A model construction method and construction device based on transient driving performance simulation

Abstract

The present invention discloses a model construction method and device based on transient drivability simulation. The model construction method comprises: determining model parameters of a predetermined vehicle; establishing component sub-models corresponding to the predetermined vehicle based on the model parameters, wherein the component sub-models include at least one of a mount sub-model, a transmission sub-model, and a suspension sub-model; and constructing a dynamic model based on the powertrain of the predetermined vehicle and the component sub-models. By establishing a virtual model of the entire vehicle, the present invention can perform drivability simulation on the entire vehicle, guide drivability calibration, shorten development cycles, and reduce development costs.

Description

Technical Field

[0001] The present invention relates to the technical field of passenger car drivability simulation, and in particular to a model construction method and construction device based on transient drivability simulation. Background Art

[0002] Competition in the passenger car market is fierce, while regulations on emissions, fuel consumption, and other factors are becoming increasingly stringent. To maintain and enhance market competitiveness, R&D departments must continuously improve vehicle performance while significantly reducing development costs and shortening development cycles. Faced with this immense pressure, OEMs and R&D institutions are transitioning from relying solely on real-vehicle testing to a combination of real-vehicle testing and virtual calibration in the field of powertrain calibration. Virtual calibration allows calibration testing to begin earlier in the project development process, alleviating the pressure of tight development cycles. It also overcomes the limitations of the test environment and reduces the human resources and costs associated with road testing, ultimately achieving cost savings and increased revenue.

[0003] In various virtual calibration applications, drivability simulation requires not only the accuracy of engine and transmission models, but also higher requirements for the vehicle model, compared to simulations of fuel consumption, emissions, and thermal management. Currently, commonly used vehicle models simulate acceleration based on information such as torque, driveline ratio, and vehicle weight, resulting in generally smooth acceleration. However, these models fail to capture the true, transient changes in vehicle acceleration caused by various driving maneuvers. Transient conditions are the challenge and key to drivability calibration. Even when torque is smooth during tip-in and tip-out, the driver perceives transient acceleration as jerky due to the stiffness, damping, and clearance of various components in the vehicle's drivetrain. Current drivability calibration in vehicle development relies on real-world driving experience and collected acceleration signals. Optimization is performed after identifying substandard drivability. This requires extensive real-vehicle testing and verification, making it less practical. Summary of the Invention

[0004] The present disclosure provides a model construction method, device, storage medium and electronic device based on transient drivability simulation, so as to at least solve the technical problem that the existing model construction method cannot reflect the impact of vehicle transient drivability caused by drivability operation.

[0005] According to one aspect of an embodiment of the present invention, a model construction method based on transient drivability simulation is provided, which determines the model parameters of a predetermined vehicle; based on the model parameters, establishes a component sub-model corresponding to the predetermined vehicle, the component sub-model including at least one of a suspension sub-model, a transmission sub-model, and a suspension sub-model; and constructs a dynamic model based on the powertrain of the predetermined vehicle and the component sub-models.

[0006] In an exemplary embodiment, the method further includes: performing transient drivability simulation under predetermined working conditions through a hardware-in-the-loop test system based on the dynamic model; and adjusting the model parameters based on the simulation results.

[0007] In an exemplary embodiment, adjusting the model parameters based on the simulation results includes: collecting motion parameters of the predetermined vehicle under the predetermined working conditions; comparing the motion parameters with the simulation results; and adjusting the model parameters according to the comparison results.

[0008] In an exemplary embodiment, the predetermined operating conditions include at least instantaneous refueling and instantaneous refueling.

[0009] In an exemplary embodiment, in the obtaining of the parameters of the parts corresponding to the component sub-model, when the component sub-model is a suspension sub-model, the parameters include at least at least one of the mass of the powertrain, the center of mass position of the powertrain, the moment of inertia of the powertrain, the coordinate position of the suspension, the stiffness of the suspension, and the damping characteristics of the suspension.

[0010] In an exemplary embodiment, in the obtaining of the parameters of the parts corresponding to the component sub-model, when the component sub-model is a transmission sub-model, the parameters include at least one of the torsional clearance of the transmission system, the moment of inertia of the transmission component, the damping of the transmission component, and the stiffness of the transmission component.

[0011] In an exemplary embodiment, in the step of obtaining the parameters of the parts corresponding to the component sub-model, when the component sub-model is a suspension sub-model, the parameters include at least one of sprung mass, center of mass position, axle load ratio, sliding resistance coefficient, unsprung mass, longitudinal stiffness and damping of the suspension and tire, tire rolling radius, slip rate curve, and moment of inertia.

[0012] In a second aspect, the present disclosure provides a model building device based on transient drivability simulation, characterized by comprising:

[0013] A determination module, configured to determine model parameters of a predetermined vehicle;

[0014] an establishing module, configured to establish a component sub-model corresponding to the predetermined vehicle based on the model parameters, the component sub-model comprising at least one of a mount sub-model, a transmission sub-model, and a suspension sub-model;

[0015] A building module is used to build a dynamic model based on the powertrain of the predetermined vehicle and the component sub-model.

[0016] In a third aspect, the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the vehicle body model construction method described in any of the above technical solutions.

[0017] In a fourth aspect, the present disclosure provides an electronic device comprising: a processor; a memory for storing instructions executable by the processor; and the processor for executing the vehicle body model construction method described in any one of the above technical solutions.

[0018] As can be seen from the above content, in the present disclosure, by establishing a multi-body model of the suspension, the torsional angle and speed of the powertrain in the cabin during driving can be reflected, by establishing a transmission system model, the transient driving characteristics during transient acceleration and deceleration can be reflected, and by establishing a simplified suspension model, the influence of the suspension part on the longitudinal driving performance can be reflected; by integrating the suspension, transmission system and suspension models into a vehicle model and performing transient driving performance simulation on the entire vehicle, the influence of various parameters on transient driving performance can be analyzed, which plays a predictive and guiding role in the development of the entire vehicle and the selection of components, shortening the development cycle and reducing development costs.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 is a flow chart of the model building method provided by the present disclosure;

[0022] Figure 2 It is a connection relationship diagram of the whole vehicle model provided by the present disclosure;

[0023] Figure 3 is a diagram showing the connection between the suspension and the powertrain of the vehicle provided by the present disclosure;

[0024] Figure 4 is a schematic structural diagram of a transmission shaft of a vehicle provided by the present disclosure;

[0025] Figure 5 is a schematic structural diagram of the suspension portion of the vehicle provided by the present disclosure;

[0026] Figure 6 This is a comparison chart between the modeling simulation data and the actual vehicle test data provided by the present disclosure;

[0027] Figure 7is a structural block diagram of the model building device provided by the present disclosure;

[0028] Figure 8 It is a structural block diagram of the electronic device provided by the present disclosure. DETAILED DESCRIPTION

[0029] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0030] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0031] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0032] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0033] It should also be understood that although the present disclosure has been described with reference to certain specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the characteristics recited in the claims and are therefore within the scope of protection defined thereby.

[0034] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0035] Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant detail. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but rather serve merely as a basis and representative basis for the claims to teach those skilled in the art to variously employ the present disclosure with substantially any suitable detailed structure.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] This description may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," each of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0038] The present disclosure will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] Example 1

[0040] The first aspect of the present disclosure provides a model construction method based on transient drivability simulation, which models and simulates the main components of a vehicle that have an impact on transient drivability characteristics. Based on the consideration of the transient drivability of the vehicle, in the embodiment of the present disclosure, it is necessary to model and decompose the entire vehicle, such as Figure 1 As shown, the vehicle includes an engine 1, a transmission 2, a drive shaft 3, a tire 4, a suspension 5, a frame 6 and a suspension 7 as a powertrain, wherein the frame 6 is connected to the suspension 7, and the suspension 7 is respectively connected to the engine 1 and the transmission 2.

[0041] During vehicle operation, the engine 1 transmits torque to the transmission 2 based on control signals from the vehicle controller. The transmission 2 then transmits torque to the tires 4 via the drive shaft 3, thereby driving the vehicle forward. Thus, the suspension 7, drive shaft 3, suspension 5, and tires 4, along the vehicle's power transmission direction, are the components most closely associated with transient drivability. Furthermore, transient drivability is one of the key indicators for evaluating a vehicle. Of the six degrees of freedom of vehicle motion, the most relevant to transient drivability is longitudinal motion, or straight-line driving. Therefore, drivability, commonly referred to as a vehicle's straight-line performance, is used to evaluate its powertrain.

[0042] In order to simulate and emulate the transient driving performance of the vehicle, refer to Figure 2 As shown, the model construction method based on transient drivability simulation described in the present disclosure includes the following steps:

[0043] S101, determining model parameters of a predetermined vehicle.

[0044] In this step, the model parameters of the predetermined vehicle are determined. Here, the model parameters of the model parts corresponding to the components are determined based on the parameters of the actual components of the vehicle.

[0045] S102 : establishing a component sub-model corresponding to the predetermined vehicle based on the model parameters, wherein the component sub-model includes at least one of a mounting sub-model, a transmission sub-model, and a suspension sub-model.

[0046] After the model parameters of the predetermined vehicle are determined in step S101 above, in this step, a component sub-model corresponding to the predetermined vehicle is established based on the model parameters, and the component sub-model includes at least one of a mount sub-model, a transmission sub-model, and a suspension sub-model.

[0047] In the process of establishing the component sub-model, it is necessary to consider the overall vehicle structure of the vehicle and the connection relationship between the various components, as well as the impact on the transient drivability of the vehicle.

[0048] For example, when establishing a suspension sub-model, it's important to consider that within the vehicle's overall structure, the powertrain is typically secured to the vehicle frame via a mount to reduce and control the transmission of engine vibrations and provide support. Furthermore, during vehicle operation, the powertrain outputs torque to the drive shaft and simultaneously transmits the reverse torque to the vehicle frame. The mount acts as a buffer, dampening the torque generated by the powertrain itself when the engine's output torque suddenly changes. This torque causes fluctuations in the drive shaft's rotational speed and is also transmitted to the vehicle frame via the mount, impacting acceleration in the direction of travel. For example, the mounts in passenger cars typically utilize conventional rubber or hydraulic mounts, which can mitigate the impact of the powertrain's rotation and displacement on the vehicle under various operating and road conditions.

[0049] Considering that the vehicle's suspension 7 can generally be configured as a 3-point or 4-point suspension depending on the length, mass, purpose, and installation of the powertrain, a 4-point suspension is used as an example in the process of establishing the suspension sub-model. Figure 3 As shown, the four-point suspension includes a left front suspension 701, a right front suspension 702, a left rear suspension 703, and a right rear suspension 704, which are arranged in the left front, left rear, right front, and right rear directions of the powertrain.

[0050] Furthermore, a 6-DOF module can be used to characterize the suspension 7 of the vehicle. The collected model parameters of the suspension 7, such as the suspension 7's own parameters, power system parameters, and relative position parameters, can be input into the 6-DOF module. At the same time, the position of each suspension unit in the vehicle coordinate system is set, and the model housing of the engine and transmission is connected to the frame through the suspension sub-model, thereby completing the modeling of the suspension sub-model.

[0051] The parameters of the suspension 7 include the damping characteristics and stiffness of the suspension 7 in the driving direction, lateral direction and vertical direction; the power system parameters include the weight, size, center of mass position and moment of inertia of the power system, etc., which may affect the dynamic performance.

[0052] In this way, by collecting the vehicle's own parameters, power system parameters, and position parameters of the suspension 7, a multi-body model of the suspension is established, which can truly reflect the torsion angle and speed of the powertrain in the cabin during driving, thereby simulating the impact on transient drivability parameters.

[0053] For another example, in the process of establishing the transmission sub-model, it is taken into account that the drive shaft is an important component for transmitting power in the automobile transmission system, which is composed of a shaft tube, a telescopic sleeve and a universal joint. Together with the gearbox and the drive axle, it transmits the power of the engine to the wheels, so that the car generates driving force. It can be seen that the main function of the drive shaft is to transfer the torque of the engine to the wheels, taking into account the torque borne by the drive shaft and the torque transmission between the various components of the drive shaft during the power transmission process. To this end, in the process of constructing the transmission sub-model, the model parameters include at least one of the rotational inertia, damping, stiffness of the main components in the transmission system and the torsional clearance between the components. Among them, the stiffness here is characterized by torsional stiffness, and the clearance of the transmission system, such as Figure 4 As shown, the angle formed by the positive and negative torsion of the drive shaft is defined. Specifically, during the modeling process, parameters such as the torsional clearance of the entire driveline from the engine 1 output to the wheel end, the moment of inertia, damping, and stiffness of components such as the transmission 2 and reducer are collected to establish a transmission sub-model. This can more realistically reflect the torsional state of the driveline during rapid refueling and de-fueling.

[0054] For example, during the process of establishing the suspension submodel, after the drive shaft 3 transmits torque to the wheel 4, the wheel 4 is connected to the vehicle body via the suspension 5, driving the entire vehicle body's longitudinal movement. The suspension 5 here is the elastic connection between the vehicle frame and axle. It generally consists of elastic elements, guide mechanisms, shock absorbers, and other components. Within the overall vehicle structure, the suspension 5's primary function is to mitigate the vertical jolting of the sprung mass, thereby improving ride comfort. Because the suspension 5 utilizes elastic elements and shock absorbers to provide cushioning and vibration reduction, it is not completely rigid in the vehicle's direction of travel, exhibiting a certain degree of stiffness and damping.

[0055] Therefore, during the modeling process, the suspension model parameters are divided into two parts according to the load position: sprung parameters and unsprung parameters. Among them, sprung parameters include sprung mass, center of mass position, axle load ratio, sliding resistance coefficient, etc., and unsprung parameters include unsprung mass, longitudinal stiffness and damping of suspension and tire, tire rolling radius, slip rate curve, moment of inertia, etc. Figure 5 As shown, according to the mechanism of the influence of the suspension 5 on the longitudinal drivability, by simplifying the body and tire parts, the suspension sub-model can be simplified to a dual-mass elastic damping system, and during the simulation process, the influence of the suspension part on the longitudinal drivability can be reflected.

[0056] S103: Constructing a dynamics model based on the powertrain of the predetermined vehicle and the component sub-models.

[0057] After establishing a component sub-model corresponding to the predetermined vehicle based on the model parameters in step S102, wherein the component sub-model includes at least one of a suspension sub-model, a transmission sub-model, and a suspension sub-model, in this step, a dynamic model is constructed based on the powertrain of the predetermined vehicle and the component sub-model. Specifically, by constructing the suspension sub-model, the transmission sub-model, and the suspension sub-model and connecting them with the powertrain of the vehicle, it is possible to provide real feedback on the impact of various parameters in the suspension system, transmission system, and suspension system on the vehicle's compliant performance. In some embodiments, one or more of the above sub-models can be connected to simulate the actual situation during vehicle driving from multiple angles. For example, the suspension sub-model, transmission sub-model, and suspension sub-model can be connected to the powertrain in SimScape as needed to form a multi-body dynamic vehicle model based on drivability simulation.

[0058] In some embodiments, the model building method described in the present disclosure further includes: performing drivability simulation under predetermined working conditions through a hardware-in-the-loop test system based on the dynamic model; and adjusting the model parameters based on the simulation results.

[0059] Specifically, after constructing the dynamic model, a simulation model of the vehicle is established in the HiL system through offline calculation and compilation. In each application scenario of virtual calibration, the vehicle's acceleration, vibration frequency and other motion parameters under predetermined working conditions are simulated to obtain simulation results. At the same time, the actual motion parameters of the vehicle under the predetermined working conditions are collected and compared with the above simulation results.

[0060] Furthermore, the model parameters used in the model establishment process can be adjusted based on the comparison results to further improve the authenticity of the simulation results. For example, a rapid refueling or rapid throttle reduction operation can be performed during the vehicle's coasting process, and the vehicle's motion parameters at the initial stage of engine speed increase are collected. The motion parameters are compared with the simulation results, and the model parameters are adjusted based on the comparison results. The rapid refueling or rapid throttle reduction refers to a situation where the throttle change rate exceeds 100% during the refueling or throttle reduction operation. The throttle change rate refers to the change in throttle travel per second. For example, if 50% of the throttle travel is depressed in 0.4 seconds, the throttle change rate is 125%, which is a rapid refueling.

[0061] In this way, by adjusting the model parameters, the simulation results can be made consistent with the actual vehicle data. Figure 6 This is a comparison chart between the modeling simulation data and the actual vehicle test data provided by the present disclosure. As shown in the figure, the jitter performance at the initial stage of engine speed increase is very similar to the simulation structure, and the acceleration curve is basically consistent. The vehicle model described in the present disclosure can simulate driving performance consistent with the actual vehicle when the torque input is determined. It can clarify the influence of various components of the vehicle on transient driving performance, reduce the cost and cycle of trial-produced parts in the selection process, and can carry out vehicle driving performance calibration work without a test prototype, shortening the development cycle and reducing development risks.

[0062] Example 2

[0063] In order to better implement the above method, the second aspect of the present disclosure further provides a model building device corresponding to the model building method, and the model building device can be integrated on an electronic device.

[0064] For example, Figure 7 As shown, the model building device may include: a determination module 410, an establishment module 420 and a construction module 430, as follows:

[0065] (1) A determination module 410 is used to determine the model parameters of a predetermined vehicle.

[0066] Optionally, the determination module 410 may include a first determination unit, a second determination unit, and a third determination unit; wherein,

[0067] The first determining unit is used to determine the mass of the powertrain, the center of mass position of the powertrain, the moment of inertia of the powertrain, the coordinate position of the suspension, the stiffness of the suspension, and the damping characteristics of the suspension;

[0068] The second determining unit is used to determine the torsional backlash of the transmission system, the moment of inertia of the transmission component, the damping of the transmission component, and the stiffness of the transmission component;

[0069] The third determination unit is used to determine the sprung mass, center of mass position, axle load ratio, sliding resistance coefficient, unsprung mass, longitudinal stiffness and damping of the suspension and tire, tire rolling radius, slip rate curve, and moment of inertia.

[0070] (2) Establishing module 420, for establishing a component sub-model corresponding to the predetermined vehicle based on the model parameters.

[0071] Optionally, the building module 420 includes at least one of a suspension sub-model building unit, a transmission sub-model building unit, and a suspension sub-model building unit; wherein,

[0072] The suspension sub-model building unit builds a suspension sub-model based on the parameters determined by the first determining unit;

[0073] The transmission sub-model establishing unit constructs a transmission sub-model based on the parameters determined by the second determining unit;

[0074] The suspension sub-model building unit builds a suspension sub-model based on the parameters determined by the third determining unit.

[0075] (3) A construction module 430, configured to construct a dynamic model based on the powertrain of the predetermined vehicle and the component sub-models.

[0076] Specifically, by constructing the suspension sub-model, the transmission sub-model and the suspension sub-model and connecting them with the vehicle's powertrain, it is possible to provide real feedback on the impact of various parameters in the suspension system, transmission system and suspension system on the vehicle's non-linear performance, and simulate the actual situation during vehicle driving from multiple angles.

[0077] In some embodiments, the model building device described in the present disclosure further includes a simulation module 440 and an adjustment module 450.

[0078] The simulation module 440 is used to perform drivability simulation under predetermined working conditions based on the dynamic model through a hardware-in-the-loop test system; the adjustment module 450 is used to adjust the model parameters based on the simulation results.

[0079] The disclosed embodiment establishes a multi-body model of the suspension to reflect the torsional angle and speed of the powertrain in the cabin during driving. By establishing a transmission system model, it can reflect the transient drivability characteristics during transient acceleration and deceleration. By establishing a simplified suspension model, it can reflect the influence of the suspension part on the longitudinal drivability. By integrating the suspension, transmission system and suspension models into a vehicle model and performing transient drivability simulation on the entire vehicle, it is possible to analyze the influence of various parameters on the transient drivability, play a predictive and guiding role in the development of the entire vehicle and the selection of components, shorten the development cycle, and reduce development costs.

[0080] Example 3

[0081] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0082] To this end, a third aspect of the present disclosure further provides a computer-readable storage medium storing a plurality of instructions that can be loaded by a processor to execute the steps of any of the model building methods provided in the embodiments of the present disclosure. For example, the instructions can execute the following steps:

[0083] S11, determining the model parameters of the predetermined vehicle;

[0084] S12, establishing a component sub-model corresponding to the predetermined vehicle based on the model parameters, the component sub-model including at least one of a mount sub-model, a transmission sub-model, and a suspension sub-model;

[0085] S13: Constructing a dynamic model based on the powertrain of the predetermined vehicle and the component sub-models.

[0086] Furthermore, when the computer program is executed by a processor, other methods provided by any of the above embodiments of the present disclosure are implemented.

[0087] The disclosed embodiment establishes a multi-body model of the suspension to reflect the torsional angle and speed of the powertrain in the cabin during driving. By establishing a transmission system model, it can reflect the transient drivability characteristics during transient acceleration and deceleration. By establishing a simplified suspension model, it can reflect the influence of the suspension part on the longitudinal drivability. By integrating the suspension, transmission system and suspension models into a vehicle model and performing transient drivability simulation on the entire vehicle, it is possible to analyze the influence of various parameters on the transient drivability, play a predictive and guiding role in the development of the entire vehicle and the selection of components, shorten the development cycle, and reduce development costs.

[0088] Example 4

[0089] A fourth embodiment of the present disclosure provides an electronic device, such as Figure 8 As shown, the electronic device includes at least a memory 401 and a processor 402. The memory 401 stores a computer program. The processor 402 implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory 401. Exemplarily, the method executed by the electronic device computer program is as follows:

[0090] S21, determining the model parameters of the predetermined vehicle;

[0091] S22, establishing a component sub-model corresponding to the predetermined vehicle based on the model parameters, the component sub-model including at least one of a mount sub-model, a transmission sub-model, and a suspension sub-model;

[0092] S23: Constructing a dynamics model based on the powertrain of the predetermined vehicle and the component sub-models.

[0093] In specific implementation, the above-mentioned determination module 410, establishment module 420 and construction module 430 are all stored in the memory 401 as program units, and the processor 402 executes the above-mentioned program units stored in the memory 401 to implement corresponding functions.

[0094] The disclosed embodiment establishes a multi-body model of the suspension to reflect the torsional angle and speed of the powertrain in the cabin during driving. By establishing a transmission system model, it can reflect the transient drivability characteristics during transient acceleration and deceleration. By establishing a simplified suspension model, it can reflect the influence of the suspension part on the longitudinal drivability. By integrating the suspension, transmission system and suspension models into a vehicle model and performing transient drivability simulation on the entire vehicle, it is possible to analyze the influence of various parameters on the transient drivability, play a predictive and guiding role in the development of the entire vehicle and the selection of components, shorten the development cycle, and reduce development costs.

[0095] The storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0096] The storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends a node evaluation request including at least two Internet Protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an edge node in a content distribution network.

[0097] Alternatively, the storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: receive a node evaluation request including at least two Internet Protocol addresses; select an Internet Protocol address from the at least two Internet Protocol addresses; and return the selected Internet Protocol address; wherein the received Internet Protocol address indicates an edge node in a content distribution network.

[0098] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the passenger computer, partially on the passenger computer, as a stand-alone software package, partially on the passenger computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the passenger computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0099] It should be noted that the storage medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any storage medium other than a computer-readable storage medium that can transmit, propagate, or convey a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the storage medium may be conveyed using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), or any suitable combination thereof.

[0100] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0101] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0102] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0103] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0104] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0105] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0106] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

[0107] The above describes in detail multiple embodiments of the present disclosure, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure, and these variations and modifications should fall within the scope of protection required by the present disclosure.

Claims

1. A model construction method based on transient drivability simulation, characterized by: determining model parameters of a predetermined vehicle; Based on the model parameters, a component sub-model corresponding to the predetermined vehicle is established, wherein the component sub-model includes a suspension sub-model, a transmission sub-model and a suspension sub-model; The type of the suspension sub-model is a multi-body model, which is constructed based on the suspension's own parameters, power system parameters, and position parameters. The suspension's own parameters include the suspension's damping characteristics and stiffness in the driving direction, lateral direction, and vertical direction. The transmission sub-model is constructed based on at least one of the torsional backlash of the transmission system, the moment of inertia of the transmission component, the damping of the transmission component, and the stiffness of the transmission component. The suspension sub-model is constructed based on sprung parameters and unsprung parameters among the suspension model parameters, wherein the sprung parameters include at least one of sprung mass, center of mass position, axle load ratio, and a sliding resistance coefficient; and the unsprung parameters include at least one of unsprung mass, longitudinal stiffness and damping of the suspension and tire, tire rolling radius, slip rate curve, and moment of inertia; A dynamic model is constructed based on the powertrain of the predetermined vehicle and the component sub-models.

2. The model building method according to claim 1, characterized in that Also includes: Based on the dynamic model, a transient drivability simulation is performed under predetermined working conditions through a hardware-in-the-loop test system; The model parameters are adjusted based on the simulation results.

3. The model building method according to claim 2, characterized in that: The adjusting of the model parameters based on the simulation results includes: collecting motion parameters of the predetermined vehicle under the predetermined working conditions; comparing the motion parameters with the simulation results; According to the comparison results, the model parameters are adjusted.

4. The model building method according to claim 3, characterized in that: The predetermined operating conditions at least include instantaneous refueling and instantaneous refueling.

5. A model building device based on transient driving performance simulation, characterized in that: include: A determination module, configured to determine model parameters of a predetermined vehicle; A building module is used to build a component sub-model corresponding to the predetermined vehicle based on the model parameters, wherein the component sub-model includes a suspension sub-model, a transmission sub-model and a suspension sub-model The type of the suspension sub-model is a multi-body model, which is constructed based on the suspension's own parameters, power system parameters, and position parameters. The suspension's own parameters include the suspension's damping characteristics and stiffness in the driving direction, lateral direction, and vertical direction. The transmission sub-model is constructed based on at least one of the torsional backlash of the transmission system, the moment of inertia of the transmission component, the damping of the transmission component, and the stiffness of the transmission component. The suspension sub-model is constructed based on sprung parameters and unsprung parameters among the suspension model parameters, wherein the sprung parameters include at least one of sprung mass, center of mass position, axle load ratio, and a sliding resistance coefficient; and the unsprung parameters include at least one of unsprung mass, longitudinal stiffness and damping of the suspension and tire, tire rolling radius, slip rate curve, and moment of inertia; A building module is used to build a dynamic model based on the powertrain of the predetermined vehicle and the component sub-model.

6. A computer-readable storage medium storing a computer program for executing the model building method according to any one of claims 1 to 4.

7. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to execute the model building method described in any one of claims 1 to 4.

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