Automatic Modeling Method, Device and Equipment for Vehicle Local Coordinate System

Abstract

This application discloses an automatic modeling method, apparatus, and device for vehicle local coordinate systems, relating to the field of local coordinate system creation technology. The method includes: acquiring operation information; entering the corresponding attribute operation interface based on the vehicle local coordinate system model type corresponding to the operation information; obtaining an entity set based on the attribute operation interface; storing all current vehicle local coordinate systems in a list using a create button; defining the value of a variable as a preset value and updating the variable value based on the list's status; automatically acquiring entities from the entity set and obtaining the values ​​of the entities in all directions under the global coordinate system; and automatically creating a vehicle local coordinate system numbered according to the updated variable value based on the values ​​of the entities in all directions under the global coordinate system. This integrates multiple local coordinate system modeling methods into a unified interface, facilitating the rapid adoption of different modeling methods without requiring switching to other panels, thereby improving modeling efficiency.

Description

Technical Field

[0001] This application relates to the field of local coordinate system creation technology, and in particular to automatic modeling methods, devices and equipment for vehicle local coordinate systems. Background Technology

[0002] In today's automotive engineering field, vehicle simulation modeling has become a crucial part of the research and development process. In this complex and sophisticated process, the need for local coordinate system modeling is frequently highlighted. Existing simulation software's built-in local coordinate system modeling functions have certain limitations. To meet the requirements of boundary condition modeling under arbitrary operating conditions, it is usually necessary to combine the local coordinate system modeling function with other functions of the simulation software. However, this combined approach brings a series of problems. It makes the entire modeling process less convenient, requiring modelers to frequently switch between different functional modules, consuming a significant amount of time and effort 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 objective of this application is to provide a method, apparatus, and device for automatic modeling of vehicle local coordinate systems, aiming to solve the technical problem of low efficiency in vehicle local coordinate system modeling caused by the need to coordinate the use of multiple functions in existing automatic modeling schemes for vehicle local coordinate systems.

[0004] To achieve the above objectives, this application proposes an automatic modeling method for a vehicle local coordinate system. The method is applied to a terminal device, which runs a modeling program. Executing the modeling program displays an automated local coordinate system modeling interface. This interface has multiple layers of operation menus. The first-level operation menu includes selection buttons for various vehicle local coordinate system model types, while the subsequent operation menus include attribute selection buttons and a vehicle local coordinate system creation button. The method includes:

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

[0006] Enter the corresponding attribute operation interface based on the vehicle local coordinate system model type corresponding to the operation information;

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

[0008] Create a local coordinate system using the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems in 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 from the entity set, and obtain the values ​​of the first, second, and third directions of the entities in the global coordinate system;

[0011] Based on the values ​​of the entity in the first, second, and third directions in the global coordinate system, the parameters of the local coordinate system are obtained, thereby automatically creating a vehicle local coordinate system numbered according to the updated variable values.

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

[0013] If the list does not contain a vehicle local coordinate system, the value of the variable remains unchanged.

[0014] If a vehicle local coordinate system is detected in the list, a sublist is created to obtain the number values ​​of all current vehicle local coordinate systems.

[0015] Filter out the number values ​​within the preset range and store the number values ​​that meet the filtering criteria in the sublist;

[0016] Compare the values ​​of the numbers in the sublist after the storage operation, and add one to the largest number in the sublist as the value of the updated variable.

[0017] In one embodiment, the step of performing entity operations required for the vehicle local coordinate system based on 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-type vehicle local coordinate system modeling, the instruction to select the origin of the first coordinate system is obtained, and the first node entity corresponding to the instruction to select the origin of the first coordinate system is stored in the first container.

[0019] Create a first set, add the first node entity from the first container to the first set, and obtain the first entity set;

[0020] 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 the second container.

[0021] Create a second set by adding the two node entities from the second container to the second set, thus obtaining a second entity set.

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

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

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

[0025] In one embodiment, the step of performing entity operations required for the vehicle local coordinate system based on 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, the instruction to select the origin of the second coordinate system is obtained, and the second node entity corresponding to the instruction to select the origin of the second coordinate system is stored in the first container.

[0027] Create a third set by adding the second node entity from the first container to the third set, thus obtaining a third entity set;

[0028] Obtain the instruction for selecting the vehicle local coordinate system reference mesh, and store the mesh cell entity corresponding to the instruction for selecting the vehicle local coordinate system reference mesh in the second container;

[0029] Create a fourth set by adding the grid cell entities from the second container to the fourth set, thus obtaining a fourth entity set.

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

[0031] The mesh entities in the fourth entity set are automatically obtained, thereby obtaining the normal vector values ​​of the mesh entities;

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

[0033] 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;

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

[0035] In one embodiment, the step of performing entity operations required for the vehicle local coordinate system based on 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 element vehicle local coordinate system modeling, the instruction for selecting the vehicle local coordinate system reference rigid element is obtained, and the rigid element entity corresponding to the instruction for selecting the vehicle local coordinate system reference rigid element is stored in the first container.

[0037] Create a fifth set by adding the rigid unit entities from the first container to the fifth set, thus obtaining a fifth entity set.

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

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

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

[0041] Furthermore, to achieve the above objectives, this application also proposes an automatic modeling device for a vehicle local coordinate system, the automatic modeling device for a vehicle local coordinate system comprising:

[0042] The acquisition module is used to acquire the operation information of the vehicle local coordinate system model type selection button in the automated local coordinate system modeling interface;

[0043] The operation module is used to enter the corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information.

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

[0045] The operation module is also used to 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.

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

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

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

[0049] In addition, to achieve the above objectives, this application also proposes an automatic modeling device for a vehicle local coordinate system, 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 automatic modeling method for a vehicle local coordinate system as described above.

[0050] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the automatic modeling method for the vehicle local coordinate system as described above.

[0051] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the automatic modeling method for the vehicle local coordinate system as described above.

[0052] This application proposes one or more technical solutions, which involve: acquiring operation information of the vehicle local coordinate system model type selection button on the automated local coordinate system modeling interface; entering the corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information; performing entity operations required for 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 of a 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 the values ​​of the entity in the first, second, and third directions in the global coordinate system; obtaining the parameters of the local coordinate system according to the values ​​of the entity in the first, second, and third directions in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered according to the updated variable values. By integrating the selection buttons for multiple vehicle local coordinate system model types into one interface and automating the creation of vehicle local coordinate systems, the complexity and difficulty of operation are reduced, thereby improving the efficiency of vehicle local coordinate system modeling. Attached Figure Description

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

[0054] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a flowchart illustrating an embodiment of the automatic modeling method for the vehicle local coordinate system in this application.

[0056] Figure 2 This is a flowchart illustrating Embodiment 2 of the automatic modeling method for the vehicle local coordinate system in this application.

[0057] Figure 3 This is a flowchart illustrating Embodiment 3 of the automatic modeling method for the vehicle local coordinate system in this application.

[0058] Figure 4 This is a flowchart illustrating Embodiment 4 of the automatic modeling method for the vehicle local coordinate system in this 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 this application;

[0060] Figure 6This is a schematic diagram of the equipment structure of the hardware operating environment involved in the automatic modeling method of the vehicle local coordinate system in the embodiments of this application.

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

[0062] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0063] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0064] The main solution in this application embodiment is:

[0065] Because existing simulation software's built-in local coordinate system modeling function has certain limitations, to meet the boundary condition modeling requirements under arbitrary working conditions, it is usually necessary to combine the local coordinate system modeling function with other functions of the simulation software. However, this combined approach brings a series of problems. It makes the entire modeling process less convenient, requiring modelers to frequently switch between different functional modules and consuming a lot of time and energy to coordinate the use of various functions. This undoubtedly increases the complexity and difficulty of operation, thereby reducing the efficiency of vehicle local coordinate system modeling.

[0066] This application provides a solution that integrates selection buttons for various vehicle local coordinate system model types into a single interface, and can automatically create vehicle local coordinate systems, reducing the complexity and difficulty of operation, thereby improving the efficiency of vehicle local coordinate system modeling.

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

[0068] Based on this, embodiments of this application provide an automatic modeling method for a vehicle local coordinate system, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the automatic modeling method for the local coordinate system of vehicles in this application.

[0069] In this embodiment, the automatic modeling method for vehicle local coordinate systems is applied to a terminal device. The terminal device runs a modeling program, and executing the modeling program displays an automated local coordinate system modeling interface. This interface has multiple layers of operation directories. The first-level operation directory includes selection buttons for various vehicle local coordinate system model types, while the subsequent operation directories include attribute selection buttons and a vehicle local coordinate system creation button. The method includes steps S10 to S70:

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

[0071] It should be noted that a terminal generally refers to a device or system capable of receiving, processing, or sending information. It can be an electronic device such as a computer, mobile phone, or tablet computer, or it can be a dedicated hardware device or software interface.

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

[0073] In addition, the vehicle local coordinate system is a coordinate system relative to the vehicle itself. It is usually based on the vehicle's center of mass 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 forward, the Y-axis points to the left 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 positional relationship between the vehicle and surrounding objects. In autonomous driving, the vehicle local coordinate system is essential for sensor data fusion, vehicle control algorithm implementation, and vehicle kinematics modeling.

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

[0075] In addition, the selection buttons for vehicle local coordinate system model types on the primary operation menu include at least nodal vehicle local coordinate system modeling, mesh vehicle local coordinate system modeling, and rigid element vehicle local coordinate system modeling. Understandably, after selecting from the primary operation menu, you will be redirected to the secondary operation menu. The secondary operation menu includes attribute selection buttons such as: "Select 1 coordinate system origin" and "Select 2 local coordinate system reference points" (corresponding to nodal vehicle local coordinate system modeling above), "Select 1 coordinate system origin" and "Select 1 local coordinate system reference mesh" (corresponding to mesh vehicle local coordinate system modeling above), and "Select 1 local coordinate system reference RBE2 (Rigid Body Element 2, a type of rigid element)" (corresponding to rigid element vehicle local coordinate system modeling above). After selecting the attributes, the "Create Local Coordinate System" button will appear, which is the vehicle local coordinate system creation button. Clicking this button will begin the automatic creation of the vehicle local coordinate system.

[0076] Understandably, the automated local coordinate system modeling interface is the initial interface presented to the user. On this interface, the user can use the primary operation menu to select the type of vehicle local coordinate system model. When the user clicks the "Select Vehicle Local Coordinate System Model Type" button, operation information is sent to the automated vehicle local coordinate system modeling device. This operation information includes the vehicle local coordinate system model type selected by the user.

[0077] Step S20: Enter the 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 mentioned above, the operation information includes the vehicle local coordinate system model type selected by the user. Therefore, 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: Perform the entity operations required for the vehicle local coordinate system according to the attribute operation interface to obtain the 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 their model types. Entity operations involve creating several empty collections and adding the entities from different containers to the respective collections, thus obtaining several entity collections.

[0081] Additionally, containers are data structures used to store and manage different types of entities within a model. In ANSA, containers can be sets, parts, groups, or include. They allow users to group entities with similar properties or those that need to be processed together to facilitate operations such as mesh generation, applying boundary conditions, and defining material properties. Containers are visible in the model tree and are used to maintain the model's hierarchical structure and manage model data.

[0082] Additionally, a set is a type of container that contains a series of entities with the same characteristics or purpose, such as nodes, elements, and edges. In ANSA, sets are typically used to operate on specific parts of a model. For example, a user can select a set of nodes or elements to create a set, and then apply specific operations to this set, such as meshing, assigning boundary conditions, or assigning material properties.

[0083] In addition, the above sets have different numbers, and the size of the number is defined according to the order in which the sets were 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 the current local coordinate systems of all vehicles are vehicle local coordinate systems created by any method, including at least node-based, mesh-based, and RBE2-based vehicle local coordinate systems. Specifically, a list `coord` is created, and all current local coordinate systems of all models are stored in it.

[0086] Additionally, the list is a collection containing all coordinate system entities, including the global coordinate system and all user-created local coordinate systems. The purpose of this list is to manage and reference coordinate systems within the model, allowing users to easily manipulate these coordinate systems, such as viewing, modifying, and deleting them.

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

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

[0089] In addition, the list is divided into two states: the existence of a vehicle local coordinate system and the absence of a vehicle local coordinate system. If it is detected that the list does not have a vehicle local coordinate system, that is, when the vehicle local coordinate system is created for the first time, the value of the variable remains unchanged.

[0090] Additionally, if a vehicle local coordinate system is detected in the list (i.e., this is not the first time a vehicle local coordinate system has been created), a sublist is created to obtain the current number values ​​of all vehicle local coordinate systems. Specifically, an empty list `cid_System` is created, and all coordinate system entities in the `coord` list are automatically traversed. Number values ​​within a preset range are filtered out, and those that meet the filtering criteria are stored in the sublist. Specifically, the preset range is set according to the vehicle local coordinate system model type. Number values ​​within the preset range are filtered out and stored in the `cid_System` list. The size of the number values ​​in the sublist after the storage operation is compared, and the maximum number value in the sublist is incremented by one as the value 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. The maximum value is incremented by one as the value of the updated variable. For example, ANSA automatically defines a variable `cid_max`, automatically passes the maximum value in the `cid_System` list to the variable `cid_max`, and updates the value of the variable `cid_new1` to `cid_max+1`.

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

[0092] It should be noted that the system automatically retrieves three node entities from the entity set and obtains the values ​​of these three node entities in the x, y, and z directions in the global coordinate system, which is a total of nine values. These nine values ​​are then passed to their respective variables.

[0093] In addition, the global coordinate system, also known as the geodetic coordinate system, is a fixed reference frame that is typically used to describe the absolute position of a vehicle on a road or on Earth. In autonomous driving, the global coordinate system can be a geographic coordinate system that uses latitude and longitude to represent 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 reference for the vehicle to determine its exact position in the world, which is crucial for navigation and route planning.

[0094] Step S70: Based on the values ​​of the entity in the first direction, second direction, and third direction in the global coordinate system, obtain the parameters of the local coordinate system, thereby automatically creating a vehicle local coordinate system numbered according to the value of the updated variable.

[0095] It should be noted that, based on the values ​​of the three node entities in the x, y, and z directions in the global coordinate system in the above steps, the values ​​of each parameter in the local coordinate system can be obtained, and a vehicle local coordinate system with the number of the updated variable value can be created. In addition, the type of this vehicle local coordinate system is vector method.

[0096] In addition, the values ​​of each parameter 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 an automatic modeling method for vehicle local coordinate systems. The method involves obtaining operation information from the vehicle local coordinate system model type selection button on the automated local coordinate system modeling interface; entering the corresponding attribute operation interface based on the vehicle local coordinate system model type corresponding to the operation information; performing entity operations required for the vehicle local coordinate system on the attribute operation interface to obtain an entity set; creating a local coordinate system using the vehicle local coordinate system creation button, storing all current vehicle local coordinate systems in a list; defining variable values ​​as preset values, and updating variable values ​​based on the list status; automatically acquiring entities from the entity set, and obtaining the values ​​of the entities in the first, second, and third directions in the global coordinate system; obtaining the parameters of the local coordinate system based on the values ​​of the entities in the first, second, and third directions in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered according to the updated variable values. By integrating selection buttons for multiple vehicle local coordinate system model types into one interface, different modeling methods can be quickly adopted without switching to other panels, simplifying the modeling process and improving modeling efficiency.

[0098] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... 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-type vehicle local coordinate system modeling, the instruction for selecting the origin of the first coordinate system is obtained, and the first node entity corresponding to the instruction for selecting the origin of the first coordinate system is stored in the first container.

[0100] It should be noted that the instruction to select 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 nodal vehicle local coordinate system modeling. After clicking this button, the user will be prompted to select the origin of the coordinate system. After the user has made the selection, the corresponding first node entity will be stored in the first container (container1).

[0101] Furthermore, node entities form the foundation of a finite element model; they are the connection points of mesh elements and possess actual coordinate positions. They can be physical connection points within a structure or reference points used to define loads, boundary conditions, mesh generation, etc. In ANSA, node entities can be automatically generated during the mesh generation process or created and modified manually.

[0102] Step A202: Create a first set by adding the first node entity from the first container to the first set to obtain the first entity set.

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

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

[0105] Specifically, when a user clicks the "Select 2 local coordinate system reference points" button on the interface, the two selected Node entities will be stored in container2.

[0106] Step A204: Create a second set by adding the two node entities from the second container to the second set to obtain a second entity set.

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

[0108] Understandably, after this step, the user can click the "Create Local Coordinate System" button, which creates a list called `coord` and stores all current vehicle local coordinate systems in it. A variable `cid_new1 = 50001` is defined. If no vehicle local coordinate systems exist in `coord` at this point (i.e., this is the first time creating a vehicle local coordinate system), the variable `cid_new1` remains unchanged (i.e., `cid_new1 = 50001`). If any vehicle local coordinate systems exist in `coord` at this point (i.e., this is not the first time creating a vehicle local coordinate system), an empty sublist `cid_System1` is created, and all local coordinate systems in `coord` are automatically iterated through. For a coordinate system entity, define a variable `cid` to obtain the current local coordinate system number (CID) and pass its value to the variable `cid`. Then, judge the value. When `cid > 50000 and cid < 51000`, that is, the number value is in the first preset interval, pass the value of the variable `cid` to the list `cid_System1`. After judging and filtering all the current local coordinate system numbers (CIDs), 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, then the value of the variable `cid_new1` will be updated to 50006.

[0109] Then, the first node entity in the first entity set and the two node entities in the second entity set are automatically obtained, that is, one Node entity in Set number 50001 and two Node entities in Set number 50002 are obtained; and the values ​​of the first node entity and the two node entities in the first, second and third directions of the global coordinate system are obtained, that is, the values ​​of each of the three Node entities in the X, Y and Z directions of the global coordinate system are obtained, and respectively passed to the variables p1x, p1y, p1z, p2x, p2y, p2z, p3x, p3y and p3z.

[0110] Finally, based on the X, Y, and Z values ​​of these three Node entities in the global coordinate system, the parameters of the local coordinate system are obtained, thereby automatically creating a vehicle local coordinate system with the updated variable values. Specifically, a vehicle local coordinate system is automatically created with the type VECTOR METHOD, the number cid_new1, A1 as p1x, A2 as p1y, A3 as p1z, X1 as p2x-p3x, Y1 as p2y-p3y, Z1 as p2z-p3z, X2 as p3x-p1x, Y2 as p3y-p1y, and Z2 as p3z-p1z. Among them, 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.

[0111] In this embodiment, when the selected type in the attribute operation interface is node-based vehicle local coordinate system modeling, the following steps are taken: First, an instruction to select the origin of the first coordinate system is obtained, and the first node entity corresponding to this instruction is stored in a first container. A first set is created, and the first node entity from the first container is added to the first set to obtain a first entity set. Next, an instruction to select a reference point in the vehicle local coordinate system is obtained, and the two node entities corresponding to this instruction are stored in a second container. Finally, a second set is created, and the two node entities from the second container are added to the second set to obtain a second entity set. This embodiment automates node-based vehicle local coordinate system modeling, optimizes the local coordinate system modeling process, reduces repetitive work during modeling, and improves the efficiency of node-based vehicle local coordinate system modeling.

[0112] Based on the first and second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in Embodiments 1 and 2 described above can be referred to the above description and will not be repeated hereafter. Based on this, please refer to... 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, the instruction to select the origin of the second coordinate system is obtained, and the second node entity corresponding to the instruction to select the origin of the second coordinate system is stored in the first container.

[0114] It should be noted that the instruction to select the origin of the second coordinate system is for the user to click the "Select 1 coordinate system origin" button under the model of the grid-type vehicle local coordinate system modeling. After clicking this button, the user will be prompted to select the origin of the coordinate system. After the user has made the selection, the corresponding second node entity will be stored in container1.

[0115] Step B202: Create a third set by adding the second node entity from the first container to the third set to obtain a third entity set.

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

[0117] Step B203: Obtain the instruction for selecting the vehicle local coordinate system reference mesh, and store the mesh cell entity corresponding to the instruction for selecting the vehicle local coordinate system reference mesh in container2.

[0118] Specifically, when a user clicks the "Select a local coordinate system reference mesh" button on the interface, the selected mesh entity will be stored in container2.

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

[0120] Step B204: Create a fourth set by adding the grid cell entities from the second container to the fourth set to obtain a fourth entity set.

[0121] Specifically, an empty Set with the number 51002 is automatically created, and the grid cell entities in container2 are added to this Set.

[0122] Understandably, after this step, the user can click the "Create Local Coordinate System" button, which creates a list called `coord` and stores all current vehicle local coordinate systems in it. A variable `cid_new2 = 51001` is defined. If no vehicle local coordinate systems exist in `coord` at this point (i.e., this is the first time creating a vehicle local coordinate system), the variable `cid_new2` remains unchanged (i.e., `cid_new2 = 50001`). If any vehicle local coordinate systems exist in `coord` at this point (i.e., this is not the first time creating a vehicle local coordinate system), an empty sublist `cid_System2` is created, and all local coordinate systems in `coord` are automatically iterated through. For a coordinate system entity, define a variable `cid` to obtain the current local coordinate system number (CID) and pass its value to the variable `cid`. Then, judge the value. When `cid > 51000` and `cid < 52000`, that is, the number value is in the second preset interval, pass the value of the variable `cid` to the list `cid_System2`. After judging and filtering all the current local coordinate system numbers (CIDs), 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, then the value of the variable `cid_new2` will be updated to 51006.

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

[0124] Finally, based on the X, Y, and Z values ​​of these three Node entities in the global coordinate system, the parameters of the local coordinate system are obtained, thereby automatically creating a vehicle local coordinate system with the updated variable values. Specifically, a vehicle local coordinate system is automatically created, with the type VECTOR METHOD, the number cid_new2, A1 as p1x, A2 as p1y, A3 as p1z, B1 as p2x, B2 as p2y, B3 as p2z, C1 as p3x, C2 as p3y, and C3 as p3z. Among them, 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] In this embodiment, when the selected type in the attribute operation interface is grid-type vehicle local coordinate system modeling, an instruction to select the origin of the second coordinate system is obtained, and the second node entity corresponding to the instruction to select the origin of the second coordinate system is stored in a first container; a third set is created, and the second node entities in the first container are added to the third set to obtain a third entity set; an instruction to select the reference mesh of the vehicle local coordinate system is obtained, and the mesh cell entity corresponding to the instruction to select the reference mesh of the vehicle local coordinate system is stored in a second container; a fourth set is created, and the mesh cell entities in the second container are added to the fourth set to obtain a fourth entity set. This embodiment automates grid-type vehicle local coordinate system modeling, optimizes the local coordinate system modeling process, realizes streamlined modeling, and improves the efficiency of grid-type vehicle local coordinate system modeling.

[0126] Based on the first and second embodiments of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 4 Step S20 includes steps C201 to C202:

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

[0128] Specifically, when a user clicks the "Select a local coordinate system reference RBE2" button on the interface, the selected RBE2 entity will be stored in container1.

[0129] It should be noted that rigid element entities, such as RBE2 and RBE3, are used to simulate rigid connections or kinematic pairs. These elements do not possess material properties; instead, they simulate the motion of rigid bodies through constraint equations. In ANSA, rigid element entities can be used to define complex connection relationships, such as bolted connections and hinged connections. They provide a simplified modeling method in analysis. In this application, RBE2 contains one master node and two slave nodes.

[0130] Additionally, the master node represents the reference point or principal degree of freedom of the rigid element. The motion of this node (including translation and rotation) is used to define the motion of the entire rigid element. In some cases, the master node can be considered as the centroid or other important geometric center of the rigid element. The motion of slave nodes is constrained by the motion of the master node. In a rigid element, slave nodes typically follow the motion of the master node and do not have their own independent motion. Slave nodes can be located anywhere on the rigid element; they can be other nodes in the structure or nodes specifically created to define rigid connections.

[0131] Step C202: Create a fifth set by adding the rigid unit entities from the first container to the fifth set to obtain a fifth entity set.

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

[0133] Understandably, after this step, the user can click the "Create Local Coordinate System" button, which creates a list `coord` and stores all current vehicle local coordinate systems in it. A variable `cid_new3 = 52001` is defined. If no vehicle local coordinate systems exist in `coord` at this point (i.e., this is the first time creating a vehicle local coordinate system), the variable `cid_new3` remains unchanged (i.e., `cid_new3 = 50001`). If any vehicle local coordinate systems exist in `coord` at this point (i.e., this is not the first time creating a vehicle local coordinate system), an empty sublist `cid_System3` is created, and all local coordinate systems in `coord` are automatically iterated through. For a coordinate system entity, define a variable `cid` to obtain the current local coordinate system number (CID) and pass its value to the variable `cid`. Then, judge the value. When `cid > 52000` and `cid < 53000`, that is, the number value is in the third preset interval, pass the value of the variable `cid` to the list `cid_System3`. After judging and filtering all the current local coordinate system numbers (CIDs), 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, then the value of the variable `cid_new2` will be updated to 52006.

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

[0135] Finally, based on the values ​​of one master node and two slave nodes in the global coordinate system of the aforementioned RBE2 unit entity in the X, Y, and Z directions, the parameters of the local coordinate system are obtained, thereby automatically creating a vehicle local coordinate system with the updated variable values. Specifically, a vehicle local coordinate system is automatically created with the type VECTOR METHOD, the number cid_new3, A1 as p1x, A2 as p1y, A3 as p1z, X1 as p2x-p1x, Y1 as p2y-p1y, Z1 as p2z-p1z, X2 as p3x-p1x, Y2 as p3y-p1y, and Z2 as p3z-p1z. Among them, 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] In this embodiment, when it is detected that the selected type in the attribute operation interface is rigid element vehicle local coordinate system modeling, the instruction for selecting the rigid element reference of the vehicle local coordinate system is obtained, and the rigid element entity corresponding to the instruction for selecting the rigid element reference of the vehicle local coordinate system is stored in a first container; a fifth set is created, and the rigid element entity in the first container is added to the fifth set to obtain a fifth entity set. This embodiment automates the rigid element vehicle local coordinate system modeling, optimizes the local coordinate system modeling process, has strong applicability and operability, and improves the efficiency of rigid element vehicle local coordinate system modeling.

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

[0138] This application also provides an automatic modeling device for a vehicle local coordinate system; please refer to... Figure 5 The automatic modeling device for the vehicle local coordinate system includes:

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

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

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

[0142] The operation module 20 is also used to 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.

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

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

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

[0146] The automatic vehicle local coordinate system modeling device provided in this application, employing the automatic vehicle local coordinate system modeling method in the above embodiments, can solve the technical problem of low efficiency in vehicle local coordinate system modeling caused by the need to coordinate the use of multiple functions in existing automatic vehicle local coordinate system modeling schemes. Compared with the prior art, the beneficial effects of the automatic vehicle local coordinate system modeling device provided in this application are the same as those of the automatic vehicle local coordinate system modeling method provided in the above embodiments, and other technical features in the automatic vehicle local coordinate system modeling device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0147] In one embodiment, the operation module 20 is further configured to: if it is detected that the list does not contain a vehicle local coordinate system, keep the value of the variable unchanged; if it is detected that the list contains a vehicle local coordinate system, create a sublist, obtain the number values ​​of all current vehicle local coordinate systems; filter out the number values ​​within a preset range, and store the number values ​​that meet the filtering conditions in the sublist; compare the size of the number values ​​in the sublist after the storage operation, and add one to the maximum number value in the sublist as the updated value of the variable.

[0148] In one embodiment, the acquisition module 10 is further configured to, when detecting that the type selected in the attribute operation interface is node-based vehicle local coordinate system modeling, acquire the instruction for selecting the origin of the first coordinate system, 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; acquire the instruction for selecting the reference point of the vehicle local coordinate system, 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 further configured 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 node entity and the two node entities in the first direction, the second direction and the third direction coordinate system in the global coordinate system.

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

[0151] In one embodiment, the acquisition module 10 is further configured 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 copied node entity and a second copied node entity; offset the first copied node entity according to a preset vector value, and offset the second copied node entity according to the normal vector value of the mesh entity; acquire the values ​​of the second node entity, the offset first copied node entity, and the offset second copied node entity in the first direction, the second direction, and the third direction in the global coordinate system.

[0152] In one embodiment, the acquisition module 10 is further configured to, when detecting that the type selected in the attribute operation interface is rigid element vehicle local coordinate system modeling, acquire the instruction for selecting the rigid element of the vehicle local coordinate system reference, store the rigid element entity corresponding to the instruction for selecting the rigid element of the vehicle local coordinate system reference in a first container; create a fifth set, add the rigid element entity in the first container to the fifth set, and obtain a fifth entity set.

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

[0154] This application provides an automatic vehicle local coordinate system modeling device, which 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 to enable the at least one processor to execute the automatic vehicle local coordinate system modeling method in the above embodiment 1.

[0155] The following is for reference. Figure 6 This document illustrates a structural schematic diagram of an automatic vehicle local coordinate system modeling device suitable for implementing embodiments of this application. The automatic vehicle local coordinate system modeling device in this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The vehicle local coordinate system automatic modeling device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0156] like Figure 6As shown, the automatic vehicle local coordinate system modeling device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the automatic vehicle local coordinate system modeling device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the vehicle local coordinate system automatic modeling equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a vehicle local coordinate system automatic modeling equipment with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0157] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0158] The automatic vehicle local coordinate system modeling device provided in this application, employing the automatic vehicle local coordinate system modeling method in the above embodiments, can solve the technical problem of low efficiency in vehicle local coordinate system modeling caused by the need to coordinate the use of multiple functions in existing automatic vehicle local coordinate system modeling schemes. Compared with the prior art, the beneficial effects of the automatic vehicle local coordinate system modeling device provided in this application are the same as those of the automatic vehicle local coordinate system modeling method provided in the above embodiments, and other technical features in this automatic vehicle local coordinate system modeling device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0159] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0160] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0161] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the automatic modeling method for the vehicle local coordinate system in the above embodiments.

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

[0163] The aforementioned computer-readable storage medium may be included in the automatic modeling device for the vehicle local coordinate system; or it may exist independently and not be assembled into the automatic modeling device for the vehicle local coordinate system.

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

[0165] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0167] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0168] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described automatic modeling method for vehicle local coordinate systems. This solves the technical problem of low efficiency in existing automatic modeling schemes for vehicle local coordinate systems due to the need to coordinate the use of multiple functions. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the automatic modeling method for vehicle local coordinate systems provided in the above embodiments, and will not be repeated here.

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

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

[0171] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. An automatic modeling method for a vehicle local coordinate system, characterized in that, The method is applied to a terminal device, which runs a modeling program. Executing the modeling program displays an automated local coordinate system modeling interface. This interface has multiple layers of operation menus. The first-level operation menu includes selection buttons for various vehicle local coordinate system model types, while subsequent operation menus include attribute selection buttons and a vehicle local coordinate system creation button. The method includes: Obtain the operation information of the vehicle local coordinate system model type selection button in the automated local coordinate system modeling interface; Enter the corresponding attribute operation interface based on the vehicle local coordinate system model type corresponding to the operation information; Perform the entity operations required for the vehicle local coordinate system according to the attribute operation interface to obtain the entity set; Create a local coordinate system using the vehicle local coordinate system creation button, and store all current vehicle local coordinate systems in a list; Define the value of the variable as a preset value. If the list does not contain a vehicle local coordinate system, then keep the value of the variable unchanged. If a vehicle local coordinate system is detected in the list, a sublist is created to obtain the number values ​​of all current vehicle local coordinate systems. Filter out the number values ​​within the preset range and store the number values ​​that meet the filtering criteria in the sublist; Compare the values ​​of the numbers in the sublist after the storage operation, and add one to the largest number in the sublist as the value of the updated variable; Automatically obtain entities from the entity set, and obtain the values ​​of the first, second, and third directions of the entities in the global coordinate system; Based on the values ​​of the entity in the first, second, and third directions in the global coordinate system, the parameters of the local coordinate system are obtained, thereby automatically creating a vehicle local coordinate system numbered according to the updated variable values.

2. The method as described in claim 1, characterized in that, The step of performing entity operations required for the vehicle local coordinate system based on the attribute operation interface to obtain the entity set includes: When it is detected that the type selected in the attribute operation interface is node-type vehicle local coordinate system modeling, the instruction to select the origin of the first coordinate system is obtained, and the first node entity corresponding to the instruction to select the origin of the first coordinate system is stored in the first container. Create a first set, add the first node entity from the first container to the first set, and obtain the 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 the second container. Create a second set by adding the two node entities from the second container to the second set, thus obtaining a second entity set.

3. The method as described in claim 2, characterized in that, The step of automatically acquiring entities from the entity set and obtaining the values ​​of the entities in the first, second, and third directions in the global coordinate system includes: Automatically obtain the first node entity from the first entity set and the two node entities from the second entity set; And obtain the values ​​of the first node entity and the two node entities in the first direction, the second direction and the third direction coordinate system in the global coordinate system.

4. The method as described in claim 1, characterized in that, The step of performing entity operations required for the vehicle local coordinate system based on the attribute operation interface to obtain the entity set includes: When it is detected that the type selected in the attribute operation interface is grid-type vehicle local coordinate system modeling, the instruction to select the origin of the second coordinate system is obtained, and the second node entity corresponding to the instruction to select the origin of the second coordinate system is stored in the first container. Create a third set by adding the second node entity from the first container to the third set, thus obtaining a third entity set; Obtain the instruction for selecting the vehicle local coordinate system reference mesh, and store the mesh cell entity corresponding to the instruction for selecting the vehicle local coordinate system reference mesh in the second container; Create a fourth set by adding the grid cell entities from the second container to the fourth set, thus obtaining a fourth entity set.

5. The method as described in claim 4, characterized in that, The step of automatically acquiring entities from the entity set and obtaining the values ​​of the entities in the first, second, and third directions in the global coordinate system includes: The mesh cell entities in the fourth entity set are automatically obtained, thereby obtaining the normal vector values ​​of the mesh cell entities; Automatically obtain the second node entity from the third entity set, copy the second node entity to obtain the first copied node entity and the second copied node entity; 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 unit entity; Obtain the values ​​of the second node entity, the offset first copy node entity, and the offset second copy node entity in the first, second, and third directions in the global coordinate system.

6. The method as described in claim 1, characterized in that, The step of performing entity operations required for the vehicle local coordinate system based on the attribute operation interface to obtain the entity set includes: When it is detected that the type selected in the attribute operation interface is rigid element vehicle local coordinate system modeling, the instruction for selecting the vehicle local coordinate system reference rigid element is obtained, and the rigid element entity corresponding to the instruction for selecting the vehicle local coordinate system reference rigid element is stored in the first container. Create a fifth set by adding the rigid unit entities from the first container to the fifth set, thus obtaining a fifth entity set.

7. The method as described in claim 6, characterized in that, The step of automatically acquiring entities from the entity set and obtaining the values ​​of the entities in the first, second, and third directions in the global coordinate system includes: Automatically obtain the rigid unit entity in the fifth entity set, thereby obtaining one master node entity and two slave node entities in the rigid unit entity; And obtain the values ​​of the one master node entity and the two slave node entities in the first direction, the second direction and the third direction coordinate system in the global coordinate system.

8. An automatic modeling device for a vehicle local coordinate system, characterized in that, The device includes: The acquisition module is used to acquire the operation information of the vehicle local coordinate system model type selection button in the automated local coordinate system modeling interface; The operation module is used to enter the corresponding attribute operation interface according to the vehicle local coordinate system model type corresponding to the operation information. The acquisition module is also used to perform entity operations required for the vehicle local coordinate system according to the attribute operation interface to obtain an entity set; The operation module is also used to 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. The operation module is further configured to define the value of the variable as a preset value; if it is detected that the list does not contain a vehicle local coordinate system, the value of the variable remains unchanged; if it is detected that the list contains a vehicle local coordinate system, a sublist is created, and the number values ​​of all current vehicle local coordinate systems are obtained; the number values ​​within the preset range are filtered out, and the number values ​​that meet the filtering conditions are stored in the sublist; the size of the number values ​​in the sublist after the storage operation is compared, and the maximum number value in the sublist is incremented by one as the updated value of the variable; The acquisition module is also used to automatically acquire entities in the entity set and acquire the values ​​of the entity in the first direction, the second direction and the third direction in the global coordinate system; A creation module is used to obtain the parameters of the local coordinate system based on the values ​​of the first, second, and third directions of the entity in the global coordinate system, thereby automatically creating a vehicle local coordinate system numbered according to the updated variable values.

9. An automatic modeling device for a vehicle local coordinate system, characterized in that, The device includes: 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 automatic modeling method for a vehicle local coordinate system as described in any one of claims 1 to 7.

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