A vehicle handling stability evaluation method, device, equipment and storage medium

Abstract

Embodiments of the present application provide a vehicle handling stability evaluation method, device, equipment and storage medium, which processes candidate handling stability working conditions of a target vehicle based on a reference handling stability working condition of the target vehicle, obtains a target handling stability working condition, so as to ensure that the target vehicle can perform handling stability simulation under the target handling stability working condition. Then, under the target handling stability working condition, vehicle state parameters corresponding to the target vehicle are set to establish a handling stability simulation model of the target vehicle, the handling stability simulation model is simulated and processed to obtain a handling stability simulation analysis result, and then the handling stability simulation analysis result is processed by using a preset evaluation system, so as to determine a handling stability evaluation result of the target vehicle. Since it is not necessary to find a target simulation result in a large number of simulation results, the efficiency of the vehicle handling stability simulation analysis process is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle simulation technology, and in particular to a whole vehicle handling stability evaluation method, device, equipment and storage medium. BACKGROUND

[0002] The main performance of the automobile includes power performance, fuel economy, braking performance, handling stability, ride comfort and passability. As the most direct driving experience of the automobile user, the performance of the handling stability is important for the whole vehicle development.

[0003] In the whole vehicle handling stability simulation condition, most of them need the lateral acceleration of the vehicle to reach a specified value to meet the test requirements. The existing technology is achieved by changing the steering wheel angle, which needs the simulation engineer to manually try repeatedly, and each time after the calculation is completed, the test measurement quantity needs to be manually processed, and whether the lateral acceleration of the vehicle reaches the specified value is observed. Moreover, since the whole vehicle handling stability simulation is a complex task in the multi-body dynamics simulation task, it is time-consuming and laborious to find the peak value and other characteristic data by manual operation, which leads to that the simulation analysis process of the handling stability occupies too much time. SUMMARY

[0004] The embodiment of the present application provides a whole vehicle handling stability evaluation method, device, equipment and storage medium, which solves the technical problem of low efficiency in the simulation analysis of the whole vehicle handling stability in the prior art.

[0005] In the first aspect, the embodiment of the present application provides a whole vehicle handling stability evaluation method, which includes: processing a candidate handling stability condition of a target vehicle based on a reference handling stability condition of the target vehicle to obtain a target handling stability condition; setting a vehicle state parameter corresponding to the target vehicle under the target handling stability condition to establish a handling stability simulation model of the target vehicle; performing simulation processing on the handling stability simulation model to obtain a handling stability simulation analysis result, and processing the handling stability simulation analysis result by using a preset evaluation system to determine a handling stability evaluation result of the target vehicle.

[0006] Preferably, the reference handling stability condition includes a reference steady-state turning condition, a reference low-speed steering return-to-straight condition, a reference angle step condition, a reference angle pulse condition, a reference hands-off stability condition and a reference medium-direction steering condition; the handling stability of the target vehicle under the reference handling stability condition meets a preset stability condition; and the candidate handling stability condition includes a candidate steady-state turning condition, a candidate low-speed steering return-to-straight condition, a candidate angle step condition, a candidate angle pulse condition, a candidate hands-off stability condition and a candidate medium-direction steering condition.

[0007] Preferably, the target handling stability working condition comprises a target steady turning working condition, a target low-speed turning return working condition, a target angle step working condition, a target angle pulse working condition, a target hands-off stability working condition, and a target medium-direction turning working condition; the target vehicle's candidate handling stability working condition is processed based on the target vehicle's reference handling stability working condition to obtain the target handling stability working condition, which comprises: judging whether the target vehicle's handling stability under the candidate steady turning working condition meets the preset stability condition based on the reference steady turning working condition; if yes, the candidate steady turning working condition is determined as the target steady turning working condition; judging whether the target vehicle's handling stability under the candidate low-speed turning return working condition meets the preset stability condition based on the reference low-speed turning return working condition; if yes, the candidate low-speed turning return working condition is determined as the target low-speed turning return working condition; converting the first actual parameter in the candidate angle step working condition based on the first reference parameter in the reference angle step working condition to obtain the target angle step working condition; converting the second actual parameter in the candidate angle pulse working condition based on the second reference parameter in the reference angle pulse working condition to obtain the target angle pulse working condition; converting the third actual parameter in the candidate hands-off stability working condition based on the third reference parameter in the reference hands-off stability working condition to obtain the target hands-off stability working condition; and converting the fourth actual parameter in the candidate medium-direction turning working condition based on the fourth reference parameter in the reference medium-direction turning working condition to obtain the target medium-direction turning working condition.

[0008] Preferably, the vehicle state parameter corresponding to the target vehicle is set under the target handling stability working condition to establish a handling stability simulation model of the target vehicle, which comprises: the vehicle state parameter corresponding to the target vehicle is set under the target steady turning working condition to establish a steady turning simulation model of the target vehicle; the vehicle state parameter corresponding to the target vehicle is set under the target low-speed turning return working condition to establish a low-speed turning return simulation model of the target vehicle; the vehicle state parameter corresponding to the target vehicle is set under the target angle step working condition to establish an angle step simulation model of the target vehicle; the vehicle state parameter corresponding to the target vehicle is set under the target angle pulse working condition to establish an angle pulse simulation model of the target vehicle; the vehicle state parameter corresponding to the target vehicle is set under the target hands-off stability working condition to establish a hands-off stability simulation model of the target vehicle; and the vehicle state parameter corresponding to the target vehicle is set under the target medium-direction turning working condition to establish a medium-direction turning simulation model of the target vehicle.

[0009] Preferably, the simulation processing of the handling stability simulation model is performed to obtain a handling stability simulation analysis result, including: writing the steady-state turning simulation model, the low-speed turning return simulation model, the angle step simulation model, the angle pulse simulation model, the hands-off stability simulation model, and the medium-direction turning simulation model into a simulation analysis software; when it is determined that a preset analysis condition is met, performing a stability simulation analysis on the steady-state turning simulation model, the low-speed turning return simulation model, the angle step simulation model, the angle pulse simulation model, the hands-off stability simulation model, and the medium-direction turning simulation model by using the simulation analysis software to obtain the handling stability simulation analysis result.

[0010] Preferably, the handling stability simulation analysis result includes a steady-state turning simulation result, a low-speed turning return simulation result, an angle step simulation result, an angle pulse simulation result, a hands-off stability simulation result, and a medium-direction turning simulation result; after the handling stability simulation analysis result is obtained, the angle pulse simulation result is further processed by filtering and time-domain frequency-domain conversion.

[0011] In a second aspect, an embodiment of the present application provides a whole vehicle handling stability evaluation device, including:

[0012] A handling stability working condition determination unit is configured to process a candidate handling stability working condition of a target vehicle based on a reference handling stability working condition of the target vehicle to obtain a target handling stability working condition.

[0013] A simulation model establishment unit is configured to set a vehicle state parameter corresponding to the target vehicle under the target handling stability working condition to establish a handling stability simulation model of the target vehicle.

[0014] An analysis and evaluation unit is configured to perform simulation processing on the handling stability simulation model to obtain a handling stability simulation analysis result, and process the handling stability simulation analysis result by using a preset evaluation system to determine a handling stability evaluation result of the target vehicle.

[0015] Preferably, the device further includes:

[0016] A user interface is provided with one or more virtual buttons for a user to perform import operations, including a vehicle model file selection button, a working condition type selection button, a solution calculation button, a result processing button, and an evaluation result generation button.

[0017] The user interface is further provided with a simulation analysis result naming box, a vehicle state parameter input box, and a simulation software version selection box for a user to perform input operations.

[0018] In a third aspect, the present application provides a vehicle handling stability evaluation device, the electronic device comprising a memory, a processor, and a code stored in the memory and executable on the processor, the processor implementing any of the embodiments of the first aspect when executing the code.

[0019] In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program, the program being executable on a processor to implement any of the embodiments of the first aspect.

[0020] The one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0021] First, based on the reference handling stability working condition of the target vehicle, the candidate handling stability working condition of the target vehicle is processed to obtain a target handling stability working condition, so that the target vehicle can perform handling stability simulation under the target handling stability working condition without subsequent modification. Then, under the target handling stability working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a handling stability simulation model of the target vehicle, the handling stability simulation model is simulated to obtain a handling stability simulation analysis result, and then the preset evaluation system is used to process the handling stability simulation analysis result, so that the handling stability evaluation result of the target vehicle can be determined. Since it is not necessary to find the target simulation result from a large number of simulation results, the efficiency of the vehicle handling stability simulation analysis process is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 The flowchart of the vehicle handling stability evaluation method in the embodiments of the present application;

[0024] Figure 2 The application diagram of the Butterworth filter in the embodiments of the present application;

[0025] Figure 3 The fitting diagram of the phase angle frequency curve in the embodiments of the present application;

[0026] Figure 4 The application diagram of the Excel calculation table in the embodiments of the present application;

[0027] Figure 5 For Figure 4 a1-a7 value in the schematic diagram of the embodiment of the application;

[0028] Figure 6 For the schematic diagram of the structure of the whole vehicle handling stability evaluation device in the embodiment of the application;

[0029] Figure 7 For Figure 6 The user interface schematic diagram of the whole vehicle handling stability evaluation device in the embodiment of the application;

[0030] Figure 8 For the schematic diagram of the structure of the whole vehicle handling stability evaluation device in the embodiment of the application;

[0031] Figure 9 For the schematic diagram of the structure of the computer readable storage medium in the embodiment of the application. DETAILED DESCRIPTION

[0032] The embodiment of the application provides a whole vehicle handling stability evaluation method, device, equipment and storage medium, and solves the technical problem of low efficiency in simulating and analyzing the whole vehicle handling stability in the prior art.

[0033] The technical scheme provided by the embodiment of the application is to solve the above technical problem, and the general idea is as follows:

[0034] Based on the reference handling stability working condition of the target vehicle, the candidate handling stability working condition of the target vehicle is processed to obtain the target handling stability working condition, so that the target vehicle can perform handling stability simulation under the target handling stability working condition without subsequent modification.

[0035] Under the target handling stability working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a handling stability simulation model of the target vehicle, and then the handling stability simulation model is simulated to obtain a handling stability simulation analysis result, and the handling stability simulation analysis result is processed by using a preset evaluation system, so that the handling stability evaluation result of the target vehicle can be determined.

[0036] In order to better understand the above technical scheme, the above technical scheme will be described in detail in combination with the drawings in the specification and the specific embodiments.

[0037] Firstly, the term "and / or" appearing in the present text is only to describe the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B together, and the existence of B alone. In addition, the character " / " in this text generally represents an "or" relationship between the front and rear associated objects.

[0038] It should be noted that the terms "first", "second", and the like in the description and claims of the application and the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein.

[0039] In a first aspect, the application provides a vehicle handling stability evaluation method, which can effectively shorten the time required for simulation analysis, shorten the simulation time of simulation personnel and the processing process of simulation test data, and improve the efficiency of the vehicle handling stability simulation analysis process.

[0040] Please refer to Figure 1 The method comprises the following steps:

[0041] Step S101: Based on the reference handling stability working condition of the target vehicle, the candidate handling stability working condition of the target vehicle is processed to obtain the target handling stability working condition.

[0042] Specifically, the reference handling stability working condition can include: reference steady-state turning working condition, reference low-speed steering return-to-straight working condition, reference angle step working condition, reference angle pulse working condition, reference hand-off stability working condition and reference medium steering working condition. The candidate handling stability working condition can include: candidate steady-state turning working condition, candidate low-speed steering return-to-straight working condition, candidate angle step working condition, candidate angle pulse working condition, candidate hand-off stability working condition and candidate medium steering working condition.

[0043] It should be noted that in the reference handling stability working condition, the handling stability of the target vehicle meets the preset stability condition. The reference handling stability working condition can be determined according to the type of the target vehicle in combination with relevant test standards in the industry. For example, for a car, the reference handling stability working condition of the car can be determined in combination with the relevant test standards of the car in the industry, such as China national standard GB-T-6323-2014. Of course, the type of the target vehicle can also be SUV (Sport Utility Vehicle, sport utility vehicle).

[0044] For how to obtain the target handling stability working condition, specifically, the following steps A1-A6 can be performed to obtain:

[0045] A1: Based on the reference steady-state turning working condition, it is judged whether the handling stability of the target vehicle in the candidate steady-state turning working condition meets the preset stability condition; if yes, the candidate steady-state turning working condition is determined as the target steady-state turning working condition.

[0046] It is difficult to convert the fifth actual parameter in the candidate steady-state turning working condition according to the fifth reference parameter in the reference steady-state turning working condition, and the candidate steady-state turning working condition includes multiple kinds. In the specific implementation process, the driving state of the target vehicle can be simulated under each candidate steady-state turning working condition. If the steering stability of the target vehicle meets the preset stability condition under a certain candidate steady-state turning working condition, the candidate steady-state turning working condition is determined as the target steady-state turning working condition.

[0047] For example, if the candidate steady-state turning working condition includes the following three kinds:

[0048] In the first candidate steady-state turning working condition, the target vehicle has an initial speed of 2.78 m / s, steers for 5-10 s, and ends at 45 s. The control throttle opening is accelerated from 45 s to 100 s.

[0049] In the second candidate steady-state turning working condition, the target vehicle has an initial speed of 4.0 m / s, steers for 2-10 s (rack length), and starts to accelerate after 20 s.

[0050] In the third candidate steady-state turning working condition, the target vehicle has an initial speed of 2.78 m / s, steers for 0-3 s, and starts to accelerate after 3 s.

[0051] The corresponding preset stability condition can be that the driving data collection accuracy and reliability of the target vehicle are good when the 15 m radius test is performed. Based on this, the driving state of the target vehicle is simulated under the above three candidate steady-state turning working conditions. If the target vehicle can quickly enter a stable state under the third candidate steady-state turning working condition, and the collected driving data are the most accurate and reliable, the second candidate steady-state turning working condition can be determined as the target steady-state turning working condition.

[0052] A2: Based on the reference low-speed turning and returning working condition, it is judged whether the steering stability of the target vehicle in the candidate low-speed turning and returning working condition meets the preset stability condition. If yes, the candidate low-speed turning and returning working condition is determined as the target low-speed turning and returning working condition.

[0053] It is difficult to convert the sixth actual parameter in the candidate low-speed turning and returning working condition according to the sixth reference parameter in the reference low-speed turning and returning working condition, and the candidate low-speed turning and returning working condition includes multiple kinds. In the specific implementation process, the driving state of the target vehicle can be simulated under each candidate low-speed turning and returning working condition. If the steering stability of the target vehicle meets the preset stability condition under a certain candidate low-speed turning and returning working condition, the candidate low-speed turning and returning working condition is determined as the target low-speed turning and returning working condition.

[0054] For example, if the candidate low-speed turning and returning working condition includes the following three kinds:

[0055] In the first candidate low-speed steering return-to-straight condition, the target vehicle travels at a speed of 7.6 m / s, the steering wheel is turned for 5-15 s, and the throttle opening is kept unchanged after 30 s.

[0056] In the second candidate low-speed steering return-to-straight condition, the target vehicle travels along a 15-meter circle at a speed of 7.78 m / s, accelerates until the lateral acceleration reaches 4 m / s 2 The steering wheel is released, and the vehicle speed is maintained at 7.78 m / s after the steering wheel is released.

[0057] In the third candidate low-speed steering return-to-straight condition, the target vehicle accelerates to a lateral acceleration of 0.4 g while the steering wheel is turned, and the acceleration is maintained for 3 s and released for 6 s.

[0058] The corresponding preset stability condition can be that the steering radius reaches 15 m without manual adjustment of the steering wheel angle. Based on this, the driving state of the target vehicle is simulated under the above three candidate low-speed steering return-to-straight conditions, and if the target vehicle can reach a steering radius of 15 m without manual adjustment of the steering wheel angle under the second candidate low-speed steering return-to-straight condition, the second candidate low-speed steering return-to-straight condition can be determined as the target low-speed steering return-to-straight condition.

[0059] In the above implementation process, simulation software such as Vios can be used for simulation.

[0060] A3: Based on the first reference parameter in the reference angle step condition, the first actual parameter in the candidate angle step condition is converted to obtain the target angle step condition.

[0061] A4: Based on the second reference parameter in the reference angle pulse condition, the second actual parameter in the candidate angle pulse condition is converted to obtain the target angle pulse condition.

[0062] A5: Based on the third reference parameter in the reference hands-off stability condition, the third actual parameter in the candidate hands-off stability condition is converted to obtain the target hands-off stability condition.

[0063] A6: Based on the fourth reference parameter in the reference medium steering condition, the fourth actual parameter in the candidate medium steering condition is converted to obtain the target medium steering condition.

[0064] It should be noted that the above steps A1-A6 can be executed in any order, and can be executed simultaneously. The target handling stability condition can include: target steady-state turning condition, target low-speed steering return-to-straight condition, target angle step condition, target angle pulse condition, target hands-off stability condition, and target medium steering condition.

[0065] Step S102: In the target handling stability working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a handling stability simulation model of the target vehicle.

[0066] For how to establish the handling stability simulation model, specifically, the following steps B1-B6 can be performed to obtain:

[0067] B1: In the target steady-state turning working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a steady-state turning simulation model of the target vehicle.

[0068] B2: In the target low-speed steering return-to-straight working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a low-speed steering return-to-straight simulation model of the target vehicle.

[0069] B3: In the target angle step working condition, the vehicle state parameters corresponding to the target vehicle are set to establish an angle step simulation model of the target vehicle.

[0070] B4: In the target angle pulse working condition, the vehicle state parameters corresponding to the target vehicle are set to establish an angle pulse simulation model of the target vehicle.

[0071] B5: In the target hands-off stability working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a hands-off stability simulation model of the target vehicle.

[0072] B6: In the target medium steering working condition, the vehicle state parameters corresponding to the target vehicle are set to establish a medium steering simulation model of the target vehicle.

[0073] It should be noted that the above steps B1-B6 can be executed in any order, and can be executed simultaneously. In the specific implementation process, a three-dimensional model of the target vehicle can be established first, and then the vehicle state parameters of the three-dimensional model are set in the handling stability working condition to establish the handling stability simulation model. The vehicle state parameters can include steering wheel angle, vehicle speed, and gear position.

[0074] The handling stability simulation model can include a steady-state turning simulation model, a low-speed steering return-to-straight simulation model, an angle step simulation model, an angle pulse simulation model, a hands-off stability simulation model, and a medium steering simulation model.

[0075] Step S103: Simulate the handling stability simulation model to obtain a handling stability simulation analysis result.

[0076] Specifically, the steady-state turning simulation model, the low-speed turning and returning simulation model, the angle step simulation model, the angle pulse simulation model, the hands-off stability simulation model, and the medium-direction turning simulation model can be written into the simulation analysis software. When it is determined that the preset analysis condition is met, the simulation analysis software is used to perform stability simulation analysis on the steady-state turning simulation model, the low-speed turning and returning simulation model, the angle step simulation model, the angle pulse simulation model, the hands-off stability simulation model, and the medium-direction turning simulation model, to obtain the handling stability simulation analysis result.

[0077] In the specific implementation process, all handling stability simulation models can be found by creating a batch processing file, such as a.bat file, and all found handling stability simulation models can be written into the batch processing file. After all handling stability simulation models are written, the performance simulation analysis model can be written into the simulation analysis software by executing the batch processing file. The simulation analysis software, such as ADAMS (Automatic Dynamic Analysis of Mechanical Systems), can be used to sequentially perform solving calculation according to the writing order in the batch processing file, so as to obtain the handling stability simulation analysis result.

[0078] The handling stability simulation analysis result can include the steady-state turning simulation result, the low-speed turning and returning simulation result, the angle step simulation result, the angle pulse simulation result, the hands-off stability simulation result, and the medium-direction turning simulation result.

[0079] As an optional implementation, after obtaining the handling stability simulation analysis result, especially after obtaining the angle pulse simulation result, the angle pulse simulation result can be further filtered and processed in time and frequency domain to smooth the passband frequency response curve in the angle pulse simulation result.

[0080] For the filtering process, in the specific implementation process, the steering wheel angle signal and the yaw rate signal in the angle pulse simulation result can be filtered by using mathematical analysis and processing software such as Matlab. The filter can use a Butterworth filter. Please refer to FIG. 6. Figure 2 As shown in FIG. 6, after being filtered by the Butterworth filter, the frequency response curve of the passband becomes smoother.

[0081] For time domain frequency domain conversion processing, in the specific implementation process, the filtered steering wheel angle signal and the yaw rate signal can be converted from time domain to frequency domain by using Fast Fourier Transform (FFT) algorithm, the resonance frequency score calculation, the phase lag angle score calculation and the resonance peak level D calculation can be used, and the final score is the average of the top 3 items, and then the amplitude frequency curve and the phase angle frequency curve can be drawn. Among them, the phase angle frequency curve can be seen from Figure 3 .

[0082] After obtaining the handling stability simulation analysis result, the performance indicators and the drawn curves under different handling stability conditions can be defined as PPT variables in powerpoint format, such as textbox variables, label variables, picture variables, table variables, etc.; then the obtained specific values of performance indicators and the drawn curve pictures are assigned to the PPT variables, so as to complete the handling stability simulation analysis report of the whole vehicle.

[0083] Step S104: using the preset evaluation system, processing the handling stability simulation analysis result to determine the handling stability evaluation result of the target vehicle.

[0084] In the specific implementation process, since there are many evaluation indicators of the handling stability condition of the whole vehicle, as shown in the following table 1, the calculation is complex, involving array calculation, time domain frequency domain conversion calculation, peak value finding calculation, etc.

[0085] Table 1. Evaluation indicators of handling stability condition of whole vehicle

[0086]

[0087] Based on this, a preset evaluation system can be established according to a large number of previous test data processing methods. And with the help of Excel calculation table and Matlab software, the handling stability simulation analysis result can be processed, so that the corresponding evaluation index value can be calculated quickly and accurately, and the evaluation index calculation of all handling stability simulation analysis results is consistent.

[0088] It should be noted that the above Excel calculation table can use a large number of array and logic processing functions, such as small, indirect, if, etc., so as to complete the evaluation index calculation of the five simulation analysis results of handling stability simulation analysis result, including steady-state turning, low-speed turning return, angle step, hand-off stability and center turning. Please refer to Figure 4-5 , the Excel calculation table can automatically assign the calculation coefficients of different vehicle indicators, automatically return the Excel curve fitting coefficients, automatically return the average value and extreme value of the data segment array data in the periodic curve, etc.

[0089] And Matlab software, solves the angle pulse simulation working condition conversion calculation problem, can quickly and accurately calculate the evaluation index value of the handling stability simulation working condition.

[0090] In a second aspect, the present application provides a vehicle handling stability evaluation device, please refer to Figure 6 As shown in the figure, the device comprises:

[0091] The handling stability working condition determination unit 601 is configured to process the candidate handling stability working condition of the target vehicle based on the reference handling stability working condition of the target vehicle, and obtain the target handling stability working condition.

[0092] The simulation model establishment unit 602 is configured to set the vehicle state parameters corresponding to the target vehicle under the target handling stability working condition, so as to establish the handling stability simulation model of the target vehicle.

[0093] The analysis and evaluation unit 603 is configured to simulate the handling stability simulation model to obtain the handling stability simulation analysis result, and process the handling stability simulation analysis result by using the preset evaluation system, so as to determine the handling stability evaluation result of the target vehicle.

[0094] As an optional implementation, the handling stability working condition determination unit 601 is specifically configured to:

[0095] Based on the reference steady-state turning working condition, it is determined whether the handling stability of the target vehicle under the candidate steady-state turning working condition meets the preset stability condition; if yes, the candidate steady-state turning working condition is determined as the target steady-state turning working condition; based on the reference low-speed turning and returning working condition, it is determined whether the handling stability of the target vehicle under the candidate low-speed turning and returning working condition meets the preset stability condition; if yes, the candidate low-speed turning and returning working condition is determined as the target low-speed turning and returning working condition; based on the first reference parameter in the reference angle step working condition, the first actual parameter in the candidate angle step working condition is converted to obtain the target angle step working condition; based on the second reference parameter in the reference angle pulse working condition, the second actual parameter in the candidate angle pulse working condition is converted to obtain the target angle pulse working condition; based on the third reference parameter in the reference hand-off stability working condition, the third actual parameter in the candidate hand-off stability working condition is converted to obtain the target hand-off stability working condition; based on the fourth reference parameter in the reference medium-direction turning working condition, the fourth actual parameter in the candidate medium-direction turning working condition is converted to obtain the target medium-direction turning working condition.

[0096] As an optional implementation, the simulation model establishment unit 602 is specifically configured to:

[0097] Under the target steady-state turning condition, the vehicle state parameters corresponding to the target vehicle are set to establish a steady-state turning simulation model of the target vehicle; under the target low-speed steering return condition, the vehicle state parameters corresponding to the target vehicle are set to establish a low-speed steering return simulation model of the target vehicle; under the target angular step condition, the vehicle state parameters corresponding to the target vehicle are set to establish an angular step simulation model of the target vehicle; under the target angular pulse condition, the vehicle state parameters corresponding to the target vehicle are set to establish an angular pulse simulation model of the target vehicle; under the target release stability condition, the vehicle state parameters corresponding to the target vehicle are set to establish a release stability simulation model of the target vehicle; under the target center steering condition, the vehicle state parameters corresponding to the target vehicle are set to establish a center steering simulation model of the target vehicle.

[0098] As an optional implementation, the analysis and evaluation unit 603 is specifically used for:

[0099] The steady-state turning simulation model, low-speed steering return simulation model, angular step simulation model, angular pulse simulation model, release stability simulation model, and mid-range steering simulation model are written into the simulation analysis software. When the preset analysis conditions are met, the simulation analysis software is used to perform stability simulation analysis on the steady-state turning simulation model, low-speed steering return simulation model, angular step simulation model, angular pulse simulation model, release stability simulation model, and mid-range steering simulation model to obtain the handling stability simulation analysis results.

[0100] As an optional implementation, the device further includes:

[0101] The post-processing unit 604 is used to filter the diagonal pulse simulation results and perform time-domain-frequency-domain conversion.

[0102] As an optional implementation, the device further includes:

[0103] The user interface has one or more virtual buttons for users to perform import operations. The virtual buttons include a vehicle model file selection button, a working condition type selection button, a solution calculation button, a result processing button, and an evaluation result generation button.

[0104] The user interface also includes a simulation analysis result naming box, a vehicle status parameter input box, and a simulation software version selection box for users to perform input operations.

[0105] In the specific implementation process, programming software, such as C#, can be used to develop a user interface to enable users to quickly perform simulations, calculate indicators, and compile analysis reports.

[0106] like Figure 7As shown, the whole vehicle model file button can be configured as a whole vehicle Adams model selection entry for the whole vehicle handling stability simulation; the calculation condition path button can be configured as a calculation condition template file selection entry for the whole vehicle handling stability simulation; the simulation result file prefix input box can set the result file prefix of the whole vehicle handling stability simulation result output; the condition selection box can select the current condition of the whole vehicle handling stability simulation; the vehicle definition input box can select the passenger car or military vehicle type definition; the vehicle speed input box can set the current vehicle speed of the whole vehicle handling stability simulation; the gear input box can set the current gear of the whole vehicle handling stability simulation; and the steering wheel rotation angle input box can set the current steering wheel rotation angle of the whole vehicle handling stability simulation.

[0107] In addition, the function buttons of "structure solving file", "solving calculation", "result processing", "running Matlab", and "generating report" can also be set. In order to better understand how to use the device, the following brief description is made as follows:

[0108] The first step is to run the program, enter the "whole vehicle handling stability simulation automation" user interface through the multi-body dynamics menu, select the path of the "whole vehicle model file", select the calculation condition result storage path, and set the result prefix name.

[0109] The second step is to select the handling stability conditions that need to be simulated from the "condition" according to the user interface menu, for example: steady-state rotation condition, low-speed steering return-to-normal condition, angle step condition, angle pulse condition, hand-off stability condition, and center steering condition.

[0110] The third step is to set the relevant vehicle state parameters for the specific condition, for example: setting the "steering wheel rotation angle", "vehicle speed", "gear", etc.

[0111] The fourth step is to click "structure solving file" to establish the corresponding handling stability simulation model, and then click "solving calculation" to perform simulation calculation.

[0112] The fifth step is to click "result processing", and the user interface will call the Excel calculation table to calculate the evaluation results. If there are steady-state rotation conditions and angle pulse conditions, "running Matlab" needs to be clicked for further calculation.

[0113] The sixth step is to click "generate report" to generate a standard report and obtain the corresponding handling stability simulation analysis results.

[0114] Since the whole vehicle handling stability evaluation method introduced in the embodiment is the method adopted by the whole vehicle handling stability evaluation device in the embodiment, based on the whole vehicle handling stability evaluation method introduced in the embodiment, the person skilled in the art can understand the specific implementation mode of the method of the embodiment and various forms of changes, so the method how to implement the method in the embodiment is not introduced in detail. As long as the person skilled in the art implements the method adopted by the whole vehicle handling stability evaluation device in the embodiment, it belongs to the scope of the present application.

[0115] In a third aspect, based on the same inventive concept, the embodiment of the present application provides a whole vehicle handling stability evaluation device.

[0116] Reference Figure 8 As shown in the figure, the whole vehicle handling stability evaluation device provided by the embodiment of the present application comprises a memory 801, a processor 802 and a code stored in the memory and executable on the processor 802, and the processor 802 implements any embodiment of the preceding whole vehicle handling stability evaluation method when executing the code.

[0117] Among them, Figure 8 In the embodiment, a bus architecture (represented by bus 800) can include any number of interconnected buses and bridges, and bus 800 links various circuits including one or more processors represented by processor 802 and memory represented by memory 801. Bus 800 can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and therefore, they will not be further described herein. Bus interface 805 provides an interface between bus 800 and receiver 803 and transmitter 804. Receiver 803 and transmitter 804 can be the same element, i.e. transceiver, which provides a unit for communicating with various other devices on a transmission medium. Processor 802 is responsible for managing bus 800 and general processing, while memory 801 can be used to store data used by processor 802 in performing operations.

[0118] In a fourth aspect, based on the same inventive concept, as Figure 9 As shown in the figure, the embodiment provides a computer readable storage medium 900, which stores a computer program 901, and the program 901 is executed by a processor to implement any embodiment of the preceding whole vehicle handling stability evaluation method in the first aspect.

[0119] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0120] The application is based on the reference handling stability working condition of the target vehicle, and the candidate handling stability working condition of the target vehicle is processed to obtain the target handling stability working condition, so that the target vehicle can be simulated in the target handling stability working condition without subsequent modification. Then, the vehicle state parameters corresponding to the target vehicle are set in the target handling stability working condition to establish a handling stability simulation model of the target vehicle, the handling stability simulation model is simulated to obtain a handling stability simulation analysis result, and the handling stability simulation analysis result is processed by using a preset evaluation system to determine the handling stability evaluation result of the target vehicle. Since the target simulation result does not need to be searched in a large number of simulation results, the efficiency of the whole vehicle handling stability simulation analysis process is effectively improved.

[0121] Those skilled in the art will appreciate that embodiments of the application can be provided as methods, systems, or computer products. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) having computer-usable program code embodied in the medium.

[0122] The application is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer instructions. These computer instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more flows and / or blocks.

[0123] These computer instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more flows and / or blocks.

[0124] These computer instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 These computer instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 These computer instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0125] While the preferred embodiments of the application have been described, it should be apparent that further modifications and improvements can be made by those skilled in the art without departing from the scope of the application. Therefore, the scope of the application should be determined by the following claims, including any equivalents thereto.

[0126] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method for evaluating vehicle handling stability, characterized by, The method comprises the following steps: processing candidate handling stability conditions of the target vehicle based on reference handling stability conditions of the target vehicle to obtain target handling stability conditions; setting vehicle state parameters corresponding to the target vehicle under the target handling stability conditions to establish a handling stability simulation model of the target vehicle, comprising: establishing a three-dimensional model of the target vehicle, and setting vehicle state parameters of the three-dimensional model under the handling stability conditions to establish the handling stability simulation model, wherein the vehicle state parameters comprise steering wheel angle, vehicle speed and gear position; the handling stability simulation model comprises a steady-state turning simulation model, a low-speed steering return simulation model, an angle step simulation model, a hand-off stability simulation model and a medium-direction steering simulation model; performing simulation processing on the handling stability simulation model to obtain handling stability simulation analysis results, comprising: creating a batch processing file, finding all handling stability simulation models, and writing all found handling stability simulation models into the batch processing file; after all handling stability simulation models are written, executing the batch processing file to write the performance simulation analysis model into the simulation analysis software, so that the simulation analysis software sequentially performs solving calculation according to the writing order in the batch processing file to obtain the handling stability simulation analysis results; and using a preset evaluation system to process the handling stability simulation analysis results to determine the handling stability evaluation results of the target vehicle.

2. The method of claim 1, wherein the reference handling stability conditions comprise: reference steady-state turning conditions, reference low-speed steering return conditions, reference angle step conditions, reference angle pulse conditions, reference hand-off stability conditions and reference medium-direction steering conditions; under the reference handling stability conditions, the handling stability of the target vehicle meets a preset stability condition; the candidate handling stability conditions comprise: candidate steady-state turning conditions, candidate low-speed steering return conditions, candidate angle step conditions, candidate angle pulse conditions, candidate hand-off stability conditions and candidate medium-direction steering conditions.

3. The method of claim 2, wherein the target handling stability conditions comprise: target steady-state turning conditions, target low-speed steering return conditions, target angle step conditions, target angle pulse conditions, target hand-off stability conditions and target medium-direction steering conditions; processing the candidate handling stability conditions of the target vehicle based on the reference handling stability conditions of the target vehicle to obtain the target handling stability conditions comprises: based on the reference steady-state turning conditions, determining whether the handling stability of the target vehicle under the candidate steady-state turning conditions meets the preset stability condition; if yes, the candidate steady-state turning condition is determined as the target steady-state turning condition; based on the reference low-speed steering return conditions, determining whether the handling stability of the target vehicle under the candidate low-speed steering return conditions meets the preset stability condition; if yes, the candidate low-speed steering return condition is determined as the target low-speed steering return condition. convert a first actual parameter in the candidate angle step working condition based on a first reference parameter in the reference angle step working condition to obtain a target angle step working condition; convert a second actual parameter in the candidate angle pulse working condition based on a second reference parameter in the reference angle pulse working condition to obtain a target angle pulse working condition; convert a third actual parameter in the candidate hand-off stability working condition based on a third reference parameter in the reference hand-off stability working condition to obtain a target hand-off stability working condition; convert a fourth actual parameter in the candidate forward turning working condition based on a fourth reference parameter in the reference forward turning working condition to obtain a target forward turning working condition.

4. The method of claim 3, wherein, The setting of the vehicle state parameters corresponding to the target vehicle in the target handling stability working condition to establish a handling stability simulation model of the target vehicle comprises: The setting of the vehicle state parameters corresponding to the target vehicle in the target steady-state turning working condition to establish a steady-state turning simulation model of the target vehicle; The setting of the vehicle state parameters corresponding to the target vehicle in the target low-speed turning and returning working condition to establish a low-speed turning and returning simulation model of the target vehicle; The setting of the vehicle state parameters corresponding to the target vehicle in the target angle step working condition to establish an angle step simulation model of the target vehicle; The setting of the vehicle state parameters corresponding to the target vehicle in the target angle pulse working condition to establish an angle pulse simulation model of the target vehicle; The setting of the vehicle state parameters corresponding to the target vehicle in the target hand-off stability working condition to establish a hand-off stability simulation model of the target vehicle; The setting of the vehicle state parameters corresponding to the target vehicle in the target forward turning working condition to establish a forward turning simulation model of the target vehicle.

5. The method of claim 4, wherein, The simulation processing of the handling stability simulation model to obtain a handling stability simulation analysis result comprises: writing the steady-state turning simulation model, the low-speed turning and returning simulation model, the angle step simulation model, the angle pulse simulation model, the hand-off stability simulation model, and the forward turning simulation model into a simulation analysis software; when it is judged that a preset analysis condition is met, performing stability simulation analysis on the steady-state turning simulation model, the low-speed turning and returning simulation model, the angle step simulation model, the angle pulse simulation model, the hand-off stability simulation model, and the forward turning simulation model by using the simulation analysis software to obtain the handling stability simulation analysis result.

6. The method of claim 5, wherein the handling stability simulation analysis result comprises: steady-state turning simulation results, low-speed turning and returning simulation results, angle step simulation results, angle pulse simulation results, hand-off stability simulation results, and forward turning simulation results. after the handling stability simulation analysis result is obtained, the method further comprises: filtering the angle pulse simulation results and time-domain frequency-domain conversion processing. ​ 7. A vehicle handling stability evaluation device, characterized in that, ​ The manipulation stability working condition determining unit is configured to process the candidate manipulation stability working condition of the target vehicle based on a reference manipulation stability working condition of the target vehicle, to obtain a target manipulation stability working condition; The simulation model establishing unit is configured to set vehicle state parameters of the target vehicle under the target manipulation stability working condition, to establish a manipulation stability simulation model of the target vehicle, including: establishing a three-dimensional model of the target vehicle, setting vehicle state parameters of the three-dimensional model under the manipulation stability working condition, to establish the manipulation stability simulation model, wherein the vehicle state parameters include a steering wheel angle, a vehicle speed, and a gear position; and the manipulation stability simulation model includes a steady-state turning simulation model, a low-speed turning return simulation model, an angle step simulation model, a hands-off stability simulation model, and a medium-direction turning simulation model; The analysis and evaluation unit is configured to perform simulation processing on the manipulation stability simulation model, to obtain a manipulation stability simulation analysis result, including: creating a batch processing file, finding all the manipulation stability simulation models, and writing all the found manipulation stability simulation models into the batch processing file; after all the manipulation stability simulation models are written, executing the batch processing file to write the performance simulation analysis model into a simulation analysis software, so that the simulation analysis software sequentially performs solving calculation according to the writing order in the batch processing file, to obtain the manipulation stability simulation analysis result; and processing the manipulation stability simulation analysis result by using a preset evaluation system, to determine a manipulation stability evaluation result of the target vehicle.

8. The apparatus of claim 7, wherein, The device further comprises: The user interface is provided with one or more virtual buttons for the user to perform import operations, including a vehicle model file selection button, a working condition type selection button, a solving calculation button, a result processing button, and an evaluation result generation button; The user interface is further provided with a simulation analysis result naming box, a vehicle state parameter input box, and a simulation software version selection box for the user to perform input operations.

9. A vehicle handling stability evaluation device comprising a memory, a processor, and a code stored on the memory and executable on the processor, characterized in that, The processor implements the method of any one of claims 1-6 when executing the code.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program implements the method of any one of claims 1-6 when executed by the processor.

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