Collision load position super-resolution identification method based on multi-axis signals

Abstract

The invention belongs to the technical field of automobile safety test equipment, and particularly relates to a multi-axis signal-based collision load position super-resolution identification method, which comprises the following steps of: firstly, constructing a force measurement barrier by using a plurality of force sensor units according to a preset collision working condition; then calculating the collision force height of each force sensor unit according to a preset collision force height calculation formula by collecting forces Fx, Fy and Fz and two moments My and Mz which are generated by the force sensor units under a preset collision working condition and act on the surface of the collision surface; and finally, calculating the average height of the collision acting force on the force-measuring barrier according to the calculated collision force height. The problem that in the prior art, the result is not accurate when the average height of the collision acting force is measured can be solved.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile safety testing equipment, and in particular relates to a super-resolution recognition method for collision load positions based on multi-axis signals. Background Art

[0002] The compatibility issue during a vehicle-to-vehicle collision is one of the important reasons for the high casualty rate in traffic accidents. The main reason is that due to the differences in mass, stiffness and geometric shape of the colliding parties, the weaker party in related collision accidents has insufficient protection for its occupants and poor collision compatibility. Therefore, at the regulatory level, technical constraints on vehicle collision compatibility should be addressed.

[0003] In recent years, with the increasing number of automobile product types, related issues have become more prominent; currently, the compatibility evaluation of barriers is mainly evaluated from three aspects: standard deviation of barrier deformation uniformity (Standard Deviation), occupant load criterion (Occupant Load Criterion, OLC) and breakdown depth (Bottom Out), and the factors affecting collision compatibility are mass, stiffness and geometry. Various tests have shown that mass differences cause small-mass vehicles to have a large change in speed during a collision, resulting in a large impact acceleration, which increases the risk of occupant injury. Stiffness differences will cause greater deformation inside vehicles with lower stiffness, resulting in serious deformation of the passenger compartment; geometric differences (differences in vehicle height) will cause energy-absorbing components and safety components to fail during a collision and fail to perform their crashworthiness normally.

[0004] Therefore, a new evaluation index is needed to evaluate barrier compatibility. Previous studies have shown that the average height of force (Average Height of Force, AHOF) can effectively predict the probability of occupant injury between vehicle collisions. However, current research has found that traditional measurement units cannot provide sufficient accuracy. Therefore, a new measurement method is needed to improve the accuracy of AHOF. Summary of the invention

[0005] The technical problem solved by the present invention is to provide a super-resolution identification method for collision load position based on multi-axis signals to solve the problem of inaccurate results when measuring the average height of collision force in the prior art.

[0006] The basic solution provided by the present invention is a method for super-resolution identification of collision load position based on multi-axis signals, comprising:

[0007] S1: Based on the preset collision conditions, a force measurement barrier is constructed using multiple force sensor units;

[0008] S2: Collect the force F generated by the force sensor unit acting on the impact surface under the preset collision conditions x 、F y 、F z and two moments M y and M z , calculating the collision force height of each force sensor unit according to a preset collision force height calculation formula;

[0009] S3: Calculate the average height of the collision force on the force measuring barrier according to the calculated collision force height.

[0010] Furthermore, the force sensor unit in S1 includes a load measuring sensor, a mounting surface and an impact surface, the load measuring sensor is fixed to the mounting surface, the mounting surface is fixed to the impact surface, and the load measuring sensor, the mounting surface and the impact surface are all square.

[0011] Further, the S2 includes:

[0012] S2-1: Plane simulation of the impact surface of the force sensor unit is performed based on the obtained force F x 、F y 、F z and two moments M y and M z Calculate the collision force in the X-axis direction;

[0013] S2-2: Construct a force application point test, calibrate and verify the actual coordinate system of the collision point on the impact surface of the force sensor unit based on the collision force in the X-axis direction and the corresponding collision point theoretical coordinate system, and obtain the collision resultant force on the impact surface of the force sensor unit according to the calibration and verification results;

[0014] S2-3: Obtain the collision height on the impact surface of the force sensor unit, and calculate the collision force height index HOF according to the obtained collision resultant force.

[0015] Further, the S2-1 is specifically:

[0016] S2-1-1: Perform a plane simulation on the impact surface of the force sensor unit, set the direction acting on the impact surface as the X-axis, and the impact surface surfaces as the Y-axis and Z-axis, respectively, to obtain the force F at the concentrated force point when the force sensor unit collides x and two moments M y and M z ,in:

[0017] F x =-F

[0018] M y =F*a

[0019] M z =F*b

[0020] Wherein, F represents the load during collision, a represents the Y-axis distance between the concentrated force point and the center point of the surface of the force sensor unit, and b represents the Z-axis distance between the concentrated force point and the center point of the surface of the force sensor unit;

[0021] S2-1-2: Split into four force sensor unit areas of equal area, and divide the load F generated by the collision into a group of four equivalent forces F A 、F B 、F C 、F D , then the equivalent load in the X-axis direction is expressed as:

[0022]

[0023] When the width of the force sensor unit is set to W and the force setting at the center of the force sensor unit is placed in the four divided force sensor unit areas, the corresponding torques generated by the four equivalent forces are:

[0024]

[0025] The corresponding four equivalent expressions are:

[0026]

[0027] Where W is the width dimension of the force sensor unit, and F is the load;

[0028] Since the crash compatibility index AHOF is highly correlated with the force action, F A +F B or F C +F D Offset M z The impact is as follows:

[0029]

[0030] S2-1-3: Based on the linear estimation of force distribution, fit the distribution of concentrated force on the load measurement sensor during collision. The fitting process is:

[0031] The equivalent force F A The equivalent axial force load is brought in and the torque generated by the equivalent axial force load is calculated by the integral equation:

[0032]

[0033] Among them, Δz represents the differential of height, F2 is the X-direction axial force equivalent to the resultant moment, and then the resultant moment of the impact surface of the force sensor unit is calculated:

[0034]

[0035] Similarly, the force acting on the center of the force sensor unit is linearly decomposed according to the unit height W to convert it into a unit height force, expressed as:

[0036]

[0037] Then the linear approximate equation of unit height force is expressed as:

[0038] p linear (z) = F1 + F3

[0039] Among them, F1 represents the actual force acting on the force sensor unit, z represents the collision height of the force sensor unit, and F3 represents the equivalent axial force generated by the resultant torque corresponding to the collision height z of the force sensor unit, which is expressed as:

[0040]

[0041] Then the linear approximate equation of the force at the collision height point of the force sensor unit is expressed as:

[0042]

[0043] Then the linear force expression generated by the force sensor unit in any height direction is:

[0044]

[0045] Among them, z1 represents the starting collision height, and z2 represents the ending collision height.

[0046] Further, the S2-2 includes:

[0047] S2-2-1: Obtain the actual coordinate system (X2, Y2, Z2) of the force application point of the force sensor unit under the preset collision condition and the theoretical coordinate system (X1, Y1, Z1) of the center point of the force sensor unit output. The distance between the force application point on the actual coordinate system and the force application point on the theoretical coordinate system is D. Then, the actual coordinate system (X2, Y2, Z2) includes forces FX2, FY2, FZ2 and moments MY2 and MZ2 in three-axis directions under the collision side-view perspective, and the theoretical coordinate system (X1, Y1, Z1) includes forces FX1, FY1, FZ1 and moments MY1 and MZ1 in three-axis directions under the collision side-view perspective;

[0048] S2-2-2: According to the equivalence principle of forces divided by S2-1-1 and S2-1-2, we have:

[0049] FX2=FX1; FY2=FY1; FZ2=FZ1;

[0050] According to S2-2-1, the moments MY1 and MZ1 are output through the force sensor unit, and the YZ plane and XZ plane of the force sensor unit are constructed at the same time. MY2 and MZ2 in the actual coordinate system are calculated according to the preset moment calculation formula. The calculation formula is:

[0051] MY2=MY1+FZ1×D / 1000;

[0052] MZ2 = MZ1 - FY1 × D / 1000;

[0053] S2-2-3: Calculate the Y2 and Z2 coordinates of the force action point in the actual coordinate system based on the obtained moments MY2 and MZ2. The calculation formula is:

[0054] Y2=-MZ2 / FX2×1000

[0055] Z2=MY2 / FX2×1000

[0056] Verify that the error between the coordinate points in the actual coordinate system and the theoretical coordinate system is within a preset error threshold, and make the actual coordinate system equivalent to the theoretical coordinate system;

[0057] S2-2-4: Obtain the collision force F in the X-axis direction based on the output of the force sensor unit x , the collision force F in the Y-axis direction and the collision force F in the Z-axis direction z , and then generate the collision resultant force in the theoretical coordinate system according to the resultant force calculation formula;

[0058] Based on the principle of step S2-2, the collision resultant force in the actual coordinate system is equivalent to the collision resultant force in the theoretical coordinate system.

[0059] Further, the collision height on the impact surface of the force sensor unit is obtained in S2-3 as follows:

[0060] According to the Z-axis coordinate of the actual coordinate system on the force sensor unit obtained in S2-2-3, the height H of the ground where the force sensor unit measures the force barrier is calculated. i , the calculation formula is:

[0061] H i =Z+H

[0062] Where Z represents the height from the collision point on the force sensor unit to the bottom of the force sensor on the Z axis. If the collision point is a positive value on the Z axis, then If the collision point is negative on the Z axis, then H is the height of the bottom of the force sensor unit from the ground.

[0063] A system for super-resolution recognition of collision load position based on multi-axis signals, applied to the above-mentioned super-resolution recognition method for collision load position based on multi-axis signals, comprises a force measuring barrier module, a collision force height calculation module and a collision force average height calculation module, wherein the force measuring barrier module is constructed by a plurality of force sensor units according to a preset collision working condition, and the collision force height calculation module is used to collect the force F acting on the surface of the collision surface generated by the force sensor unit under the preset collision working condition. x 、F y 、F z and two moments M y and M z , the collision force height of each force sensor unit is calculated according to a preset collision force height calculation formula; the collision force average height calculation module is used to calculate the average height of the collision force on the force measuring barrier according to the calculated collision force height.

[0064] An electronic device includes a processor and a memory, wherein the memory stores programs or instructions, and the processor executes the above-mentioned method for super-resolution recognition of collision load position based on multi-axis signals by calling the programs or instructions stored in the memory.

[0065] A computer-readable storage medium stores a program or instruction, wherein the program or instruction enables a computer to execute the above-mentioned method for super-resolution recognition of collision load position based on multi-axis signals.

[0066] The principle and advantage of the present invention are as follows: in the prior art, the collision compatibility assessment between vehicles and barriers is mainly evaluated from three aspects: standard deviation of barrier deformation uniformity, occupant load criterion and breakdown. Based on this evaluation, each has its own defects. In this regard, the prior art proposes another new evaluation index, the average height of the collision force. However, the accuracy of the average height of the collision force index in the proposed scheme is not high. In this regard, the present application proposes a new measurement scheme to improve the accuracy of the index. Specifically, firstly, in view of the defect that the sensor of the existing force sensor unit cannot obtain the torque parameter, a load measurement sensor is used as the force sensor unit to obtain the force and torque parameters when the vehicle collides with the barrier. In the process of obtaining the force and torque parameters, because the collision force point of the force sensor unit on the vehicle and the barrier is not located at the center of the force sensor unit, but is distributed at various positions of the force sensor unit, if the prior art is used to equate the collision force point to the center, it will result in low index accuracy, and The resolution of collision action is also low. For this reason, the present application focuses on the use of the method of force sensor unit surface equivalent force quadrature differentiation, and obtains the force and two moments acting on the force sensor unit during the collision, which can effectively double the resolution of the point load of the equivalent load in two dimensions, thereby generating more collision details. Then, because the force measuring barrier constructed by the force sensor unit is structurally provided with an impact surface, the actual collision force point is inconsistent with the force action point of the force and moment output by the force sensor unit. In this regard, the present application constructs a coordinate plane and presets a new action mechanism to calculate the coordinates of the actual collision force action point and the coordinates of the theoretical collision force action point, which meet the requirements. Therefore, the collision resultant force calculated by the force and moment output by the force sensor unit can be directly equivalent to the collision resultant force at the actual collision point, so that the accuracy of the collision resultant force parameters involved in calculating the average height index of the collision force is improved, thereby improving the accuracy of the average height index of the collision force. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 is a flowchart of an embodiment of the present invention;

[0068] Figure 2 Schematic diagram of point load simulation of a force sensor unit in an embodiment of the present invention;

[0069] Figure 3 It is a schematic diagram of the equivalent midpoint load in the prior art described in the embodiment of the present invention;

[0070] Figure 4 Schematic diagram of an equivalent impact surface of a force sensor unit in an embodiment of the present invention;

[0071] Figure 5 A schematic diagram of the force division per unit height of the force sensor unit in an embodiment of the present invention;

[0072] Figure 6 Schematic diagram of the impact surface coordinate axis of the force sensor unit in an embodiment of the present invention;

[0073] Figure 7 Schematic diagram of force division per unit height of a force sensor unit in an embodiment of the present invention;

[0074] Figure 8 Schematic diagram of the division of equivalent height force per unit moment of a force sensor unit in an embodiment of the present invention;

[0075] Fig. 9 Schematic diagram of height force division of a force sensor unit in an embodiment of the present invention;

[0076] Fig.10 Schematic diagram of the force sensor unit in the embodiment of the present invention compared with the traditional single-axis force measuring unit

[0077] Fig.11 It is a schematic diagram of the resolution before processing of the prior art in the embodiment of the present invention;

[0078] Fig.12 Schematic diagram of resolution after processing in an embodiment of the present invention;

[0079] Fig.13 This is a schematic diagram of a force action test structure in an embodiment of the present invention;

[0080] Fig.14 It is a schematic diagram of force decomposition of a force sensor unit in a force action test according to an embodiment of the present invention;

[0081] Fig.15 Schematic diagram of calculation results of force application points when FX is centrally loaded in an embodiment of the present invention;

[0082] Fig.16 Schematic diagram of calculation results of the point of action of the force MY generated by the eccentric loading of FX in an embodiment of the present invention;

[0083] Fig.17 Schematic diagram of calculation results of the point of action of the force MZ generated by eccentric loading of FX in an embodiment of the present invention;

[0084] Fig.18 is a structural diagram of an electronic device in an embodiment of the present invention;

[0085] Fig.19 This is a schematic diagram of the installation of the trolley barrier used in other embodiments of the present invention. DETAILED DESCRIPTION

[0086] The following is further described in detail through specific implementation methods:

[0087] The symbols in the drawings of the specification include: electronic device 400 , processor 401 , memory 402 , input device 403 , and output device 404 .

[0088] Currently, a large number of collision tests are used in the field of passive safety to verify the ability of vehicles to protect passengers in collisions with other vehicles. These tests help to understand the performance of vehicles in specific situations, but they cannot solve the intrusion aggressiveness and vulnerability of vehicles when they collide with other types of vehicles. At the same time, the force sensors used in existing tests usually obtain indicators in a single dimension, such as acceleration indicators, which have low performance on the details of the collision, resulting in low resolution of point loads.

[0089] In this regard, the improvement in the existing technology for such problems is as follows: NHTSA uses load sensors to perform collision simulations. Specifically, by regularly performing collision tests on rigid load sensor barriers, the load distribution on the load sensors during the collision test provides information about the structural force transmission path. In this process, based on this information, it is found that the average collision force height AHOF can be an important indicator for effectively restraining occupant loads.

[0090] In this regard, the inventors of the present application have continued to study and found that the traditional barrier load sensor is a square panel on the rigid barrier wall that measures the applied load. An inherent disadvantage of this method is that it must be assumed that the load is applied through the center of the load sensor unit during analysis, which cannot effectively improve the resolution recognition of the load collision position, and the accuracy of the indicator AHOF cannot be effectively improved. Therefore, in fact, the load can be distributed on its surface in any way. Therefore, the load distribution on the load sensor surface may be almost uniform, or it may be distributed on one edge of the load sensor unit, resulting in an error between the actual position and the assumed position. For this reason, the technical solution of the present application is:

[0091] The embodiment is basically as shown in the attached Figure 1 As shown: A method for super-resolution recognition of collision load position based on multi-axis signals, comprising:

[0092] S1: Based on the preset collision conditions, a force measurement barrier is constructed using multiple force sensor units;

[0093] In this embodiment, the structure of the force sensor unit includes a load measurement sensor, a mounting surface and an impact surface, wherein the load measurement sensor is fixed to the mounting surface, and the mounting surface is fixed to the impact surface. In order to better optimize the calculation of collision process indicators, the load measurement sensor, the mounting surface and the impact surface are set to a square, and the width thereof is set to W.

[0094] As for the preset collision conditions, the embodiment of the present application adopts a full-width frontal collision, which is installed on the ground. The frontal collision is a full-width rigid barrier test with a 100% frontal collision and a vehicle collision speed of 50 km / h. In other embodiments of the present application, other different conditions can also be used, such as Fig.19 The force measuring barrier of the present application is installed on the trolley shown in the figure to realize the collision condition between vehicles. The force measuring barrier constructed by the force sensor unit has different shapes and different numbers of force sensor units under different working conditions. For example, Fig.19 As shown, a force measuring barrier consisting of a 5×8 array of force sensor units.

[0095] In addition, the various index parameters of the force sensor unit set in this application are as follows:

[0096] 1. The impact surface size on the force sensor unit is 125mm×125mm; the load measurement sensor can measure the axial force along the X-axis and the moment about the Y-axis and Z-axis, and when the front end of the vehicle includes a highly localized hard structure, such as a towing hook, the load measurement sensor can measure the peak load applied at any point on its surface;

[0097] 2. The peak force of the load measurement sensor is 300kN, the peak overload force is 500kN, and the peak moment is 20kN·m; the torque accuracy error is less than 3% (3% is the zero bias error of the applied load, and the rated load applied at any position on the surface of the load measurement sensor can be measured), the load position error is less than 2% (2% is the sensitivity error of the rated load applied at any position on the impact surface of the load measurement sensor), the nonlinear error is less than 1% (1% is the nonlinear error of the rated load applied at any position on the impact surface of the load measurement sensor), the stagnation error is less than 1% (1% is the stagnation error of the rated load applied at any position on the impact surface of the load measurement sensor), the off-axis sensitivity / crosstalk error is less than 2%, the stiffness is greater than 2000000Kn / m, and for loads close to the rated load, the error of the total output of the load measurement sensor is controlled within 2% of the applied load;

[0098] 3. The output of the load measurement sensor should be in the following proportions: the central load measurement sensor output 40%-60%, the external load measurement sensor output each 20%-30%;

[0099] 4. Multiple full frontal NCAP crash tests for light vehicles up to 3856 kg gross vehicle weight rating (GVWR), the frequency response must be obtained according to the specifications of the SAE J211 / 1CFC60 data channel;

[0100] 5. The load measurement sensor shall not be equipped with an on-board data acquisition system (DAS) module; the load measurement sensor does not require any amplifier or AC coupling;

[0101] 6. The operating temperature range of the load measurement sensor is -4 degrees Celsius to 52 degrees Celsius, and the electrical output range is 0.1 to 4mV (the electrical output should be a voltage, which is proportional to the collision element force input);

[0102] 7. The load measurement sensor needs to mate with the main connector, but does not need to connect to the connector of the data acquisition system;

[0103] 8. Each output channel should be "full bridge" (4 conductors per channel), and the 4 conductors (per channel) should be: positive excitation (2.5 to 10V), negative excitation (2.5 to 10V), positive signal (up to 10V), negative signal (up to 10V).

[0104] S2: Collect the force F generated by the force sensor unit acting on the impact surface under the preset collision conditions x 、F y 、F z and two moments M y and M z , calculating the collision force height of each force sensor unit according to a preset collision force height calculation formula; wherein S2 includes:

[0105] S2-1: Plane simulation of the impact surface of the force sensor unit is performed based on the obtained force F x 、F y 、F z and two moments M y and M z Calculate the collision force in the X-axis direction;

[0106] S2-2: Construct a force application point test, calibrate and verify the actual coordinate system of the collision point on the impact surface of the force sensor unit based on the collision force in the X-axis direction and the corresponding collision point theoretical coordinate system, and obtain the collision resultant force on the impact surface of the force sensor unit according to the calibration and verification results;

[0107] S2-3: Obtain the collision height on the impact surface of the force sensor unit, and calculate the collision force height index HOF according to the obtained collision resultant force; wherein the collision force height calculation formula is:

[0108]

[0109] Among them, F i (t) represents the collision force of the i-th force sensor unit at time t, H i Indicates the height of the impact point of the force sensor unit relative to the ground where the force barrier is located.

[0110] In this embodiment, for normal collision conditions, the force acting on the load measurement sensor is not located at the center of the sensor, but can be located at any position on the surface of the load measurement sensor. When the load acts at a non-central position on the load measurement sensor, torques on the Y-axis and Z-axis will be generated. As for how to define the X-axis, Y-axis and Z-axis on the load measurement sensor, in this embodiment, the impact surface of the force sensor unit is plane simulated, and the direction acting on the impact surface is set to the X-axis, and the surface of the impact surface is set to the Y-axis and Z-axis respectively.

[0111] like Figure 2 As shown in FIG. 1 , it is a schematic diagram of the simulation of the impact surface of the force sensor unit of the present application. In the current collision visualization and calculation process, the distributed load on the surface of the load measurement sensor is usually characterized by a point load of equivalent magnitude acting on the center of the load measurement sensor, that is, the concentrated force point, such as Figure 3 As shown, the concentrated force point is located at the center of the impact surface, indicating the force F and two moments M y and M z However, the disadvantage of this type of processing method in the prior art is that, as mentioned above in this application, the point load acting on the impact surface of the load measurement sensor is not necessarily at the center, such as Figure 2 As shown, it may exist in any area, and the resulting defect is that the resolution of the collision situation on the load measurement sensor is low, thereby affecting the accuracy of the corresponding indicator;

[0112] To this end, the force sensor unit of the present application is characterized by reflecting the force and two moments in a more intuitive and visual way, and the specific steps are:

[0113] S2-1-1: Perform a plane simulation on the impact surface of the force sensor unit, set the direction acting on the impact surface as the X-axis, and the impact surface surfaces as the Y-axis and Z-axis, respectively, to obtain the force F at the concentrated force point when the force sensor unit collides x and two moments M y and M z ,in:

[0114] F x =-F

[0115] M y =F*a

[0116] M z =F*b

[0117] Wherein, F represents the load during collision, a represents the Y-axis distance between the concentrated force point and the center point of the surface of the force sensor unit, and b represents the Z-axis distance between the concentrated force point and the center point of the surface of the force sensor unit;

[0118] S2-1-2: Split into four force sensor unit areas of equal area, and divide the load F generated by the collision into a group of four equivalent forces F A 、F B 、F C 、F D ,like Figure 4 and Figure 6 As shown, the equivalent load in the X-axis direction is expressed as:

[0119]

[0120] When the width of the force sensor unit is set to W and the force setting at the center of the force sensor unit is placed in the four divided force sensor unit areas, the corresponding torques generated by the four equivalent forces are:

[0121]

[0122] The corresponding four equivalent expressions are:

[0123]

[0124] Where W is the width dimension of the force sensor unit, and F is the load;

[0125] S2-1-3: Fit the distribution of concentrated force on the load measurement sensor during collision based on the linear estimation of force distribution;

[0126] like Figure 5 The force sensor unit is divided into four equal force regions by first calculating the resultant moment M in one of the regions. Ay , and since the collision direction in this embodiment is defined as perpendicular to the surface of the force sensor unit, the resultant moment is 4×M Ay The detailed analysis process is as follows:

[0127] The equivalent force F A The equivalent axial force load is brought in and the torque generated by the equivalent axial force load is calculated by the integral equation:

[0128]

[0129] Among them, Δz represents the differential of height, F2 is the X-direction axial force equivalent to the resultant moment, and then the resultant moment of the impact surface of the force sensor unit is calculated:

[0130]

[0131] Similarly, the force acting on the center of the force sensor unit is linearly decomposed according to the unit height W to convert it into a unit height force, such as Figure 7 As shown, it is expressed as:

[0132]

[0133] Then the linear approximate equation of unit height force is expressed as:

[0134] p linear (z) = F1 + F3

[0135] Among them, F1 represents the actual force acting on the force sensor unit, z represents the collision height of the force sensor unit, and F3 represents the equivalent axial force generated by the resultant torque corresponding to the collision height z of the force sensor unit, such as Figure 8 and Fig. 9 As shown, it is expressed as:

[0136]

[0137] Then the linear approximate equation of the force at the collision height point of the force sensor unit is expressed as:

[0138]

[0139] Then the linear force expression generated by the force sensor unit in any height direction is:

[0140]

[0141] Among them, z1 represents the starting collision height, and z2 represents the ending collision height.

[0142] It can be seen from the above steps S2-1-1 to S2-1-3 that, compared with traditional single-axis sensors, the force sensor unit of the present application can take into account the influence of three physical quantities, namely torque, direction of force and different points of action, on the force output by the sensor, thereby improving the accuracy of the results.

[0143] like Fig.10 As shown, the traditional single-axis sensor can only measure the force perpendicular to the sensor surface. At the same time, the traditional single-axis sensor only measures the force, and the default point of action of the impact force is at the center of the force sensor (that is, the position of the strain gauge in the sensor). However, in actual collision situations, the direction of the force is not always perpendicular to the sensor surface, and the point of action is not always at the center of the sensor, so the force measured by the traditional single-axis sensor is inaccurate; in this regard, the present application equates the point load of the impact surface of a load measurement sensor to a group of four equivalent point loads, and generates the same force and torque, which greatly improves the resolution of the point load on the load measurement sensor, such as Fig.11 and Fig.12 By comparing, Fig.11 Before processing, Fig.12 After processing, it is obvious Fig.12 Resolution ratio Fig.11 The resolution is high.

[0144] The F(z) calculated by the above steps S2-1-1 to S2-1-3 is the theoretical collision force of the force sensor unit in the X-axis direction. Then, according to the constructed simulation plane of the force sensor unit, the force action mechanism is called to compare the error between the actual coordinate system of the force action point and the theoretical coordinate system. Within the preset error threshold, the theoretical collision resultant force is equivalent to the actual collision resultant force, such as Fig.13 As shown, the force sensor unit is installed on a loading fixture, and a loading point is set on the loading fixture, and the coordinate position of the loading point is known; by applying force at different loading points, the force sensor unit outputs FX, FY, FZ, MY, and MZ data, and the force application point is obtained by calculation. Then, the calculated force application point coordinates are compared with the theoretical application point coordinates to evaluate the performance of the force sensor unit, and the coordinate error of the force application point is required to be less than 1mm; specifically:

[0145] Step 1: If Fig.14 As shown, the actual coordinate system (X2, Y2, Z2) of the force application point of the force sensor unit under the preset collision condition and the theoretical coordinate system (X1, Y1, Z1) of the center point of the force sensor unit output are obtained, and the distance between the force application point on the actual coordinate system and the force application point on the theoretical coordinate system is D. Then, the actual coordinate system (X2, Y2, Z2) includes forces FX2, FY2, FZ2 and moments MY2 and MZ2 in three-axis directions under the collision side-view perspective, and the theoretical coordinate system (X1, Y1, Z1) includes forces FX1, FY1, FZ1 and moments MY1 and MZ1 in three-axis directions under the collision side-view perspective;

[0146] Step 2: According to the equivalence principle of the forces divided by S2-1-1 and S2-1-2, we have:

[0147] FX2=FX1; FY2=FY1; FZ2=FZ1;

[0148] According to S2-2-1, the moments MY1 and MZ1 are output through the force sensor unit, and the YZ plane and XZ plane of the force sensor unit are constructed at the same time. MY2 and MZ2 in the actual coordinate system are calculated according to the preset moment calculation formula. The calculation formula is:

[0149] MY2=MY1+FZ1×D / 1000;

[0150] MZ2 = MZ1 - FY1 × D / 1000;

[0151] Step 3: Calculate the Y2 and Z2 coordinates of the force action point in the actual coordinate system based on the obtained moments MY2 and MZ2. The calculation formula is:

[0152] Y2=-MZ2 / FX2×1000

[0153] Z2=MY2 / FX2×1000

[0154] Verify that the error between the coordinate points in the actual coordinate system and the theoretical coordinate system is within a preset error threshold, and make the actual coordinate system equivalent to the theoretical coordinate system;

[0155] Step 4: Obtain the collision force F in the X-axis direction based on the output of the force sensor unit x , the collision force F in the Y-axis direction and the collision force F in the Z-axis direction z , and then generate the collision resultant force in the theoretical coordinate system according to the resultant force calculation formula;

[0156] Based on the principles of the above steps, the collision resultant force in the actual coordinate system is equivalent to the collision resultant force in the theoretical coordinate system. In this embodiment, the resultant force calculation formula is:

[0157]

[0158] According to the above force and moment calculation formula and force action point calculation formula, the present application tests the case of FX central loading and FX eccentric loading respectively. When FX central loading, the force action point calculation result is as follows: Fig.15 As shown, Fig.10 The left side is the data curve of FX, and the right side is the coordinates of the force application point (Y, Z). The coordinates of the theoretical application point are (0, 0). It can be seen that the coordinates of the actual force application point on the right are within ±0.3mm, which meets the requirement of an error within 1mm.

[0159] When FX is eccentrically loaded, FX and MY are generated simultaneously. Fig.16 As shown on the left, the coordinates of the force application point (Y, Z) are on the right. The theoretical coordinates of the application point are (0, -50). The actual force application point coordinates on the right are within ±1mm, meeting the requirement of an error within 1mm.

[0160] When FX is eccentrically loaded, FX and MZ are generated simultaneously. Fig.17 As shown on the left, the coordinates of the force application point (Y, Z) are on the right. The theoretical coordinates of the application point are (0, -50). The actual force application point coordinates on the right are within ±1mm, meeting the requirement of an error within 1mm.

[0161] Therefore, according to the above test results, the error comparison results of the coordinate points in the actual coordinate system and the theoretical coordinate system are within the error threshold of 1mm. Therefore, the actual coordinate system can be equivalent to the theoretical coordinate system, and the collision force F of the force sensor unit can be obtained by equating the collision resultant force in the actual coordinate system to the collision resultant force in the theoretical coordinate system. i .

[0162] Then the impact height of the force sensor unit is calculated according to the height H of the ground where the force barrier is located. i , the calculation formula is:

[0163] H i =Z+H

[0164] Where Z represents the height from the collision point on the force sensor unit to the bottom of the force sensor on the Z axis. If the collision point is a positive value on the Z axis, then If the collision point is negative on the Z axis, then H is the height of the bottom of the force sensor unit from the ground.

[0165] Therefore, through the above steps and calculation process, the parameter collision force F for calculating the collision force height HOF can be obtained. i and height H i The accurate value of the collision force height HOF is used to improve the accuracy of the collision force height HOF.

[0166] S3: Calculate the average height of the collision force on the force measuring barrier according to the calculated collision force height; the calculation formula for the average height of the collision force is:

[0167]

[0168] Where t represents the collision moment and F(t) represents the total force.

[0169] In this embodiment, AHOF(t) is a weighted function obtained by averaging HOF(t) to the total force F(t). When HOF(t) calculates AHOF(t), it is set that the force can only be recognized when it is greater than 50 kN. And because AHOF(t) is a weighted function of HOF(t), through the above calculation process, the parameter F in HOF(t) is i (t) and parameter H i The accuracy of HOF(t) is improved, so the accuracy of AHOF(t) is also improved; in other embodiments of the present embodiment, there is also an equivalent substitution formula for the average height of the collision force, that is, it is calculated by F(d), where d represents the displacement of the vehicle, and the calculation formula is:

[0170]

[0171] In another embodiment of the present embodiment, a system for super-resolution identification of collision load position based on multi-axis signals is also included, which is applied to the above-mentioned method for super-resolution identification of collision load position based on multi-axis signals, including a force measuring barrier module, a collision force height calculation module and a collision force average height calculation module. The force measuring barrier module is constructed by a plurality of force sensor units according to a preset collision condition. The collision force height calculation module is used to collect the force F acting on the surface of the collision surface generated by the force sensor unit under the preset collision condition. x 、F y 、F z and two moments M y and M z , the collision force height of each force sensor unit is calculated according to a preset collision force height calculation formula; the collision force average height calculation module is used to calculate the average height of the collision force on the force measuring barrier according to the calculated collision force height.

[0172] Also included is an electronic device such as Fig.18 As shown, the electronic device 400 includes one or more processors 401 and a memory 402 .

[0173] The processor 401 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0174] The memory 402 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 401 may run the program instructions to implement a method for super-resolution identification of collision load positions based on multi-axis signals and / or other desired functions of any embodiment of the present invention described above. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0175] In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 403 may include, for example, a keyboard, a mouse, etc. The output device 404 may output various information to the outside, including early warning information, braking force, etc. The output device 404 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0176] Of course, to simplify, Fig.18 Only some of the components related to the present invention in the electronic device 400 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 400 may also include any other appropriate components.

[0177] In addition to the above-mentioned methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of a method for super-resolution identification of collision load positions based on multi-axis signals provided in any embodiment of the present invention.

[0178] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0179] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of a method for super-resolution identification of collision load positions based on multi-axis signals provided in any embodiment of the present invention.

[0180] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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.

[0181] The above are only embodiments of the present invention. Common knowledge such as the known specific structures and characteristics in the scheme is not described in detail here. Ordinary technicians in the relevant field know all the common technical knowledge in the technical field to which the invention belongs before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A super-resolution recognition method for collision load position based on multi-axis signals, Features: include: S1: Based on the preset collision conditions, a force measurement barrier is constructed using multiple force sensor units; S2: Collect the force F generated by the force sensor unit acting on the impact surface under the preset collision conditions x 、F y 、F z and two moments M y and M z , calculating the collision force height of each force sensor unit according to a preset collision force height calculation formula; S3: Calculate the average height of the collision force on the force measuring barrier according to the calculated collision force height.

2. According to the method of claim 1, a method for super-resolution recognition of collision load position based on multi-axis signals, Features: The force sensor unit in S1 includes a load measuring sensor, a mounting surface and an impact surface. The load measuring sensor is fixed to the mounting surface, the mounting surface is fixed to the impact surface, and the load measuring sensor, the mounting surface and the impact surface are all square.

3. According to claim 2, a method for super-resolution recognition of collision load position based on multi-axis signals, Features: The S2 includes: S2-1: Plane simulation of the impact surface of the force sensor unit is performed based on the obtained force F x 、F y 、F z and two moments M y and M z Calculate the collision force in the X-axis direction; S2-2: Construct a force application point test, calibrate and verify the actual coordinate system of the collision point on the impact surface of the force sensor unit based on the collision force in the X-axis direction and the corresponding collision point theoretical coordinate system, and obtain the collision resultant force on the impact surface of the force sensor unit according to the calibration and verification results; S2-3: Obtain the collision height on the impact surface of the force sensor unit, and calculate the collision force height index HOF according to the obtained collision resultant force.

4. According to claim 3, a method for super-resolution recognition of collision load position based on multi-axis signals, Features: The S2-1 is specifically: S2-1-1: Perform a plane simulation on the impact surface of the force sensor unit, set the direction acting on the impact surface as the X-axis, and the impact surface surfaces as the Y-axis and Z-axis, respectively, to obtain the force F at the concentrated force point when the force sensor unit collides x and two moments M y and M z ,in: F x =-F M y =F*a M z =F*b Wherein, F represents the load during collision, a represents the Y-axis distance between the concentrated force point and the center point of the surface of the force sensor unit, and b represents the Z-axis distance between the concentrated force point and the center point of the surface of the force sensor unit; S2-1-2: Split into four force sensor unit areas of equal area, and divide the load F generated by the collision into a group of four equivalent forces F A 、F B 、F C 、F D , then the equivalent load in the X-axis direction is expressed as: When the width of the force sensor unit is set to W and the force setting at the center of the force sensor unit is placed in the four divided force sensor unit areas, the corresponding torques generated by the four equivalent forces are: The corresponding four equivalent expressions are: Where W is the width dimension of the force sensor unit, and F is the load; Since the crash compatibility index AHOF is highly correlated with the force action, F A +F B or F C +F D Offset M z The impact is as follows: S2-1-3: Based on the linear estimation of force distribution, fit the distribution of concentrated force on the load measurement sensor during collision. The fitting process is: The equivalent force F a The equivalent axial force load is brought in and the torque generated by the equivalent axial force load is calculated by the integral equation: Where Δz represents the differential of height, F 2 The X-direction axial force equivalent to the resultant moment is then calculated as the resultant moment of the force sensor unit impact surface: Similarly, the force acting on the center of the force sensor unit is linearly decomposed according to the unit height W to convert it into a unit height force, expressed as: Then the linear approximate equation of unit height force is expressed as: p linear (z)=F 1 +F 3 Among them, F 1 represents the actual force acting on the force sensor unit, z represents the collision height of the force sensor unit, F 3 The equivalent axial force generated by the resultant moment corresponds to the force at a collision height z of the force sensor unit and is expressed as: Then the linear approximate equation of the force at the collision height point of the force sensor unit is expressed as: Then the linear force expression generated by the force sensor unit in any height direction is: Among them, z 1 Indicates the initial collision height, z 2 Indicates the end point collision height.

5. According to claim 4, a method for super-resolution recognition of collision load position based on multi-axis signals, Features: The S2-2 includes: S2-2-1: Obtain the actual coordinate system (X 2 ,Y 2 ,Z 2 ) and the theoretical coordinate system of the center point of the force sensor unit output (X 1 ,Y 1 ,Z 1 ), the distance between the force application point in the actual coordinate system and the force application point in the theoretical coordinate system is D, then the actual coordinate system (X 2 ,Y 2 ,Z 2 ) In the collision side view, the force FX in three directions is included 2 、FY 2 , FZ 2 and torque MY 2 , MZ 2 , theoretical coordinate system (X 1 ,Y 1 ,Z 1 ) In the collision side view, the force FX in three directions is included 1 、FY 1 , FZ 1 and torque MY 1 , MZ 1 ; S2-2-2: According to the equivalence principle of forces divided by S2-1-1 and S2-1-2, we have: FX 2 =FX 1 ;FY 2 =FY 1 ;FZ 2 =FZ 1 ; According to S2-2-1, the moment MY 1 , MZ 1 Through the output of the force sensor unit, the YZ plane and XZ plane of the force sensor unit are constructed at the same time, and the MY in the actual coordinate system is calculated according to the preset torque calculation formula 2 and MZ 2 , the calculation formula is: MY 2 =MY 1 +FZ 1 ×D / 1000; MZ 2 =MZ 1 -FY 1 ×D / 1000; S2-2-3: According to the torque MY obtained 2 , MZ 2 Calculate the Y value of the force point in the actual coordinate system 2 , Z 2 Coordinate point, the calculation formula is: Y 2 =-MZ 2 / FX 2 ×1000 Z 2 =MY 2 / FX 2 ×1000 Verify that the error between the coordinate points in the actual coordinate system and the theoretical coordinate system is within a preset error threshold, and make the actual coordinate system equivalent to the theoretical coordinate system; S2-2-4: Obtain the collision force F in the X-axis direction based on the output of the force sensor unit x , the collision force F in the Y-axis direction and the collision force F in the Z-axis direction z , and then generate the collision resultant force in the theoretical coordinate system according to the resultant force calculation formula; Based on the principle of step S2-2, the collision resultant force in the actual coordinate system is equivalent to the collision resultant force in the theoretical coordinate system.

6. The method for super-resolution identification of collision load position based on multi-axis signals according to claim 5, Features: The collision height on the impact surface of the force sensor unit in S2-3 is obtained specifically as follows: According to the Z-axis coordinate of the actual coordinate system on the force sensor unit obtained in S2-2-3, the height H of the ground where the force sensor unit measures the force barrier is calculated. i , the calculation formula is: H i =Z+H Where Z represents the height from the collision point on the force sensor unit to the bottom of the force sensor on the Z axis. If the collision point is a positive value on the Z axis, then If the collision point is negative on the Z axis, then H is the height of the bottom of the force sensor unit from the ground.

7. A system for super-resolution recognition of collision load position based on multi-axis signals, applied to a method for super-resolution recognition of collision load position based on multi-axis signals as described in any one of claims 1 to 6 above, Features: The system comprises a force measuring barrier module, a collision force height calculation module and a collision force average height calculation module. The force measuring barrier module is constructed by a plurality of force sensor units according to a preset collision working condition. The collision force height calculation module is used to collect the force F generated by the force sensor unit under the preset collision working condition and act on the surface of the collision surface. x 、F y 、F z and two moments M y and M z , the collision force height of each force sensor unit is calculated according to a preset collision force height calculation formula; the collision force average height calculation module is used to calculate the average height of the collision force on the force measuring barrier according to the calculated collision force height.

8. An electronic device, Features: It comprises a processor and a memory, wherein the memory stores programs or instructions, and the processor executes a method for super-resolution recognition of collision load position based on multi-axis signals as described in any one of claims 1 to 6 by calling the programs or instructions stored in the memory.

9. A computer-readable storage medium, Features: The computer-readable storage medium stores a program or instruction, and the program or instruction enables a computer to execute a method for super-resolution identification of collision load position based on multi-axis signals as described in any one of claims 1 to 6.

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