A vehicle collision simulation method, device, medium and vehicle

Abstract

Embodiments of the present application disclose a kind of automobile crash simulation method, device, medium and vehicle, it is related to computer simulation technical field.The method comprises: according to the mass information of vehicle, damping information, stiffness information and external force information, the vibration differential equation of first time is constructed;According to vibration differential equation, the acceleration information, displacement information and speed information of the i-th iteration step are obtained by implicit method;According to vibration differential equation, acceleration information, displacement information and speed information, whether the difference of first parameter and second parameter is less than or equal to precision threshold value is judged;If yes, after constructing the vibration differential equation of second time, the step of obtaining the acceleration information, displacement information and speed information of the i-th iteration step according to the vibration differential equation of second time by implicit method is continued to be executed until the simulation of entire crash duration is completed.Thereby, the computing resources required for automobile crash simulation can be reduced, and the efficiency of automobile crash simulation analysis can be improved.

Description

Technical Field

[0001] This application relates to the field of computer simulation technology, and in particular to a method, apparatus, medium, and vehicle for simulating automobile collisions. Background Technology

[0002] With the development of the automotive industry and the continuous improvement of safety standards, vehicle crash safety performance has become a focus of attention for automakers and regulatory agencies. While traditional real-vehicle crash tests can provide realistic data, they are costly and can cause irreversible damage to vehicles. Therefore, computer-based crash simulation methods have emerged as an important means of assessing vehicle crash safety and optimizing vehicle body structure design.

[0003] In related technologies, automotive crash simulation mainly relies on explicit time integration methods. Explicit time integration methods directly discretize the time domain and independently solve the equations of motion within each time step, progressively approximating the dynamic response during the collision process. Therefore, explicit time integration methods are simple in algorithm, require no iteration, are easily implemented with high vectorization and parallelization, and can efficiently handle large-scale computational tasks.

[0004] To ensure the accuracy of solutions obtained using explicit time integration methods, a small time step is required. However, in vehicle crash simulations, due to the complexity of the collision process and the interaction of multiple components, reducing the time step directly leads to a significant increase in computational load and computation time. This not only consumes substantial computational resources but may also affect the efficiency of vehicle crash simulation analysis. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a vehicle collision simulation method, apparatus, medium, and vehicle, which can reduce the computational resources required for vehicle collision simulation and improve the efficiency of vehicle collision simulation analysis.

[0006] The embodiments of this application disclose the following technical solutions:

[0007] In a first aspect, this application discloses a vehicle collision simulation method, the method comprising:

[0008] Based on the vehicle's mass, damping, stiffness, and external force information, the vibration differential equation for the first moment is constructed.

[0009] Based on the vibration differential equation at the first moment, the acceleration, displacement and velocity information of the i-th iteration step are obtained by implicit method, where i is a positive integer;

[0010] Based on the vibration differential equation, the acceleration information, displacement information, and velocity information of the i-th iteration step, determine whether the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold. The first parameter is the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information. The second parameter is the value of the external force information.

[0011] If so, after constructing the vibration differential equation for the second moment, continue to execute the steps of obtaining the acceleration, displacement, and velocity information of the i-th iteration step through an implicit method based on the vibration differential equation for the second moment, until the simulation of the entire collision duration is completed.

[0012] Optionally, the method further includes:

[0013] If not, continue executing the step of obtaining the acceleration, displacement and velocity information of the (i+1)th iteration step through implicit methods until the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold.

[0014] Optionally, the second time step is the sum of the first time step and the time step, wherein the time step is positively correlated with the convergence speed of the iteration step.

[0015] Optionally, obtaining the acceleration information of the i-th iteration step using an implicit method based on the vibration differential equation at the first moment includes:

[0016] Based on the concentrated matrix on the diagonal corresponding to the stiffness matrix in the vibration differential equation, the acceleration information of the i-th iteration step is obtained through an implicit method.

[0017] Optionally, the vibration differential equation at the first moment is expressed as:

[0018]

[0019] Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, u'' is the acceleration, u' is the velocity, u is the displacement, F is the external force acting on the vehicle, t+Δt is the first moment, and Δt is the time step.

[0020] Secondly, this application discloses a car simulation collision device, the device comprising: an equation construction module, an information acquisition module, and a threshold judgment module;

[0021] The equation construction module is used to construct the vibration differential equation at the first moment based on the vehicle's mass information, damping information, stiffness information, and external force information.

[0022] The information acquisition module is used to acquire the acceleration, displacement and velocity information of the i-th iteration step by implicit method according to the vibration differential equation at the first moment, where i is a positive integer;

[0023] The threshold judgment module is used to determine whether the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold based on the vibration differential equation, the acceleration information, displacement information and velocity information of the i-th iteration step. The first parameter is the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information. The second parameter is the value of the external force information.

[0024] The threshold judgment module is further configured to, if so, after constructing the vibration differential equation at the second moment, continue to execute the step of obtaining the acceleration information, displacement information and velocity information of the i-th iteration step through an implicit method based on the vibration differential equation at the second moment, until the simulation of the entire collision duration is completed.

[0025] Optionally, the threshold determination module is further configured to: if not, continue to execute the step of obtaining the acceleration information, displacement information and velocity information of the (i+1)th iteration step through an implicit method until the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold.

[0026] Optionally, the second time step is the sum of the first time step and the time step, wherein the time step is positively correlated with the convergence speed of the iteration step.

[0027] Optionally, the information acquisition module is specifically used to: obtain the acceleration information of the i-th iteration step by an implicit method based on the lumped matrix on the diagonal corresponding to the stiffness matrix in the vibration differential equation.

[0028] Optionally, the vibration differential equation at the first moment is expressed as:

[0029]

[0030] Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, u'' is the acceleration, u' is the velocity, u is the displacement, F is the external force acting on the vehicle, t+Δt is the first moment, and Δt is the time step.

[0031] Compared with the prior art, this application has the following advantages:

[0032] This application discloses a vehicle collision simulation method, apparatus, medium, and vehicle. The method constructs a vibration differential model based on the vehicle's mass, damping, stiffness, and external force information, and solves the constructed vibration differential equation using an implicit method (such as the Newmark-β method) to obtain the acceleration, displacement, and velocity information for the i-th iteration step. Subsequently, the sum of the products of the mass matrix and acceleration information, the damping matrix and velocity information, and the stiffness matrix and displacement information, along with the external force information, is compared with the result to determine if the difference is less than or equal to a preset accuracy threshold. This ensures the convergence of the iterative solution, meaning the solution for the current iteration step is sufficiently close to the actual solution, meeting the simulation accuracy requirements. If the convergence condition is met, the vibration differential equation for the second time step is constructed, and the implicit method solution and convergence judgment steps are repeated until the entire collision duration simulation process is covered. Therefore, the car collision simulation method disclosed in this application avoids the complex stiffness matrix operations of traditional implicit methods by reconstructing the implicit method and integrating the characteristics of explicit time integration. It successfully improves computational efficiency while maintaining the stability and large step size advantage of the implicit algorithm. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A flowchart of a car collision simulation method provided in this application embodiment;

[0035] Figure 2 This is a schematic diagram of a car collision simulation device provided in an embodiment of this application. Detailed Implementation

[0036] As described earlier, explicit time integration methods (such as the central difference method) are widely used in the field of automotive crash simulation due to their unique advantages. This method simulates the dynamic response during a collision by discretizing the time domain and solving the equations of motion step-by-step within each time step. The central difference method is a typical example of an explicit time integration method. It uses information from the current and previous time steps to predict the state at the next time step, featuring simple algorithms, no iteration required, and high computational efficiency. Furthermore, explicit methods are easily vectorized and parallelized, fully utilizing the multi-core processors and parallel computing resources of modern computers to further accelerate computation.

[0037] However, to ensure the stability of the solution from the explicit time integration method, a smaller time step is necessary. In vehicle crash simulations, due to the complexity of the collision process and the interaction of multiple components, reducing the time step directly leads to a significant increase in computational load and computation time. This not only consumes substantial computational resources but may also affect the efficiency of vehicle crash simulation analysis.

[0038] Therefore, implicit time integration methods (such as the Newmark-β method) have emerged. Implicit time integration methods are unconditionally stable, theoretically allowing for larger time steps, thus reducing the number of computational steps and improving computational efficiency. Furthermore, implicit time integration methods can handle complex situations, including material nonlinearity, geometric nonlinearity, and contact nonlinearity, making them more advantageous in handling complex automotive crash simulations.

[0039] However, implicit time integration methods also face challenges in handling car crash simulations: First, they require calculating massive systems of nonlinear equations, typically solved using the Newton-Raphson iterative method, which can be computationally inefficient due to the difficulty in achieving convergence. Furthermore, implicit time integration methods are more complex than conventional time integration, requiring advanced programming skills and a deeper mathematical foundation.

[0040] The inventors, through research, proposed a method, device, medium, and vehicle for simulating car collisions. This method constructs a vibration differential model based on the vehicle's mass, damping, stiffness, and external force information, and solves the constructed vibration differential equation using an implicit method (such as the Newmark-β method) to obtain the acceleration, displacement, and velocity information for the i-th iteration step. Subsequently, the sum of the products of the mass matrix and acceleration information, the damping matrix and velocity information, and the stiffness matrix and displacement information, along with the external force information, is compared with the result to determine if the difference is less than or equal to a preset accuracy threshold. This ensures the convergence of the iterative solution, meaning the solution for the current iteration step is sufficiently close to the actual solution, meeting the simulation accuracy requirements. If the convergence condition is met, the vibration differential equation for the second time step is constructed, and the implicit method solution and convergence judgment steps are repeated until the entire collision duration simulation process is covered. Therefore, the car collision simulation method disclosed in this application avoids the complex stiffness matrix operations of traditional implicit methods by reconstructing the implicit method and integrating the characteristics of explicit time integration. It successfully improves computational efficiency while maintaining the stability and large step size advantage of the implicit algorithm.

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0042] See Figure 1 The figure is a flowchart of a car collision simulation method provided in an embodiment of this application. The method includes:

[0043] S101: Based on the vehicle's mass, damping, stiffness, and external force information, construct the vibration differential equation at time t + Δt.

[0044] The vibration differential equation represents the influence of various factors on an object (a vehicle in this embodiment) during the vibration process (a collision process in this embodiment), including inertia, damping, elasticity, and external forces, thereby determining the vibration law of the vehicle. Specifically, the formula of the vibration differential equation can be shown in the following formula (1):

[0045] (1)

[0046] Wherein, [M] is the mass matrix, which is related to the mass distribution of the vehicle and describes the inertial characteristics of each part of the vehicle; [C] is the damping matrix, which reflects the magnitude of the drag (including air drag, friction drag, etc.) experienced by the vehicle during a collision; [K] is the stiffness matrix, which reflects the vehicle's ability to recover its original shape after being subjected to external forces, i.e., the vehicle's elastic characteristics; u'' is acceleration; u' is velocity; u is displacement; F is the external force acting on the vehicle; t is time; Δt is the time step.

[0047] It should be noted that the time step Δt refers to the length of time represented by each calculation step in the vehicle collision simulation process. It determines the temporal resolution of the simulation, that is, the fineness of time progression during the simulation.

[0048] Specifically, The formula for the velocity u' at time t can be shown in formula (2) below. The formula for the displacement u at time t can be shown in the following formula (3):

[0049] (2)

[0050] (3)

[0051] Here, β is the accuracy parameter and γ is the stability parameter, used to help control the accuracy and stability of the Newmark-β algorithm during subsequent iterative solutions. It should be noted that, generally, β ≥ 0.5 and γ ≥ 0.25(0.5 + β) can maintain unconditional stability.

[0052] Substituting formulas (2) and (3) into formula (1), we obtain the following formula (4):

[0053] (4)

[0054] Where i is the sequence number of the iteration step. An iteration step refers to the number of iterative calculations performed within each time step Δt to solve the vibration differential equation.

[0055] S102: Based on the vibration differential equation at time t + Δt, the displacement and velocity information of the i-th iteration step are obtained through an implicit method.

[0056] Specifically, in the i-th iteration step, based on the acceleration, velocity, and displacement information of the previous time step (time t), the estimated values ​​of displacement and velocity of the current iteration step are calculated using the basic relationships of implicit methods (such as the Newmark-β method), as shown in the following formulas (5) and (6):

[0057] (5)

[0058] (6)

[0059] It should be noted that formulas (5) and (6) provide initial estimates of displacement and velocity for the current iteration step, which are used for subsequent acceleration calculations and convergence checks. If the convergence condition is not met during the iteration process, these values ​​will be updated in subsequent iteration steps.

[0060] S103: Based on the vibration differential equation at time t + Δt, the acceleration information of the i-th iteration step is obtained through an implicit method.

[0061] The acceleration information for the i-th iteration step is also calculated using an implicit method, namely, an implicit time integration method based on the Newmark-β method. Specifically, the acceleration information for the i-th iteration step can be represented by the following formulas (7)-(9):

[0062] (7)

[0063] (8)

[0064] (9)

[0065] Among them, K i K is the lumped matrix on the diagonal corresponding to the stiffness matrix. K can be directly obtained by taking the reciprocal of the values ​​on the diagonal. i The inverse matrix is ​​obtained, thus simplifying the calculation process; int represents an integer.

[0066] It should be noted that in each iteration step, it is not necessary to establish a large stiffness matrix. Instead, the acceleration is solved by a diagonal lumped method similar to explicit time integration, which greatly simplifies the calculation process and improves computational efficiency.

[0067] S104: If the difference between the left and right sides of the vibration differential equation at time t+Δt is less than or equal to the accuracy threshold based on the displacement, velocity and acceleration information of the i-th iteration step, then continue to execute step S102 after updating the current time.

[0068] (10)

[0069] Formula (10) is the vibration differential equation at time t+Δt obtained based on the displacement, velocity, and acceleration information of the i-th iteration step. If the difference between the left and right sides of Formula (10) (i.e., the residual) is greater than the accuracy threshold ε, that is, the difference between the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information and the value of the external force information is greater than the accuracy threshold ε, it indicates that the calculation of the current time step does not meet the convergence condition, and it is necessary to repeat steps S102 to S104, that is, to obtain the displacement, velocity, and acceleration information of the (i+1)-th iteration step through implicit methods until the difference between the left and right sides of the vibration differential equation at time t+Δt is less than or equal to the accuracy threshold.

[0070] If the difference obtained is less than or equal to the accuracy threshold ε, that is, the difference between the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information and the value of the external force information is less than or equal to the accuracy threshold ε, then the calculation representing the current time step satisfies the convergence condition, and the current time needs to be updated. Subsequently, the step of obtaining the acceleration information, displacement information, and velocity information of the i-th iteration step through an implicit method based on the vibration differential equation of the second time step (t+2Δt) continues, that is, returning to step S102 to start the calculation of the next current time step, until the simulation of the entire collision process is completed.

[0071] It should be noted that the aforementioned accuracy threshold ε can be 1%. This application does not limit the specific accuracy threshold ε.

[0072] It's important to note that the time step determines the temporal resolution of the simulation results. A smaller time step can provide higher temporal resolution, thus capturing more accurate details of vehicle dynamics, but this usually leads to increased computational load and longer simulation time. Conversely, a larger time step can reduce computational load, but may sacrifice some simulation accuracy, as larger time intervals may not accurately reflect rapid changes in the vehicle within certain time periods. If the time step is chosen appropriately, computational efficiency can be improved while maintaining simulation accuracy. Therefore, when the convergence speed of the iteration steps is fast, the time step can be increased to further accelerate the convergence speed of the iteration steps.

[0073] In summary, this application discloses a vehicle collision simulation method. This method constructs a vibration differential model based on the vehicle's mass, damping, stiffness, and external force information, and solves the constructed vibration differential equation using an implicit method (such as the Newmark-β method) to obtain the acceleration, displacement, and velocity information for the i-th iteration step. Subsequently, based on the sum of the products of the mass matrix and acceleration information, the damping matrix and velocity information, and the stiffness matrix and displacement information, and the external force information, it is determined whether the difference between these products is less than or equal to a preset accuracy threshold, thereby ensuring the convergence of the iterative solution, i.e., that the solution of the current iteration step is sufficiently close to the true solution and meets the simulation accuracy requirements. If the convergence condition is met, the vibration differential equation for the second time step is constructed, and the implicit method solution and convergence judgment steps are repeated until the simulation process covering the entire collision duration is covered. Therefore, the car collision simulation method disclosed in this application avoids the complex stiffness matrix operations of traditional implicit methods by reconstructing the implicit method and integrating the characteristics of explicit time integration. It successfully improves computational efficiency while maintaining the stability and large step size advantage of the implicit algorithm.

[0074] See Figure 2 The figure is a schematic diagram of a car collision simulation device provided in an embodiment of this application. The car collision simulation device 200 includes: an equation construction module 201, an information acquisition module 202, and a threshold judgment module 203.

[0075] The equation construction module 201 is used to construct the vibration differential equation at the first moment based on the vehicle's mass information, damping information, stiffness information and external force information;

[0076] The information acquisition module 202 is used to acquire the acceleration, displacement and velocity information of the i-th iteration step by implicit method according to the vibration differential equation at the first moment, where i is a positive integer;

[0077] The threshold judgment module 203 is used to determine whether the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold based on the vibration differential equation, the acceleration information, displacement information and velocity information of the i-th iteration step. The first parameter is the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information. The second parameter is the value of the external force information.

[0078] The threshold judgment module 203 is also used to, if so, after constructing the vibration differential equation at the second moment, continue to execute the step of obtaining the acceleration information, displacement information and velocity information of the i-th iteration step by implicit method according to the vibration differential equation at the second moment, until the simulation of the entire collision duration is completed.

[0079] Optionally, the threshold judgment module 203 is further configured to: if not, continue to execute the step of obtaining the acceleration information, displacement information and velocity information of the (i+1)th iteration step through implicit method until the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold.

[0080] Optionally, the second time step is the sum of the first time step and the time step, and the time step is positively correlated with the convergence speed of the iteration step.

[0081] Optionally, the information acquisition module 202 is specifically used to: obtain the acceleration information of the i-th iteration step by implicit method based on the lumped matrix on the diagonal corresponding to the stiffness matrix in the vibration differential equation.

[0082] Optionally, the vibration differential equation at the first moment can be expressed as:

[0083]

[0084] Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, u'' is the acceleration, u' is the velocity, u is the displacement, F is the external force acting on the vehicle, t+Δt is the first moment, and Δt is the time step.

[0085] In summary, this application discloses a car collision simulation device. By reconstructing the implicit method and integrating the characteristics of explicit time integration, the device avoids the complex stiffness matrix operations of traditional implicit methods, and successfully improves computational efficiency while maintaining the stability and large step size advantages of implicit algorithms.

[0086] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0087] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for simulating car collisions, characterized in that, The method includes: Based on the vehicle's mass, damping, stiffness, and external force information, the vibration differential equation for the first moment is constructed as follows: ； Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, u'' is the acceleration, u' is the velocity, u is the displacement, F is the external force acting on the vehicle, t+Δt is the first moment, and Δt is the time step; Based on the vibration differential equation at the first moment, the acceleration, displacement and velocity information of the i-th iteration step are obtained through an implicit method, where i is a positive integer; Based on the vibration differential equation, the acceleration information, displacement information, and velocity information of the i-th iteration step, determine whether the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold. The first parameter is the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information. The second parameter is the value of the external force information. If so, after constructing the vibration differential equation for the second moment, continue to execute the steps of obtaining the acceleration, displacement, and velocity information of the i-th iteration step through an implicit method based on the vibration differential equation for the second moment, until the simulation of the entire collision duration is completed.

2. The method according to claim 1, characterized in that, The method further includes: If not, continue executing the step of obtaining the acceleration, displacement and velocity information of the (i+1)th iteration step through implicit methods until the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold.

3. The method according to claim 1, characterized in that, The second time step is the sum of the first time step and the time step, and the time step is positively correlated with the convergence speed of the iteration step.

4. The method according to claim 1, characterized in that, The step of obtaining the acceleration information of the i-th iteration step using an implicit method based on the vibration differential equation at the first moment includes: Based on the concentrated matrix on the diagonal corresponding to the stiffness matrix in the vibration differential equation, the acceleration information of the i-th iteration step is obtained through an implicit method.

5. A car collision simulation device, characterized in that, The device includes: an equation construction module, an information acquisition module, and a threshold judgment module; The equation construction module is used to construct the vibration differential equation at the first moment based on the vehicle's mass information, damping information, stiffness information, and external force information. The vibration differential equation at the first moment is expressed as: ； Where [M] is the mass matrix, [C] is the damping matrix, [K] is the stiffness matrix, u'' is the acceleration, u' is the velocity, u is the displacement, F is the external force acting on the vehicle, t+Δt is the first moment, and Δt is the time step; The information acquisition module is used to acquire the acceleration, displacement and velocity information of the i-th iteration step by implicit method according to the vibration differential equation at the first moment, where i is a positive integer; The threshold judgment module is used to determine whether the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold based on the vibration differential equation, the acceleration information, displacement information and velocity information of the i-th iteration step. The first parameter is the sum of the product of the mass matrix and the acceleration information, the product of the damping matrix and the velocity information, and the product of the stiffness matrix and the displacement information. The second parameter is the value of the external force information. The threshold judgment module is further configured to, if so, after constructing the vibration differential equation at the second moment, continue to execute the step of obtaining the acceleration information, displacement information and velocity information of the i-th iteration step through an implicit method based on the vibration differential equation at the second moment, until the simulation of the entire collision duration is completed.

6. The apparatus according to claim 5, characterized in that, The threshold judgment module is further configured to: if not, continue to execute the step of obtaining the acceleration information, displacement information and velocity information of the (i+1)th iteration step through an implicit method until the difference between the first parameter and the second parameter is less than or equal to the accuracy threshold.

7. The apparatus according to claim 5, characterized in that, The second time step is the sum of the first time step and the time step, and the time step is positively correlated with the convergence speed of the iteration step.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the automobile collision simulation method as described in any one of claims 1 to 4 above.

9. A vehicle, characterized in that, The vehicle includes a car crash simulation device, which is used to perform the car crash simulation method according to any one of claims 1 to 4.

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