Vehicle virtual operation stability simulation method, device, equipment, storage medium and product
By constructing and compiling the physical and control models of the vehicle, generating a vehicle dynamic model with control, and performing virtual stabilization simulation, the problems of low efficiency and high cost of traditional vehicle stabilization testing methods are solved, and efficient vehicle simulation and intelligence are achieved Control system development.
Patent Information
- Application Number
- CN202411326453.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2025-01-03
AI Technical Summary
Traditional vehicle stability testing methods are inefficient and costly, and require frequent control of the real vehicle, resulting in time-consuming and labor-intensive and high cost.
By constructing the physical model and control model of the target vehicle, the controller DLL library file is compiled and inputted into the vehicle dynamics model to generate a vehicle dynamics model with control and perform virtual stabilization simulation.
It improves vehicle simulation efficiency, reduces simulation costs, provides strong support for the development of vehicle intelligent control systems, and avoids frequent control of real cars.
Smart Images
Figure CN119247800A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle simulation technology, and in particular to a vehicle virtual handling simulation method, device, equipment, storage medium and product. Background Art
[0002] With the development of the automobile industry, vehicle control systems have become increasingly complex. For example, common electronic power steering systems, anti-lock braking systems, body stability control systems, rear-wheel steering systems, lane keeping assist systems, adaptive cruise control systems, active suspensions, semi-active suspensions, etc. in modern cars all require precise control strategies to ensure the safety and comfort of the vehicle. In the design and development process of the control system, a lot of simulation and testing work is required. Traditional handling stability test methods often rely on physical prototypes (that is, each test requires the actual vehicle to be operated), which is not only time-consuming and labor-intensive, but also costly. Summary of the invention
[0003] The main purpose of this application is to provide a vehicle virtual handling stability simulation method, device, equipment, storage medium and product, aiming to solve the technical problems of low efficiency and high cost of existing vehicle handling stability testing methods.
[0004] To achieve the above object, the present application provides a vehicle virtual handling simulation method, the method comprising the following steps:
[0005] Constructing a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and the control target of the target vehicle;
[0006] Compile the control model to obtain a controller DLL library file corresponding to the control model;
[0007] Inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a controlled vehicle dynamics model;
[0008] A virtual handling simulation is performed on the target vehicle based on the controlled vehicle dynamics model.
[0009] In one embodiment, the step of constructing a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and the control target of the target vehicle includes:
[0010] Determining controller parameters according to a physical model and a control target of a target vehicle, and constructing a control model corresponding to the target vehicle based on the controller parameters;
[0011] Subassemblies are created according to the physical model and control target of the target vehicle, and the vehicle dynamics model corresponding to the target vehicle is obtained after the subassemblies are assembled into a general assembly.
[0012] In one embodiment, the step of determining controller parameters according to the physical model of the target vehicle and the control target comprises:
[0013] Determine a preset steering route, a yaw rate signal, and a vehicle body X / Y direction speed signal of the target vehicle according to a physical model and a control target of the target vehicle;
[0014] Controller parameters are determined based on the preset steering route, the yaw rate signal and the vehicle body X / Y direction speed signal, and the controller parameters include a basic steering wheel angle value, a vehicle yaw rate value and a final steering wheel angle value.
[0015] In one embodiment, the step of determining controller parameters based on the preset steering route, the yaw rate signal and the vehicle body X / Y direction speed signal comprises:
[0016] Inputting the preset steering route into a steering preview module to obtain the basic steering wheel angle value;
[0017] Inputting the vehicle body X / Y direction velocity signal into a two-degree-of-freedom vehicle model corresponding to the target vehicle and performing calculation to obtain the vehicle yaw angular velocity value;
[0018] Inputting the yaw rate signal, the vehicle yaw rate value and the vehicle body X / Y direction speed signal into a sliding mode control module to obtain a steering wheel angle correction value;
[0019] The steering wheel angle correction value and the basic steering wheel angle value are summed to obtain the final steering wheel angle value.
[0020] In one embodiment, the step of creating a subassembly according to the physical model of the target vehicle and the control target includes:
[0021] Determining a body part, a suspension part, and a steering part of the target vehicle according to a physical model of the target vehicle and a control target;
[0022] A subassembly is created based on the vehicle body part, the suspension part and the steering part, wherein the subassembly includes a rod system connection mode, design variables and state variables of the target vehicle.
[0023] In one embodiment, the step of inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain the vehicle dynamics model with control includes:
[0024] The controller parameters of the control model and the controller DLL library file are input into the vehicle dynamics model to modify the variables and optimize the model of the vehicle dynamics model to obtain a controlled vehicle dynamics model.
[0025] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle virtual handling simulation device, the vehicle virtual handling simulation device comprising:
[0026] A model building module, used to build a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle;
[0027] A model compiling module, used for compiling the control model to obtain a controller DLL library file corresponding to the control model;
[0028] A model optimization module, used for inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a vehicle dynamics model with control;
[0029] A simulation execution module is used to perform virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model.
[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle virtual handling stability simulation device, which includes: a memory, a processor, and a vehicle virtual handling stability simulation program stored in the memory and executable on the processor, and the vehicle virtual handling stability simulation program is configured to implement the steps of the vehicle virtual handling stability simulation method described above.
[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a vehicle virtual handling stability simulation program is stored on the storage medium. When the vehicle virtual handling stability simulation program is executed by the processor, the steps of the vehicle virtual handling stability simulation method described above are implemented.
[0032] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a vehicle virtual handling stability simulation program, and when the vehicle virtual handling stability simulation program is executed by a processor, it implements the steps of the vehicle virtual handling stability simulation method described above.
[0033] This application constructs a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle; compiles the control model to obtain a controller DLL library file corresponding to the control model; inputs the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a controlled vehicle dynamics model; and performs a virtual handling simulation of the target vehicle based on the controlled vehicle dynamics model. Since the above method of this application constructs a controlled vehicle dynamics model corresponding to the target vehicle according to the controller parameters and the controller DLL library file in the control model corresponding to the target vehicle, it is possible to perform a virtual handling simulation of the target vehicle based on the controlled vehicle dynamics model, thereby avoiding the technical drawbacks of the traditional handling test method that each test requires the actual vehicle to be operated, thereby improving the vehicle simulation efficiency and reducing the vehicle simulation cost, providing strong support for the development of vehicle intelligent control systems. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] Figure 1 A schematic diagram of the structure of a vehicle virtual handling simulation device in a hardware operating environment involved in an embodiment of the present application;
[0035] Figure 2 This is a flow chart of the first embodiment of the vehicle virtual handling simulation method of the present application;
[0036] Figure 3 A schematic diagram of the simulation platform architecture in the vehicle virtual handling simulation method of the present application;
[0037] Figure 4 This is a flow chart of the second embodiment of the vehicle virtual handling simulation method of the present application;
[0038] Figure 5 This is a flow chart of a third embodiment of the vehicle virtual handling simulation method of the present application;
[0039] Figure 6 This is a structural block diagram of the first embodiment of the vehicle virtual handling simulation device of the present application.
[0040] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0041] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0042] Reference Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle virtual handling simulation device in the hardware operating environment involved in the embodiment of the present application.
[0043] like Figure 1 As shown, the vehicle virtual handling simulation device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.
[0044] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the vehicle virtual handling stability simulation device, and may include more or less components than those shown in the figure, or a combination of certain components, or a different arrangement of components.
[0045] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a vehicle virtual handling simulation program.
[0046] exist Figure 1 In the vehicle virtual handling simulation device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the vehicle virtual handling simulation device of the present application can be set in the vehicle virtual handling simulation device, and the vehicle virtual handling simulation device calls the vehicle virtual handling simulation program stored in the memory 1005 through the processor 1001, and executes the vehicle virtual handling simulation method provided in the embodiment of the present application.
[0047] The present application provides a method for simulating vehicle virtual handling stability, referring to Figure 2 , Figure 2 This is a flow chart of the first embodiment of the vehicle virtual handling simulation method of the present application.
[0048] In this embodiment, the vehicle virtual handling simulation method includes the following steps:
[0049] Step S1: constructing a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle.
[0050] It should be noted that the execution subject of the method of this embodiment can be a terminal device with model building, data processing and program running functions, such as a smart terminal, a computer, etc., or an electronic device with the same or similar functions, such as the above-mentioned vehicle virtual handling simulation device. The following takes the vehicle virtual handling simulation device (hereinafter referred to as the simulation device) as an example to illustrate this embodiment and the following embodiments.
[0051] It is understandable that the above control model may be a Matlab / Simulink control model, and the above vehicle dynamics model may be a mathematical model constructed based on the principles of mechanics, kinematics and dynamics and used to describe the dynamic behavior of the vehicle.
[0052] It should be understood that Simulink is a Simulink tool that combines graphical editing, custom blocks, solvers, and MATLAB integration to support dynamic system modeling, such as automotive motion simulation. Simulink provides a graphical editor, a customizable block library, and solvers that enable dynamic system modeling and simulation. Users can create complex control system models in Simulink and perform signal and state calculations through time steps.
[0053] Step S2: Compile the control model to obtain a controller DLL library file corresponding to the control model.
[0054] It should be noted that the controller DLL library file (Dynamic Link Library) is a function, variable and resource used for vehicle control functions, which can be shared and called by multiple applications or system components.
[0055] It should be understood that the controller DLL library file may contain the implementation code of the vehicle control algorithm, such as the path tracking algorithm, the stability control algorithm, etc. These algorithms calculate the corresponding control output by receiving the vehicle status information (such as position, speed, acceleration, etc.) and control instructions (such as steering wheel angle, throttle opening, etc.) to achieve precise control and stable driving of the vehicle. The vehicle control system needs to interact with various hardware devices, such as sensors, actuators, etc. The controller DLL library file can encapsulate the interface functions of these hardware devices and provide a unified access method for the upper-level application, thereby simplifying the driving and management of the hardware devices. In a complex vehicle control system, in order to improve the maintainability and scalability of the system, the system is usually divided into multiple modules. Each module can correspond to one or more controller DLL library files, and these files communicate and collaborate through interface functions to jointly realize the control function of the vehicle. When developing a vehicle control system, you may use library files provided by a third party, such as a mathematical calculation library, an image processing library, etc. These library files are usually provided in the form of DLLs and can be easily integrated into the vehicle control system to accelerate the development process and improve system performance.
[0056] Step S3: input the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a controlled vehicle dynamics model.
[0057] In a specific implementation, the vehicle dynamics model may be adjusted based on the controller parameters and controller DLL library file of the control model to obtain the vehicle dynamics model with control.
[0058] Step S4: performing virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model.
[0059] In the specific implementation, it can be combined with Figure 3 To illustrate the simulation process of this embodiment, Figure 3 This is a schematic diagram of the simulation platform architecture in the vehicle virtual handling simulation method of this application. Figure 3As shown in the figure, in Adams / Car software, after enabling the Adams / Control module, the controller DLL library file is mounted, and the Adams / Car vehicle dynamics model with control can be obtained after setting the controller parameters. After executing the simulation, the user can obtain the corresponding simulation data results. For the Matlab / Simulink control model, the controller parameter input interface is reserved when it is established, which is convenient for the controller parameter input of subsequent Adams and other software (Adams / Car software and enabling the Adams / Control module); for the compilation and generation of the controller DLL library file, the compilation tool provided by Adams and other software is required, and the Matlab / Simulink tool can compile the control model to generate the controller DLL library file. Among them, Adams / Car software is a mechanical system dynamics automatic analysis software specifically for the automotive industry. It adopts a template-based modeling method, which greatly accelerates and simplifies the modeling process. Users only need to enter the necessary data in the template to quickly build a high-precision vehicle virtual prototype including the body, suspension, transmission system, engine, steering mechanism, braking system, etc., and perform simulation analysis.
[0060] This embodiment constructs a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle; compiles the control model to obtain a controller DLL library file corresponding to the control model; inputs the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a controlled vehicle dynamics model; and performs a virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model. Since the above method of this embodiment constructs a controlled vehicle dynamics model corresponding to the target vehicle according to the controller parameters and the controller DLL library file in the control model corresponding to the target vehicle, it is possible to perform a virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model, thereby avoiding the technical drawback of the traditional handling test method that each test requires the actual vehicle to be operated, thereby improving the vehicle simulation efficiency and reducing the vehicle simulation cost, providing strong support for the development of vehicle intelligent control systems.
[0061] refer to Figure 4 , Figure 4 This is a flow chart of the second embodiment of the vehicle virtual handling simulation method of the present application.
[0062] In a feasible implementation manner, the step S1 may include:
[0063] Step S11: determining controller parameters according to the physical model and control objectives of the target vehicle, and constructing a control model corresponding to the target vehicle based on the controller parameters.
[0064] Step S12: creating subassemblies according to the physical model of the target vehicle and the control target, and assembling the subassemblies into a general assembly to obtain a vehicle dynamics model corresponding to the target vehicle.
[0065] In a specific implementation, the controller parameters can be determined according to the physical model and control objectives of the target vehicle, and then the steering preview module, the sliding mode control module and the two-degree-of-freedom vehicle model are constructed based on the controller parameters, so as to obtain the above control model, that is, the control model includes the steering preview module, the sliding mode control module and the two-degree-of-freedom vehicle model. Among them, the two-degree-of-freedom vehicle model is a simplified form of the vehicle dynamics model, which is mainly used to study and analyze the lateral movement and yaw movement of the vehicle. This model ignores the longitudinal movement of the vehicle, the influence of the suspension system, the nonlinear lateral characteristics of the tires, and the air resistance, and simplifies the vehicle into a two-wheel model, considering only the lateral (y-axis direction) and yaw (rotation around the z-axis) two-degree-of-freedom movement.
[0066] In a feasible implementation manner, the step S11 may include:
[0067] Step S111: determining a preset turning route, a yaw rate signal and a vehicle body X / Y direction speed signal of the target vehicle according to the physical model and control target of the target vehicle.
[0068] Step S112: determining controller parameters based on the preset steering route, the yaw rate signal and the vehicle body X / Y direction speed signal, wherein the controller parameters include a basic steering wheel angle value, a vehicle yaw rate value and a final steering wheel angle value.
[0069] It should be understood that the above-mentioned basic steering wheel angle value refers to the angle of the steering wheel in a certain initial state, that is, the deflection angle of the steering wheel relative to its original position (such as the horizontal position) before the vehicle starts to drive or perform a specific operation. The basic steering wheel angle value can be zero (indicating that the steering wheel is in the initial position) or any other angle, depending on the initial state of the vehicle and the driver's input; the above-mentioned vehicle yaw angular velocity value refers to the speed at which the vehicle rotates around an axis perpendicular to the longitudinal axis of the vehicle body during lateral movement; the above-mentioned final steering wheel angle value refers to the angle finally reached by the steering wheel after a series of control algorithms and driver input during vehicle driving.
[0070] In a feasible implementation manner, the step S112 may include:
[0071] Step S1121: inputting the preset steering route into the steering preview module to obtain the basic steering wheel angle value.
[0072] Step S1122: inputting the vehicle body X / Y direction velocity signal into a two-degree-of-freedom vehicle model corresponding to the target vehicle and performing calculation to obtain the vehicle yaw angular velocity value.
[0073] Step S1123: input the yaw rate signal, the vehicle yaw rate value and the vehicle body X / Y direction velocity signal into a sliding mode control module to obtain a steering wheel angle correction value.
[0074] Step S1124: summing the steering wheel angle correction value and the basic steering wheel angle value to obtain the final steering wheel angle value.
[0075] In the specific implementation, the Matlab / Simulink control model of this embodiment is divided into a steering preview module, a sliding mode control module and a two-degree-of-freedom vehicle model. The steering preview module outputs the basic steering wheel angle value according to the preset steering route; the two-degree-of-freedom vehicle model calculates and outputs the vehicle yaw angular velocity value after reading the vehicle body X / Y direction velocity signal transmitted by the Adams / Car software; the sliding mode control module reads the yaw angular velocity signal transmitted by the Adams / Car software and the vehicle yaw angular velocity value calculated by the two-degree-of-freedom vehicle model and the vehicle body X / Y direction velocity signal, thereby calculating the steering wheel angle correction value, and after the basic steering wheel angle value and the steering wheel angle correction value are summed, the final steering wheel angle value is output to the Adams / Car software to realize steering control. At the same time, a parameter interface is reserved in each of the above modules. After being compiled into a controller DLL library file, the signal input is the vehicle body X / Y direction velocity signal and the yaw angular velocity signal, the parameter input is the same as the reserved parameters in each module, and the signal output is the steering wheel angle signal.
[0076] This embodiment determines a preset steering route, a yaw rate signal and a vehicle body X / Y direction speed signal of the target vehicle according to a physical model and a control target of the target vehicle; inputs the preset steering route into a steering preview module to obtain the basic steering wheel angle value; inputs the vehicle body X / Y direction speed signal into a two-degree-of-freedom vehicle model corresponding to the target vehicle and calculates to obtain the vehicle yaw rate value; inputs the yaw rate signal, the vehicle yaw rate value and the vehicle body X / Y direction speed signal into a sliding mode control module to obtain a steering wheel angle correction value; sums the steering wheel angle correction value and the basic steering wheel angle value to obtain the final steering wheel angle value; creates a subassembly according to the physical model and the control target of the target vehicle, and assembles the subassemblies into a general assembly to obtain a vehicle dynamics model corresponding to the target vehicle. Compared with the traditional handling stability test method, the above method of this embodiment builds a control model corresponding to the target vehicle based on the steering preview module, the sliding mode control module and the two-degree-of-freedom vehicle model, thereby realizing the integrated simulation of the dynamic characteristics and control system algorithm of the target vehicle, effectively improving the simulation efficiency and accuracy.
[0077] refer to Figure 5 , Figure 5 This is a flow chart of the third embodiment of the vehicle virtual handling simulation method of the present application.
[0078] In a feasible implementation manner, the step S12 may include:
[0079] Step S121: determining the body part, suspension part and steering part of the target vehicle according to the physical model and control target of the target vehicle.
[0080] Step S122: creating a subassembly based on the vehicle body, the suspension and the steering, wherein the subassembly includes a rod connection mode, design variables and state variables of the target vehicle.
[0081] In the specific implementation, the general Adams / Car vehicle dynamics model includes the body, suspension, steering and other parts. The suspension part generally includes suspension rods, shock absorbers, springs and other components. When the Adams / Car vehicle dynamics model is established, sub-assemblies are generally created from the corresponding suspension and body templates. The created sub-assemblies will inherit the characteristics of the template, such as rod connection mode, design variables and state variables, etc. The Adams / Car vehicle dynamics model can only be obtained by assembling the sub-assemblies into a general assembly.
[0082] In a feasible implementation manner, the step S3 may include:
[0083] Step S31: input the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to modify the variables and optimize the model of the vehicle dynamics model to obtain a controlled vehicle dynamics model.
[0084] In the specific implementation, in order to add a controller to the Adams / Car vehicle dynamics model, the original template needs to be modified, and the steering wheel input signal and body signal output are required. According to the above controller requirement signal input, add excitation ("Actuators"), read the steering wheel angle signal value output by the control model and act on the steering wheel of the Adams / Car vehicle model. Set the system state variables "VX / VY / WZ", and set the functions to detect the linear velocity and yaw rate in the X and Y directions at the center of mass of the vehicle body respectively, which are used to output the linear velocity and yaw rate signals of the vehicle body in the X and Y directions required by the controller. After assembling the vehicle dynamics model, import the controller parameters and controller DLL library files of the control model into the vehicle dynamics model, and use the built-in design variable modification tool to adjust the shock absorber parameters, so as to obtain the above vehicle dynamics model with control. After executing the simulation, the simulation results can be directly viewed in the post-processing results.
[0085] This embodiment determines the body, suspension and steering parts of the target vehicle according to the physical model and control target of the target vehicle; creates a subassembly based on the body, suspension and steering parts, and the subassembly includes the bar connection mode, design variables and state variables of the target vehicle; inputs the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to modify the variables and optimize the model of the vehicle dynamics model to obtain a controlled vehicle dynamics model. Compared with the traditional handling stability test method, the above method of this embodiment modifies the variables and optimizes the model of the vehicle dynamics model based on the controller parameters of the control model and the controller DLL library file, thereby obtaining a controlled vehicle dynamics model, which further improves the simulation effect of the vehicle virtual handling stability simulation.
[0086] In addition, an embodiment of the present application further proposes a storage medium, on which a vehicle virtual handling stability simulation program is stored. When the vehicle virtual handling stability simulation program is executed by a processor, the steps of the vehicle virtual handling stability simulation method described above are implemented.
[0087] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the vehicle virtual handling simulation device of the present application.
[0088] like Figure 6 As shown, the vehicle virtual handling simulation device proposed in the embodiment of the present application includes:
[0089] A model building module 601 is used to build a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle;
[0090] A model compiling module 602 is used to compile the control model to obtain a controller DLL library file corresponding to the control model;
[0091] A model optimization module 603, used for inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a vehicle dynamics model with control;
[0092] The simulation execution module 604 is used to perform virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model.
[0093] This embodiment constructs a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle; compiles the control model to obtain a controller DLL library file corresponding to the control model; inputs the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a controlled vehicle dynamics model; and performs a virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model. Since the above method of this embodiment constructs a controlled vehicle dynamics model corresponding to the target vehicle according to the controller parameters and the controller DLL library file in the control model corresponding to the target vehicle, it is possible to perform a virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model, thereby avoiding the technical drawback of the traditional handling test method that each test requires the actual vehicle to be operated, thereby improving the vehicle simulation efficiency and reducing the vehicle simulation cost, providing strong support for the development of vehicle intelligent control systems.
[0094] Based on the first embodiment of the vehicle virtual handling simulation device described above, a second embodiment of the vehicle virtual handling simulation device described above is proposed.
[0095] In this embodiment, the model building module 601 is also used to determine controller parameters according to the physical model and control objectives of the target vehicle, and to build a control model corresponding to the target vehicle based on the controller parameters; to create sub-assemblies according to the physical model and control objectives of the target vehicle, and to assemble the sub-assemblies into a general assembly to obtain a vehicle dynamics model corresponding to the target vehicle.
[0096] Furthermore, the model building module 601 is also used to determine the preset steering route, yaw angular velocity signal and vehicle body X / Y direction speed signal of the target vehicle according to the physical model and control target of the target vehicle; determine controller parameters based on the preset steering route, the yaw angular velocity signal and the vehicle body X / Y direction speed signal, and the controller parameters include a basic steering wheel angle value, a vehicle yaw angular velocity value and a final steering wheel angle value.
[0097] Furthermore, the model building module 601 is also used to input the preset steering route into the steering preview module to obtain the basic steering wheel angle value; input the vehicle body X / Y direction speed signal into the two-degree-of-freedom vehicle model corresponding to the target vehicle and calculate to obtain the vehicle yaw angular velocity value; input the yaw angular velocity signal, the vehicle yaw angular velocity value and the vehicle body X / Y direction speed signal into the sliding mode control module to obtain a steering wheel angle correction value; sum the steering wheel angle correction value and the basic steering wheel angle value to obtain the final steering wheel angle value.
[0098] Furthermore, the model building module 601 is also used to determine the body part, suspension part and steering part of the target vehicle according to the physical model and control objectives of the target vehicle; create a sub-assembly based on the body part, the suspension part and the steering part, and the sub-assembly includes the rod connection method, design variables and state variables of the target vehicle.
[0099] Furthermore, the model optimization module 603 is also used to input the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to modify the variables and optimize the model of the vehicle dynamics model to obtain a controlled vehicle dynamics model.
[0100] Other embodiments or specific implementation methods of the vehicle virtual handling simulation device of the present application can refer to the above-mentioned method embodiments and will not be repeated here.
[0101] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.
[0102] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.
[0103] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.
[0104] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A vehicle virtual handling simulation method, characterized in that: The method comprises the following steps: Constructing a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and the control target of the target vehicle; Compile the control model to obtain a controller DLL library file corresponding to the control model; Inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a controlled vehicle dynamics model; A virtual handling simulation is performed on the target vehicle based on the controlled vehicle dynamics model.
2. The vehicle virtual handling simulation method according to claim 1, characterized in that: The step of constructing a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and the control target of the target vehicle comprises: Determining controller parameters according to a physical model and a control target of a target vehicle, and constructing a control model corresponding to the target vehicle based on the controller parameters; Subassemblies are created according to the physical model and control target of the target vehicle, and the vehicle dynamics model corresponding to the target vehicle is obtained after the subassemblies are assembled into a general assembly.
3. The vehicle virtual handling simulation method according to claim 2, characterized in that: The step of determining controller parameters according to the physical model of the target vehicle and the control target comprises: Determine a preset steering route, a yaw rate signal, and a vehicle body X / Y direction speed signal of the target vehicle according to a physical model and a control target of the target vehicle; Controller parameters are determined based on the preset steering route, the yaw rate signal and the vehicle body X / Y direction speed signal, and the controller parameters include a basic steering wheel angle value, a vehicle yaw rate value and a final steering wheel angle value.
4. The vehicle virtual handling simulation method according to claim 3, characterized in that: The step of determining controller parameters based on the preset steering route, the yaw rate signal and the vehicle body X / Y direction speed signal comprises: Inputting the preset steering route into a steering preview module to obtain the basic steering wheel angle value; Inputting the vehicle body X / Y direction velocity signal into a two-degree-of-freedom vehicle model corresponding to the target vehicle and performing calculation to obtain the vehicle yaw angular velocity value; Inputting the yaw rate signal, the vehicle yaw rate value and the vehicle body X / Y direction speed signal into a sliding mode control module to obtain a steering wheel angle correction value; The steering wheel angle correction value and the basic steering wheel angle value are summed to obtain the final steering wheel angle value.
5. The vehicle virtual handling simulation method according to claim 2, characterized in that: The step of creating a subassembly according to the physical model of the target vehicle and the control target comprises: Determining a body part, a suspension part, and a steering part of the target vehicle according to a physical model of the target vehicle and a control target; A subassembly is created based on the vehicle body part, the suspension part and the steering part, wherein the subassembly includes a rod system connection mode, design variables and state variables of the target vehicle.
6. The vehicle virtual handling simulation method according to claim 1, characterized in that: The step of inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain the controlled vehicle dynamics model comprises: The controller parameters of the control model and the controller DLL library file are input into the vehicle dynamics model to modify the variables and optimize the model of the vehicle dynamics model to obtain a controlled vehicle dynamics model.
7. A vehicle virtual handling simulation device, characterized in that: The vehicle virtual handling simulation device comprises: A model building module, used to build a control model and a vehicle dynamics model corresponding to the target vehicle according to the physical model and control target of the target vehicle; A model compiling module, used for compiling the control model to obtain a controller DLL library file corresponding to the control model; A model optimization module, used for inputting the controller parameters of the control model and the controller DLL library file into the vehicle dynamics model to obtain a vehicle dynamics model with control; A simulation execution module is used to perform virtual handling simulation on the target vehicle based on the controlled vehicle dynamics model.
8. A vehicle virtual handling simulation device, characterized in that: The device comprises: a memory, a processor, and a vehicle virtual handling simulation program stored in the memory and executable on the processor, wherein the vehicle virtual handling simulation program is configured to implement the steps of the vehicle virtual handling simulation method as described in any one of claims 1 to 6.
9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a vehicle virtual handling stability simulation program is stored on the storage medium. When the vehicle virtual handling stability simulation program is executed by a processor, the steps of the vehicle virtual handling stability simulation method as described in any one of claims 1 to 6 are implemented.
10. A computer program product, characterized in that The computer program product comprises a vehicle virtual handling simulation program, and when the vehicle virtual handling simulation program is executed by a processor, the steps of the vehicle virtual handling simulation method according to any one of claims 1 to 6 are implemented.