Control method, system, readable storage medium, monitoring system and vehicle system

Abstract

The present invention provides a control method, system, readable storage medium, monitoring system and vehicle system, wherein the control method comprises: obtaining vehicle parameter information; performing computational processing on the vehicle parameter information and obtaining posture data; and controlling the action of a 3D digital model based on the posture data. According to the control method provided by the present invention, by obtaining vehicle parameter information and performing computational processing on the vehicle parameter information, a 3D digital model is driven to move, and an action state that is mapped one to one with a physical vehicle can be formed. Compared with the prior art, the 3D digital model is directly driven by test data, or the 3D digital model is reduced in order to ensure the real-time performance of the 3D digital model drive and improve the computational efficiency of the 3D digital model, but the degree of the reduction in order is complex and the real-time performance is not high. The present application can improve the real-time performance of the 3D digital model, so that the 3D digital model can display the action state of the vehicle in real time.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a control method, system, readable storage medium, monitoring system and vehicle system. Background Art

[0002] At present, conventional technologies directly drive vehicle simulation models through test data to make the simulation models take corresponding actions. In order to ensure the timeliness of model driving and improve model operation efficiency, the simulation model needs to be reduced in order. The model processing is complex and the real-time performance is not high.

[0003] Therefore, how to propose a control method that can drive the 3D digital model to display the vehicle's motion status in real time is an urgent problem to be solved. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] Therefore, an object of the present invention is to provide a control method.

[0006] A second object of the present invention is to provide a control system.

[0007] A third object of the present invention is to provide a control system.

[0008] A fourth object of the present invention is to provide a readable storage medium.

[0009] A fifth object of the present invention is to provide a monitoring system.

[0010] A sixth object of the present invention is to provide a vehicle system.

[0011] To achieve the above-mentioned purpose, the technical solution of the first aspect of the present invention provides a control method for controlling a 3D digital model of a vehicle, the control method comprising: obtaining vehicle parameter information; performing calculations on the vehicle parameter information and obtaining posture data; and controlling the movement of the 3D digital model based on the posture data.

[0012] According to the control method provided by the present invention, it can be used to control the 3D digital model of the vehicle, and the 3D digital model of the vehicle is a three-dimensional digital model of the vehicle corresponding to the vehicle. The control method includes obtaining vehicle parameter information, performing calculation processing on the vehicle parameter information, and obtaining posture data, and controlling the 3D digital model action based on the posture data. The control method provided by the present application drives the 3D digital model to move by obtaining vehicle parameter information and performing calculation processing on the vehicle parameter information, and can form an action state mapped one by one with the physical vehicle. Compared with the prior art, the 3D digital model is directly driven by the test data, or in order to ensure the real-time performance of the 3D digital model drive and improve the calculation efficiency of the 3D digital model, the 3D digital model will be reduced in order, but the degree of the reduction in order is complex and the real-time performance is not high. The present application can improve the real-time performance of the 3D digital model by calculating and processing the vehicle parameter information and driving the 3D digital model to move, so that the 3D digital model can show the action state of the vehicle in real time, and it is more convenient to calculate and process the vehicle parameter information.

[0013] In addition, the control method provided in this application may also have the following additional technical features:

[0014] In the above technical solution, the vehicle parameter information includes one of the following or a combination thereof: wheel center acceleration information, suspension cylinder displacement change and frame angle information; the frame angle information includes lateral inclination angle and longitudinal inclination angle.

[0015] In this technical solution, the vehicle parameter information includes one or a combination of the following: wheel center acceleration information, suspension cylinder displacement change and frame angle information. The frame angle information includes lateral inclination and longitudinal inclination. By obtaining the corresponding parameter information of the vehicle, the 3D digital model can be driven to make corresponding actions after calculation and processing.

[0016] In the above technical solution, the vehicle includes a frame and wheels, and the posture data includes the hard point z coordinate of the frame and the hard point z coordinate of the wheel center of the wheel; the vehicle parameter information is processed and the posture data is obtained, which specifically includes: calculating the hard point z coordinate of the wheel center through the wheel center acceleration information.

[0017] In this technical solution, the vehicle includes a frame and wheels, and the posture data includes the hard point z coordinate of the frame and the hard point z coordinate of the wheel center of the wheel. The vehicle parameter information is processed and the posture data is obtained, specifically including: calculating the hard point z coordinate of the wheel center of the wheel through the wheel center acceleration information. Among them, compared with the prior art, the hard point z coordinate of the wheel center of the wheel is calculated through the wheel center acceleration information. Compared with the scheme in which the six-component force sensor of the axle head is set to obtain the hard point z coordinate of the wheel center, the present application does not need to purchase an expensive six-component force sensor of the axle head to obtain the hard point z coordinate of the wheel center, saving costs.

[0018] The hard point z coordinate of the wheel center can be calculated using the following formula:

[0019] Z 轮心 =Z 车架 -(C+∫∫Azdtdt), where Z 轮心 is the hard point z coordinate of the wheel center, Z 车架 is the z coordinate of the frame hard point, C is the displacement change of the suspension cylinder, that is, the displacement change of the frame relative to the wheel center, and Az is the wheel center acceleration information.

[0020] In the above technical solution, the vehicle includes a three-axle vehicle, and the wheel spacing of the three-axle vehicle includes the front wheel spacing L 1 , Center wheel spacing L 2 and rear wheel spacing L 3 , the wheelbase between the front axle and the middle axle is W 1 , the wheelbase between the middle and rear axles is W 2 The number of hard point z coordinates of a three-axle vehicle is 12, and the 12 hard point z coordinates are respectively the left front frame hard point z coordinate, the left front wheel center hard point z coordinate, the right front frame hard point z coordinate, the right front wheel center hard point z coordinate, the left middle frame hard point z coordinate, the left middle wheel center hard point z coordinate, the right middle frame hard point z coordinate, the right middle wheel center hard point z coordinate, the left rear frame hard point z coordinate, the left rear wheel center hard point z coordinate, the right rear frame hard point z coordinate, and the right rear wheel center hard point z coordinate.

[0021] In this technical solution, the vehicle includes a three-axle vehicle, and the wheel spacing of the three-axle vehicle includes the front wheel spacing L 1 , Center wheel spacing L 2 and rear wheel spacing L 3 The wheelbase between the front axle and the middle axle is W 1 , the wheelbase between the middle and rear axles is W 2 The number of hard point z coordinates of a three-axle vehicle is 12, and the 12 hard point z coordinates are respectively the left front frame hard point z coordinate, the left front wheel center hard point z coordinate, the right front frame hard point z coordinate, the right front wheel center hard point z coordinate, the left middle frame hard point z coordinate, the left middle wheel center hard point z coordinate, the right middle frame hard point z coordinate, the right middle wheel center hard point z coordinate, the left rear frame hard point z coordinate, the left rear wheel center hard point z coordinate, the right rear frame hard point z coordinate, and the right rear wheel center hard point z coordinate.

[0022] In the above technical solution, the hard point z coordinate of the frame and the hard point z coordinate of the wheel center specifically include: the hard point z coordinate of the left front frame is Z 左前上 :

[0023] Z 左前上 =(C 左前 +∫∫Az 左前 dtdt)×cosβ×cosα, α is the lateral tilt angle, β is the longitudinal tilt angle,

[0024] C 左前 Az is the displacement change of the left front suspension cylinder, 左前 It is the left front wheel center acceleration information;

[0025] The z coordinate of the hard point of the left front wheel center is Z 左前下 :Z 左前下 =0;

[0026] The z coordinate of the right front frame hard point is Z 右前上 :

[0027] Z 右前上 =(Z 左前上 -L 1 ×sinα), α is the lateral tilt angle;

[0028] The z coordinate of the hard point of the right front wheel center is Z 右前下 :

[0029] Z 右前下 =Z 右前上 -(C 右前 +∫∫Az 右前 dtdt), C 右前 Az is the displacement change of the right front suspension cylinder, 右前 It is the right front wheel center acceleration information;

[0030] The z coordinate of the left middle frame hard point is Z 左中上 :

[0031] Z 左中上 =(Z 左前上 +W 1 ×sinβ)×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0032] The z coordinate of the hard point of the left middle wheel center is Z 左中下 :

[0033] Z 左中下 =Z 左中上 -(C 左中 +∫∫Az 左中 dtdt), C 左中 Az is the displacement change of the left middle suspension cylinder, 左中 It is the acceleration information of the left middle wheel center;

[0034] The z coordinate of the right middle frame hard point is Z 右中上 :

[0035] Z 右中上 =(Z 左中上 -L 2 ×sinα), α is the lateral tilt angle;

[0036] The z coordinate of the hard point of the right middle wheel center is Z右中下 :

[0037] Z 右中下 =Z 右中上 -(C 右中 +∫∫Az 右中 dtdt), C 右中 Az is the displacement change of the right middle suspension cylinder, 右中 is the acceleration information of the right middle wheel center;

[0038] The z coordinate of the left rear frame hard point is Z 左后上 :

[0039] Z 左后上 =[Z 左前上 +(W 1 +W 2 )×sinβ]×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0040] The z coordinate of the hard point of the left rear wheel center is Z 左后下 :

[0041] Z 左后下 =Z 左后上 -(C 左后 +∫∫Az 左后 dtdt), C 左后 Az is the displacement change of the left rear suspension cylinder, 左后 It is the left rear wheel center acceleration information;

[0042] The z coordinate of the hard point of the right rear frame is Z 右后上 :

[0043] Z 右后上 =(Z 左后上 -L 3 ×sinα), α is the lateral tilt angle;

[0044] The z coordinate of the hard point of the right rear wheel center is Z 右后下 :

[0045] Z 右后下 =Z 右后上 -(C 右后 +∫∫Az 右后 dtdt), C 右后 Az is the displacement change of the right rear suspension cylinder, 右后 is the acceleration information of the right rear wheel center; wherein, the hard point z coordinate of the frame and the hard point z coordinate of the wheel center take the left front wheel center as the coordinate origin.

[0046] In this technical solution, the hard point z coordinates of the frame and the hard point z coordinates of the wheel center specifically include: the hard point z coordinate of the left front frame is Z 左前上 :

[0047] Z左前上 =(C 左前 +∫∫Az 左前 dtdt)×cosβ×cosα, α is the lateral tilt angle, β is the longitudinal tilt angle,

[0048] C 左前 Az is the displacement change of the left front suspension cylinder, 左前 It is the left front wheel center acceleration information;

[0049] The z coordinate of the hard point of the left front wheel center is Z 左前下 :Z 左前下 =0;

[0050] The z coordinate of the right front frame hard point is Z 右前上 :

[0051] Z 右前上 =(Z 左前上 -L 1 ×sinα), α is the lateral tilt angle;

[0052] The z coordinate of the hard point of the right front wheel center is Z 右前下 :

[0053] Z 右前下 =Z 右前上 -(C 右前 +∫∫Az 右前 dtdt), C 右前 Az is the displacement change of the right front suspension cylinder, 右前 It is the right front wheel center acceleration information;

[0054] The z coordinate of the left middle frame hard point is Z 左中上 :

[0055] Z 左中上 =(Z 左前上 +W 1 ×sinβ)×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0056] The z coordinate of the hard point of the left middle wheel center is Z 左中下 :

[0057] Z 左中下 =Z 左中上 -(C 左中 +∫∫Az 左中 dtdt), C 左中 Az is the displacement change of the left middle suspension cylinder, 左中 It is the acceleration information of the left middle wheel center;

[0058] The z coordinate of the right middle frame hard point is Z 右中上 :

[0059] Z 右中上 =(Z左中上 -L 2 ×sinα), α is the lateral tilt angle;

[0060] The z coordinate of the hard point of the right middle wheel center is Z 右中下 :

[0061] Z 右中下 =Z 右中上 -(C 右中 +∫∫Az 右中 dtdt), C 右中 Az is the displacement change of the right middle suspension cylinder, 右中 is the acceleration information of the right middle wheel center;

[0062] The z coordinate of the left rear frame hard point is Z 左后上 :

[0063] Z 左后上 =[Z 左前上 +(W 1 +W 2 )×sinβ]×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0064] The z coordinate of the hard point of the left rear wheel center is Z 左后下 :

[0065] Z 左后下 =Z 左后上 -(C 左后 +∫∫Az 左后 dtdt), C 左后 Az is the displacement change of the left rear suspension cylinder, 左后 It is the left rear wheel center acceleration information;

[0066] The z coordinate of the hard point of the right rear frame is Z 右后上 :

[0067] Z 右后上 =(Z 左后上 -L 3 ×sinα), α is the lateral tilt angle;

[0068] The z coordinate of the hard point of the right rear wheel center is Z 右后下 :

[0069] Z 右后下 =Z 右后上 -(C 右后 +∫∫Az 右后 dtdt), C 右后 Az is the displacement change of the right rear suspension cylinder, 右后 is the acceleration information of the right rear wheel center; wherein, the hard point z coordinate of the frame and the hard point z coordinate of the wheel center take the left front wheel center as the coordinate origin.

[0070] In the above technical solution, the vehicle parameter information includes: vehicle speed, vehicle position and vehicle direction; the control method also includes: driving the 3D digital model action based on the vehicle speed, vehicle position and vehicle direction.

[0071] In the technical solution, the vehicle parameter information includes the vehicle speed, the vehicle position and the vehicle direction. The control method also includes: driving the 3D digital model to move based on the vehicle speed, the vehicle position and the vehicle direction. It can be understood that the control method of the present application can also directly drive the 3D digital model to make corresponding actions based on the vehicle speed, the vehicle position and the vehicle direction.

[0072] The technical solution of the second aspect of the present invention provides a control system for controlling the movement of a 3D digital model of a vehicle. The control system includes: an acquisition device for acquiring vehicle parameter information; an information processing device for performing calculations on the vehicle parameter information to obtain posture data; and a driving device for controlling the movement of the 3D digital model based on the posture data.

[0073] According to the control system provided by the present invention, it is used to control the action of the 3D digital model of the vehicle, and the control system includes an acquisition device, an information processing device and a driving device. The acquisition device is used to acquire vehicle parameter information. The information processing device is used to perform calculation processing on the vehicle parameter information to obtain posture data. The driving device controls the action of the 3D digital model based on the posture data. The control system provided by the present application acquires the vehicle parameter information through the acquisition device, and performs calculation processing on the vehicle parameter information through the information processing device, so as to drive the 3D digital model to move through the driving device, and can form an action state mapped one by one with the physical vehicle. Compared with the prior art, the 3D digital model is directly driven by the test data, or in order to ensure the real-time performance of the 3D digital model drive and improve the calculation efficiency of the 3D digital model, the 3D digital model will be reduced in order, but the degree of the reduction in order is complex and the real-time performance is not high. The present application can improve the real-time performance of the 3D digital model by calculating and processing the vehicle parameter information and driving the 3D digital model to move, so that the 3D digital model can show the action state of the vehicle in real time, and it is more convenient to calculate and process the vehicle parameter information.

[0074] The technical solution of the third aspect of the present invention provides a control system, including: a memory and a processor, the memory stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the control method in the technical solution of the first aspect are implemented.

[0075] The control system provided by the present invention includes a memory and a processor, the memory stores a program or instruction, and the program or instruction is executed by the processor to implement the steps of the control method in the technical solution of the first aspect. Therefore, the control system provided by the present invention also includes all the beneficial effects of the control method provided by the technical solution of the first aspect, which will not be repeated here.

[0076] The technical solution of the fourth aspect of the present invention provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed, the steps of the control method of the technical solution of the first aspect are implemented.

[0077] The readable storage medium provided by the present invention is a step of implementing the control method of the technical solution of the first aspect. Therefore, the readable storage medium provided by the present invention also includes all the beneficial effects of the control method provided by the technical solution of the first aspect, which will not be repeated here.

[0078] The technical solution of the fifth aspect of the present invention provides a monitoring system for monitoring vehicles, the monitoring system comprising: a 3D digital model, the 3D digital model being a three-dimensional digital model of the corresponding vehicle; a control system such as the technical solution of the second aspect or the technical solution of the third aspect or a readable storage medium of the technical solution of the fourth aspect.

[0079] The monitoring system provided by the present invention is used to monitor a vehicle, and the monitoring system includes a 3D digital model, which is a three-dimensional digital model of the corresponding vehicle. Since the monitoring system also includes the control system of the second technical solution or the third technical solution or the readable storage medium of the fourth technical solution. Therefore, the monitoring system provided by the present invention also includes all the beneficial effects of the control system of the second technical solution or the third technical solution or the readable storage medium of the fourth technical solution, which will not be repeated here.

[0080] In the above technical solution, the monitoring system also includes: a detection component, which is arranged on the vehicle and is used to detect vehicle parameter information.

[0081] In this technical solution, the monitoring system also includes a detection component, which is arranged on the vehicle to facilitate real-time detection of vehicle parameter information, thereby facilitating subsequent calculation and processing of the detected vehicle parameter information.

[0082] In the above technical solution, the detection component includes at least one of the following: a wheel center acceleration sensor for detecting wheel center acceleration information; a suspension cylinder displacement sensor for detecting a change in suspension cylinder displacement; a frame angle sensor for detecting frame angle information; a vehicle GPS for detecting a vehicle speed and a vehicle position; and a vehicle direction sensor for detecting a vehicle direction.

[0083] In this technical solution, the detection component includes at least one of the following: a wheel center acceleration sensor, a suspension cylinder displacement sensor, a frame angle sensor, a vehicle GPS, and a vehicle direction sensor. The wheel center acceleration sensor can detect wheel center acceleration information. The suspension cylinder displacement sensor can detect the change in suspension cylinder displacement. The frame angle sensor can detect frame angle information. The vehicle GPS can detect the vehicle speed and vehicle position. The vehicle direction sensor can detect the vehicle direction. By setting sensors to detect relevant information of the vehicle, the required information can be quickly obtained, saving time.

[0084] The technical solution of the sixth aspect of the present invention provides a vehicle system, including: a vehicle; the vehicle includes a control method such as the technical solution of the first aspect, or a monitoring system such as the technical solution of the fifth aspect.

[0085] According to the vehicle system provided by the present invention, since it includes the control method of the first technical solution or the monitoring system of the fifth technical solution, the vehicle system provided by the present invention also includes all the beneficial effects of the control method of the first technical solution or the monitoring system of the fifth technical solution, which will not be repeated here.

[0086] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0088] Figure 1 is a flow chart of a control method provided by an embodiment of the present invention;

[0089] Figure 2 is a schematic diagram of a vehicle posture provided by an embodiment of the present invention;

[0090] Figure 3 is another vehicle posture schematic diagram provided by an embodiment of the present invention;

[0091] Figure 4 It is a block diagram of a monitoring system provided by an embodiment of the present invention.

[0092] in, Figure 4 The corresponding relationship between the reference numerals and component names in the figure is:

[0093] 1 monitoring system, 12 memories, 14 processors, 16 3D digital models. DETAILED DESCRIPTION

[0094] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0095] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0096] Embodiment 1

[0097] like Figures 1 to 4 As shown, an embodiment of the present invention provides a control method for controlling a 3D digital model 16 of a vehicle, the control method comprising:

[0098] S102, obtaining vehicle parameter information;

[0099] S104, performing calculations on the vehicle parameter information and obtaining posture data;

[0100] S106, controlling the movement of the 3D digital model based on the posture data.

[0101] According to the control method provided by the present invention, it can be used to control the 3D digital model 16 of the vehicle, and the 3D digital model 16 of the vehicle is a three-dimensional digital model of the vehicle corresponding to the vehicle. The control method includes obtaining vehicle parameter information, performing calculation processing on the vehicle parameter information, and obtaining posture data, and controlling the action of the 3D digital model 16 based on the posture data. The control method provided by the present application drives the 3D digital model 16 to move by obtaining vehicle parameter information and performing calculation processing on the vehicle parameter information, and can form an action state mapped one by one with the physical vehicle. Compared with the prior art, the 3D digital model 16 is directly driven by the test data, or in order to ensure the real-time performance of the 3D digital model 16 drive and improve the calculation efficiency of the 3D digital model 16, the 3D digital model 16 will be reduced in order, but the degree of the reduction in order is complex and the real-time performance is not high. The present application can improve the real-time performance of the 3D digital model 16 by calculating and processing the vehicle parameter information and driving the 3D digital model 16 to move, so that the 3D digital model 16 can show the action state of the vehicle in real time, and it is more convenient to calculate and process the vehicle parameter information.

[0102] In the above embodiment, the vehicle parameter information includes one of the following or a combination thereof: wheel center acceleration information, suspension cylinder displacement change and frame angle information; the frame angle information includes lateral inclination angle and longitudinal inclination angle.

[0103] In this embodiment, the vehicle parameter information includes one or a combination of the following: wheel center acceleration information, suspension cylinder displacement change, and frame angle information. The frame angle information includes lateral inclination and longitudinal inclination. By acquiring the corresponding parameter information of the vehicle, the 3D digital model 16 can be driven to perform corresponding actions after calculation processing.

[0104] In the above embodiment, the vehicle includes a frame and wheels, and the posture data includes the hard point z coordinate of the frame and the hard point z coordinate of the wheel center of the wheel; the vehicle parameter information is processed and the posture data is obtained specifically including: calculating the hard point z coordinate of the wheel center through the wheel center acceleration information.

[0105] In this embodiment, the vehicle includes a frame and wheels, and the posture data includes the hard point z coordinate of the frame and the hard point z coordinate of the wheel center of the wheel. The vehicle parameter information is processed and the posture data is obtained, specifically including: calculating the hard point z coordinate of the wheel center of the wheel through the wheel center acceleration information. Among them, compared with the prior art, the hard point z coordinate of the wheel center of the wheel is calculated through the wheel center acceleration information. The present application does not need to purchase an expensive six-component force sensor of the axle head to obtain the hard point z coordinate of the wheel center, which saves costs. The hard point z coordinate of the wheel center can be calculated specifically by the following formula:

[0106] Z 轮心 =Z 车架 -(C+∫∫Azdtdt), where Z 轮心 is the hard point z coordinate of the wheel center, Z 车架 is the z coordinate of the frame hard point, C is the displacement change of the suspension cylinder, that is, the displacement change of the frame relative to the wheel center, and Az is the wheel center acceleration information.

[0107] In the above embodiment, if Figure 2 and Figure 3 As shown, the vehicle includes a three-axle vehicle, and the wheel spacing of the three-axle vehicle ( Figure 3 The wheel spacing represented by Lx in the figure includes the front wheel spacing L 1 , Center wheel spacing L 2 and rear wheel spacing L 3 , the wheelbase between the front axle and the middle axle is W 1 , the wheelbase between the middle and rear axles is W 2 The number of hard point z coordinates of a three-axle vehicle is 12, and the 12 hard point z coordinates are respectively the left front frame hard point z coordinate, the left front wheel center hard point z coordinate, the right front frame hard point z coordinate, the right front wheel center hard point z coordinate, the left middle frame hard point z coordinate, the left middle wheel center hard point z coordinate, the right middle frame hard point z coordinate, the right middle wheel center hard point z coordinate, the left rear frame hard point z coordinate, the left rear wheel center hard point z coordinate, the right rear frame hard point z coordinate, and the right rear wheel center hard point z coordinate.

[0108] In this embodiment, the vehicle includes a three-axle vehicle, and the wheel spacing of the three-axle vehicle includes the front wheel spacing L 1 , Center wheel spacing L 2 and rear wheel spacing L 3 The wheelbase between the front axle and the middle axle is W 1 , the wheelbase between the middle and rear axles is W 2 The number of hard point z coordinates of a three-axle vehicle is 12, and the 12 hard point z coordinates are respectively the left front frame hard point z coordinate, the left front wheel center hard point z coordinate, the right front frame hard point z coordinate, the right front wheel center hard point z coordinate, the left middle frame hard point z coordinate, the left middle wheel center hard point z coordinate, the right middle frame hard point z coordinate, the right middle wheel center hard point z coordinate, the left rear frame hard point z coordinate, the left rear wheel center hard point z coordinate, the right rear frame hard point z coordinate, and the right rear wheel center hard point z coordinate.

[0109] In the above embodiment, if Figure 2 and Figure 3 As shown, the hard point z coordinates of the frame and the hard point z coordinates of the wheel center specifically include: the hard point z coordinate of the left front frame is Z 左前上 :

[0110] Z 左前上 =(C 左前 +∫∫Az 左前 dtdt)×cosβ×cosα, α is the lateral tilt angle, β is the longitudinal tilt angle,

[0111] C 左前 Az is the displacement change of the left front suspension cylinder, 左前 It is the left front wheel center acceleration information;

[0112] The z coordinate of the hard point of the left front wheel center is Z 左前下 :Z 左前下 =0;

[0113] The z coordinate of the hard point of the right front frame is Z 右前上 :

[0114] Z 右前上 =(Z 左前上 -L 1 ×sinα), α is the lateral tilt angle;

[0115] The z coordinate of the hard point of the right front wheel center is Z 右前下 :

[0116] Z 右前下 =Z 右前上 -(C 右前 +∫∫Az 右前 dtdt), C 右前 Az is the displacement change of the right front suspension cylinder, 右前 It is the right front wheel center acceleration information;

[0117] The z coordinate of the left middle frame hard point is Z 左中上 :

[0118] Z 左中上 =(Z 左前上 +W 1 ×sinβ)×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0119] The z coordinate of the hard point of the left middle wheel center is Z 左中下 :

[0120] Z 左中下 =Z 左中上 -(C 左中 +∫∫Az 左中 dtdt), C 左中 Az is the displacement change of the left middle suspension cylinder, 左中 It is the acceleration information of the left middle wheel center;

[0121] The z coordinate of the right middle frame hard point is Z 右中上 :

[0122] Z 右中上 =(Z 左中上 -L 2 ×sinα), α is the lateral tilt angle;

[0123] The z coordinate of the hard point of the right middle wheel center is Z 右中下 :

[0124] Z 右中下 =Z 右中上 -(C 右中 +∫∫Az 右中 dtdt), C 右中 Az is the displacement change of the right middle suspension cylinder, 右中 is the acceleration information of the right middle wheel center;

[0125] The z coordinate of the left rear frame hard point is Z 左后上 :

[0126] Z 左后上 =[Z 左前上 +(W 1 +W 2 )×sinβ]×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0127] The z coordinate of the hard point of the left rear wheel center is Z 左后下 :

[0128] Z 左后下 =Z 左后上 -(C 左后 +∫∫Az 左后 dtdt), C 左后Az is the displacement change of the left rear suspension cylinder, 左后 It is the left rear wheel center acceleration information;

[0129] The z coordinate of the hard point of the right rear frame is Z 右后上 :

[0130] Z 右后上 =(Z 左后上 -L 3 ×sinα), α is the lateral tilt angle;

[0131] The z coordinate of the hard point of the right rear wheel center is Z 右后下 :

[0132] Z 右后下 =Z 右后上 -(C 右后 +∫∫Az 右后 dtdt), C 右后 Az is the displacement change of the right rear suspension cylinder, 右后 is the acceleration information of the right rear wheel center; wherein, the hard point z coordinate of the frame and the hard point z coordinate of the wheel center take the left front wheel center as the coordinate origin.

[0133] In this embodiment, the hard point z coordinates of the frame and the hard point z coordinates of the wheel center specifically include: the hard point z coordinate of the left front frame is Z 左前上 :

[0134] Z 左前上 =(C 左前 +∫∫Az 左前 dtdt)×cosβ×cosα, α is the lateral tilt angle, β is the longitudinal tilt angle,

[0135] C 左前 Az is the displacement change of the left front suspension cylinder, 左前 It is the left front wheel center acceleration information;

[0136] The z coordinate of the hard point of the left front wheel center is Z 左前下 :Z 左前下 =0;

[0137] The z coordinate of the right front frame hard point is Z 右前上 :

[0138] Z 右前上 =(Z 左前上 -L 1 ×sinα), α is the lateral tilt angle;

[0139] The z coordinate of the hard point of the right front wheel center is Z 右前下 :

[0140] Z 右前下 =Z 右前上 -(C 右前 +∫∫Az右前 dtdt), C 右前 Az is the displacement change of the right front suspension cylinder, 右前 It is the right front wheel center acceleration information;

[0141] The z coordinate of the left middle frame hard point is Z 左中上 :

[0142] Z 左中上 =(Z 左前上 +W 1 ×sinβ)×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0143] The z coordinate of the hard point of the left middle wheel center is Z 左中下 :

[0144] Z 左中下 =Z 左中上 -(C 左中 +∫∫Az 左中 dtdt), C 左中 Az is the displacement change of the left middle suspension cylinder, 左中 It is the acceleration information of the left middle wheel center;

[0145] The z coordinate of the right middle frame hard point is Z 右中上 :

[0146] Z 右中上 =(Z 左中上 -L 2 ×sinα), α is the lateral tilt angle;

[0147] The z coordinate of the hard point of the right middle wheel center is Z 右中下 :

[0148] Z 右中下 =Z 右中上 -(C 右中 +∫∫Az 右中 dtdt), C 右中 Az is the displacement change of the right middle suspension cylinder, 右中 is the acceleration information of the right middle wheel center;

[0149] The z coordinate of the left rear frame hard point is Z 左后上 :

[0150] Z 左后上 =[Z 左前上 +(W 1 +W 2 )×sinβ]×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle;

[0151] The z coordinate of the hard point of the left rear wheel center is Z 左后下 :

[0152] Z 左后下=Z 左后上 -(C 左后 +∫∫Az 左后 dtdt), C 左后 Az is the displacement change of the left rear suspension cylinder, 左后 It is the left rear wheel center acceleration information;

[0153] The z coordinate of the hard point of the right rear frame is Z 右后上 :

[0154] Z 右后上 =(Z 左后上 -L 3 ×sinα), α is the lateral tilt angle;

[0155] The z coordinate of the hard point of the right rear wheel center is Z 右后下 :

[0156] Z 右后下 =Z 右后上 -(C 右后 +∫∫Az 右后 dtdt), C 右后 Az is the displacement change of the right rear suspension cylinder, 右后 is the acceleration information of the right rear wheel center; wherein, the hard point z coordinate of the frame and the hard point z coordinate of the wheel center take the left front wheel center as the coordinate origin.

[0157] In the above embodiment, the vehicle parameter information includes: vehicle speed, vehicle position and vehicle direction; the control method also includes: driving the 3D digital model 16 to move based on the vehicle speed, vehicle position and vehicle direction.

[0158] In this embodiment, the vehicle parameter information includes the vehicle speed, the vehicle position and the vehicle direction. The control method further includes: driving the 3D digital model 16 to act based on the vehicle speed, the vehicle position and the vehicle direction. It can be understood that the control method of the present application can also directly drive the 3D digital model 16 to perform corresponding actions based on the vehicle speed, the vehicle position and the vehicle direction.

[0159] An embodiment of the second aspect of the present invention provides a control system for controlling the movement of a 3D digital model 16 of a vehicle, the control system comprising: an acquisition device for acquiring vehicle parameter information; an information processing device for performing calculations on the vehicle parameter information to obtain posture data; and a driving device for controlling the movement of the 3D digital model 16 based on the posture data.

[0160] According to the control system provided by the present invention, it is used to control the movement of the 3D digital model 16 of the vehicle, and the control system includes an acquisition device, an information processing device and a driving device. The acquisition device is used to acquire vehicle parameter information. The information processing device is used to perform calculation processing on the vehicle parameter information to obtain posture data. The driving device controls the movement of the 3D digital model 16 based on the posture data. The control system provided by the present application acquires the vehicle parameter information through the acquisition device, and performs calculation processing on the vehicle parameter information through the information processing device, so as to drive the 3D digital model 16 to move through the driving device, and can form a one-to-one mapping action state with the physical vehicle. Compared with the prior art, the 3D digital model 16 is directly driven by the test data, or in order to ensure the real-time performance of the 3D digital model 16 drive and improve the calculation efficiency of the 3D digital model 16, the 3D digital model 16 will be reduced in order, but the degree of the reduction in order is complex and the real-time performance is not high. The present application can improve the real-time performance of the 3D digital model 16 by calculating and processing the vehicle parameter information and driving the 3D digital model 16 to move, so that the 3D digital model 16 can show the action state of the vehicle in real time, and it is more convenient to calculate and process the vehicle parameter information.

[0161] An embodiment of the third aspect of the present invention provides a control system, including: a memory 12 and a processor 14, the memory 12 stores a program or instruction, and when the program or instruction is executed by the processor 14, the steps of the control method in the embodiment of the first aspect are implemented.

[0162] The control system provided by the present invention includes a memory 12 and a processor 14. The memory 12 stores a program or instruction. When the program or instruction is executed by the processor 14, the steps of the control method in the first embodiment are implemented. Therefore, the control system provided by the present invention also includes all the beneficial effects of the control method provided by the first embodiment, which will not be repeated here.

[0163] The embodiment of the fourth aspect of the present invention provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed, the steps of the control method of the embodiment of the first aspect are implemented.

[0164] The readable storage medium provided by the present invention is a step to implement the control method of the first aspect embodiment. Therefore, the readable storage medium provided by the present invention also includes all the beneficial effects of the control method provided by the first aspect embodiment, which will not be repeated here.

[0165] like Figure 4As shown, an embodiment of the fifth aspect of the present invention provides a monitoring system 1 for monitoring a vehicle, wherein the monitoring system 1 comprises: a 3D digital model 16, wherein the 3D digital model 16 is a three-dimensional digital model of the corresponding vehicle; a control system such as the second aspect embodiment or the third aspect embodiment or a readable storage medium such as the fourth aspect embodiment.

[0166] The monitoring system 1 provided by the present invention is used to monitor a vehicle, and the monitoring system 1 includes a 3D digital model 16, which is a three-dimensional digital model of the corresponding vehicle. Since the monitoring system 1 also includes a control system of the second embodiment or the third embodiment or a readable storage medium of the fourth embodiment. Therefore, the monitoring system 1 provided by the present invention also includes all the beneficial effects of the control system of the second embodiment or the third embodiment or the readable storage medium of the fourth embodiment, which will not be repeated here.

[0167] In the above embodiment, the monitoring system 1 further includes: a detection component, which is arranged on the vehicle and is used to detect vehicle parameter information.

[0168] In this embodiment, the monitoring system 1 further includes a detection component, which is disposed on the vehicle to facilitate detection of vehicle parameter information, thereby facilitating subsequent computational processing of the detected vehicle parameter information.

[0169] In the above embodiment, the detection component includes at least one of the following: a wheel center acceleration sensor, used to detect wheel center acceleration information; a suspension cylinder displacement sensor, used to detect the change in suspension cylinder displacement; a frame angle sensor, used to detect frame angle information; a vehicle GPS, used to detect vehicle speed and vehicle position; a vehicle direction sensor, used to detect the vehicle direction.

[0170] In this embodiment, the detection component includes at least one of the following: a wheel center acceleration sensor, a suspension cylinder displacement sensor, a frame angle sensor, a vehicle GPS, and a vehicle direction sensor. The wheel center acceleration sensor can detect wheel center acceleration information. The suspension cylinder displacement sensor can detect the change in suspension cylinder displacement. The frame angle sensor can detect frame angle information. The vehicle GPS can detect the vehicle speed and vehicle position. The vehicle direction sensor can detect the vehicle direction. By setting sensors to detect relevant information of the vehicle, the required information can be quickly obtained, saving time.

[0171] Furthermore, a reversing signal can be directly detected from the vehicle to drive the 3D digital model 16 to achieve reversing.

[0172] An embodiment of the sixth aspect of the present invention provides a vehicle system, comprising: a vehicle; the vehicle comprises a control method as in the embodiment of the first aspect, or a monitoring system 1 as in the embodiment of the fifth aspect.

[0173] The vehicle system provided by the present invention includes the control method of the first embodiment or the monitoring system 1 of the fifth embodiment. Therefore, the vehicle system provided by the present invention also includes all the beneficial effects of the control method of the first embodiment or the monitoring system 1 of the fifth embodiment, which will not be repeated here.

[0174] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0175] In the description of this specification, it is necessary to understand that the terms "upper", "lower", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0176] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0177] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method, It is characterized in that A 3D digital model for controlling a vehicle, the control method comprising: Get vehicle parameter information; Performing calculations on the vehicle parameter information and obtaining posture data; Controlling the movement of the 3D digital model based on the posture data; The vehicle parameter information includes one or a combination of the following: wheel center acceleration information, suspension cylinder displacement change and frame angle information; The frame angle information includes lateral inclination and longitudinal inclination; The vehicle comprises a frame and wheels, and the posture data comprises a hard point z coordinate of the frame and a hard point z coordinate of a wheel center of the wheel; The vehicle parameter information is processed and the posture data obtained specifically includes: Calculating the hard point z coordinate of the wheel center of the wheel through the wheel center acceleration information; The calculation formula of the hard point z coordinate of the wheel center of the wheel is: Z 轮心 =Z 车架 -(C+∫∫Azdtdt), where Z 轮心 is the hard point z coordinate of the wheel center, Z 车架 is the z coordinate of the frame hard point, C is the displacement change of the suspension cylinder, that is, the displacement change of the frame relative to the wheel center, and Az is the wheel center acceleration information.

2. The control method according to claim 1, It is characterized in that The vehicle includes a three-axle vehicle, and the wheel spacing of the three-axle vehicle includes a front wheel spacing L 1 , Center wheel spacing L 2 and rear wheel spacing L 3 , the wheelbase between the front axle and the middle axle is W 1 , the wheelbase between the middle and rear axles is W 2 , the number of hard point z coordinates of the three-axle vehicle is 12, and the 12 hard point z coordinates are respectively the left front frame hard point z coordinate, the left front wheel center hard point z coordinate, the right front frame hard point z coordinate, the right front wheel center hard point z coordinate, the left middle frame hard point z coordinate, the left middle wheel center hard point z coordinate, the right middle frame hard point z coordinate, the right middle wheel center hard point z coordinate, the left rear frame hard point z coordinate, the left rear wheel center hard point z coordinate, the right rear frame hard point z coordinate, and the right rear wheel center hard point z coordinate.

3. The control method according to claim 2, It is characterized in that The hard point z coordinates of the frame and the hard point z coordinates of the wheel center specifically include: The z coordinate of the left front frame hard point is Z 左前上 : Z 左前上 = (C 左前 + ∫∫ Az 左前 dtdt) × cosβ × cosα, where α is the lateral inclination angle and β is the longitudinal inclination angle C 左前 Az is the displacement change of the left front suspension cylinder, 左前 It is the left front wheel center acceleration information; The left front wheel center hard point z coordinate is Z 左前下 :Z 左前下 =0; The z coordinate of the hard point of the right front frame is Z 右前上 : Z 右前上 =(Z 左前上 -L 1 ×sinα), α is the lateral tilt angle; The z coordinate of the hard point of the right front wheel center is Z 右前下 : Z 右前下 =Z 右前上 -(C 右前 +∫∫Az 右前 dtdt), C 右前 Az is the displacement change of the right front suspension cylinder, 右前 It is the right front wheel center acceleration information; The z coordinate of the left middle frame hard point is Z 左中上 : Z 左中上 =(Z 左前上 +W 1 ×sinβ)×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle; The z coordinate of the left middle wheel center hard point is Z 左中下 : Z 左中下 =Z 左中上 -(C 左中 +∫∫Az 左中 dtdt), C 左中 Az is the displacement change of the left middle suspension cylinder, 左中 It is the acceleration information of the left middle wheel center; The z coordinate of the right middle frame hard point is Z 右中上 : Z 右中上 =(Z 左中上 -L 2 ×sinα), α is the lateral tilt angle; The z coordinate of the hard point of the right middle wheel center is Z 右中下 : Z 右中下 =Z 右中上 -(C 右中 +∫∫Az 右中 dtdt), C 右中 Az is the displacement change of the right middle suspension cylinder, 右中 is the acceleration information of the right middle wheel center; The z coordinate of the left rear frame hard point is Z 左后上 : Z 左后上 =[Z 左前上 +(W 1 +W 2 )×sinβ]×cosα, α is the lateral inclination angle, β is the longitudinal inclination angle; The z coordinate of the hard point of the left rear wheel center is Z 左后下 : Z 左后下 =Z 左后上 -(C 左后 +∫∫Az 左后 dtdt), C 左后 Az is the displacement change of the left rear suspension cylinder, 左后 It is the left rear wheel center acceleration information; The z coordinate of the hard point of the right rear frame is Z 右后上 : Z 右后上 =(Z 左后上 -L 3 ×sinα), α is the lateral tilt angle; The z coordinate of the hard point of the right rear wheel center is Z 右后下 : Z 右后下 =Z 右后上 -(C 右后 +∫∫Az 右后 dtdt), C 右后 Az is the displacement change of the right rear suspension cylinder, 右后 It is the right rear wheel center acceleration information; The hard point z coordinates of the frame and the hard point z coordinates of the wheel center take the left front wheel center as the coordinate origin.

4. The control method according to claim 1, It is characterized in that The vehicle parameter information includes: Vehicle speed, vehicle position and vehicle direction; The control method further comprises: The 3D digital model is driven to move based on the vehicle's speed, the vehicle's position and the vehicle's direction.

5. A control system, It is characterized in that For controlling the motion of a 3D digital model of a vehicle, the control system comprises: An acquisition device, used for acquiring vehicle parameter information; An information processing device, used for performing calculations on the vehicle parameter information to obtain posture data; A driving device, for controlling the movement of the 3D digital model based on the posture data; The vehicle parameter information includes one or a combination of the following: wheel center acceleration information, suspension cylinder displacement change and frame angle information; The frame angle information includes lateral inclination and longitudinal inclination; The vehicle comprises a frame and wheels, and the posture data comprises a hard point z coordinate of the frame and a hard point z coordinate of a wheel center of the wheel; The information processing device is specifically used for: Calculating the hard point z coordinate of the wheel center of the wheel through the wheel center acceleration information; The calculation formula of the hard point z coordinate of the wheel center of the wheel is: Z 轮心 =Z 车架 -(C+∫∫Azdtdt), where Z 轮心 is the hard point z coordinate of the wheel center, Z 车架 is the z coordinate of the frame hard point, C is the displacement change of the suspension cylinder, that is, the displacement change of the frame relative to the wheel center, and Az is the wheel center acceleration information.

6. A control system, It is characterized in that include: A memory and a processor, wherein the memory stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the control method according to any one of claims 1 to 4 are implemented.

7. A readable storage medium, It is characterized in that A program or instruction is stored thereon, and when the program or the instruction is executed, the steps of the control method according to any one of claims 1 to 4 are implemented.

8. A monitoring system for monitoring a vehicle, It is characterized in that include: 3D digital model, the 3D digital model is a three-dimensional digital model corresponding to the vehicle; A control system as claimed in claim 5 or 6 or a readable storage medium as claimed in claim 7.

9. The monitoring system according to claim 8, It is characterized in that Also includes: The detection component is arranged on the vehicle and is used for detecting vehicle parameter information.

10. The monitoring system according to claim 9, It is characterized in that The detection component includes at least one of the following: Wheel center acceleration sensor, used to detect wheel center acceleration information; A suspension cylinder displacement sensor is used to detect the displacement change of the suspension cylinder; A frame angle sensor, used to detect frame angle information; Vehicle GPS, used to detect vehicle speed and vehicle location; Vehicle direction sensor, used to detect the vehicle's direction of travel.

11. A vehicle system, It is characterized in that include: vehicle; The vehicle comprises a control method as claimed in any one of claims 1 to 4, or a monitoring system as claimed in any one of claims 8 to 10.

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