Vehicle local coordinate system automatic modeling method, device and equipment

Abstract

The invention discloses a vehicle local coordinate system automatic modeling method, device and equipment, and relates to the technical field of local coordinate system creation, and the method comprises the steps: obtaining operation information; entering a corresponding attribute operation interface according to a vehicle local coordinate system model type corresponding to the operation information; obtaining an entity set according to the attribute operation interface; storing local coordinate systems of all the current vehicles into a list according to a creation button; defining the value of the variable as a preset value, and updating the value of the variable according to the state of the list; automatically acquiring entities in the entity set, and acquiring values of the entities in all directions under a global coordinate system; and automatically creating a vehicle local coordinate system numbered as the value of the updated variable according to the values of the entity in all directions under the global coordinate system. According to the method, various local coordinate system modeling methods are integrated into a unified interface, so that different modeling methods can be quickly adopted without turning to other panel operation, and the modeling efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of local coordinate system creation, and in particular to a method, device and equipment for automatically modeling a vehicle local coordinate system. Background Art

[0002] In today's automotive engineering field, automotive simulation modeling has become a crucial link in the research and development process. In this complex and sophisticated automotive simulation modeling process, the need for local coordinate system modeling is often highlighted. The local coordinate system modeling function of existing simulation software has certain limitations. In order to achieve the boundary condition modeling requirements under any working conditions, it is usually necessary to combine the local coordinate system modeling function with other functions of the simulation software. However, this combined use method has brought a series of problems. It makes the operation of the entire modeling process less convenient. Modelers need to frequently switch between different functional modules and spend a lot of time and energy to coordinate the use of various functions. This undoubtedly increases the complexity and difficulty of the operation, thereby reducing the efficiency of vehicle local coordinate system modeling. Summary of the invention

[0003] The main purpose of the present application is to provide a method, device and equipment for automatic modeling of a vehicle local coordinate system, aiming to solve the technical problem that the existing automatic modeling scheme of a vehicle local coordinate system requires the coordination of the use of multiple functions, resulting in low efficiency in modeling of the vehicle local coordinate system.

[0004] To achieve the above-mentioned purpose, the present application proposes a method for automatic modeling of a vehicle local coordinate system, the method is applied to a terminal device, a modeling program is run on the terminal device, and an automatic local coordinate system modeling interface is displayed when the modeling program is executed. The automatic local coordinate system modeling interface is provided with a multi-layer operation directory, a first-level operation directory is provided with a selection button of multiple vehicle local coordinate system model types, and a later-level operation directory is provided with an attribute selection button and a vehicle local coordinate system creation button. The method comprises:

[0005] Acquire operation information of a selection button of a vehicle local coordinate system model type in the automated local coordinate system modeling interface;

[0006] Entering a corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information;

[0007] Perform entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set;

[0008] Create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems into a list;

[0009] Define the value of the variable as a preset value, and update the value of the variable according to the state of the list;

[0010] Automatically obtain entities in the entity set, and obtain values ​​of the first direction, the second direction, and the third direction of the entity in the global coordinate system;

[0011] According to the values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system, the parameters of the local coordinate system are obtained, so as to automatically create a vehicle local coordinate system numbered with the value size of the updated variable.

[0012] In one embodiment, the step of updating the value of the variable according to the state of the list includes:

[0013] If it is detected that the vehicle local coordinate system does not exist in the list, the value of the variable is kept unchanged;

[0014] If it is detected that the list contains a vehicle local coordinate system, a sublist is created to obtain the serial number values ​​of all current vehicle local coordinate systems;

[0015] Filter out the number values ​​in a preset range, and store the number values ​​that meet the filtering conditions in the sublist;

[0016] The sizes of the serial numbers in the sublist after the storage operation are compared, and the maximum serial number in the sublist is increased by one as the value size of the updated variable.

[0017] In one embodiment, the step of performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set includes:

[0018] When it is detected that the type selected in the attribute operation interface is node-based vehicle local coordinate system modeling, an instruction for selecting the origin of the first coordinate system is obtained, and a first node entity corresponding to the instruction for selecting the origin of the first coordinate system is stored in a first container;

[0019] Creating a first set, adding the first node entity in the first container to the first set, to obtain a first entity set;

[0020] Obtaining an instruction for selecting a reference point of a local vehicle coordinate system, and storing two node entities corresponding to the instruction for selecting a reference point of a local vehicle coordinate system in a second container;

[0021] A second set is created, and the two node entities in the second container are added to the second set to obtain a second entity set.

[0022] In one embodiment, the step of automatically acquiring entities in the entity set and acquiring values ​​of the first direction, the second direction, and the third direction of the entities in the global coordinate system includes:

[0023] Automatically obtain the first node entity in the first entity set and the two node entities in the second entity set;

[0024] And obtain the values ​​of the first direction, the second direction and the third direction coordinate systems of the first node entity and the two node entities in the global coordinate system.

[0025] In one embodiment, the step of performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set includes:

[0026] When it is detected that the type selected in the attribute operation interface is grid-type vehicle local coordinate system modeling, an instruction for selecting the origin of the second coordinate system is obtained, and a second node entity corresponding to the instruction for selecting the origin of the second coordinate system is stored in the first container;

[0027] Creating a third set, adding the second node entity in the first container to the third set, to obtain a third entity set;

[0028] Obtaining an instruction for selecting a reference grid of a local vehicle coordinate system, and storing a grid unit entity corresponding to the instruction for selecting a reference grid of a local vehicle coordinate system in a second container;

[0029] A fourth set is created, and the grid unit entities in the second container are added to the fourth set to obtain a fourth entity set.

[0030] In one embodiment, the step of automatically acquiring entities in the entity set and acquiring values ​​of the first direction, the second direction, and the third direction of the entities in the global coordinate system includes:

[0031] Automatically acquiring the mesh entity in the fourth entity set, thereby obtaining a normal vector value of the mesh entity;

[0032] Automatically obtain the second node entity in the third entity set, and copy the second node entity to obtain a first copy node entity and a second copy node entity;

[0033] The first copy node entity is offset according to a preset vector value, and the second copy node entity is offset according to a normal vector value of the mesh entity;

[0034] Obtain values ​​of the first direction, the second direction, and the third direction of the second node entity, the first copy node entity after the offset, and the second copy node entity after the offset in the global coordinate system.

[0035] In one embodiment, the step of performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set includes:

[0036] When it is detected that the type selected in the attribute operation interface is rigid unit vehicle local coordinate system modeling, an instruction for selecting a vehicle local coordinate system reference rigid unit is obtained, and a rigid unit entity corresponding to the instruction for selecting the vehicle local coordinate system reference rigid unit is stored in a first container;

[0037] A fifth set is created, and the rigid unit entities in the first container are added to the fifth set to obtain a fifth entity set.

[0038] In one embodiment, the step of automatically acquiring entities in the entity set and acquiring values ​​of the first direction, the second direction, and the third direction of the entities in the global coordinate system includes:

[0039] Automatically acquiring the rigid unit entity in the fifth entity set, thereby acquiring one master node entity and two slave node entities in the rigid unit entity;

[0040] And obtain the values ​​of the first direction, the second direction and the third direction coordinate systems of the one master node entity and the two slave node entities in the global coordinate system.

[0041] In addition, to achieve the above purpose, the present application also proposes a vehicle local coordinate system automatic modeling device, the vehicle local coordinate system automatic modeling device comprising:

[0042] An acquisition module, used for acquiring operation information of a selection button of a vehicle local coordinate system model type in the automatic local coordinate system modeling interface;

[0043] An operation module, used for entering a corresponding attribute operation interface according to a vehicle local coordinate system model type corresponding to the operation information;

[0044] The acquisition module is further used to perform entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set;

[0045] The operation module is further used to create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems into a list;

[0046] The operation module is further used to define the value size of the variable as a preset value, and update the value size of the variable according to the state of the list;

[0047] The acquisition module is further used to automatically acquire entities in the entity set, and acquire values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system;

[0048] A creation module is used to obtain the parameters of the local coordinate system according to the values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered with the value size of the updated variable.

[0049] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle local coordinate system automatic modeling device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle local coordinate system automatic modeling method as described above.

[0050] 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 computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method for automatic modeling of the vehicle local coordinate system as described above are implemented.

[0051] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the method for automatic modeling of a vehicle local coordinate system as described above.

[0052] One or more technical solutions proposed in the present application are to obtain the operation information of the selection button of the vehicle local coordinate system model type in the automatic local coordinate system modeling interface; enter the corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information; perform the entity operation required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set; create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems in a list; define the value size of the variable as a preset value, and update the value size of the variable according to the state of the list; automatically obtain the entity in the entity set, and obtain the value of the first direction, the second direction and the third direction of the entity in the global coordinate system; obtain the parameters of the local coordinate system according to the value of the first direction, the second direction and the third direction of the entity in the global coordinate system, so as to automatically create a vehicle local coordinate system numbered as the value size of the updated variable. By integrating the selection buttons of multiple vehicle local coordinate system model types in one interface and being able to automatically create a vehicle local coordinate system, the complexity and difficulty of the operation are reduced, thereby improving the efficiency of vehicle local coordinate system modeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0055] Figure 1 A schematic diagram of a process flow provided for the first embodiment of the method for automatic modeling of a vehicle local coordinate system of the present application;

[0056] Figure 2 A schematic diagram of a flow chart provided for the second embodiment of the method for automatic modeling of a vehicle local coordinate system of the present application;

[0057] Figure 3 A schematic diagram of a process flow provided in Embodiment 3 of the method for automatically modeling a vehicle local coordinate system of the present application;

[0058] Figure 4 A schematic diagram of a process flow provided for the fourth embodiment of the method for automatic modeling of a vehicle local coordinate system of the present application;

[0059] Figure 5 This is a schematic diagram of the module structure of the automatic modeling device for the vehicle local coordinate system according to an embodiment of the present application;

[0060] Figure 6Schematic diagram of the device structure of the hardware operating environment involved in the method for automatic modeling of the vehicle local coordinate system in the embodiment of the present application.

[0061] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0062] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0063] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0064] The main solutions of the embodiments of this application are:

[0065] Since the local coordinate system modeling function of the existing simulation software has certain limitations, in order to achieve the boundary condition modeling requirements under any working condition, it is usually necessary to combine the local coordinate system modeling function with other functions of the simulation software. However, this combined use method brings a series of problems. It makes the operation of the entire modeling process less convenient. Modelers need to frequently switch between different functional modules and spend a lot of time and energy to coordinate the use of various functions. This undoubtedly increases the complexity and difficulty of the operation, thereby reducing the efficiency of vehicle local coordinate system modeling.

[0066] The present application provides a solution by integrating selection buttons for multiple vehicle local coordinate system model types into one interface and automating the creation of the vehicle local coordinate system, thereby reducing the complexity and difficulty of the operation and improving the efficiency of vehicle local coordinate system modeling.

[0067] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle local coordinate system automatic modeling device, etc. The following takes the vehicle local coordinate system automatic modeling device as an example to illustrate this embodiment and the following embodiments.

[0068] Based on this, the embodiment of the present application provides a method for automatically modeling a vehicle local coordinate system, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for automatic modeling of a vehicle local coordinate system of the present application.

[0069] In this embodiment, the vehicle local coordinate system automatic modeling method is applied to a terminal device, a modeling program is running on the terminal device, and an automatic local coordinate system modeling interface is displayed when the modeling program is executed. The automatic local coordinate system modeling interface is provided with a multi-layer operation directory, a first-level operation directory is provided with a selection button of multiple vehicle local coordinate system model types, and a later-level operation directory is provided with an attribute selection button and a vehicle local coordinate system creation button. The method includes steps S10 to S70:

[0070] Step S10: obtaining operation information of a selection button for a vehicle local coordinate system model type in the automated local coordinate system modeling interface.

[0071] It should be noted that a terminal generally refers to a device or system that can receive, process or send information. It can be an electronic device such as a computer, mobile phone, tablet computer, or a specialized hardware device or software interface.

[0072] In addition, the automatic modeling method of the vehicle local coordinate system of the present application is usually implemented in ANSA (Automatically Generated System for the Analysis of Structures and Assemblies), which is an advanced computer-aided engineering pre-processing software mainly used for model preparation, mesh generation, assembly, boundary condition setting, etc. of finite element analysis.

[0073] In addition, the vehicle local coordinate system is a coordinate system relative to the vehicle itself, usually with the center of mass of the vehicle or a specific point (such as the midpoint of the rear axle) as the origin. In the vehicle local coordinate system, the X-axis usually points to the front of the vehicle, the Y-axis points to the left side of the vehicle, and the Z-axis points upward, forming a right-handed coordinate system. This coordinate system is used to describe the dynamic behavior of the vehicle, such as speed, acceleration, angular velocity, etc., as well as the relative position relationship between the vehicle and surrounding objects. In autonomous driving, the vehicle local coordinate system is very necessary for the fusion of sensor data, the implementation of vehicle control algorithms, and the modeling of vehicle kinematics.

[0074] In addition, the automatic local coordinate system modeling interface is the first interface presented to the user. The user can use the first-level operation directory in this interface to select the type of vehicle local coordinate system model.

[0075] In addition, the selection buttons of the vehicle local coordinate system model types provided in the first-level operation directory at least include node-type vehicle local coordinate system modeling, grid-type vehicle local coordinate system modeling and rigid unit-type vehicle local coordinate system modeling. It can be understood that after the first-level operation directory is selected, it will jump to the subsequent operation directory, and the attribute selection buttons provided in the subsequent operation directory include: "Select 1 coordinate system origin" button and "Select 2 local coordinate system reference points" button (corresponding to the node-type vehicle local coordinate system modeling above), "Select 1 coordinate system origin" button and "Select 1 local coordinate system reference grid" button (corresponding to the grid-type vehicle local coordinate system modeling above) and "Select 1 local coordinate system reference RBE2 (Rigid Body Element 2, rigid unit 2, a rigid unit)" button (corresponding to the rigid unit-type vehicle local coordinate system modeling above). After completing the attribute selection, the "Create local coordinate system" button, that is, the vehicle local coordinate system creation button, will appear. After clicking this button, the automatic creation of the vehicle local coordinate system will begin.

[0076] It is understandable that the automatic local coordinate system modeling interface is the first interface presented to the user, in which the user can use the primary operation directory to select the type of the vehicle local coordinate system model. When the user clicks the selection button of the vehicle local coordinate system model type, operation information is sent to the vehicle local coordinate system automatic modeling device, and the operation information includes the vehicle local coordinate system model type selected by the user.

[0077] Step S20: Entering a corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information.

[0078] It should be noted that, as described above, the operation information includes the vehicle local coordinate system model type selected by the user, so the vehicle local coordinate system model type corresponding to the operation information can be obtained, and then the corresponding attribute operation interface can be entered according to the model type.

[0079] Step S30: performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set.

[0080] It should be noted that, according to the attribute operation interface, several entities are selected and stored in different containers according to model types, while the entity operation is to create several empty collections and add entities in different containers to different collections, thereby obtaining several entity collections.

[0081] In addition, containers are data structures used to store and manage different types of entities in a model. In ANSA, containers can be sets, parts, groups, or includes. They allow users to group entities with the same properties or that need to be processed together to facilitate operations such as meshing, applying boundary conditions, and defining material properties. Containers are visible in the model tree and are used to maintain the model hierarchy and manage model data.

[0082] In addition, a collection is a kind of container that contains a series of entities with the same characteristics or purposes, such as nodes, elements, edges, etc. In ANSA, collections are usually used to operate on specific parts of the model. For example, users can select a group of nodes or elements to create a collection, and then apply specific operations to this collection, such as meshing, boundary conditions, or the assignment of material properties.

[0083] In addition, the above-mentioned collections have different numbers, and the size of their number values ​​is defined according to the order in which the collections are created.

[0084] Step S40: Create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems in a list.

[0085] It should be noted that all the current vehicle local coordinate systems are vehicle local coordinate systems created by any method, including at least vehicle local coordinate systems created by node type, vehicle local coordinate systems created by grid type, and vehicle local coordinate systems created by RBE2 type. Specifically, a list coord is created, and all the current local coordinate systems of all models are stored in it.

[0086] In addition, the list is a collection of all coordinate system entities, including the global coordinate system and all local coordinate systems created by the user. The role of this list is to manage and reference the coordinate systems in the model, so that users can easily operate these coordinate systems, such as viewing, modifying, and deleting.

[0087] Step S50: define the value of the variable as a preset value, and update the value of the variable according to the status of the list.

[0088] It should be noted that the size of the preset value is the size of the number value of the first set created in this vehicle local coordinate system automatic modeling method. For example: in a vehicle local coordinate system automatic modeling method, an empty Set (set) with a number value of 50001 is first created, and then an empty Set with a number value of 50002 is created, then the variable cid_new1 is defined as 50001.

[0089] In addition, the status of the list is divided into the presence of the vehicle local coordinate system and the absence of the vehicle local coordinate system. If it is detected that the vehicle local coordinate system does not exist in the list, that is, the vehicle local coordinate system is created for the first time, the value of the variable is kept unchanged.

[0090] In addition, if it is detected that there is a vehicle local coordinate system in the list, that is, it is not the first time to create a vehicle local coordinate system, then a sublist is created to obtain the number values ​​of all current vehicle local coordinate systems. Specifically, an empty list cid_System is created, and all coordinate system entities in the list coord are automatically traversed; the number values ​​in the preset interval are filtered out, and the number values ​​that meet the filtering conditions are stored in the sublist. Specifically, the preset interval is set according to the vehicle local coordinate system model type, and the number values ​​within the preset interval are filtered out, and the number values ​​within the preset interval are stored in the list cid_System; the size of the number values ​​in the sublist after the storage operation is compared, and the maximum number value in the sublist is increased by one as the value size of the updated variable. Specifically, the maximum value of the number values ​​in the sublist after the storage operation is compared and found, and a variable is defined to store the maximum value, and the maximum value is increased by one as the value size of the updated variable. For example, ANSA automatically defines a variable cid_max, automatically transfers the maximum value in the list cid_System to the variable cid_max, and updates the value of the variable cid_new1 to cid_max+1.

[0091] Step S60: automatically obtaining entities in the entity set, and obtaining values ​​of the first direction, the second direction and the third direction of the entities in the global coordinate system.

[0092] It should be noted that the three node entities in the entity set are automatically obtained, and the values ​​of the three node entities in the x direction, y direction and z direction in the global coordinate system are obtained, that is, 9 values ​​are obtained, and the 9 values ​​are respectively passed to the corresponding variables.

[0093] In addition, the global coordinate system, also known as the geodetic coordinate system, is a fixed reference frame that is usually used to describe the absolute position of a vehicle on the road or on the earth. In autonomous driving, the global coordinate system can be a geographic coordinate system that uses longitude and latitude to represent the position, or a Cartesian coordinate system obtained through the Universal Transverse Mercator Projection, which is used to more conveniently calculate distances and areas. The global coordinate system provides a benchmark for the vehicle to determine its exact position in the world, which is critical for navigation and path planning.

[0094] Step S70: According to the values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system, the parameters of the local coordinate system are obtained, thereby automatically creating a vehicle local coordinate system numbered with the value size of the updated variable.

[0095] It should be noted that, according to the values ​​of the three node entities in the x-direction, y-direction and z-direction in the global coordinate system in the above steps, the values ​​of the parameters of the local coordinate system can be obtained, and a vehicle local coordinate system numbered with the value size of the updated variable is created. In addition, the type of the vehicle local coordinate system is vector method.

[0096] In addition, the values ​​of the parameters of the local coordinate system include at least the coordinates of the local coordinate system origin, the coordinates of the local coordinate system reference point and the local coordinate system reference vector.

[0097] This embodiment provides a method for automatically modeling a vehicle local coordinate system, which includes obtaining operation information of a selection button of a vehicle local coordinate system model type in the automatic local coordinate system modeling interface; entering a corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information; performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set; creating a local coordinate system according to the vehicle local coordinate system creation button, and storing all current vehicle local coordinate systems in a list; defining the value size of a variable as a preset value, and updating the value size of the variable according to the state of the list; automatically obtaining entities in the entity set, and obtaining the values ​​of the first direction, the second direction, and the third direction of the entity in the global coordinate system; obtaining various parameters of the local coordinate system according to the values ​​of the first direction, the second direction, and the third direction of the entity in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered as the value size of the updated variable. By integrating the selection buttons of multiple vehicle local coordinate system model types in one interface, it is convenient to quickly adopt different modeling methods without switching to other panel operations, simplifying the modeling process, and thus improving modeling efficiency.

[0098] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , step S20 includes steps A201 to A204:

[0099] Step A201: When it is detected that the type selected in the attribute operation interface is node-based vehicle local coordinate system modeling, an instruction for selecting the origin of the first coordinate system is obtained, and a first node entity corresponding to the instruction for selecting the origin of the first coordinate system is stored in a first container.

[0100] It should be noted that the instruction for selecting the origin of the first coordinate system is for the user to click the "Select 1 coordinate system origin" button under the model of the node-type vehicle local coordinate system. After clicking this button, the user will be prompted to select the origin of the coordinate system. After the user completes the selection, the corresponding first node (Node) entity will be stored in the first container (container1).

[0101] In addition, node entities are the basis of the finite element model, the connection points of the mesh elements, and have actual coordinate positions. They can be physical connection points in the structure, or they can be reference points for defining loads, boundary conditions, meshing, etc. In ANSA, node entities can be automatically generated through the meshing process, or they can be created and modified manually.

[0102] Step A202: Create a first set, and add the first node entity in the first container to the first set to obtain a first entity set.

[0103] Specifically, an empty Set numbered 50001 is automatically created, and the node entities in container container1 are added to the Set.

[0104] Step A203: Obtain instructions for selecting reference points of the vehicle local coordinate system, and store two node entities corresponding to the instructions for selecting reference points of the vehicle local coordinate system in a second container.

[0105] Specifically, when the user clicks the "Select 2 local coordinate system reference points" button in the interface, the two Node entities selected by the user are stored in the container container2.

[0106] Step A204: Create a second set, and add the two node entities in the second container to the second set to obtain a second entity set.

[0107] Specifically, an empty Set numbered 50002 is automatically created, and the node entities in container container2 are added to the Set.

[0108] It can be understood that after this step, the user can click the "Create Local Coordinate System" button, that is, the vehicle local coordinate system creation button, and a list coord will be created, and all current vehicle local coordinate systems will be stored in the list coord. At the same time, a variable cid_new1 = 50001 is defined. If there is no vehicle local coordinate system in the list coord at this time, that is, the vehicle local coordinate system is created for the first time, the variable cid_new1 is kept unchanged, that is, the variable cid_new1 = 50001; if there is any vehicle local coordinate system in the list coord at this time, that is, it is not the first time to create the vehicle local coordinate system, then an empty sublist cid_System1 is created, and all local sublists in the list coord are automatically traversed. Coordinate system entity, define a variable cid, obtain the number CID of the current local coordinate system, and pass its value to the variable cid, and then judge the value. When cid>50000 and cid<51000, that is, the number value is in the first preset interval, the value of the variable cid is passed to the list cid_System1. After judging and screening the number CID of all current local coordinate systems, define a variable cid_max1, pass the maximum value in the list cid_System1 to the variable cid_max1, and update the value of the variable cid_new1 to cid_max1+1. For example, if the value of the variable cid_max1 is 50005, the value of the variable cid_new1 is updated to 50006.

[0109] Then automatically obtain the first node entity in the first entity set and the two node entities in the second entity set, that is, obtain 1 Node node entity in the Set numbered 50001 and 2 Node node entities in the Set numbered 50002; and obtain the values ​​of the first direction, second direction and third direction coordinate systems of the first node entity and the two node entities in the global coordinate system, that is, obtain the values ​​of the three Node node entities in the X, Y, and Z directions in the global coordinate system, and pass them to variables p1x, p1y, p1z, p2x, p2y, p2z, p3x, p3y, and p3z respectively.

[0110] Finally, according to the values ​​of the X, Y, and Z directions of the three Node entities in the global coordinate system, the parameters of the local coordinate system are obtained, so as to automatically create a vehicle local coordinate system numbered as the value of the updated variable. Specifically, a vehicle local coordinate system is automatically created, whose type is VECTOR METHOD, numbered cid_new1, A1 is p1x, A2 is p1y, A3 is p1z, X1 is p2x-p3x, Y1 is p2y-p3y, Z1 is p2z-p3z, X2 is p3x-p1x, Y2 is p3y-p1y, and Z2 is p3z-p1z, where A1, A2, and A3 are the coordinates of the origin of the vehicle local coordinate system, and X1, X2, Y1, Y2, Z1, and Z2 are the coordinates of the reference point of the vehicle local coordinate system.

[0111] When this embodiment detects that the type selected in the attribute operation interface is node-based vehicle local coordinate system modeling, it obtains the instruction for selecting the origin of the first coordinate system, and stores the first node entity corresponding to the instruction for selecting the origin of the first coordinate system in the first container; creates a first set, adds the first node entity in the first container to the first set, and obtains a first entity set; obtains the instruction for selecting the reference point of the vehicle local coordinate system, and stores the two node entities corresponding to the instruction for selecting the reference point of the vehicle local coordinate system in the second container; creates a second set, and adds the two node entities in the second container to the second set, and obtains a second entity set. This embodiment automates the node-based vehicle local coordinate system modeling, optimizes the local coordinate system modeling process, reduces repetitive work in the modeling process, and improves the efficiency of node-based vehicle local coordinate system modeling.

[0112] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 3 , step S20 includes steps B201 to B204:

[0113] Step B201: When it is detected that the type selected in the attribute operation interface is grid-type vehicle local coordinate system modeling, an instruction for selecting the origin of the second coordinate system is obtained, and a second node entity corresponding to the instruction for selecting the origin of the second coordinate system is stored in the first container.

[0114] It should be noted that the instruction for selecting the origin of the second coordinate system is for the user to click the "Select 1 coordinate system origin" button under the model modeled in the grid vehicle local coordinate system. After clicking this button, the user will be prompted to select the origin of the coordinate system. After the user completes the selection, the corresponding second node entity will be stored in container 1.

[0115] Step B202: Create a third set, and add the second node entity in the first container to the third set to obtain a third entity set.

[0116] Specifically, an empty Set numbered 51001 is automatically created, and the node entities in container container1 are added to the Set.

[0117] Step B203: obtaining an instruction for selecting a reference grid of a local vehicle coordinate system, and storing a grid unit entity corresponding to the instruction for selecting a reference grid of a local vehicle coordinate system in container 2.

[0118] Specifically, when the user clicks the "Select 1 local coordinate system reference grid" button in the interface, the 1 grid entity selected by the user is stored in the container container2.

[0119] In addition, mesh unit entities refer to units formed by connecting nodes in the finite element model, such as shell units, solid units, etc. These units are the basic units for finite element analysis and are used to simulate the physical behavior of actual structures. In ANSA, users can select, modify and operate mesh unit entities to meet specific analysis requirements.

[0120] Step B204: Create a fourth set, add the grid unit entities in the second container to the fourth set, and obtain a fourth entity set.

[0121] Specifically, an empty Set numbered 51002 is automatically created, and the grid unit entities in container container2 are added to the Set.

[0122] It can be understood that after this step, the user can click the "Create Local Coordinate System" button, that is, the vehicle local coordinate system creation button, and a list coord will be created, and all current vehicle local coordinate systems will be stored in the list coord. At the same time, a variable cid_new2 = 51001 is defined. If there is no vehicle local coordinate system in the list coord at this time, that is, the vehicle local coordinate system is created for the first time, the variable cid_new2 is kept unchanged, that is, the variable cid_new2 = 50001; if there is any vehicle local coordinate system in the list coord at this time, that is, it is not the first time to create the vehicle local coordinate system, then an empty sublist cid_System2 is created, and all local sublists in the list coord are automatically traversed. Coordinate system entity, define a variable cid, obtain the number CID of the current local coordinate system, and pass its value to the variable cid, and then judge the value. When cid>51000 and cid<52000, that is, the number value is in the second preset interval, the value of the variable cid is passed to the list cid_System2. After judging and screening the number CID of all current local coordinate systems, define a variable cid_max2, pass the maximum value in the list cid_System2 to the variable cid_max2, and update the value of the variable cid_new2 to cid_max2+1. For example, if the value of the variable cid_max2 is 51005, the value of the variable cid_new2 is updated to 51006.

[0123] Then, the mesh entity in the fourth entity set is automatically obtained to obtain the normal vector value of the mesh entity, that is, the normal vector value of the mesh unit entity in the Set numbered 51002; and the second node entity in the third entity set is automatically obtained, the second node entity is copied to obtain a first copied node entity and a second copied node entity, and the first copied node entity is offset according to a preset vector value, and the second copied node entity is offset according to the normal vector value of the mesh entity. Specifically, the node entity in the Set numbered 51001 is obtained, and the node entity is copied, and the first copied node entity is offset according to the preset vector value. Offset according to the (0,100,0) vector and the normal vector of the grid unit entity, for example, (100,200,300) to obtain two new Node node entities; obtain the values ​​of the second node entity, the first copy node entity after the offset, and the second copy node entity after the offset in the first direction, the second direction, and the third direction in the global coordinate system. Specifically, obtain the values ​​of the original Node node entity and the two new Node node entities in the X, Y, and Z directions in the global coordinate system, and pass them to variables p1x, p1y, p1z, p2x, p2y, p2z, p3x, p3y, and p3z, respectively.

[0124] Finally, according to the values ​​of the X, Y, and Z directions of the three Node entities in the global coordinate system, the parameters of the local coordinate system are obtained, so as to automatically create a vehicle local coordinate system numbered as the value of the updated variable. Specifically, a vehicle local coordinate system is automatically created, whose type is VECTOR METHOD, numbered cid_new2, A1 is p1x, A2 is p1y, A3 is p1z, B1 is p2x, B2 is p2y, B3 is p2z, C1 is p3x, C2 is p3y, and C3 is p3z, where A1, A2 and A3 are the origin coordinates of the vehicle local coordinate system, and B1, B2, B3, C1, C2 and C3 are the reference vectors of the vehicle local coordinate system.

[0125] When the present embodiment detects that the type selected in the attribute operation interface is grid-type vehicle local coordinate system modeling, the instruction for selecting the origin of the second coordinate system is obtained, and the second node entity corresponding to the instruction for selecting the origin of the second coordinate system is stored in the first container; a third set is created, and the second node entity in the first container is added to the third set to obtain a third entity set; an instruction for selecting the reference grid of the vehicle local coordinate system is obtained, and the grid unit entity corresponding to the instruction for selecting the reference grid of the vehicle local coordinate system is stored in the second container; a fourth set is created, and the grid unit entity in the second container is added to the fourth set to obtain a fourth entity set. The present embodiment automates the grid-type vehicle local coordinate system modeling, optimizes the local coordinate system modeling process, realizes process-based modeling, and improves the efficiency of grid-type vehicle local coordinate system modeling.

[0126] Based on the first and second embodiments of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 4 , step S20 includes steps C201-C202:

[0127] Step C201: When it is detected that the type selected in the attribute operation interface is rigid unit vehicle local coordinate system modeling, an instruction for selecting a vehicle local coordinate system reference rigid unit is obtained, and a rigid unit entity corresponding to the instruction for selecting the vehicle local coordinate system reference rigid unit is stored in a first container.

[0128] Specifically, when the user clicks the "Select 1 local coordinate system reference RBE2" button in the interface, the 1 RBE2 entity selected by the user is stored in the container container1.

[0129] It should be noted that rigid unit entities, such as RBE2 and RBE3, are used to simulate rigid connections or kinematic pairs. These units do not have material properties, but simulate the motion of rigid bodies through constraint equations. In ANSA, rigid unit entities can be used to define complex connection relationships, such as bolt connections, hinges, etc. They provide a way to simplify the model in the analysis. In this application, RBE2 contains a master node and two slave nodes.

[0130] In addition, the master node represents the reference point or master degree of freedom point of the rigid element. The movement of this node (including translation and rotation) will be used to define the movement of the entire rigid element. In some cases, the master node can be regarded as the center of mass or other important geometric center point of the rigid element. The movement of the slave nodes is constrained by the movement of the master node. In a rigid element, the slave nodes usually follow the movement of the master node and have no independent movement of their own. Slave nodes can be located anywhere on the rigid element. They can be other nodes in the structure or nodes created specifically to define rigid connections.

[0131] Step C202: Create a fifth set, add the rigid unit entities in the first container to the fifth set, and obtain a fifth entity set.

[0132] Specifically, an empty Set numbered 52001 is automatically created, and the entities in container container1 are added to the Set.

[0133] It can be understood that after this step, the user can click the "Create Local Coordinate System" button, that is, the vehicle local coordinate system creation button, and a list coord will be created, and all current vehicle local coordinate systems will be stored in the list coord. At the same time, a variable cid_new3 = 52001 is defined. If there is no vehicle local coordinate system in the list coord at this time, that is, the vehicle local coordinate system is created for the first time, the variable cid_new3 is kept unchanged, that is, the variable cid_new3 = 50001; if there is any vehicle local coordinate system in the list coord at this time, that is, it is not the first time to create the vehicle local coordinate system, then an empty sublist cid_System3 is created, and all local sublists in the list coord are automatically traversed. Coordinate system entity, define a variable cid, obtain the number CID of the current local coordinate system, and pass its value to the variable cid, and then judge the value. When cid>52000 and cid<53000, that is, the number value is in the third preset interval, the value of the variable cid is passed to the list cid_System3. After judging and screening the number CID of all current local coordinate systems, define a variable cid_max3, pass the maximum value in the list cid_System3 to the variable cid_max3, and update the value of the variable cid_new3 to cid_max3+1. For example, if the value of the variable cid_max3 is 52005, the value of the variable cid_new2 is updated to 52006.

[0134] Then, the rigid unit entity in the fifth entity set is automatically obtained, thereby obtaining one master node entity and two slave node entities in the rigid unit entity, that is, obtaining one RBE2 unit entity in the Set numbered 53001, thereby obtaining one master node and two slave nodes in the RBE2 unit entity; and obtaining the values ​​of the first direction, the second direction and the third direction coordinate systems of the one master node entity and the two slave node entities in the global coordinate system, that is, obtaining the values ​​of the one master node and the two slave nodes in the above RBE2 unit entity in the X, Y, and Z directions in the global coordinate system, and passing them to variables p1x, p1y, p1z, p2x, p2y, p2z, p3x, p3y, and p3z respectively.

[0135] Finally, according to the values ​​of the one master node and the two slave nodes in the above-mentioned RBE2 unit entity in the X, Y, and Z directions in the global coordinate system, the parameters of the local coordinate system are obtained, so as to automatically create a vehicle local coordinate system numbered as the value of the updated variable. Specifically, a vehicle local coordinate system is automatically created, whose type is VECTOR METHOD, numbered cid_new3, A1 is p1x, A2 is p1y, A3 is p1z, X1 is p2x-p1x, Y1 is p2y-p1y, Z1 is p2z-p1z, X2 is p3x-p1x, Y2 is p3y-p1y, and Z2 is p3z-p1z, where A1, A2, and A3 are the origin coordinates of the vehicle local coordinate system, and X1, X2, Y1, Y2, Z1, and Z2 are the reference point coordinates of the vehicle local coordinate system.

[0136] When the embodiment detects that the type selected in the attribute operation interface is rigid unit vehicle local coordinate system modeling, the vehicle local coordinate system reference rigid unit selection instruction is obtained, and the rigid unit entity corresponding to the vehicle local coordinate system reference rigid unit selection instruction is stored in the first container; a fifth set is created, and the rigid unit entity in the first container is added to the fifth set to obtain a fifth entity set. The embodiment automates the rigid unit vehicle local coordinate system modeling, optimizes the local coordinate system modeling process, has strong applicability and operability, and improves the efficiency of rigid unit vehicle local coordinate system modeling.

[0137] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method for automatic modeling of the vehicle local coordinate system of the present application. More forms of simple transformations based on this technical concept are all within the scope of protection of the present application.

[0138] This application also provides a vehicle local coordinate system automatic modeling device, please refer to Figure 5 , the vehicle local coordinate system automatic modeling device comprises:

[0139] The acquisition module 10 is used to obtain the operation information of the selection button of the vehicle local coordinate system model type in the automatic local coordinate system modeling interface.

[0140] The operation module 20 is used to enter a corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information.

[0141] The acquisition module 10 is further used to perform entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set.

[0142] The operating module 20 is further used to create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems into a list.

[0143] The operation module 20 is further used to define the value size of the variable as a preset value, and update the value size of the variable according to the state of the list.

[0144] The acquisition module 10 is further used to automatically acquire entities in the entity set, and acquire values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system.

[0145] The creation module 30 is used to obtain the parameters of the local coordinate system according to the values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered with the value size of the updated variable.

[0146] The automatic modeling device for a vehicle local coordinate system provided by the present application adopts the automatic modeling method for a vehicle local coordinate system in the above-mentioned embodiment, and can solve the technical problem that the existing automatic modeling scheme for a vehicle local coordinate system needs to coordinate the use of multiple functions, resulting in low efficiency in modeling the vehicle local coordinate system. Compared with the prior art, the beneficial effects of the automatic modeling device for a vehicle local coordinate system provided by the present application are the same as the beneficial effects of the automatic modeling method for a vehicle local coordinate system provided by the above-mentioned embodiment, and the other technical features of the automatic modeling device for a vehicle local coordinate system are the same as the features disclosed in the above-mentioned embodiment method, which will not be described in detail here.

[0147] In one embodiment, the operation module 20 is also used to keep the value of the variable unchanged if it is detected that the vehicle local coordinate system does not exist in the list; if it is detected that the vehicle local coordinate system exists in the list, create a sub-list to obtain the number values ​​of all current vehicle local coordinate systems; filter out the number values ​​in a preset range, and store the number values ​​that meet the filtering conditions in the sub-list; compare the sizes of the number values ​​in the sub-list after the storage operation, and add one to the maximum number value in the sub-list as the value of the updated variable.

[0148] In one embodiment, the acquisition module 10 is also used to obtain the instruction for selecting the origin of the first coordinate system when it is detected that the type selected in the attribute operation interface is node-based vehicle local coordinate system modeling, and store the first node entity corresponding to the instruction for selecting the origin of the first coordinate system in a first container; create a first set, add the first node entity in the first container to the first set, and obtain a first entity set; obtain the instruction for selecting the reference point of the vehicle local coordinate system, and store the two node entities corresponding to the instruction for selecting the reference point of the vehicle local coordinate system in a second container; create a second set, add the two node entities in the second container to the second set, and obtain a second entity set.

[0149] In one embodiment, the acquisition module 10 is also used to automatically acquire the first node entity in the first entity set and the two node entities in the second entity set; and acquire the values ​​of the first direction, second direction and third direction coordinate systems of the first node entity and the two node entities in the global coordinate system.

[0150] In one embodiment, the acquisition module 10 is also used to obtain the instruction for selecting the origin of the second coordinate system when it is detected that the type selected in the attribute operation interface is grid-type vehicle local coordinate system modeling, and store the second node entity corresponding to the instruction for selecting the origin of the second coordinate system in the first container; create a third set, add the second node entity in the first container to the third set, and obtain a third entity set; obtain the instruction for selecting the reference grid of the vehicle local coordinate system, and store the grid unit entity corresponding to the instruction for selecting the reference grid of the vehicle local coordinate system in the second container; create a fourth set, add the grid unit entity in the second container to the fourth set, and obtain a fourth entity set.

[0151] In one embodiment, the acquisition module 10 is also used to automatically acquire the mesh entity in the fourth entity set, thereby obtaining the normal vector value of the mesh entity; automatically acquire the second node entity in the third entity set, copy the second node entity to obtain a first copy node entity and a second copy node entity; offset the first copy node entity according to a preset vector value, and offset the second copy node entity according to the normal vector value of the mesh entity; obtain the values ​​of the first direction, the second direction and the third direction of the second node entity, the first copy node entity after the offset and the second copy node entity after the offset in the global coordinate system.

[0152] In one embodiment, the acquisition module 10 is also used to obtain the instruction for selecting the vehicle local coordinate system with reference to the rigid unit when it is detected that the type selected in the attribute operation interface is rigid unit vehicle local coordinate system modeling, and store the rigid unit entity corresponding to the instruction for selecting the vehicle local coordinate system with reference to the rigid unit in a first container; create a fifth set, add the rigid unit entity in the first container to the fifth set, and obtain a fifth entity set.

[0153] In one embodiment, the acquisition module 10 is also used to automatically acquire the rigid unit entities in the fifth entity set, thereby one master node entity and two slave node entities in the rigid unit entities; and acquire the values ​​of the first direction, second direction and third direction coordinate systems of the one master node entity and the two slave node entities in the global coordinate system.

[0154] The present application provides a vehicle local coordinate system automatic modeling device, the vehicle local coordinate system automatic modeling device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle local coordinate system automatic modeling method in the above-mentioned embodiment one.

[0155] Reference below Figure 6 , which shows a schematic diagram of the structure of a vehicle local coordinate system automatic modeling device suitable for implementing the embodiment of the present application. The vehicle local coordinate system automatic modeling device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The vehicle local coordinate system automatic modeling device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0156] like Figure 6As shown, the vehicle local coordinate system automatic modeling device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle local coordinate system automatic modeling device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the vehicle local coordinate system automatic modeling device to communicate wirelessly or wired with other devices to exchange data. Although the vehicle local coordinate system automatic modeling device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0157] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0158] The vehicle local coordinate system automatic modeling device provided by the present application adopts the vehicle local coordinate system automatic modeling method in the above embodiment, which can solve the technical problem that the existing vehicle local coordinate system automatic modeling solution needs to coordinate the use of multiple functions, resulting in low efficiency of vehicle local coordinate system modeling. Compared with the prior art, the beneficial effects of the vehicle local coordinate system automatic modeling device provided by the present application are the same as the beneficial effects of the vehicle local coordinate system automatic modeling method provided by the above embodiment, and other technical features in the vehicle local coordinate system automatic modeling device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0159] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0161] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the method for automatic modeling of a vehicle local coordinate system in the above-mentioned embodiment.

[0162] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0163] The computer-readable storage medium may be included in the vehicle local coordinate system automatic modeling device; or may exist independently without being assembled into the vehicle local coordinate system automatic modeling device.

[0164] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle local coordinate system automatic modeling device, the vehicle local coordinate system automatic modeling device: obtains the operation information of the selection button of the vehicle local coordinate system model type in the automatic local coordinate system modeling interface; enters the corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information; performs the entity operation required for the vehicle local coordinate system according to the attribute operation interface to obtain an entity set; creates a local coordinate system according to the vehicle local coordinate system creation button, and stores all current vehicle local coordinate systems in a list; defines the value size of the variable as a preset value, and updates the value size of the variable according to the status of the list; automatically obtains the entity in the entity set, and obtains the value of the entity in the first direction, the second direction and the third direction in the global coordinate system; obtains the parameters of the local coordinate system according to the value of the entity in the first direction, the second direction and the third direction in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered as the value size of the updated variable.

[0165] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0167] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0168] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for automatically modeling the local coordinate system of a vehicle, and can solve the technical problem that the existing automatic modeling scheme for the local coordinate system of a vehicle requires the coordination of the use of multiple functions, resulting in low efficiency in modeling the local coordinate system of the vehicle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for automatically modeling the local coordinate system of a vehicle provided by the above-mentioned embodiment, and will not be elaborated here.

[0169] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned method for automatic modeling of a vehicle local coordinate system when executed by a processor.

[0170] The computer program product provided by the present application can solve the technical problem that the existing vehicle local coordinate system automatic modeling solution needs to coordinate the use of multiple functions, resulting in low efficiency in vehicle local coordinate system modeling. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle local coordinate system automatic modeling method provided by the above embodiment, and will not be repeated here.

[0171] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for automatically modeling a vehicle local coordinate system, characterized in that: The method is applied to a terminal device, a modeling program is running on the terminal device, and an automatic local coordinate system modeling interface is displayed when the modeling program is executed. The automatic local coordinate system modeling interface is provided with a multi-layer operation directory, a first-level operation directory is provided with a selection button of multiple vehicle local coordinate system model types, and a later-level operation directory is provided with an attribute selection button and a vehicle local coordinate system creation button. The method comprises: Acquire operation information of a selection button of a vehicle local coordinate system model type in the automated local coordinate system modeling interface; Entering a corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information; Perform entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set; Create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems into a list; Define the value of the variable as a preset value, and update the value of the variable according to the state of the list; Automatically obtain entities in the entity set, and obtain values ​​of the first direction, the second direction, and the third direction of the entity in the global coordinate system; According to the values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system, the parameters of the local coordinate system are obtained, so as to automatically create a vehicle local coordinate system numbered with the value size of the updated variable.

2. The method according to claim 1, characterized in that The step of updating the value of the variable according to the state of the list comprises: If it is detected that the vehicle local coordinate system does not exist in the list, the value of the variable is kept unchanged; If it is detected that the list contains a vehicle local coordinate system, a sublist is created to obtain the serial number values ​​of all current vehicle local coordinate systems; Filter out the number values ​​in a preset range, and store the number values ​​that meet the filtering conditions in the sublist; The sizes of the serial numbers in the sublist after the storage operation are compared, and the maximum serial number in the sublist is increased by one as the value size of the updated variable.

3. The method according to claim 1, characterized in that The step of performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set includes: When it is detected that the type selected in the attribute operation interface is node-based vehicle local coordinate system modeling, an instruction for selecting the origin of the first coordinate system is obtained, and a first node entity corresponding to the instruction for selecting the origin of the first coordinate system is stored in a first container; Creating a first set, adding the first node entity in the first container to the first set, to obtain a first entity set; Obtaining an instruction for selecting a reference point of a local vehicle coordinate system, and storing two node entities corresponding to the instruction for selecting a reference point of a local vehicle coordinate system in a second container; A second set is created, and the two node entities in the second container are added to the second set to obtain a second entity set.

4. The method according to claim 3, characterized in that The step of automatically acquiring entities in the entity set and acquiring values ​​of the first direction, the second direction and the third direction of the entities in the global coordinate system comprises: Automatically obtain the first node entity in the first entity set and the two node entities in the second entity set; And obtain the values ​​of the first direction, the second direction and the third direction coordinate systems of the first node entity and the two node entities in the global coordinate system.

5. The method according to claim 1, characterized in that The step of performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set includes: When it is detected that the type selected in the attribute operation interface is grid-type vehicle local coordinate system modeling, an instruction for selecting the origin of the second coordinate system is obtained, and a second node entity corresponding to the instruction for selecting the origin of the second coordinate system is stored in the first container; Creating a third set, adding the second node entity in the first container to the third set, to obtain a third entity set; Obtaining an instruction for selecting a reference grid of a local vehicle coordinate system, and storing a grid unit entity corresponding to the instruction for selecting a reference grid of a local vehicle coordinate system in a second container; A fourth set is created, and the grid unit entities in the second container are added to the fourth set to obtain a fourth entity set.

6. The method according to claim 5, characterized in that The step of automatically acquiring entities in the entity set and acquiring values ​​of the first direction, the second direction and the third direction of the entities in the global coordinate system comprises: Automatically acquiring the mesh entity in the fourth entity set, thereby obtaining a normal vector value of the mesh entity; Automatically obtain the second node entity in the third entity set, and copy the second node entity to obtain a first copy node entity and a second copy node entity; The first copy node entity is offset according to a preset vector value, and the second copy node entity is offset according to a normal vector value of the mesh entity; Obtain values ​​of the first direction, the second direction, and the third direction of the second node entity, the first copy node entity after the offset, and the second copy node entity after the offset in the global coordinate system.

7. The method according to claim 1, characterized in that The step of performing entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set includes: When it is detected that the type selected in the attribute operation interface is rigid unit vehicle local coordinate system modeling, an instruction for selecting a vehicle local coordinate system reference rigid unit is obtained, and a rigid unit entity corresponding to the instruction for selecting the vehicle local coordinate system reference rigid unit is stored in a first container; A fifth set is created, and the rigid unit entities in the first container are added to the fifth set to obtain a fifth entity set.

8. The method according to claim 7, characterized in that The step of automatically acquiring entities in the entity set and acquiring values ​​of the first direction, the second direction and the third direction of the entities in the global coordinate system comprises: Automatically acquiring the rigid unit entity in the fifth entity set, thereby acquiring one master node entity and two slave node entities in the rigid unit entity; And obtain the values ​​of the first direction, the second direction and the third direction coordinate systems of the one master node entity and the two slave node entities in the global coordinate system.

9. A vehicle local coordinate system automatic modeling device, characterized in that: The device comprises: An acquisition module, used for acquiring operation information of a selection button of a vehicle local coordinate system model type in the automatic local coordinate system modeling interface; An operation module, used for entering a corresponding attribute operation interface according to a vehicle local coordinate system model type corresponding to the operation information; The acquisition module is further used to perform entity operations required by the vehicle local coordinate system according to the attribute operation interface to obtain an entity set; The operation module is further used to create a local coordinate system according to the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems into a list; The operation module is further used to define the value size of the variable as a preset value, and update the value size of the variable according to the state of the list; The acquisition module is further used to automatically acquire entities in the entity set, and acquire values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system; A creation module is used to obtain the parameters of the local coordinate system according to the values ​​of the first direction, the second direction and the third direction of the entity in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered with the value size of the updated variable.

10. A vehicle local coordinate system automatic modeling device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for automatic modeling of a vehicle local coordinate system according to any one of claims 1 to 8.

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