Barrier positioning method, barrier positioning system, barrier positioning device and computer readable storage medium

Abstract

The present invention relates to a barrier positioning method, a barrier positioning system, a barrier positioning device and a computer-readable storage medium. The barrier positioning method comprises the following steps: S1, selecting a barrier model and a vehicle model according to the working conditions of the required barrier positioning; S2, determining a boundary point set of the barrier model and a boundary point set of the vehicle model; S3, calculating the first contact point of the barrier model and the vehicle model under the projection of the two-dimensional space; S4, adjusting the barrier model to a first threshold before the first contact point; S5, adjusting the distance between the barrier model and the vehicle model; S6, modifying the coordinate offset of the center of mass point of the barrier model according to the distance between the barrier model and the vehicle model; S7, associating the barrier model with the vehicle model. The present invention proposes a barrier positioning method, a barrier positioning system, a barrier positioning device and a computer-readable storage medium, which can effectively improve the efficiency and accuracy of barrier positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle computer-aided engineering, and in particular to a barrier positioning method, a barrier positioning system, a barrier positioning device and a computer-readable storage medium. Background Art

[0002] In the process of vehicle development, Computer Aided Engineering (CAE) plays a vital role in vehicle structural optimization and lightweight design. With the continuous maturity and improvement of CAE technology, the use of digital prototypes for collision simulation to replace traditional real vehicle collision tests is of great significance for improving R&D efficiency within automobile companies, saving prototype and test costs, and accelerating the iterative optimization of vehicle models.

[0003] At present, in the work of vehicle collision simulation, the work of barrier positioning is usually completed manually by engineers in the software according to the vehicle geometry, road surface lines, and barrier geometry. However, manual positioning is not only inefficient, but also prone to errors. Especially for newly developed models, not only the number of collision simulation conditions to be examined is large, but also with the changes in shape and structure, the barrier of each condition needs to be frequently repositioned before the collision simulation can be carried out. Summary of the invention

[0004] In view of the above problems in the prior art, the present invention proposes a barrier positioning method, a barrier positioning system, a barrier positioning device and a computer-readable storage medium, which can effectively improve the efficiency and accuracy of barrier positioning.

[0005] Specifically, the present invention proposes a barrier positioning method, comprising the steps of:

[0006] S1, selecting a barrier model and a vehicle model according to the working conditions of the required barrier positioning;

[0007] S2, determining a boundary point set of the barrier model according to the barrier model and the working condition, and determining a boundary point set of the vehicle model according to the vehicle model and the working condition;

[0008] S3, calculating a first contact point between the barrier model and the vehicle model in a two-dimensional space projection based on the working condition, the boundary point set of the barrier model, and the boundary point set of the vehicle model;

[0009] S4, adjusting the barrier model to a first threshold before the first contact point;

[0010] S5, adjusting the distance between the barrier model and the vehicle model, including:

[0011] S51, making the barrier model move closer to the vehicle model with a step length a;

[0012] S52, calculating the height z of the barrier model in the three-dimensional space;

[0013] S53, judging whether the barrier model and the vehicle model are in contact according to the height z;

[0014] S54, if the barrier model and the vehicle model are not in contact, repeating steps S51 to S53 until the barrier model is adjusted to a second threshold before the first contact point;

[0015] S6, modifying the coordinate offset of the center of mass point of the barrier model according to the distance between the barrier model and the vehicle model;

[0016] S7: Associating the barrier model with the vehicle model.

[0017] According to an embodiment of the present invention, the first threshold is 9-11 mm, and the second threshold is 5-8 mm.

[0018] According to one embodiment of the present invention, the step length a is 1 mm.

[0019] According to one embodiment of the present invention, the barrier positioning method further includes the steps of:

[0020] S8, checking whether there is error information in the vehicle model, if there is no error information, submitting the vehicle model to the server, if there is error information, prompting the error information.

[0021] The present invention also provides a barrier positioning system, comprising:

[0022] A working condition selection unit, used to provide working conditions required for barrier collision;

[0023] A barrier model unit, used for providing a barrier model;

[0024] A vehicle model unit, used for providing a vehicle model;

[0025] An auxiliary information unit, used to provide auxiliary information of the vehicle model;

[0026] The barrier positioning method unit comprises:

[0027] A selection module, which selects a working condition of barrier collision through the working condition selection unit, and selects a barrier model from the barrier model unit and a vehicle model from the vehicle model unit according to the working condition;

[0028] A boundary calculation module, which calculates a boundary point set of the barrier model according to the barrier model and the working condition, and calculates a boundary point set of the vehicle model according to the vehicle model and the working condition;

[0029] A first contact point calculation module, which calculates a first contact point between the barrier model and the vehicle model in a two-dimensional space projection based on the working condition, the boundary point set of the barrier model, and the boundary point set of the vehicle model;

[0030] A first adjustment module, adjusting the barrier model to a first threshold before the first contact point;

[0031] a second adjustment module, adjusting the distance between the barrier model and the vehicle model so that the barrier model is adjusted to a second threshold before the first contact point and does not contact the vehicle model;

[0032] The barrier positioning system also includes:

[0033] a modifying unit, configured to modify the coordinate offset of the center of mass point of the barrier model according to the adjustment result of the second adjustment module;

[0034] An associating unit modifies the vehicle model so that the vehicle model is associated with the barrier model.

[0035] According to one embodiment of the present invention, the second adjustment module includes:

[0036] A step size module, used to determine the step size a;

[0037] A moving module moves the barrier model closer to the vehicle model with a step length a;

[0038] A height calculation module calculates the height z of the barrier model in three-dimensional space;

[0039] A judging module is configured to judge whether the barrier model and the vehicle model are in contact according to the height z, and if the barrier model and the vehicle model are not in contact, the moving module is configured to continue to perform the approaching action until the barrier model is adjusted to a second threshold before the first contact point.

[0040] According to an embodiment of the present invention, the first threshold is 9-11 mm, the step length a is 1 mm, and the second threshold is 5-8 mm.

[0041] According to one embodiment of the present invention, the barrier positioning system further includes:

[0042] A checking unit, used for checking whether there is error information in the vehicle model;

[0043] The error processing unit processes the inspection result of the inspection unit, submits the vehicle model to the server if there is no error information, and prompts the error information if there is error information.

[0044] The present invention also provides a barrier locating device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the aforementioned barrier locating methods when executing the computer program.

[0045] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the aforementioned barrier locating methods are implemented.

[0046] The present invention provides a barrier positioning method, a barrier positioning system, a barrier positioning device and a computer-readable storage medium, which can effectively improve the efficiency and accuracy of barrier positioning.

[0047] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are included to provide further explanation of the present invention, and they are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with this specification serve to explain the principles of the present invention. In the accompanying drawings:

[0049] Figure 1 A flowchart of a barrier positioning method according to an embodiment of the present invention is shown.

[0050] Figure 2 A schematic structural diagram of a barrier positioning system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0051] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0054] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0055] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0056] In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and cannot be understood as limiting the scope of protection of this application. In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article. In addition, it is required to understand this application not only by the actual terms used, but also by the meaning implied by each term.

[0057] Figure 1The flowchart of the barrier positioning method according to an embodiment of the present invention is shown. As shown in the figure, the present invention provides a barrier positioning method, which comprises the following steps:

[0058] S1, select a barrier model and a vehicle model according to the working condition of the required barrier positioning. There are many types of barrier collision working conditions, including head-on collision, side collision, rear collision, pedestrian protection and other working conditions. In this step, it is necessary to select a barrier model according to the specific working conditions. You can select any vehicle type, but usually a certain vehicle model will be selected during the execution of the barrier positioning method.

[0059] S2, determining a set of boundary points of the barrier model according to the barrier model and the working condition, and determining a set of boundary points of the vehicle model according to the vehicle model and the working condition.

[0060] S3, based on the working condition, the boundary point set of the barrier model, and the boundary point set of the vehicle model, a first contact point between the barrier model and the vehicle model in the two-dimensional space projection is calculated. Step S3 calculates the first contact point using a preliminary estimation method in the two-dimensional space projection.

[0061] S4, adjusting the barrier model to a first threshold before the first contact point. The first threshold is an empirical value, which can be determined by engineers based on actual operation experience to ensure that the barrier model and the vehicle model remain in a non-contact state.

[0062] S5, adjusting the distance between the barrier model and the vehicle model, including:

[0063] S51, making the barrier model approach the vehicle model with a step length a;

[0064] S52, calculating the height z of the barrier model in the three-dimensional space, and calculating the height z according to the selected working condition and ground line information.

[0065] S53, judging whether the barrier model and the vehicle model are in contact according to the height z;

[0066] S54: If the barrier model and the vehicle model are not in contact, steps S51 to S53 are repeated until the barrier model is adjusted to a second threshold before the first contact point.

[0067] In step S5, step S3 is used to determine whether the barrier model and the vehicle model are in contact in three-dimensional space, so as to correct the contact calculation result in two-dimensional space and improve the barrier positioning accuracy.

[0068] S6, modifying the coordinate offset of the center of mass of the barrier model according to the distance between the barrier model and the vehicle model. Modifying the corresponding barrier model according to the calculation result of step S5.

[0069] S7, associating the barrier model with the vehicle model. In this step, the modified barrier model data is added to the vehicle model to achieve automatic barrier positioning.

[0070] Preferably, the first threshold is 9-11 mm, and the second threshold is 5-8 mm.

[0071] Preferably, the step length a is 1 mm.

[0072] Preferably, the barrier positioning method further comprises the steps of:

[0073] S8, checking whether there is error information in the vehicle model. If there is no error information, the vehicle model is submitted to the server. If there is error information, the error information will be prompted.

[0074] An embodiment is provided below to specifically illustrate the implementation steps of the barrier positioning method.

[0075] S1, select a working condition, select a pendulum working condition, select a working path of the vehicle model according to the pendulum working condition, and find the vehicle model under the working path; find the barrier model according to the pendulum working condition. In this embodiment, the barrier model is a pendulum model.

[0076] S2, determining a set of boundary points of the pendulum model according to the pendulum model and the pendulum working condition, and determining a set of boundary points of the vehicle model according to the vehicle model and the pendulum working condition.

[0077] S3, calculating a first contact point between the pendulum model and the vehicle model in a two-dimensional space projection based on the pendulum working condition, the boundary point set of the pendulum model, and the boundary point set of the vehicle model.

[0078] S4, adjusting the pendulum model to a first threshold before the first contact point. In this embodiment, the first threshold is 10 mm.

[0079] S5, adjusting the distance between the pendulum model and the vehicle model, including:

[0080] S51, making the pendulum model approach the vehicle model with a step length a, where the step length a is 1 mm;

[0081] S52, calculating the height z of the pendulum model in the three-dimensional space;

[0082] S53, judging whether the pendulum model and the vehicle model are in contact according to the height z and other auxiliary information, the auxiliary information including ground line information, vehicle counterweight information, etc. If there is no auxiliary information, it needs to be provided by the operator.

[0083] S54, if the pendulum model and the vehicle model are not in contact, repeat steps S51 to S53 until the pendulum model is adjusted to the second threshold before the first contact point, where the second threshold value ranges from 5 to 7 mm. If the pendulum model and the vehicle model are in contact during this distance adjustment process, report to the operator, find the cause of the contact or reselect the working condition.

[0084] S6, modifying the centroid coordinate offset of the pendulum model according to the distance between the pendulum model and the vehicle model calculated in step S5.

[0085] S7, associating the pendulum model with the vehicle model. In this step, the modified barrier model data is added to the vehicle model, and the weight information, initial speed and other information of the vehicle model are modified according to the pendulum working condition requirements to achieve automatic barrier positioning.

[0086] S8, check whether there is any error information in the vehicle model. If there is no error information, submit the vehicle model to the server for calculation. If there is error information, the error information will be prompted for inspection by the operator.

[0087] Figure 2 The schematic diagram of the structure of a barrier positioning system according to an embodiment of the present invention is shown. As shown in the figure, the present invention also provides a barrier positioning system 200. The barrier positioning system 200 includes:

[0088] The working condition selection unit 201 is used to provide working conditions required for barrier collision, including frontal collision, side collision, rear collision, pedestrian protection, etc.

[0089] The barrier model unit 202 is used to provide a barrier model;

[0090] The vehicle model unit 203 is used to provide a vehicle model;

[0091] The auxiliary information unit 204 is used to provide auxiliary information of the vehicle model, such as vehicle weight information, ground line information, dummy position information, etc.

[0092] The barrier positioning method unit 205 includes:

[0093] A selection module 206 selects a working condition of barrier collision through the working condition selection unit 201, selects a barrier model from the barrier model unit 202 and selects a vehicle model from the vehicle model unit 203 according to the working condition;

[0094] A boundary calculation module 207 calculates a boundary point set of the barrier model according to the barrier model and the working condition, and calculates a boundary point set of the vehicle model according to the vehicle model and the working condition;

[0095] A first contact point calculation module 208 calculates a first contact point between the barrier model and the vehicle model in a two-dimensional space projection based on the working condition, the boundary point set of the barrier model, and the boundary point set of the vehicle model;

[0096] A first adjustment module 209, adjusting the barrier model to a first threshold before the first contact point;

[0097] A second adjustment module 210 adjusts the distance between the barrier model and the vehicle model so that the barrier model is adjusted to a second threshold before the first contact point and does not contact the vehicle model;

[0098] The barrier positioning system also includes:

[0099] A modifying unit 211, which modifies the coordinate offset of the center of mass point of the barrier model according to the adjustment result of the second adjustment module 210;

[0100] The associating unit 212 modifies the vehicle model so as to associate the vehicle model with the barrier model.

[0101] Preferably, the second adjustment module 210 includes:

[0102] A step size module, used to determine the step size a;

[0103] Move the module to move the barrier model closer to the vehicle model with a step length of a;

[0104] Height calculation module, calculates the height z of the barrier model in three-dimensional space;

[0105] The judgment module judges whether the barrier model and the vehicle model are in contact according to the height z. If the barrier model and the vehicle model are not in contact, the movement module continues to perform the approaching action until the barrier model is adjusted to a second threshold before the first contact point.

[0106] Preferably, the first threshold is 9-11 mm, the step length a is 1 mm, and the second threshold is 5-8 mm.

[0107] Preferably, the barrier positioning system 200 further includes:

[0108] A checking unit 213, used to check whether there is error information in the vehicle model;

[0109] The error processing unit 214 processes the inspection result of the inspection unit 213. If there is no error information, the vehicle model is submitted to the cloud server. If there is error information, the error information is prompted.

[0110] The present invention also provides a barrier locating device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the aforementioned barrier locating methods when executing the computer program.

[0111] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the aforementioned barrier locating methods are implemented.

[0112] Among them, the specific implementation methods and technical effects of the barrier positioning system, barrier positioning device, and computer-readable storage medium can all be referred to the embodiments of the barrier positioning method provided by the above-mentioned present invention, and will not be repeated here.

[0113] The barrier positioning method, barrier positioning system, barrier positioning device and computer-readable storage medium provided by the present invention have the following advantages compared with the prior art:

[0114] 1. Without using finite element pre-processing software, the automatic positioning of barriers under various working conditions and the construction of collision simulation models can be completed, which can reduce the number of finite element software licenses used and save a lot of license fees.

[0115] 2. Usually, CAE models need to be operated using a high-performance workstation, but the barrier positioning system of the present invention only needs a computer with ordinary configuration to run, which can save part of the hardware cost of a high-performance workstation.

[0116] 3. A cloud server can be equipped in the cloud to install this barrier positioning system and realize the remote construction of the collision simulation model.

[0117] 4. It can realize the automatic positioning of collision simulation barriers and the automatic construction of collision models. It not only reduces the probability of engineers making mistakes when manually positioning barriers and manually building models, but also greatly improves work efficiency and saves working hours.

[0118] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0119] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0120] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0121] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, a server, or other remote source using a coaxial cable, a fiber optic cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, wherein disk often reproduces data magnetically, while disc reproduces data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0122] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A barrier positioning method, comprising the steps of: S1, selecting a barrier model and a vehicle model according to the working conditions of the required barrier positioning; S2, determining a boundary point set of the barrier model according to the barrier model and the working condition, and determining a boundary point set of the vehicle model according to the vehicle model and the working condition; S3, calculating a first contact point between the barrier model and the vehicle model in a two-dimensional space projection based on the working condition, the boundary point set of the barrier model, and the boundary point set of the vehicle model; S4, adjusting the barrier model to a first threshold before the first contact point; S5, adjusting the distance between the barrier model and the vehicle model, including: S51, making the barrier model move closer to the vehicle model with a step length a; S52, calculating the height z of the barrier model in the three-dimensional space; S53, judging whether the barrier model and the vehicle model are in contact according to the height z; S54, if the barrier model and the vehicle model are not in contact, repeating steps S51 to S53 until the barrier model is adjusted to a second threshold before the first contact point; S6, modifying the coordinate offset of the center of mass point of the barrier model according to the distance between the barrier model and the vehicle model; S7: Associating the barrier model with the vehicle model.

2. The barrier positioning method according to claim 1, characterized in that: The first threshold is 9-11 mm, and the second threshold is 5-8 mm.

3. The barrier positioning method according to claim 1, characterized in that: The step length a is 1 mm.

4. The barrier positioning method according to claim 1, characterized in that: Also includes the steps: S8, checking whether there is error information in the vehicle model, if there is no error information, submitting the vehicle model to the server, if there is error information, prompting the error information.

5. A barrier positioning system, comprising: A working condition selection unit, used to provide working conditions required for barrier collision; A barrier model unit, used for providing a barrier model; A vehicle model unit, used for providing a vehicle model; An auxiliary information unit, used to provide auxiliary information of the vehicle model; The barrier positioning method unit comprises: A selection module, which selects a working condition of barrier collision through the working condition selection unit, and selects a barrier model from the barrier model unit and a vehicle model from the vehicle model unit according to the working condition; A boundary calculation module, which calculates a boundary point set of the barrier model according to the barrier model and the working condition, and calculates a boundary point set of the vehicle model according to the vehicle model and the working condition; A first contact point calculation module, which calculates a first contact point between the barrier model and the vehicle model in a two-dimensional space projection based on the working condition, the boundary point set of the barrier model, and the boundary point set of the vehicle model; A first adjustment module, adjusting the barrier model to a first threshold before the first contact point; a second adjustment module, adjusting the distance between the barrier model and the vehicle model so that the barrier model is adjusted to a second threshold before the first contact point and does not contact the vehicle model; The barrier positioning system also includes: a modifying unit, configured to modify the coordinate offset of the center of mass point of the barrier model according to the adjustment result of the second adjustment module; An associating unit modifies the vehicle model so that the vehicle model is associated with the barrier model.

6. The barrier positioning system according to claim 5, characterized in that: The second adjustment module includes: A step size module, used to determine the step size a; A moving module moves the barrier model closer to the vehicle model with a step length a; A height calculation module calculates the height z of the barrier model in three-dimensional space; A judging module is configured to judge whether the barrier model and the vehicle model are in contact according to the height z, and if the barrier model and the vehicle model are not in contact, the moving module is configured to continue to perform the approaching action until the barrier model is adjusted to a second threshold before the first contact point.

7. The barrier positioning system according to claim 6, characterized in that: The first threshold is 9-11 mm, the step length a is 1 mm, and the second threshold is 5-8 mm.

8. The barrier positioning system according to claim 5, characterized in that: The barrier positioning system also includes: A checking unit, used for checking whether there is error information in the vehicle model; The error processing unit processes the inspection result of the inspection unit, submits the vehicle model to the server if there is no error information, and prompts the error information if there is error information.

9. A barrier locating device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the barrier locating method as described in any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the barrier locating method according to any one of claims 1 to 4 are implemented.

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