the critical contact area includes at least the wheel and suspension areas.

[0012] In conjunction with the first aspect, in one implementation method, before simulating vehicle rolling over on sand, the method further includes: A small object impact simulation test was conducted on the whole vehicle sand pit roll simulation model to obtain the motion and splashing pattern of sand particles. The simulation results were compared with the real test data to determine whether they matched. If they did not match, the parameters were adjusted and recalculated until the simulation results matched the real test data. After the small object impact simulation test is passed, a simplified vehicle model rollover simulation test is performed on the whole vehicle sand pit rollover simulation model to obtain the motion posture of the simplified vehicle model and the motion and splashing pattern of sand particles. The simulation results are compared with the real test data to determine whether they match. If they do not match, the parameters are adjusted and recalculated until the simulation results match the real test data. The simplified vehicle model is obtained by representing non-critical areas in the vehicle simulation model using rigid body simulation and simplifying or removing non-critical internal structures of the vehicle.

[0013] Secondly, embodiments of this application provide a vehicle sand-rolling simulation device, comprising: The model building module is used to build a whole vehicle simulation model and a discrete element model representing sand particles, and to determine the key contact areas and non-key contact areas in the whole vehicle simulation model. The parameter setting module is used to set interaction parameters, including interaction parameters between sand grains and interaction parameters between the discrete element model and the whole vehicle simulation model. Among them, the contact relationship between the vehicle and sand grains is defined by the coupling method of discrete element and structural surface for key contact areas, and the force is calculated based on the geometric boundary of the sand grains. The simulation model generation module is used to construct a simulation model of the whole vehicle rolling over in sand based on the discrete element model, the whole vehicle simulation model, and the interaction parameters. The vehicle rollover simulation module is used to simulate vehicle rollover on sand based on a whole vehicle rollover simulation model.

[0014] Thirdly, embodiments of this application provide a vehicle sand rollover simulation device, which includes a processor, a memory, and a vehicle sand rollover simulation program stored in the memory and executable by the processor. When the vehicle sand rollover simulation program is executed by the processor, it implements the steps of the vehicle sand rollover simulation method as described above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a vehicle sand rollover simulation program, wherein when the vehicle sand rollover simulation program is executed by a processor, it implements the steps of the vehicle sand rollover simulation method as described above.

[0016] The beneficial effects of the technical solutions provided in this application include: This application simplifies the computation by dividing the whole vehicle simulation into critical contact areas and non-critical contact areas. By using a discrete element model to simulate sand particles and defining the contact relationship between sand particles and the vehicle in critical areas using a discrete element coupled with structural surfaces, and calculating the force based on the geometric boundaries of the sand particles, the application simplifies the calculation while ensuring the realism of the interaction forces in critical contact areas. This effectively simulates the rolling characteristics of the vehicle on sand and achieves a good balance between computational efficiency and simulation accuracy. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the vehicle rolling over simulation method in sand according to this application. Figure 2 This is a schematic diagram illustrating the process of optimizing simulation model parameters according to an embodiment of this application; Figure 3 This is a schematic diagram of the functional modules of an embodiment of the vehicle sand rollover simulation device of this application; Figure 4 This is a schematic diagram of the hardware structure of the vehicle sand-rolling simulation device involved in the embodiments of this application. Detailed Implementation

[0018] 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.

[0019] 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.

[0020] In one aspect, embodiments of this application provide a method for simulating vehicle rolling over in sand.

[0021] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the vehicle rolling simulation method for this application. Figure 1 As shown, the simulation method for vehicle rolling over in sand includes: S101. Construct a full vehicle simulation model and a discrete element model representing sand particles, and determine the key contact areas and non-key contact areas in the full vehicle simulation model. S102. Set interaction parameters, including interaction parameters between sand grains and interaction parameters between the discrete element model and the whole vehicle simulation model. Among them, the contact relationship between the vehicle and sand grains is defined by the coupling method of discrete element and structural surface for key contact areas, and the force is calculated based on the geometric boundary of the sand grains. S103. Construct a simulation model of the whole vehicle rolling over in sand based on the discrete element model, the whole vehicle simulation model and the interaction parameters; S104. Simulate vehicle rolling on sand based on the whole vehicle rolling simulation model.

[0022] Specifically, in the simulation of vehicle rollover conditions, sand rollover is the most difficult type of rollover condition to simulate because it involves sand, a substance that has both solid and fluid properties. The key to effectively simulating the characteristics of vehicle rollover on sand is to accurately simulate and identify the physical properties of sand particles and the interactions between sand particles and between sand particles and vehicles.

[0023] In this embodiment, a discrete element method (DEM) model is used for simulation of sand grains. The DEM model defines the shape and physical property parameters of the sand grains. The shape parameters include the shape and size of the sand grains, while the physical property parameters include the density and elastic modulus. By defining these parameters, the mass and moment of inertia of each particle can be calculated, thus achieving a preliminary definition of the physical properties of the sand grains.

[0024] When setting interaction parameters, important parameters that need to be defined for the interaction between sand grains include normal stiffness, tangential stiffness, translational friction coefficient, rolling friction coefficient, normal damping force, and tangential damping force. Normal stiffness and tangential stiffness characterize the sand grains' ability to resist deformation when they come into contact. Translational and rolling friction coefficients characterize the forces that impede relative motion during the contact process between two particles. Normal and tangential damping forces reduce the velocity of particles after impact and are also important parameters.

[0025] Regarding the interaction parameters between sand grains and other objects, the embodiments divide them into critical contact areas and non-critical contact areas.

[0026] For non-critical contact areas, such as the contact between sand grains and the surrounding ground, the embodiment directly uses a point-to-surface contact method to define the contact relationship. The advantage of this method is that it allows for convenient and quick definition of the static and kinetic friction coefficients, and the calculation is simple. The disadvantage is that the friction occurs at the particle's center of mass, without considering the particle's actual radius.

[0027] For critical contact areas, such as the contact between sand grains and a vehicle wheel, the embodiment uses a discrete element method coupled with structural surfaces to define the contact relationship. Specifically, the embodiment defines each discrete particle (sand grain) in the discrete element model as a slave contact body, and the structural surface (the critical contact area of ​​the vehicle) as the master contact body. By defining the contact relationship through the coupling of discrete elements and structural surfaces, the embodiment ensures that the forces act on the periphery of the particles rather than their center of mass when analyzing forces, thus more closely reflecting reality and improving the realism of the simulation.

[0028] After completing the modeling of sand particles and vehicles, and defining the interaction parameters, the embodiment can then use this to build a simulation model of the whole vehicle rolling over in sand, and conduct sand rolling simulation.

[0029] Furthermore, to ensure the accuracy of the simulation results, it is necessary to verify and adjust the various parameters set in the simulation model. In this embodiment, the parameters in the simulation model are adjusted and corrected through small object impact tests and simplified whole-vehicle impact tests. The small object impact test simulates the impact of objects such as small cubes on a group of sand particles to determine whether the motion and splashing patterns exhibited by the particles under external impact are similar to the motion patterns of actual sand. Based on the differences between the simulation results and the actual motion patterns, the relevant parameters of the sand particles are adjusted to optimize the simulation effect. The simplified whole-vehicle impact test considers the large computational load when directly simulating a whole vehicle. Therefore, in the simplified whole-vehicle impact test, the embodiment simplifies the representation of non-critical areas and internal non-critical structures in the whole-vehicle simulation model. For example, non-critical areas of the vehicle body are directly simulated using rigid bodies, and non-critical internal structures are deleted. Only key parameters such as the vehicle's mass, center of mass, and moment of inertia need to be consistent with the actual vehicle. Then, by comparing the simulation results and the actual motion patterns, the parameters are adjusted to optimize the model until the simulation results are consistent with the actual experimental data, resulting in an optimized whole-vehicle sand rollover simulation model.

[0030] In this embodiment, by dividing the whole vehicle simulation into critical contact areas and non-critical contact areas, the amount of calculation can be effectively simplified during the simulation process. By simulating sand particles using a discrete element model and defining the contact relationship between sand particles and the vehicle in critical areas using a discrete element coupled with structural surfaces, and calculating the force based on the geometric boundaries of the sand particles, the simulation of the interaction force in critical contact areas can be ensured while simplifying the calculation. This effectively simulates the rolling characteristics of the vehicle on sand and achieves a good balance between computational efficiency and simulation accuracy.

[0031] Furthermore, in one embodiment, constructing a discrete element model characterizing sand grains includes: Define the shape parameters and physical property parameters of the sand grains. The shape parameters include the shape and size of the sand grains, and the physical property parameters include the density and elastic modulus of the sand grains.

[0032] Specifically, in the simulation model of a vehicle rolling over in sand, accurate simulation description of the physical properties of sand particles is fundamental to ensuring the accuracy of the model. This embodiment uses a discrete element method (DEM) to represent these physical properties. In this embodiment, the simulated sand particles are set to spheres, and the particle radius can be adjusted according to the available computing resources. For the vehicle rolling over scenario, due to the large number of meshes, setting the number of sand particles too small will lead to excessively long computation times. Generally, using 10-30mm as the radius of the sand particles is sufficient to accurately represent the vehicle's rolling posture in sand. For each sand particle, its density and elastic modulus are similar to that of a small stone. Therefore, this embodiment initially sets the physical parameters of the sand particles with reference to the parameters of stones, where the density is set to... The elastic modulus is set to Based on the set parameters, the mass and moment of inertia of each sand particle can be calculated. The calculation formula is as follows:

[0033]

[0034] in, Indicates the density of sand grains. Indicates the radius of the sand grain. Indicates the volume of sand grains. This indicates the mass of the sand grains.

[0035] In this embodiment, a discrete element model is used to simulate sand grains. The particle radius is set according to the computing resources, which can improve the simulation fitting degree of the physical properties of sand grains and improve the simulation accuracy while saving computing resources.

[0036] Furthermore, in one embodiment, the interaction parameters between sand grains include normal stiffness, tangential stiffness, translational friction coefficient, rolling friction coefficient, normal damping force, and tangential damping force.

[0037] Specifically, when defining the interaction parameters between sand grains, the more important parameters include normal stiffness, tangential stiffness, translational friction coefficient, rolling friction coefficient, normal damping force, and tangential damping force. Normal and tangential stiffness characterize the strength of the particles' resistance to deformation when they come into contact. Sand itself is relatively hard, so the stiffness needs to be set slightly higher. However, since sand is generally soft, too high a stiffness would not accurately simulate the compaction characteristics of sand. The translational and rolling friction coefficients represent the forces generated at the contact surface that hinder relative motion during the contact process between two particles. The larger these coefficients are, the rougher the particle surface is, and the easier it is to generate greater friction. Normal and tangential damping forces reduce the velocity of the particles after impact. Excessive damping force can cause particles to stick together after collision, while a damping force of 0 results in a perfectly elastic collision. The above six interaction parameters were initially set based on experimental experience data in the embodiment, and further optimized to ensure that the interaction parameters conform to actual working conditions.

[0038] Furthermore, in one embodiment, the contact relationship of the key contact area is defined using a discrete element method coupled with structural surfaces, including: The discrete element model is defined as the contact body, and the structural surfaces in the key contact areas of the whole vehicle simulation model are defined as the main contact bodies.

[0039] Furthermore, in one embodiment, setting the interaction parameters further includes: For non-critical areas, the contact relationship is defined using a point-to-surface contact method.

[0040] Furthermore, in one embodiment, the critical contact area includes at least the wheel and suspension areas.

[0041] Specifically, to simplify calculations regarding the interaction parameters between sand particles and other objects, the embodiment divides the interaction into critical contact areas and non-critical contact areas. Critical contact areas include regions such as the wheels and suspension of a vehicle that directly and extensively contact the sand particles and significantly influence the vehicle's rollover posture. Non-critical contact areas include parts of the vehicle that only have limited contact with the sand particles and have a minor impact on the vehicle's rollover posture, such as the rear of the vehicle and other parts of the vehicle body that do not directly and extensively contact the sand particles, as well as the surrounding environment, such as the surrounding ground.

[0042] For non-critical contacts, the embodiment directly uses point-to-surface contact to define the contact relationship. The advantage of this is that it is convenient and quick to define the static and dynamic friction coefficients. However, the disadvantage is that the friction is applied to the center of mass of the particle and does not take into account the actual radius of the particle.

[0043] For critical contact areas, to more accurately describe and define contact relationships, this embodiment uses a discrete element method coupled with structural surfaces to define the contact relationships. Specifically, the embodiment defines discrete particles, i.e., sand grains, as slave contact bodies, and structural surfaces as master contact bodies. The forces acting in this contact method are applied to the periphery of the particle, rather than its center of mass, which better reflects actual physical laws. Simultaneously, during the calculation process, the range of discrete particles in contact can be defined; particles exceeding this range are not considered in the calculation, thus reducing computation time.

[0044] In this embodiment, by dividing the critical contact area into non-critical contact areas, the contact relationship of the non-critical contact area is defined by point-to-surface contact, while the contact relationship of the critical contact area is defined by discrete element and structural surface coupling. This significantly reduces the amount of computation while ensuring the simulation realism of the interaction forces in the critical contact area. It can effectively simulate the rolling characteristics of vehicles on sand and achieve a good balance between computational efficiency and simulation accuracy.

[0045] Furthermore, in one embodiment, Figure 2 This is a schematic diagram of the simulation model parameter optimization process in an embodiment of this application, as shown below. Figure 2 As shown, before simulating vehicle rolling on sand, the following steps are also included: S201. Conduct small object impact simulation tests on the whole vehicle sand pit roll simulation model to obtain the motion and splashing pattern of sand particles, and compare them with the real test data to determine whether they match. If they do not match, adjust the parameters and recalculate until the simulation results match the real test data. S202. After the small object impact simulation test is passed, a simplified whole vehicle model rollover simulation test is performed on the whole vehicle sand pit rollover simulation model to obtain the motion posture of the simplified whole vehicle model and the motion and splashing pattern of sand particles. The simulation results are compared with the real test data to determine whether they match. If they do not match, the parameters are adjusted and recalculated until the simulation results match the real test data. The simplified vehicle model is obtained by representing non-critical areas in the vehicle simulation model using rigid body simulation and simplifying or removing non-critical internal structures of the vehicle.

[0046] Specifically, after the initial simulation model is built, the model's parameters may deviate from the actual physical properties, requiring appropriate adjustments to the parameters to optimize the simulation model. In this embodiment, the simulation model parameter optimization includes two steps: small object impact simulation testing and simplified whole-vehicle model rollover simulation testing.

[0047] In the small object impact simulation test, this example simulates the impact of a small object on a group of sand grains to test whether the motion and splashing patterns exhibited by the particles in the simulation model are consistent with the actual experimental data of sand when subjected to external impact. This allows for the adjustment of various physical or interaction parameters of the sand grains. For example, if the simulated sand grains appear harder and less likely to splash than actual sand, the contact normal and tangential stiffness of the sand grains themselves can usually be reduced; if the object slides across the sand grains instead of causing splashing, the coefficient of friction between the sand grains and the object can be increased; if the sand grain splashing effect is poor, the normal and tangential damping forces between the sand grains can be adjusted.

[0048] In the simplified rollover simulation test of the whole vehicle model, considering the large computational load if the model used in the collision safety simulation were directly applied to the whole vehicle model, the embodiment simplified the whole vehicle model during parameter optimization. Specifically, for critical areas such as wheels and suspension, the mesh needs to be refined, and the stiffness and damping of the suspension need to be adjusted; for non-critical areas, rigid bodies are used for simulation. Furthermore, some non-critical internal structures of the vehicle can be directly deleted. It is only necessary to ensure that the key parameters such as the vehicle's mass, center of gravity, and moment of inertia are correctly set to match those of the actual vehicle.

[0049] Then, by simulating a vehicle laterally plunging into a sand pit at a speed of 30-40 kph, progressive calculations were performed. For example, initially, a calculation of 500 ms was performed, as this is when the vehicle makes contact with the sand pit and begins to roll. During these progressive calculations, the simulation model was continuously compared with the actual experimental data to adjust the parameters. Once the simulation results at each step matched the actual experimental data, longer calculation times were performed until a perfect fit was achieved, resulting in an accurate full-vehicle sand rollover simulation model suitable for simulating vehicle rollover in sand.

[0050] In this embodiment, model parameters are optimized through small object impact simulation tests and simplified vehicle model rollover simulation tests. The simplified vehicle model rollover simulation tests are performed in stages, which significantly reduces the amount of calculation and improves the efficiency of parameter optimization compared to optimizing model parameters directly during the vehicle simulation process.

[0051] Secondly, embodiments of this application also provide a vehicle sand rollover simulation device.

[0052] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the vehicle sand-rolling simulation device of this application. Figure 3 As shown, the vehicle sand-rolling simulation device includes: The model building module 301 is used to build a whole vehicle simulation model and a discrete element model representing sand particles, and to determine the key contact areas and non-key contact areas in the whole vehicle simulation model. The parameter setting module 302 is used to set interaction parameters, including interaction parameters between sand grains and interaction parameters between the discrete element model and the whole vehicle simulation model. Among them, the contact relationship between the vehicle and sand grains is defined by the coupling method of discrete element and structural surface for key contact areas, and the force is calculated based on the geometric boundary of the sand grains. The simulation model generation module 303 is used to construct a simulation model of the whole vehicle rolling over in sand based on the discrete element model, the whole vehicle simulation model and the interaction parameters. The vehicle rollover simulation module 304 is used to simulate vehicle rollover on sand based on the whole vehicle rollover simulation model.

[0053] Furthermore, in one embodiment, the model building module is used for: Define the shape parameters and physical property parameters of the sand grains. The shape parameters include the shape and size of the sand grains, and the physical property parameters include the density and elastic modulus of the sand grains.

[0054] Furthermore, in one embodiment, the parameters for interaction between sand grains in the parameter setting module include normal stiffness, tangential stiffness, translational friction coefficient, rolling friction coefficient, normal damping force, and tangential damping force.

[0055] Furthermore, in one embodiment, the parameter setting module is used for: The discrete element model is defined as the contact body, and the structural surfaces in the key contact areas of the whole vehicle simulation model are defined as the main contact bodies.

[0056] Furthermore, in one embodiment, the parameter setting module is used for: For non-critical areas, the contact relationship is defined using a point-to-surface contact method.

[0057] Furthermore, in one embodiment, the key contact area in the parameter setting module includes at least the wheel and suspension areas.

[0058] Furthermore, in one embodiment, the vehicle sand-rolling simulation device also includes a new module for: A small object impact simulation test was conducted on the whole vehicle sand pit roll simulation model to obtain the motion and splashing pattern of sand particles. The simulation results were compared with the real test data to determine whether they matched. If they did not match, the parameters were adjusted and recalculated until the simulation results matched the real test data. After the small object impact simulation test is passed, a simplified vehicle model rollover simulation test is performed on the whole vehicle sand pit rollover simulation model to obtain the motion posture of the simplified vehicle model and the motion and splashing pattern of sand particles. The simulation results are compared with the real test data to determine whether they match. If they do not match, the parameters are adjusted and recalculated until the simulation results match the real test data. The simplified vehicle model is obtained by representing non-critical areas in the vehicle simulation model using rigid body simulation and simplifying or removing non-critical internal structures of the vehicle.

[0059] The functions of each module in the above-mentioned vehicle sand rollover simulation device correspond to the steps in the above-mentioned vehicle sand rollover simulation method embodiment, and their functions and implementation processes will not be described in detail here.

[0060] Thirdly, this application provides a vehicle sand rollover simulation device, which can be a personal computer (PC), laptop computer, server or other device with data processing capabilities.

[0061] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the vehicle sand-rolling simulation device involved in the embodiments of this application. In this embodiment, the vehicle sand-rolling simulation device may include a processor, a memory, a communication interface, and a communication bus.

[0062] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0063] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the vehicle sand-rolling simulation equipment, as well as interfaces used for interconnecting the vehicle sand-rolling simulation equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0064] 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.

[0065] The processor can be a general-purpose processor, which can call the vehicle sand rollover simulation program stored in the memory and execute the vehicle sand rollover simulation method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the vehicle sand rollover simulation program is called can be referred to in the various embodiments of the vehicle sand rollover simulation method of this application, and will not be repeated here.

[0066] Those skilled in the art will understand that Figure 4 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.

[0067] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0068] The present application contains a vehicle sand rollover simulation program stored on a computer-readable storage medium, wherein when the vehicle sand rollover simulation program is executed by a processor, it implements the steps of the vehicle sand rollover simulation method described above.

[0069] The method implemented when the vehicle rolling simulation program is executed can be referred to in the various embodiments of the vehicle rolling simulation method of this application, and will not be repeated here.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 of the various embodiments of this application.

[0076] 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 simulating vehicle rolling over in sand, characterized in that, include: Construct a full vehicle simulation model and a discrete element model representing sand particles, and determine the key contact areas and non-key contact areas in the full vehicle simulation model; Interaction parameters are set, including the interaction parameters between sand grains and the interaction parameters between the discrete element model and the vehicle simulation model. The contact relationship between the vehicle and the sand grains is defined by the discrete element and structural surface coupling method for the key contact area, and the force is calculated based on the geometric boundary of the sand grains. A simulation model of a vehicle rolling over in sand is constructed based on the discrete element model, the whole vehicle simulation model, and the interaction parameters. The vehicle rolling simulation was performed based on the aforementioned whole-vehicle sand rolling simulation model.

2. The vehicle rolling simulation method in sand as described in claim 1, characterized in that, The construction of the discrete element model representing sand grains includes: Define the shape parameters and physical property parameters of the sand grains, wherein the shape parameters include the shape and size parameters of the sand grains, and the physical property parameters include the density and elastic modulus parameters of the sand grains.

3. The vehicle rolling simulation method in sand as described in claim 1, characterized in that, The parameters of interaction between sand grains include normal stiffness, tangential stiffness, translational friction coefficient, rolling friction coefficient, normal damping force, and tangential damping force.

4. The vehicle rolling simulation method in sand as described in claim 1, characterized in that, The definition of the contact relationship for the key contact area using a discrete element method coupled with structural surfaces includes: The discrete element model is defined as the slave contact body, and the structural surface in the key contact area of ​​the whole vehicle simulation model is defined as the master contact body.

5. The vehicle rolling simulation method in sand as described in claim 1, characterized in that, The setting of interaction parameters also includes: The contact relationship is defined for the non-critical areas using a point-to-surface contact method.

6. The vehicle rolling simulation method in sand as described in claim 1, characterized in that, The critical contact areas include at least the wheel and suspension areas.

7. The vehicle rolling simulation method in sand as described in claim 1, characterized in that, Before simulating vehicle rolling on sand, the following steps are also included: The vehicle sand pit rollover simulation model was subjected to small object impact simulation test to obtain the motion and splashing pattern of sand particles, and compared with the real test data to determine whether they match. If they do not match, the parameters were adjusted and recalculated until the simulation results match the real test data. After the small object impact simulation test is passed, a simplified vehicle model rollover simulation test is performed on the vehicle sand pit rollover simulation model to obtain the motion posture of the simplified vehicle model and the motion and splashing pattern of the sand particles. The results are compared with the real test data to determine whether they match. If they do not match, the parameters are adjusted and recalculated until the simulation results match the real test data. The simplified vehicle model is obtained by representing non-critical areas in the vehicle simulation model using rigid body simulation and simplifying or removing non-critical internal structures of the vehicle.

8. A vehicle sand-rolling simulation device, characterized in that, include: The model building module is used to build a whole vehicle simulation model and a discrete element model representing sand particles, and to determine the key contact areas and non-key contact areas in the whole vehicle simulation model. The parameter setting module is used to set interaction parameters, including interaction parameters between sand grains and interaction parameters between the discrete element model and the vehicle simulation model. The key contact area is defined by using a discrete element and structural surface coupling method to define the contact relationship between the vehicle and the sand grains, and the force is calculated based on the geometric boundary of the sand grains. The simulation model generation module is used to construct a simulation model of the whole vehicle rolling over in sand based on the discrete element model, the whole vehicle simulation model and the interaction parameters. The vehicle rollover simulation module is used to simulate vehicle rollover on sand based on the whole vehicle rollover simulation model.

9. A vehicle sand-rolling simulation device, characterized in that, The vehicle sand rollover simulation device includes a processor, a memory, and a vehicle sand rollover simulation program stored in the memory and executable by the processor, wherein when the vehicle sand rollover simulation program is executed by the processor, it implements the steps of the vehicle sand rollover simulation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle sand rollover simulation program, wherein when the vehicle sand rollover simulation program is executed by a processor, it implements the steps of the vehicle sand rollover simulation method as described in any one of claims 1 to 7.

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