Simulation Method, Device, Electronic Device and Storage Medium for Vehicle Driving Parameters

Abstract

This application is applicable to the field of computer simulation technology, and provides a method for simulating vehicle driving parameters, a device, an electronic device, and a storage medium, including: obtaining the kinematic parameters of each effective wheel of a target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel; simulating the target speed parameters of the target vehicle according to the kinematic parameters of each effective wheel. Based on the kinematic parameters of each wheel of the target vehicle, simulating the target driving parameters of the target vehicle not only conforms to the physical principles of the vehicle, but also avoids a large amount of calculations for simulating the target vehicle using dynamic parameters, solving the problem of excessive consumption of computing resources in the prior art.

Description

Technical Field

[0001] This application belongs to the field of computer simulation technology, and particularly relates to a method, apparatus, electronic device, and storage medium for simulating vehicle driving parameters. Background Art

[0002] In occasions such as computer simulation of vehicles, teaching electronic demonstrations, or games, sometimes it is desired to simulate the driving of a target vehicle. The usual approach is to analyze the dynamic parameters of each component of the vehicle, and finally obtain the driving parameters of the vehicle, such as speed parameters. These simulations often need to conform to physical principles as much as possible, but there is a problem of excessive consumption of computing resources. Summary of the Invention

[0003] Embodiments of this application provide a method, apparatus, electronic device, and storage medium for simulating vehicle driving parameters, which can solve at least some of the above problems.

[0004] In a first aspect, embodiments of this application provide a method for simulating vehicle driving parameters, including:

[0005] Obtaining the kinematic parameters of each effective wheel of the target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel;

[0006] Simulating the target speed parameter of the target vehicle according to the kinematic parameters of each effective wheel.

[0007] It should be understood that the vehicle driving simulation method provided by the embodiments of this application is based on the kinematic parameters of each effective wheel of the target vehicle. The kinematic parameters include the translational speed and rotational speed of each effective wheel, and simulate the target driving parameters of the target vehicle, avoiding a large amount of calculations for simulating the target vehicle using dynamic parameters, solving the problem of excessive consumption of computing resources in the prior art. Since it is based on the kinematic parameters of effective wheels, wheels with insufficient power supply to the vehicle are excluded, which is more in line with actual physical principles.

[0008] In a second aspect, embodiments of this application provide a device for simulating vehicle driving parameters, including:

[0009] A kinematic parameter acquisition module, configured to obtain the kinematic parameters of each effective wheel of the target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel;

[0010] A target driving parameter simulation module, configured to simulate the target speed parameter of the target vehicle according to the kinematic parameters of each effective wheel.

[0011] In a third aspect, embodiments of this application provide an electronic device, including:

[0012] A memory, a processor, and a computer program stored in the memory and executable on the processor, where when the computer program is executed by the processor, the method steps described in the first aspect above are implemented.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, including: the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in the first aspect above are implemented.

[0014] In a fifth aspect, an embodiment of the present application provides a computer program product, and when the computer program product runs on an electronic device, the electronic device is caused to execute the method steps described in the first aspect above.

[0015] It can be understood that for the beneficial effects of the second to fifth aspects above, reference can be made to the relevant descriptions in the first aspect above, and details are not described herein again. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings according to these drawings without creative efforts.

[0017] Figure 1 It is a schematic flowchart of a method for simulating vehicle driving parameters provided by an embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of the decomposition of wheel movement provided by an embodiment of the present application;

[0019] Figure 3 It is a schematic structural diagram of a device for simulating vehicle driving parameters provided by an embodiment of the present application;

[0020] Figure 4 It is a schematic structural diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are put forward in order to thoroughly understand the embodiments of the present application. However, those skilled in the art should understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0022] It should be understood that, as used in the specification of this application and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their groups.

[0023] It should also be understood that the term "and / or" as used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if [the described condition or event] is detected" may be construed, depending on the context, as meaning "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]".

[0025] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are only used for differentiating descriptions and should not be construed as indicating or implying relative importance.

[0026] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0027] In situations such as computer simulations of vehicles, teaching electronic demonstrations, or games, etc., sometimes it is desirable to simulate the driving of a target vehicle. The usual approach is to analyze the dynamic parameters of each component of the vehicle, and finally obtain the driving parameters of the vehicle, such as speed parameters.

[0028] The applicant of this application has found that simulating the vehicle speed requires considering parameters including but not limited to the dynamic characteristics of each wheel, the dynamic characteristics of the engine, and the transmission mechanism between the wheels. For a vehicle model based on dynamic parameters, its modeling and calculation of driving parameters are very complex, and there is a problem of excessive consumption of computing resources.

[0029] To illustrate the technical solution proposed in this application, specific embodiments will be used for illustration below.

[0030] The simulation method of vehicle driving parameters proposed in the embodiments of this application will be described below. This simulation method of vehicle driving parameters is applied to an electronic device, which can be a computing device such as a robot, a vehicle control device, a desktop computer, a notebook, a handheld computer, and a cloud server. The electronic device is used to simulate the driving of a vehicle and can be applied to scenarios such as vehicle simulation, electronic display, game simulation, and vehicle control.

[0031] Figure 1 The simulation method of vehicle driving parameters provided in the embodiments of this application is shown, which is applied to the above-mentioned electronic device and can be implemented by the software and / or hardware of the electronic device. As Figure 1 shown, this method includes steps S110 and S120. The specific implementation principles of each step are as follows:

[0032] S110, obtain the kinematic parameters of each effective wheel of the target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel.

[0033] Among them, an effective wheel refers to a wheel that can provide effective power for the vehicle.

[0034] In some embodiments, it is possible to determine whether a wheel is an effective wheel by detecting whether the wheel slips or is suspended. Specifically, it is possible to determine whether the wheel slips or is suspended by detecting the speed difference between the two wheels on both sides. If it is determined that the wheel slips or is suspended, the slipping or suspended wheel is set as an ineffective wheel, and the other wheels are effective wheels.

[0035] In some embodiments of this application, it is also possible to determine whether the vehicle is suspended through collision detection and determine whether the vehicle slips through friction detection.

[0036] In some embodiments, the target vehicle can be a virtual vehicle model of a computer model; it can also be an entity vehicle, a train, or a robot with wheels.

[0037] In some embodiments, the number of wheels of the target vehicle can be one or more. The kinematic parameters of the wheels include but are not limited to parameters such as the speed, traveling direction, and rate of the wheels.

[0038] In some embodiments, the electronic device acquires the kinematic parameters of each wheel of the target vehicle. Specifically, it may sample the virtual vehicle model at a sampling interval to acquire the kinematic parameters of each wheel at the current sampling moment; it may also acquire the kinematic parameters of each wheel in the current frame of the virtual vehicle model; or it may acquire the kinematic parameters of each current wheel of the actual vehicle in real time, such as receiving a transmitter instruction to obtain the wheel speed.

[0039] In some embodiments, each wheel may be an effective wheel. An effective wheel is a wheel that is in contact with the ground and does not slip or hang. That is, a wheel that can provide effective power for the vehicle to travel.

[0040] In some embodiments, the kinematic parameters may include the speed of the wheel, specifically the translational speed and the rotational speed of the wheel.

[0041] In some specific examples, as Figure 2 shown, acquiring the kinematic parameters of each wheel 220 of the target vehicle 210 includes: for each effective wheel of the target vehicle, in the direction of the line connecting the wheel centroid 221 and the target vehicle centroid 211, decomposing the movement direction 230 of the effective wheel into two components, a translational component 231 (denoted as K) and a rotational component 232 (denoted as L); when the rotational speed of the effective wheel is R, the translational speed of the effective wheel is KR, and the rotational speed of the effective wheel is LR; taking the translational speed KR and the rotational speed LR as the kinematic parameters of the effective wheel.

[0042] Among them, translation, also known as parallel translation, is one of the most basic motions of a rigid body. Rotation is one of the most basic forms of mechanical motion. On a moving object, except for the points on the rotation axis, all other points perform circular motions with different sizes around the same rotation axis, and this kind of motion is called "rotation".

[0043] Since the speed parameters of a vehicle not only include the driving speed of the vehicle but also the direction, the simulation of the driving parameters of the vehicle mainly focuses on the simulation of the speed parameters of the vehicle.

[0044] S120, simulate the target speed parameters of the target vehicle according to the kinematic parameters of each effective wheel.

[0045] In some embodiments, the target driving parameters of the target vehicle include a target translational speed V c and a target rotational speed ω c . Determining the target driving parameters of the target vehicle according to the kinematic parameters of each wheel includes: using the formula to calculate the target translational speed; using the formula Calculate the target rotational speed; where N is the number of effective wheels.

[0046] It should be noted that when the target vehicle is equipped with 4 wheels and all 4 wheels are in contact with the road surface and can provide power for the vehicle to travel, the number of effective wheels N is 4. It should be noted that when a wheel is suspended or slipping, that is, the wheel cannot provide effective power for the vehicle, the suspended or slipping wheel needs to be set as invalid. At this time, N can be less than the number of wheels configured for the target vehicle, that is, less than 4.

[0047] It should be pointed out that for Mecanum wheels, the forward direction of the wheel is 45 degrees obliquely forward. The Mecanum wheel is based on the principle of a central wheel with many axles located around the periphery of the wheel. These angled peripheral axles convert a part of the wheel's turning force into a wheel normal force. Depending on the direction and speed of each wheel, the final synthesis of these forces generates a resultant force vector in any required direction, thus ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. The Mecanum wheel has a compact structure and flexible movement and is an omnidirectional wheel. The rest of the principle is the same as the above example and will not be elaborated.

[0048] It can be understood that in the prior art, the simulation of vehicle speed needs to consider parameters including but not limited to the dynamic characteristics of each wheel, the dynamic characteristics of the engine, and the transmission mechanism between the wheels. Based on the vehicle model with dynamic parameters, its modeling and calculation of driving parameters are very complex, and there is a problem of excessive consumption of computing resources.

[0049] The vehicle driving simulation method provided by the embodiments of the present application is based on the kinematic parameters of each effective wheel of the target vehicle. The kinematic parameters include the translational speed and rotational speed of each effective wheel, and simulate the target driving parameters of the target vehicle, avoiding a large amount of calculations for simulating the target vehicle using dynamic parameters, solving the problem of excessive consumption of computing resources in the prior art. Since it is based on the kinematic parameters of effective wheels, the wheels that provide insufficient power for the vehicle are excluded, which is more in line with the actual physical principle.

[0050] In the above Figure 2 Based on the embodiment of the vehicle driving parameter simulation method shown above, the simulation method further includes: obtaining the load parameter of the target vehicle. Obtaining the historical driving parameter of the target vehicle at the previous sampling moment. Determining the value range of the target driving parameter at the current sampling moment according to the load parameter, the historical driving parameter, and the sampling interval. If the target driving parameter exceeds the value range, the value range is used to correct the target driving parameter.

[0051] In some examples, in the scenario of a virtual vehicle model, the kinematic parameters of the wheels can be obtained every other frame or multiple frames. The time interval of one frame or multiple frames is the sampling interval. In the scenario of a physical vehicle, a preset time interval can be used as the sampling interval to obtain the kinematic parameters of the wheels according to the engine parameters, or sensors can be used to obtain the kinematic parameters of the wheels.

[0052] In some embodiments, the load parameter can be a parameter such as the mass of the vehicle or the resistance it receives.

[0053] In some specific examples, the maximum translational acceleration amax and the maximum rotational acceleration αmax of the vehicle can be defined according to the vehicle load.

[0054] The historical driving parameters include the historical translational speed V h and the historical rotational speed ω h .

[0055] According to the load parameter, the historical driving parameter, and the sampling interval, determine the value range of the target driving parameter at the current sampling moment, including: the range of the target translational speed of the target driving parameter is the translational speed interval [V h -amaxΔt, V h +amaxΔt]; the range of the target rotational speed of the target driving parameter is the rotational speed interval [ω h -αmaxΔt, ω h +αmaxΔt].

[0056] If the target driving parameter exceeds the value range, then correct the target driving parameter using the value range, including:

[0057] If the target translational speed V c exceeds the range of the translational speed interval, then update the target translational speed V with the value closest to the target translational speed V c within the translational speed interval. c .

[0058] If the target rotational speed ω c exceeds the range of the rotational speed interval, then update the target rotational speed ω with the value closest to the target rotational speed ω c within the rotational speed interval. c .

[0059] For example, if the target translational speed V c exceeds the maximum value of the range of the translational speed interval, then assign the maximum value of the translational speed interval [V h -amaxΔt, V h +amaxΔt] to the target translational speed Vc , to update the target translational velocity V c .

[0060] For example, if the target rotational velocity ω c exceeds the minimum value of the range of the rotational velocity interval, then the maximum value of the rotational velocity interval [ω h -αmaxΔt, ω h +αmaxΔt] is assigned to the target rotational velocity ω c , to update the target rotational velocity ω c .

[0061] Other specific implementation manners can be obtained by analogy and will not be elaborated here.

[0062] It should be understood that since Figure 1 the simulation method of the vehicle driving parameters shown is based on a kinematic method for simulation. That is, it is assumed that the engine can instantaneously respond to changes in control commands. However, in reality, affected by the load, the engine requires a certain time to accelerate, and this simulation method may cause the vehicle to accelerate and decelerate in an unnatural manner.

[0063] To simulate the influence of the load on acceleration and deceleration in reality, the maximum translational acceleration amax and the maximum rotational acceleration αmax can be defined. Each time the target vehicle speed at the current sampling moment is updated, the sampling interval from the last update time is Δt, the original historical translational velocity is V h , and the historical rotational velocity is ω h . When h the new speed range is [V h -amaxΔt, V h +amaxΔt]; the rotational velocity range is [ω h -αmaxΔt, ω

[0064] Based on the above Figure 2 embodiment of the simulation method of the vehicle driving parameters shown, the simulation method further includes: performing collision detection on each wheel; if it is detected that any wheel does not collide with other objects, then setting the wheel as an invalid wheel.

[0065] In some examples, in the scenario of the virtual vehicle model, collision detection can be achieved by detecting the overlapping degree between the wheel and the road surface. In the scenario of the physical vehicle, sensors can be used to obtain the detection result of whether the vehicle is in contact with the ground.

[0066] It should be understood that sometimes the vehicle may tilt, roll over, or even capsize during the simulation, causing the wheels to leave the ground. To simulate the dynamic situation in such cases, collision detection is performed on the outside of the wheels. When the collision detection determines that a wheel does not collide with other objects, the wheel is considered to be suspended. At this time, when calculating the translational speed / rotational speed of the vehicle, this wheel is set as an invalid wheel, that is, this wheel is skipped (as if this wheel does not exist). By dealing with the situation of the wheel leaving the ground in this way, it is possible to better simulate the special situations where the vehicle tilts, rolls over, or even capsizes during driving, resulting in the wheels leaving the ground.

[0067] Based on the above Figure 2 On the basis of the embodiment of the method for simulating vehicle driving parameters shown above, the simulation method further includes: performing friction detection between each wheel and the ground; if it is detected that the friction coefficient of any wheel with the ground is less than a preset threshold, then the wheel is set as an invalid wheel.

[0068] In some examples, in the scenario of a virtual vehicle model, the friction detection can be achieved by obtaining the damping parameters between the wheel and the road surface. For example, in a virtual scenario, if the road surface under a certain wheel is set as an ice surface, the friction coefficient can be determined by obtaining the damping coefficient of this road surface to determine whether the friction coefficient is less than the preset threshold. In the scenario of a physical vehicle, sensors can be used to obtain the detection result of the friction coefficient between the vehicle and the ground.

[0069] It can be understood that if a certain wheel is on a surface that cannot provide power, such as slipping on an ice surface. The method provided in this embodiment can also be used for simulation to make the driving parameters of the vehicle closer to the real state.

[0070] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0071] Corresponding to the above Figure 2 The method for simulating vehicle driving parameters shown above Figure 3 Shown is a simulation device M100 for vehicle driving parameters provided by an embodiment of the present application, including:

[0072] A kinematic parameter acquisition module M110, configured to acquire the kinematic parameters of each effective wheel of the target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel.

[0073] A target driving parameter simulation module M120, configured to simulate the target speed parameters of the target vehicle according to the kinematic parameters of each effective wheel.

[0074] Optionally, the kinematic parameter acquisition module is used to acquire the kinematic parameters of each effective wheel of the target vehicle, specifically: for each effective wheel of the target vehicle, in the direction of the line connecting the centroid of the effective wheel and the centroid of the target vehicle, decompose the movement direction of the effective wheel into a translational component K and a rotational component L; when the rotational speed of the effective wheel is R, the translational speed of the effective wheel is KR, and the rotational speed of the effective wheel is LR; take the translational speed KR and the rotational speed LR as the kinematic parameters of the wheel.

[0075] Optionally, the target driving parameter simulation module is used to determine the target driving parameters of the target vehicle according to the kinematic parameters of each effective wheel, specifically: the target driving parameters of the target vehicle include a target translational speed V c and a target rotational speed ω c ; use the formula to calculate the target translational speed; use the formula to calculate the target rotational speed; where N is the number of effective wheels.

[0076] Optionally, the simulation device further includes a parameter correction module, which is used to acquire the load parameter of the target vehicle; acquire the historical driving parameter of the target vehicle at the previous sampling moment; determine the value range of the target driving parameter at the current sampling moment according to the load parameter, the historical driving parameter and the sampling interval; if the target driving parameter exceeds the value range, correct the target driving parameter using the value range.

[0077] The parameter correction module is specifically used for: the load parameter includes a maximum translational acceleration amax and a maximum rotational acceleration αmax; the historical driving parameter includes a historical translational speed V h and a historical rotational speed ω h ; determine the value range of the target driving parameter at the current sampling moment according to the load parameter, the historical driving parameter and the sampling interval, including: the range of the target translational speed of the target driving parameter is the translational speed interval [V h -amaxΔt, V h +amaxΔt]; the range of the target rotational speed of the target driving parameter is the rotational speed interval [ω h -αmaxΔt, ω h +αmaxΔt]; if the target driving parameter exceeds the value range, correct the target driving parameter using the value range, including: if the target translational speed V c exceeds the range of the translational speed interval, update the target translational speed V with the value closest to the target translational speed V c within the translational speed interval c; If the target rotational speed ω c exceeds the range of the rotational speed interval, then the value closest to the target rotational speed ω within the rotational speed interval is used to update the target rotational speed ω c . c .

[0078] Optionally, the device further includes a collision handling module for performing collision detection on each wheel; if it is detected that any wheel does not collide with other objects, the wheel is set as an invalid wheel.

[0079] Optionally, the device further includes a friction handling module for performing friction detection between each wheel and the ground; if it is detected that the friction coefficient between any wheel and the ground is less than a preset threshold, the wheel is set as an invalid wheel.

[0080] It can be understood that the various implementation manners and combinations of implementation manners and their beneficial effects in the above embodiments are equally applicable to this embodiment and will not be elaborated here.

[0081] Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 4 shown, the electronic device D10 of this embodiment includes: at least one processor D100 ( Figure 4 only one is shown in the figure), a processor, a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100. When the processor D100 executes the computer program D102, the steps in any of the above method embodiments are implemented.

[0082] The electronic device D10 may be a computing device such as a robot, a vehicle control device, a desktop computer, a notebook, a palm computer, and a cloud server. The electronic device may include, but is not limited to, a processor D100 and a memory D101. Those skilled in the art can understand that Figure 4 merely an example of the electronic device D10, which does not constitute a limitation on the electronic device D10, and may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may further include input / output devices, network access devices, etc.

[0083] The so-called processor D100 may be a Central Processing Unit (CPU), and the processor D100 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0084] In some embodiments, the memory D101 may be an internal storage unit of the electronic device D10, such as the hard disk or memory of the electronic device D10. In other embodiments, the memory D101 may also be an external storage device of the electronic device D10, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the electronic device D10. Further, the memory D101 may also include both the internal storage unit and the external storage device of the electronic device D10. The memory D101 is used to store an operating system, application programs, a BootLoader, data, and other programs, such as the program code of the computer program, etc. The memory D101 may also be used to temporarily store data that has been output or is to be output.

[0085] It should be noted that, regarding the information interaction, execution process, etc. between the above-mentioned devices / units, since they are based on the same concept as the method embodiments of the present application, for their specific functions and the resulting technical effects, reference may be specifically made to the method embodiment section, and details are not elaborated herein.

[0086] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0087] An embodiment of this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented.

[0088] An embodiment of this application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can execute the steps in the foregoing method embodiments.

[0089] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above method embodiments of this application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in the foregoing method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0090] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not described or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0091] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0092] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0093] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A method for simulating vehicle driving parameters, characterized in that, Including: Obtain the kinematic parameters of each effective wheel of the target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel; Simulate the target speed parameters of the target vehicle according to the kinematic parameters of each effective wheel; Obtain the kinematic parameters of each wheel of the target vehicle, including: For each effective wheel of the target vehicle, decompose the movement direction of the effective wheel into a translational component K and a rotational component L in the direction of the line connecting the center of mass of the effective wheel and the center of mass of the target vehicle; When the rotational speed of the effective wheel is R, the translational speed of the effective wheel is KR, and the rotational speed of the effective wheel is LR; Take the translational speed KR and the rotational speed LR as the kinematic parameters of the effective wheel; Determine the target driving parameters of the target vehicle according to the kinematic parameters of each effective wheel, including: The target driving parameters of the target vehicle include a target translational speed V c and a target rotational speed ω c ; Use the formula to calculate the target translational velocity; Use the formula to calculate the target rotational speed; Among them, N is the number of effective wheels.

2. The simulation method according to claim 1, characterized in that, The simulation method further includes: Obtain the load parameters of the target vehicle; Obtain the historical driving parameters of the target vehicle at the previous sampling moment; Determine the value range of the target driving parameters at the current sampling moment according to the load parameters, the historical driving parameters and the sampling interval; If the target driving parameter exceeds the value range, correct the target driving parameter by using the value range.

3. The simulation method according to claim 2, characterized in that, The load parameters include the maximum translational acceleration amax and the maximum rotational acceleration α max ; The historical driving parameters include the historical translational speed V h and the historical rotational speed ω h ; Determine the value range of the target driving parameters at the current sampling moment according to the load parameters, the historical driving parameters and the sampling interval, including: The range of the target translational speed of the target driving parameter is the translational speed interval V h - amax ∆ t, V h + amax ∆ t ; The range of the target rotational speed of the target driving parameter is the rotational speed interval ω h - α max ∆ t , ω h +α max ∆ t ; If the target driving parameter exceeds the value range, correct the target driving parameter by using the value range, including: If the target translational speed V c exceeds the range of the translational speed interval, then the value within the translational speed interval that is V c closest to the target translational speed is used to update the target translational speed V c ; If the target rotation speed ω c exceeds the range of the rotation speed interval, then the value closest to the target rotation speed within the rotation speed interval is used to update the target rotation speed ω c ω c .​ 4. The simulation method according to claim 1, characterized in that, Further including: Perform collision detection on each wheel; If it is detected that any wheel does not collide with other objects, set the wheel as an invalid wheel.

5. The simulation method according to claim 1, characterized in that, Further including: Perform friction detection between the wheel and the ground for each wheel; If it is detected that the friction coefficient between any wheel and the ground is less than a preset threshold, set the wheel as an invalid wheel.

6. A device for simulating vehicle driving parameters, characterized in that, Including: A kinematic parameter acquisition module, configured to acquire the kinematic parameters of each effective wheel of the target vehicle; the kinematic parameters include the translational speed and rotational speed of each effective wheel; A target driving parameter simulation module, configured to simulate the target speed parameters of the target vehicle according to the kinematic parameters of each effective wheel; The kinematic parameter acquisition module is specifically configured to: for each effective wheel of the target vehicle, decompose the movement direction of the effective wheel into a translational component K and a rotational component L in the direction of the line connecting the center of mass of the effective wheel and the center of mass of the target vehicle; when the rotational speed of the effective wheel is R, the translational speed of the effective wheel is KR, and the rotational speed of the effective wheel is LR; take the translational speed KR and the rotational speed LR as the kinematic parameters of the effective wheel; The target driving parameter simulation module is specifically configured to: The target driving parameters of the target vehicle include a target translational speed V c and a target rotational speed ω c ; use the formula to calculate the target translational speed; use the formula to calculate the target rotational speed; where N is the number of effective wheels.

7. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor executes the computer program, the method described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method described in any one of claims 1 to 5 is implemented.

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