Dynamic three-dimensional coordinate measuring method and device for automobile collision test and controller

Abstract

The invention relates to the technical field of position measurement, in particular to a dynamic three-dimensional coordinate measuring method and device for an automobile collision test and a controller. The method comprises the following steps: before an automobile collision test, acquiring a fixed three-dimensional coordinate of each stay wire displacement sensor in a plurality of stay wire displacement sensors; acquiring the length of each stay wire in real time from each stay wire displacement sensor in the automobile collision test process; and according to the stay wire length and the fixed three-dimensional coordinate of each stay wire displacement sensor, calculating a target three-dimensional coordinate of the stay wires of the plurality of stay wire displacement sensors at the convergence position of the passenger compartment feature points. According to the invention, the dynamic three-dimensional coordinates of the feature points in the passenger compartment can be accurately collected in real time.

Description

Technical Field

[0001] The present application relates to the technical field of position measurement, and in particular to a method, device and controller for measuring dynamic three-dimensional coordinates for automobile collision testing. Background Art

[0002] During a car collision, the deformation of certain structures in the passenger compartment has an important impact on the survival space of the occupants. The deformation of these structures may be fatal to the occupants. Therefore, the study of the motion process of the characteristic points of these structures plays an important role in improving and enhancing the passive safety performance of the vehicle. At present, the measurement of these characteristic points uses the three-dimensional coordinates of the points after the collision and the three-dimensional coordinates of the points before the collision to compare and obtain the deformation. However, the point after the collision is not the position with the largest deformation during the collision. The position where these characteristic points have the largest deformation generally occurs in the later stage of the collision process, not at the end of the collision. Therefore, it is necessary to collect the motion process of these characteristic points, obtain a three-dimensional curve, and solve the position of the maximum deformation from it.

[0003] During a car collision, the movement of certain characteristic points of the test dummy inside the car plays a valuable role in analyzing the dummy's response and the cause of the dummy's injury. At present, the measurement of these characteristic points is done by installing a high-speed camera on the car, and then using professional software to analyze the motion video to obtain the motion curve and calculate the maximum displacement. Because the distance between the high-speed camera and the characteristic point will change, the motion curve analyzed by the software is not accurate.

[0004] Currently, there is no test equipment that can accurately collect the three-dimensional coordinates of these feature points, so it is necessary to develop a dynamic three-dimensional coordinate measurement solution for the feature points in the passenger compartment suitable for automobile collision tests. Summary of the invention

[0005] The purpose of the present application is to provide a method, device and controller for measuring dynamic three-dimensional coordinates for automobile collision testing, so as to accurately and in real time acquire the dynamic three-dimensional coordinates of feature points in the passenger compartment.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a method for measuring dynamic three-dimensional coordinates for automobile collision testing, comprising:

[0008] Before the automobile collision test, a fixed three-dimensional coordinate of each of the plurality of pull-wire displacement sensors is obtained;

[0009] During the automobile collision test, the length of each cable is obtained in real time from each cable displacement sensor;

[0010] According to the length of the wire of each wire displacement sensor and the fixed three-dimensional coordinates, the target three-dimensional coordinates of the convergence position of the wires of the plurality of wire displacement sensors at the characteristic point of the passenger compartment are calculated.

[0011] In a second aspect, the present application provides a dynamic three-dimensional coordinate measuring device for automobile collision testing, comprising:

[0012] Controller;

[0013] A plurality of pull-wire displacement sensors connected to the controller; each of the pull-wire displacement sensors is fixed at a different position in the passenger compartment;

[0014] The cables of the plurality of cable displacement sensors converge at a characteristic point of the passenger compartment;

[0015] The controller is used to obtain the fixed three-dimensional coordinates of each of the multiple wire displacement sensors before the automobile collision test; during the automobile collision test, obtain the length of each wire from each wire displacement sensor in real time; and calculate the target three-dimensional coordinates of the convergence position of the wires of the multiple wire displacement sensors at the characteristic point of the passenger compartment based on the wire length and the fixed three-dimensional coordinates of each wire displacement sensor.

[0016] In a third aspect, the present application provides a controller, comprising:

[0017] at least one processor, and a memory communicatively coupled to at least one of the processors;

[0018] The memory stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors so that the at least one of the processors can execute the above-mentioned method for measuring dynamic three-dimensional coordinates for automobile collision testing.

[0019] Compared with the prior art, the beneficial effects of this application are:

[0020] In order to make up for the inaccurate measurement of the maximum deformation of certain structural feature points in the passenger compartment and the maximum displacement of dummy feature points at the current stage, the present application provides a dynamic three-dimensional coordinate measurement method of feature points in the passenger compartment for automobile collision testing. The change in the length of the wire is measured by multiple wire displacement sensors, and the three-dimensional coordinate values ​​of the feature points in the passenger compartment in space are solved, thereby solving the maximum deformation of certain structural feature points in the passenger compartment and the maximum displacement of the dummy feature points.

[0021] This application fills the gap in the dynamic three-dimensional coordinate measurement method of characteristic points in the passenger compartment of automobile collision test. The test method only requires multiple wire displacement sensors, which are installed in multiple fixed positions in the passenger compartment and are easy to operate. This application can accurately and conveniently measure the three-dimensional point trajectory of the vehicle structure characteristic points and the dummy characteristic points, and then quantitatively analyze the change process of these structures, so as to make more effective improvements to automobile safety components. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a flow chart of a method for measuring dynamic three-dimensional coordinates for automobile collision testing provided in an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of an intersection point provided in an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of two intersection points provided in an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram without intersection points provided in an embodiment of the present application;

[0027] Figure 5 It is a structural schematic diagram of a dynamic three-dimensional coordinate measuring device for automobile collision testing provided in an embodiment of the present application;

[0028] Figure 6 It is a schematic diagram of the structure of the controller provided in the embodiment of the present application. DETAILED DESCRIPTION

[0029] The following is a description of exemplary embodiments of the present application in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0030] The method provided in this embodiment is applicable to: measuring the displacement of characteristic points in the passenger compartment when a dummy is used in a car collision test. The method provided in this embodiment can be implemented by any vehicle controller or independent controller, such as a vehicle controller (VDC) or a portable control unit.

[0031] In order to facilitate the description of the method provided by this embodiment, the device applicable to this embodiment is first introduced. A plurality of pull-wire displacement sensors are fixed in the passenger compartment.

[0032] Cable Displacement Sensor, also known as cable displacement sensor, linear displacement sensor, cable encoder, cable electronic ruler, etc., is a device used to measure the moving distance or position change of an object in a straight line direction. Cable displacement sensor usually consists of the following parts:

[0033] Sensor head: Contains the internal sensing element, such as a capacitive sensor or a rotary encoder.

[0034] Pull Wire: A retractable cable that connects the object being measured to the sensor head and transmits displacement information. Pull wire is usually made of soft nylon-coated stainless steel to ensure its durability and accuracy.

[0035] Spring recovery mechanism: ensures that the pull rope can be automatically recovered when there is no external force, maintaining the initial state of the sensor.

[0036] Connecting cable: Connects the sensor head to the data acquisition system or other equipment. In this embodiment, the cable is connected to the controller.

[0037] Preferably, the wire displacement sensor is fixed at a position where the vehicle is not deformed in a collision, such as the roof, floor or trunk. The number of wire displacement sensors is more than 3. To save costs, 3 wire displacement sensors can be arranged in the passenger compartment.

[0038] The cable head converges the ends of the cable of multiple cable displacement sensors into one point and connects it to the feature point to be measured. The cable head needs to be firmly installed at the location of the feature point. That is, the cables of multiple cable displacement sensors converge at the feature point of the passenger compartment, and the feature points include but are not limited to the joints of the dummy, the limbs of the dummy, and the locations of the vehicle collision deformation (such as the collision energy absorption part, the steering wheel and the instrument panel, etc.).

[0039] Optionally, the controller is connected to a plurality of wire displacement sensors, which may be electrically connected or remotely wirelessly connected.

[0040] Figure 1 This is a flow chart of a method for measuring dynamic three-dimensional coordinates of a vehicle collision test provided by an embodiment of the present application. Figure 1, the method provided in this embodiment comprises the following steps:

[0041] S110. Before the automobile collision test, obtain the fixed three-dimensional coordinates of each of the plurality of draw-wire displacement sensors.

[0042] First, establish the body coordinate system. The body coordinate system has the unique feature that its origin coincides with the center of mass of the vehicle. When the car is parked stably on a horizontal road, the X-axis direction of the coordinate system points to the direction of the car's movement and is parallel to the ground; the Z-axis direction is perpendicular to the ground and points upward; and the Y-axis points to the driver's left. Such a layout ensures the stability and accuracy of the coordinate system. In the body coordinate system, a three-dimensional coordinate measuring instrument is used to measure the three-dimensional coordinate values ​​of the outlet of each pull-wire displacement sensor. Taking three pull-wire displacement sensors as an example, the coordinate values ​​are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), which are the fixed three-dimensional coordinates here.

[0043] S120. During the automobile collision test, the length of each pull wire is obtained in real time from each pull wire displacement sensor.

[0044] Since the controller is connected to each cable displacement sensor, the cable length can be read from each cable displacement sensor during the vehicle collision test. During the vehicle collision test, each cable displacement sensor collects the cable length at a set sampling frequency and transmits the cable length to the controller.

[0045] Taking three wire displacement sensors as an example, the lengths of the wires that have been pulled out of the wire displacement sensors (1), (2) and (3) are respectively a, b and c. The lengths of the wires are marked with timestamps and transmitted to the controller in real time.

[0046] S130. Calculate the target three-dimensional coordinates of the convergence position of the cables of multiple cable displacement sensors at the characteristic point of the passenger compartment based on the cable length and fixed three-dimensional coordinates of each cable displacement sensor.

[0047] A set of three-variable quadratic equations is constructed based on the length of the wire of each wire displacement sensor, the fixed three-dimensional coordinates and the unknown target three-dimensional coordinates as variables; the three-variable quadratic equations are solved to obtain the target three-dimensional coordinates.

[0048] The target three-dimensional coordinates of the confluence position of the ends of the three-wire displacement sensor are marked as (x, y, z), which are the values ​​that need to be solved. The outlets and confluence positions of the three-wire displacement sensors form a triangular pyramid, and the following three equations are constructed based on the lengths of the three edges:

[0049] (x-x1) 2 +(y-y1) 2+(z-z1)2=a 2 ;

[0050] (x-x2) 2 +(y-y2) 2 +(z-z2) 2 =b 2 ;

[0051] (x-x3) 2 +(y-y3) 2 +(z-z3) 2 =c 2 ;

[0052] Solving the above three-dimensional quadratic equations can obtain two sets of target three-dimensional coordinates, and according to the relative positions of the feature points and the multiple wire displacement sensors, a set of correct target three-dimensional coordinates is determined.

[0053] Compared with the prior art, the beneficial effects of this application are:

[0054] In order to make up for the inaccurate measurement of the maximum deformation of certain structural feature points in the passenger compartment and the maximum displacement of dummy feature points at the current stage, the present application provides a dynamic three-dimensional coordinate measurement method of feature points in the passenger compartment for automobile collision testing. The change in the length of the wire is measured by multiple wire displacement sensors, and the three-dimensional coordinate values ​​of the feature points in the passenger compartment in space are solved, thereby solving the maximum deformation of certain structural feature points in the passenger compartment and the maximum displacement of the dummy feature points.

[0055] This application fills the gap in the dynamic three-dimensional coordinate measurement method of characteristic points in the passenger compartment of automobile collision test. The test method only requires multiple wire displacement sensors, which are installed in multiple fixed positions in the passenger compartment and are easy to operate. This application can accurately and conveniently measure the three-dimensional point trajectory of the vehicle structure characteristic points and the dummy characteristic points, and then quantitatively analyze the change process of these structures, so as to make more effective improvements to automobile safety components.

[0056] In some embodiments, the collision process may interfere with the pull wire, or the connector of the pull wire displacement sensor may be loose, which may cause inaccurate target three-dimensional coordinates. The following method is used to correct the target unit coordinates.

[0057] The target three-dimensional coordinates obtained in this embodiment are calculated in real time as the car collision test is carried out, that is, the time series of the target three-dimensional coordinates, so that the three-dimensional motion trajectory of the feature point in space can be obtained. When the acquisition frequency of the wire displacement sensor is relatively high, relatively dense target three-dimensional coordinates (i.e., trajectory points on the three-dimensional motion trajectory) can be obtained. Considering that during the car collision process, due to the existence of energy absorption and damping, the movement of the feature points will not change suddenly. Therefore, the distance between these high-frequency target three-dimensional coordinates and the set point will not change suddenly, and should be relatively smooth. Among them, the set point is a reference point in the vehicle, such as the center of mass of the vehicle. Using this feature, this embodiment corrects the target three-dimensional coordinates with errors. Specifically, after calculating a set of correct target three-dimensional coordinates, the original real-time distance between the feature point and the set point of the vehicle is calculated according to the target three-dimensional coordinates; the original real-time distance is smoothed to obtain a smoothed real-time distance; and the target three-dimensional coordinates are corrected according to the smoothed real-time distance.

[0058] Assume that there are 1000 target three-dimensional coordinates, and the distances with the set points are calculated in space respectively, which can be called original real-time distances, which are 1000 values ​​arranged in chronological order. These 1000 values ​​arranged in chronological order are smoothed using a smoothing algorithm. The smoothing algorithm is a method for processing data with non-smoothness, which aims to reduce noise and outliers in the data and improve the readability and reliability of the data by smoothing the data. The smoothing algorithms that can be used in this embodiment include but are not limited to: exponential smoothing, moving average method and Savitzky-Golay filter. After smoothing, 1000 smoothed real-time distances are obtained.

[0059] Then, the smoothed real-time distance is compared with the original real-time distance to determine the first target three-dimensional coordinates that need to be corrected and the first distance between the first target three-dimensional coordinates and the set point. Two reference three-dimensional coordinates are selected around the first target three-dimensional coordinates; the spatial straight line passing through the two reference three-dimensional coordinates and the sphere at the first distance from the set point are intersected, and the coordinates of the intersection point are used as the corrected first target three-dimensional coordinates.

[0060] Specifically, the smoothed distance at the same time is compared with the original distance. If the difference exceeds a threshold (which can be defined by yourself), it is considered that correction is required. Assume that 20 of the 1000 distance values ​​have been smoothed, and 20 smoothed first distances are obtained. In other words, 20 sets of first target three-dimensional coordinates need to be corrected. Among them, the first target three-dimensional coordinates are any target three-dimensional coordinates that need to be corrected. For each first target three-dimensional coordinate, select the two adjacent left and right three-dimensional coordinates that do not need to be corrected (that is, the difference between the original distance and the smoothed distance of these target three-dimensional coordinates that do not need to be corrected is less than the threshold) as the reference three-dimensional coordinates. If the adjacent coordinate A on the left side of the first target three-dimensional coordinate needs to be corrected, continue to search for the target three-dimensional coordinate on the left side of A until the two left and right reference three-dimensional coordinates closest to the first target three-dimensional coordinate are found. After determining the smoothed distance between the first target three-dimensional coordinate and the set point, draw a sphere with the set point as the center and the smoothed distance as the radius. Then the corrected first target three-dimensional coordinates should be on the sphere. Since the trajectory of the feature point should be smooth, the spatial straight line passing through the two reference three-dimensional coordinates intersects with the sphere to obtain one intersection point, or two intersection points. If there is 1 intersection point, see Figure 2 , then the coordinates of the intersection point are used as the corrected first target 3D coordinates. If there are two intersection points, refer to Figure 3 , then select the coordinates of an intersection point that is closer to the first target 3D coordinates before correction as the first target 3D coordinates after correction. Figure 4 If the spatial straight line passing through the two reference three-dimensional coordinates does not intersect the sphere, it means that the first target three-dimensional coordinate may be a turning point, and the coordinates of the projection point of the first target three-dimensional coordinate on the sphere are taken as the corrected first target three-dimensional coordinate. The projection of a point on the sphere is the intersection of the line connecting the point and the center of the sphere on the sphere.

[0061] It should be noted that Figure 2 to Figure 4 In the figure, the black dots represent the reference 3D coordinates. The sphere is represented by a circular cross section, and the hollow dots in the sphere represent the target 3D coordinate points before correction, which need to be corrected to the spherical surface. The hollow dots on the spherical surface represent intersection points or projection points.

[0062] This embodiment corrects the three-dimensional coordinates of the target through a smoothing algorithm and a geometric algorithm, thereby improving the accuracy of the coordinates.

[0063] See also Figure 5 The embodiment of the present application also provides a dynamic three-dimensional coordinate measuring device for automobile collision testing, including: a controller and a plurality of pull-wire displacement sensors connected to the controller. Figure 5 Three wire displacement sensors are shown, communicating with the controller via wireless transmission.

[0064] Wherein, each of the pull-wire displacement sensors is fixed at a different position in the passenger compartment; the pull wires of the plurality of pull-wire displacement sensors converge at a characteristic point in the passenger compartment;

[0065] The controller is used to obtain the fixed three-dimensional coordinates of each of the multiple wire displacement sensors before the automobile collision test; obtain the length of each wire from each wire displacement sensor in real time during the automobile collision test; calculate the convergence position (i.e., the convergence position) of the wires of the multiple wire displacement sensors at the characteristic point of the passenger compartment according to the wire length and the fixed three-dimensional coordinates of each wire displacement sensor. Figure 5 The target three-dimensional coordinates of the position of the middle pull wire head).

[0066] During the automobile collision test, each of the pull-wire displacement sensors collects the pull-wire length at a set sampling frequency and transmits the pull-wire length to the controller.

[0067] The dynamic three-dimensional coordinate measuring device for automobile collision testing provided in this embodiment has the technical details provided in the above method embodiment and has corresponding technical effects, which will not be repeated here.

[0068] See also Figure 6 , an embodiment of the present application also provides a controller, including at least one processor; and a memory communicatively connected to the at least one processor.

[0069] The memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the above method. At least one processor in the terminal can execute the dynamic three-dimensional coordinate measurement method for automobile collision test executed by the second controller, thereby having at least the same advantages as the above method.

[0070] Optionally, the controller also includes an interface for connecting various components, including a high-speed interface and a low-speed interface. The various components are connected to each other using different buses and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the terminal, including instructions stored in or on a memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to an interface). In other embodiments, if necessary, multiple processors can be used together with multiple memories, and / or multiple buses can be used together with multiple memories. Similarly, multiple controllers can be connected (for example, as a server array, a group of blade servers, or a multi-processor system), and each device provides some necessary operations. Figure 6 A processor 301 is taken as an example.

[0071] The memory 302, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules. The processor 301 executes various functional applications and data processing by running the software programs, instructions and modules stored in the memory 302, that is, implements the dynamic three-dimensional coordinate measurement method for automobile collision testing performed by the above-mentioned second controller.

[0072] The memory 302 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 302 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include a memory remotely arranged relative to the processor 301, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0073] The controller may further include: an input device 303 and an output device 304. The processor 301, the memory 302, the input device 303 and the output device 304 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0074] The input device 303 can receive input digital or character information, and the output device 304 can include a display device, an auxiliary lighting device (e.g., LED), and a tactile feedback device (e.g., a vibration motor), etc. The display device can include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display, and a plasma display. In some embodiments, the display device can be a touch screen.

[0075] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0076] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A method for measuring dynamic three-dimensional coordinates for automobile collision testing, characterized in that: include: Before the automobile collision test, a fixed three-dimensional coordinate of each of the plurality of pull-wire displacement sensors is obtained; During the automobile collision test, the length of each cable is obtained in real time from each cable displacement sensor; According to the length of the wire of each wire displacement sensor and the fixed three-dimensional coordinates, the target three-dimensional coordinates of the convergence position of the wires of the plurality of wire displacement sensors at the characteristic point of the passenger compartment are calculated.

2. The method according to claim 1, characterized in that: Calculating the target three-dimensional coordinates of the convergence position of the cables of the plurality of cable displacement sensors at the characteristic point of the passenger compartment according to the cable length and the fixed three-dimensional coordinates of each cable displacement sensor, including: A set of three-variable quadratic equations is constructed according to the wire length, fixed three-dimensional coordinates and unknown target three-dimensional coordinates of each wire displacement sensor as variables; Solving the three-dimensional quadratic equation system obtains the target three-dimensional coordinates.

3. The method according to claim 2, characterized in that The number of the plurality of wire displacement sensors is 3; the number of the target three-dimensional coordinates is two groups; After calculating the target three-dimensional coordinates of the convergence positions of the cables of the plurality of cable displacement sensors at the characteristic points of the passenger compartment, the method further includes: A set of correct three-dimensional coordinates of the target is determined according to the relative positions of the feature points and the plurality of wire displacement sensors.

4. The method according to claim 1, characterized in that: After calculating the target three-dimensional coordinates of the convergence positions of the cables of the plurality of cable displacement sensors at the characteristic points of the passenger compartment, the method further includes: Calculating the original real-time distance between the feature point and the set point of the vehicle according to the target three-dimensional coordinates; Smoothing the original real-time distance to obtain a smoothed real-time distance; The target three-dimensional coordinates are corrected according to the smoothed real-time distance.

5. The method according to claim 4, characterized in that Correcting the target three-dimensional coordinates according to the real-time target distance includes: Compare the smoothed real-time distance with the original real-time distance to determine a first target three-dimensional coordinate that needs to be corrected, and a first distance between the first target three-dimensional coordinate and the set point; Selecting two reference three-dimensional coordinates around the first target three-dimensional coordinates; Intersecting a spatial straight line passing through the two reference three-dimensional coordinates with a spherical surface at a first distance from the set point, and using the coordinates of the intersection point as a corrected first target three-dimensional coordinate; If they do not intersect, the coordinates of the projection point of the first target three-dimensional coordinates on the spherical surface are used as the corrected first target three-dimensional coordinates.

6. A dynamic three-dimensional coordinate measuring device for automobile collision testing, characterized in that: include: Controller; a plurality of wire displacement sensors connected to the controller; Each of the pull-wire displacement sensors is fixed at a different position in the passenger compartment; The cables of the plurality of cable displacement sensors converge at a characteristic point of the passenger compartment; The controller is used to obtain the fixed three-dimensional coordinates of each of the multiple wire displacement sensors before the automobile collision test; during the automobile collision test, obtain the length of each wire from each wire displacement sensor in real time; and calculate the target three-dimensional coordinates of the convergence position of the wires of the multiple wire displacement sensors at the characteristic point of the passenger compartment based on the wire length and the fixed three-dimensional coordinates of each wire displacement sensor.

7. The device according to claim 6, characterized in that During the automobile collision test, each of the pull-wire displacement sensors collects the pull-wire length at a set sampling frequency and transmits the pull-wire length to the controller.

8. The device according to claim 6, characterized in that The confluence positions of the pull wires of the plurality of pull wire displacement sensors at the characteristic points of the passenger compartment include: joints of the dummy, limb parts of the dummy and positions deformed by vehicle collision.

9. A controller, characterized in that: include: at least one processor, and a memory communicatively coupled to at least one of the processors; The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the method for measuring dynamic three-dimensional coordinates for automobile collision testing according to any one of claims 1 to 5.

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