Articulated commercial vehicle simulation platform construction method, device, medium and product

Abstract

This application discloses a method, device, medium, and product for constructing an articulated commercial vehicle simulation platform, relating to the field of vehicle simulation technology. The method includes: constructing a dynamic model of an articulated commercial vehicle based on Lagrange dynamics theory; writing simulation code supporting vectorized operations for the dynamic model using an integrated development environment (IDE); optimizing and iterating the simulation code based on an improved 4th-order Runge-Kutta method to improve code solving efficiency and computational accuracy, resulting in optimized simulation code; and combining the optimized simulation code with Unreal Engine to build an articulated commercial vehicle dynamics simulation platform within Unreal Engine. This application can construct a refined dynamics simulation platform for articulated commercial vehicles.

Description

Technical Field

[0001] This application relates to the field of vehicle simulation technology, and in particular to a method, equipment, medium and product for constructing an articulated commercial vehicle simulation platform. Background Technology

[0002] In recent years, the number of commercial vehicles in my country has increased, and articulated commercial vehicles have been widely used due to their high efficiency, low cost, energy saving, and emission reduction. With the trend towards vehicle electrification and intelligentization, the requirements for the control performance and intelligent driving level of commercial vehicles are increasing, and product iteration and optimization rely on vehicle dynamics simulation platforms. Articulated commercial vehicles have diverse configurations, requiring flexible, modular, and high-precision simulation platforms to provide references for control algorithm verification, vehicle design, and the development of control algorithms for extreme operating conditions.

[0003] Currently, there are two main types of simulation platforms for articulated commercial vehicles: the first type relies on foreign commercial software such as Adams Car, Trucksim, and TruckMaker for analysis, and the second type uses Newtonian mechanics for vehicle dynamics modeling. However, articulated commercial vehicles have complex structures, a large number of tires, and difficult articulation points. Most of the models built by relevant research institutes ignore the motion of the wheels, concentrate the mass of the wheels in the vehicle body, and make a large degree of simplification, resulting in insufficient model accuracy. Summary of the Invention

[0004] The purpose of this application is to provide a method, equipment, medium, and product for constructing an articulated commercial vehicle simulation platform, which can build a refined dynamic simulation platform for articulated commercial vehicles.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] Firstly, this application provides a method for constructing an articulated commercial vehicle simulation platform, including:

[0007] Based on Lagrange dynamics theory, a dynamic model of an articulated commercial vehicle is constructed. The dynamic model consists of four parts: the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer.

[0008] Based on the dynamic model of the articulated commercial vehicle, simulation code supporting vectorized operations for the dynamic model was written using an integrated development environment tool.

[0009] Based on the improved 4th-order Runge-Kutta method, with the goal of improving code solving efficiency and computational accuracy, the simulation code is optimized and iterated to obtain the optimized simulation code;

[0010] By combining the optimized simulation code with Unreal Engine, an articulated commercial vehicle dynamics simulation platform was built within Unreal Engine.

[0011] In a second aspect, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the articulated commercial vehicle simulation platform construction method described in any one of the above-mentioned methods.

[0012] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for constructing an articulated commercial vehicle simulation platform as described above.

[0013] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the articulated commercial vehicle simulation platform construction method described in any one of the above-mentioned methods.

[0014] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0015] This application provides a method, equipment, medium, and product for constructing a simulation platform for articulated commercial vehicles. First, based on Lagrange dynamics theory, a dynamic model of the articulated commercial vehicle is constructed. This model is composed of the dynamic characteristics of four key components: the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer. Subsequently, based on this accurate dynamic model, simulation code supporting vectorized operations is written using an integrated development environment (IDE). This step ensures that the code can efficiently and accurately simulate the vehicle's dynamic behavior. To further improve the solution efficiency and computational accuracy of the code, an improved 4th-order Runge-Kutta method is used, and the simulation code undergoes multiple optimization iterations. This process aims to reduce computational errors and improve the accuracy and real-time performance of the simulation. Finally, the optimized simulation code is combined with Unreal Engine, and with the functional support of Unreal Engine, a dynamic simulation platform for the articulated commercial vehicle is built. The method of this application can construct a refined dynamic simulation platform for articulated commercial vehicles. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an application environment diagram of a method for constructing an articulated commercial vehicle simulation platform according to an embodiment of this application;

[0018] Figure 2 A flowchart illustrating a method for constructing an articulated commercial vehicle simulation platform according to an embodiment of this application;

[0019] Figure 3 A schematic diagram of an articulated commercial vehicle provided in an embodiment of this application;

[0020] Figure 4 A flowchart illustrating the implementation of an articulated commercial vehicle dynamics simulation platform according to an embodiment of this application;

[0021] Figure 5 An articulated commercial vehicle dynamics model frame is provided as an embodiment of this application;

[0022] Figure 6 A flowchart of a solution process for an articulated commercial vehicle model is provided as an embodiment of this application;

[0023] Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] The articulated commercial vehicle simulation platform construction method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be set up independently, integrated into server 104, or placed in the cloud or on another server. Terminal 102 can send the parameters of the articulated commercial vehicle to be processed to server 104. After receiving the parameters, server 104 constructs a dynamic model of the articulated commercial vehicle based on Lagrange dynamics theory. The dynamic model consists of four parts: the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer. Based on the dynamic model of the articulated commercial vehicle, simulation code supporting vectorized operations is written using an integrated development environment (IDE). Based on the improved 4th-order Runge-Kutta method, the simulation code is optimized and iterated to improve the code's solution efficiency and computational accuracy, resulting in optimized simulation code. The optimized simulation code is then combined with Unreal Engine to build an articulated commercial vehicle dynamics simulation platform within Unreal Engine. Server 104 can then feed back the obtained articulated commercial vehicle dynamics simulation platform to terminal 102. In addition, in some embodiments, the method for constructing the articulated commercial vehicle simulation platform can also be implemented by the server 104 or the terminal 102 separately. For example, the terminal 102 can directly construct a dynamic model for the articulated commercial vehicle parameters to be processed, or the server 104 can obtain the articulated commercial vehicle parameters to be processed from the data storage system and construct a dynamic model for the articulated commercial vehicle parameters to be processed.

[0027] The terminal 102 can be, but is not limited to, various desktop computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle devices. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster composed of multiple servers, or it can be a cloud server.

[0028] In one exemplary embodiment, such as Figure 2 As shown, a method for constructing an articulated commercial vehicle simulation platform is provided. This method is executed by computer equipment, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 1 Taking server 104 as an example, the explanation includes the following steps 201 to 208. Wherein:

[0029] Step 201: Based on Lagrange dynamics theory, construct a dynamic model of the articulated commercial vehicle; the dynamic model consists of four parts: the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer.

[0030] Step 202: Based on the dynamic model of the articulated commercial vehicle, use an integrated development environment tool to write simulation code for the dynamic model that supports vectorized operations;

[0031] Step 203: Based on the improved 4th-order Runge-Kutta method, with the goal of improving code solving efficiency and computational accuracy, the simulation code is optimized and iterated to obtain the optimized simulation code;

[0032] Step 204: Combine the optimized simulation code with Unreal Engine to build an articulated commercial vehicle dynamics simulation platform in Unreal Engine.

[0033] In some embodiments, when performing step 201, the specific steps may be as follows:

[0034] When constructing a dynamic model of an articulated commercial vehicle using Lagrange dynamics theory, the key input parameters are the steering wheel angle and the driving or braking torque of each wheel. The rotation of the tires is driven by both wheel torque and longitudinal ground force. The core inputs of the tire model module include the wheel's rotational angular velocity and the wheel center velocity, while its output is precise tire force and torque data.

[0035] The vertical motion of the unsprung mass is directly affected by the vertical force of the tires and the suspension force. In order to more accurately simulate the behavior of the articulation point, this embodiment treats it as a spring-damped system and calculates the magnitude of the articulation force based on the relative motion between the tractor and the trailer.

[0036] The overall motion of the vehicle body is determined by a combination of factors, including longitudinal and lateral tire forces, aerodynamic forces, suspension forces, and articulation forces. Figure 4 As shown, this modeling approach ensures a comprehensive and accurate description of the dynamic characteristics of articulated commercial vehicles.

[0037] To improve computational efficiency, a vehicle dynamics model supporting vectorized computation is established using vectorized programming methods. For example... Figure 3 As shown, it is the overall vehicle dynamics model architecture, which includes the interaction between the body, suspension, unsprung mass and tire model of the tractor and trailer respectively.

[0038] A multi-degree-of-freedom vehicle model is used to represent the dynamic behavior of a simplified vehicle composed of multiple rigid components. The tractor and trailer bodies have longitudinal, lateral, and vertical movement, as well as rotation about the x, y, and z axes. The 12 wheels have 12 rotational degrees of freedom, and due to the suspension system, the 12 wheels also have 12 vertical degrees of freedom. This totals 36 degrees of freedom.

[0039] In the modeling process, this embodiment uses O-xyz to represent the geodetic coordinate system, O1-x1y1z1 to represent the tractor body coordinate system, and O2-x2y2z2 to represent the trailer body coordinate system. The multi-degree-of-freedom generalized coordinates are represented by vectors as follows:

[0040] q = [q t,bv T q t,bω T q t,uθ T q t,uz T q s,bv T q s,bω T q s,uθ T q s,uz T ]

[0041] q t,bv =[X t Y t Z t ] T

[0042]

[0043] q t,uθ =[θ t,u,fl θ t,u,fr θ t,u,ml θ t,u,mr θ t,u,rl θ t,u,rr ] T

[0044] q t,uz =[z t,u,fl z t,u,fr z t,u,ml z t,u,mr z t,u,rl z t,u,rr ] T

[0045] q s,bv =[X s Y s Zs ] T

[0046]

[0047] q s,uθ =[θ s,u,fl θ s,u,fr θ s,u,ml θ s,u,mr θ s,u,rl θ s,u,rr ] T

[0048] q s,uz =[z s,u,fl z s,u,fr z s,u,ml z s,u,mr z s,u,rl z s,u,rr ] T (1).

[0049] In the formula, q represents the generalized coordinates of the vehicle model; the subscript t represents the tractor unit, the subscript s represents the trailer unit, and q bv The vector representing the position of the vehicle's center of mass, where X, Y, and Z are the absolute displacements of the center of mass along the global coordinate system; q bω This indicates the angle of rotation of the vehicle's center of gravity. φ and ψ are the rotation angles of the vehicle body about the three axes of the global coordinate system; q uθ θ represents the sequence of angular velocities generated by the rotational motion of the six tires on both sides. i q represents the angular velocity of the tire rotation. uz This represents the vertical displacement sequence of the six tires on both sides, z. i This indicates the vertical displacement of the tires; the six tires are distinguished by subscripts: u,fr represents the right tire of the first axle, u,fl represents the left tire of the first axle, u,mr represents the right tire of the second axle, u,ml represents the left tire of the second axle, u,rr represents the right tire of the third axle, and u,rl represents the left tire of the third axle.

[0050] The coordinates of the six tire centers of the tractor in the x1-y1 plane within the tractor's body coordinate system are:

[0051]

[0052] In the formula, l t w represents the longitudinal distance between the three axles of the tractor and its center of gravity. t This indicates the wheelbase of the three axles, with the subscript f representing the first axle, m representing the second axle, and r representing the third axle.

[0053] Accordingly, the coordinates of the six tire centers of the trailer in the x2-y2 plane within the trailer's body coordinate system are:

[0054]

[0055] Unsprung mass, i.e., the relative vertical position of the tire in the vehicle coordinate system, can be represented by its absolute coordinates, vehicle roll angle, pitch angle, and xy coordinates in the vehicle coordinate system, as follows:

[0056]

[0057]

[0058] From equation (4), the vertical velocity of the unsprung mass in the vehicle coordinate system can be expressed as:

[0059]

[0060]

[0061] The 36-DOF dynamic equations of the vehicle are derived based on Lagrange dynamics, as shown in the following equation:

[0062]

[0063]

[0064] In the formula: T represents the kinetic energy of the system, Q t,b Q represents the generalized force acting on the sprung mass of the tractor unit. t,u q represents the generalized force acting on the unsprung mass of the tractor unit. t,b The generalized coordinate q represents the sprung mass of the tractor. t,u A generalized coordinate system representing the unsprung mass of the tractor's six tires, including tire rotation angle and vertical position; Q s,b Q represents the generalized force acting on the sprung mass of the trailer. s,u q represents the generalized force acting on the unsprung mass of the trailer. s,b The generalized coordinate q represents the sprung mass of the trailer. s,u A generalized coordinate system representing the unsprung mass of the trailer's six tires, including tire rotation angle and vertical position.

[0065] The calculation process of the system kinetic energy is introduced using the tractor as an example. The calculation of the trailer system kinetic energy is exactly the same, so it will not be repeated here.

[0066] When calculating the kinetic energy of the sprung mass, the kinetic energy of the tire's lateral and longitudinal motion is considered, as shown in the following formula:

[0067]

[0068] In the formula: V t,b Vt,ui These are the components of the generalized velocity of the tractor body and the velocity of the unsprung mass in the vehicle body coordinate system, M. t,b M t,ui Let be the mass matrices of the tractor body and the unsprung mass, respectively. Through coordinate transformation and matrix calculation, the kinetic energy of the sprung mass can be expressed as:

[0069]

[0070] The kinetic energy of the unsprung mass consists of the rotation and vertical motion of the tire, as shown in the following equation:

[0071]

[0072] In the formula: V t,uz ω t,u The vertical velocity and angular velocity of the six unsprung tires are M, respectively. t,u J t,u Let be the mass matrix and moment of inertia matrix of the unsprung mass, respectively. Based on matrix calculations, equation (10) can be transformed into the form of generalized coordinates and a generalized mass matrix:

[0073]

[0074]

[0075] like Figure 5 As shown, the vertical forces acting on the sprung mass (vehicle body) include vehicle weight, suspension forces, vertical air resistance, and vertical articulation forces. The longitudinal forces include the lateral forces generated between the tires and the ground, the components of the longitudinal forces and air resistance in the global coordinate system, and the longitudinal articulation forces. The lateral forces include the components of the lateral and longitudinal forces acting on the tires from the ground, and the lateral articulation forces. The triaxial torques include the torques of the above forces about the center of mass, the tire self-aligning torque, the air resistance torque, the reaction torque of the driving tires, and the torque at the articulation points.

[0076] When calculating the six-component force at the hinge, the hinge point is considered as a spring-damped system in the direction of the six-component force. The six-component force at this point is determined by the relative displacement of the hinge point between the tractor and the trailer. First, the generalized coordinates of the hinge point in the tractor body coordinate system and the trailer body coordinate system are calculated:

[0077]

[0078]

[0079] In the formula: R and T are the rotation and translation matrices, respectively. The six components of force at the hinge point can be expressed as:

[0080]

[0081] In the formula: K and C are the stiffness and damping coefficient matrices, respectively.

[0082] The vertical force on a tire consists of the tire's own weight and the suspension force:

[0083] F t,z,i =F t,bs,i +m t,u,i g (16).

[0084] The longitudinal slip ratio at the tire-ground contact point is calculated using the following formula:

[0085]

[0086] In the formula: κ t,i For tire slip ratio, ω t,i v is the angular velocity of the tire rotation. t,wx,i v t,wy,i The longitudinal and transverse velocities at the wheel center are respectively, and the calculation method is shown in the following formula:

[0087] v t,wx,i =v t,ux,i cosδ t,i +v t,uy,i sinδ t,i

[0088] v t,wy,i =-v t,ux,i sinδ t,i +v t,uy,i cosδ t,i (18).

[0089] Where: δ t,i The tire swerve angle is α, and the tire slip angle is α. t,i The calculation method is as follows:

[0090]

[0091] The tire magic formula is used to calculate the tire's longitudinal force, lateral force, self-aligning torque, rolling resistance torque, and yaw resistance torque.

[0092] The longitudinal force at the tire-ground contact point can be described by the magic formula as follows:

[0093]

[0094] The lateral force at the tire-ground contact point can be described using the magic formula as follows:

[0095]

[0096] The tire rollover moment is calculated as follows:

[0097]

[0098] The calculation method for tire rolling resistance torque is as follows:

[0099]

[0100] The tire return torque is calculated as follows:

[0101] M t,z =-t(F y -S Vyk )+M zr +sF x (twenty four).

[0102] Among them, B x,i B y,i C is the stiffness factor. x,i C y,i D is the shape factor. x,i D y,i E is the peak factor. x,i E y,i For curvature factor, For vertical offset, For the vertical offset induced by braking force, G xα,i G yκ,i These are the weighting coefficients for the longitudinal and lateral directions of the combined working condition, respectively; λ Mx λ is the proportionality factor for the overturning torque. vMx Q is the vertical offset scaling factor for the overturning torque. sx1 For the offset of the overturning torque, Q sx2 Q is the outclination-induced flipping coupling coefficient. sx3 P is the lateral force-induced overturning coupling coefficient. pmx1 The effect of expansion pressure on overturning moment; λ My Q is the rolling resistance torque proportionality factor. sy1 Q is the rolling resistance torque coefficient. sy2 For the rolling resistance torque that depends on the longitudinal force, Q sy3 For speed-dependent rolling resistance torque, Q sy4 For the rolling resistance torque that depends on the fourth power of the speed, V ref For reference speed; t is tire trail distance, M zr is the residual restoring torque, and s is the combined slip ratio.

[0103] Suspension forces consist of spring forces and damping forces. When the stiffness and damping ratio are constant, the suspension forces can be expressed as:

[0104]

[0105] The calculation of air resistance begins with calculating the air resistance sideslip angle. Assuming the air is still and the wind speed is 0, the air resistance sideslip angle is the same as the vehicle's center of gravity sideslip angle. The calculation method is as follows:

[0106]

[0107] Then, based on the air drag sideslip angle, the air drag coefficient is calculated using linear interpolation and cubic spline interpolation methods:

[0108]

[0109] Calculate the air drag factor:

[0110]

[0111] In summary, substituting the above results, we can calculate the air resistance:

[0112]

[0113] In the formula: A t,air L is the frontal area of ​​the tractor unit. t,air Calculate the length for the air resistance of the tractor.

[0114] Based on the above calculations of tire forces and suspension model, the generalized force matrix of the sprung mass of the tractor is shown in the following equation:

[0115]

[0116] The forces acting on the unsprung mass of the tractor unit include suspension forces, vertical ground forces, and the weight of the tires themselves; the torques acting on it include driving torque and tire rolling resistance torque. Its generalized force matrix is ​​represented as:

[0117]

[0118] Similarly, the generalized force matrix of the sprung and unsprung masses of the trailer can be derived:

[0119]

[0120]

[0121] Based on force analysis and the principle of virtual work, the generalized force can be derived, as shown in the following equation:

[0122]

[0123]

[0124]

[0125]

[0126] According to Lagrange dynamics, the generalized equation of motion for the sprung mass of the tractor is as follows:

[0127]

[0128] The generalized equation of motion for the unsprung mass of the tractor is as follows:

[0129]

[0130] The generalized equation of motion for the sprung mass of the trailer is as follows:

[0131]

[0132] The generalized equation of motion for the unsprung mass of the trailer is as follows:

[0133]

[0134] Among them, T t q represents the system kinetic energy of the tractor t. t,b A generalized coordinate system representing the sprung mass of the tractor unit. The first derivative of the generalized coordinates of the sprung mass of the tractor unit. M represents the second derivative of the generalized coordinate of the sprung mass of the tractor. t,gb The generalized mass matrix representing the sprung mass of the tractor unit. Q represents the first derivative of the generalized mass matrix representing the sprung mass of the tractor. t,b q represents the generalized force acting on the sprung mass of the tractor unit. t,u A generalized coordinate system representing the unsprung mass of the tractor's six tires. The first derivative of the generalized coordinates representing the unsprung mass of the tractor's six tires; M represents the second derivative of the generalized coordinates of the six tires of the tractor, i.e., the unsprung mass. t,gu The generalized mass matrix representing the unsprung mass of the tractor unit. Q represents the first derivative of the generalized mass matrix representing the unsprung mass of the tractor. t,u T represents the generalized force acting on the unsprung mass of the tractor unit. s q represents the system kinetic energy of trailer s. s,b A generalized coordinate system representing the sprung mass of a trailer. The first derivative of the generalized coordinate representing the sprung mass of the trailer. The second derivative of the generalized coordinate representing the sprung mass of the trailer, M s,gb The generalized mass matrix representing the sprung mass of a semi-trailer. Q represents the first derivative of the generalized mass matrix representing the sprung mass of the semi-trailer. s,bq represents the generalized force acting on the sprung mass of the trailer. s,u A generalized coordinate system representing the unsprung mass of the trailer's six tires. The first derivative of the generalized coordinates representing the unsprung masses of the trailer's six tires. M represents the second derivative of the generalized coordinates of the six tires of the trailer, i.e., the unsprung mass. s,gu The generalized mass matrix representing the unsprung mass of a semi-trailer. Q represents the first derivative of the generalized mass matrix representing the unsprung mass of the semi-trailer. s,u This refers to the generalized force acting on the unsprung mass of the trailer.

[0135] The second derivatives of all state variables can be obtained through equations (35), (36), (37), and (38). The first derivatives of the state variables can be obtained by integration. The values ​​of all state variables can be obtained by calculation.

[0136] In some embodiments, when performing step 202, the specific steps may be as follows:

[0137] Based on the dynamic model of the articulated commercial vehicle, using Matlab or Visual Studio tools, the generalized motion formulas for the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer in the dynamic model were written, resulting in simulation code for the dynamic model that supports vectorized operations.

[0138] Specifically, the solution and calculation steps for obtaining the simulation code supporting vectorized operations of the dynamic model are attached. Figure 6 As shown:

[0139] First, determine the vehicle body parameters for the simulation vehicle, such as mass, moment of inertia, and mechanism parameters. Then, determine the parameters of each submodule, such as air resistance calculation factor, tire structure parameters, and magic formula constants. Finally, input the initial values ​​of each state of the vehicle, including generalized coordinates and velocity.

[0140] Based on the current vehicle status, the external forces and torques on each part are calculated through sub-modules such as suspension, air resistance, and tires. The results of all external force and torque calculations are combined and substituted into the vehicle dynamics equation and tire dynamics equation to obtain the generalized acceleration of multiple state quantities.

[0141] Simultaneously, the differential equations for intermediate quantities are obtained through the tire sub-model;

[0142] Integrating the above generalized acceleration and differential equations yields all state variables for the next time step, which are then used as initial values ​​for the next step of model solving.

[0143] The model is solved using the fourth-order Runge-Kutta integration method, as shown in equation (39).

[0144]

[0145]

[0146] The steps in this embodiment can yield high-precision dynamic model simulation code for articulated commercial vehicles. Furthermore, the calculation results of the simulation code can be compared with those of commercial software to verify the correctness of the constructed model.

[0147] In some embodiments, when performing step 203, the specific steps may be as follows:

[0148] The code for the dynamic model developed in step 202 was optimized and iterated to improve computational efficiency, mainly considering the following aspects:

[0149] (1) The integration algorithm initially used in the calculation process in step 202 is the fourth-order Runge-Kutta method. Under certain working conditions, this integration method is not well applied. It is necessary to coordinate the calculation efficiency and calculation accuracy to improve the integration method (such as variable step size integration) in order to improve the calculation efficiency and calculation accuracy.

[0150] (2) The coefficient matrix of the dynamic differential equation derived in step 202 has a large order. When solving, the coefficient matrix is ​​considered to improve the solution efficiency.

[0151] (3) In order to obtain higher accuracy, some code takes a long time to solve. We consider simplifying the relevant calculation process by means of graph search, data-driven methods, etc., so as to achieve a balance between solution efficiency and calculation accuracy.

[0152] Specifically, the integration algorithm was adjusted as follows: In step 202, the initial integration algorithm selected was the classic 4th-order Runge-Kutta method. This method is known for its computational stability and certain accuracy, but its limitations gradually become apparent when faced with complex and variable working conditions. Especially when high accuracy is required and computational resources are limited, traditional fixed-step integration methods may not be able to simultaneously meet the dual requirements of computational efficiency and accuracy.

[0153] To address this, this embodiment introduces a variable step-size integration strategy, such as the Adaptive Step Size Runge-Kutta Method. This method dynamically adjusts the step size based on error estimation during the computation process, thereby effectively reducing unnecessary computational steps and significantly improving computational efficiency while maintaining computational accuracy. In specific scenarios, the adaptive step-size integration method can improve computational efficiency by approximately 30% to 50% compared to the fixed step-size method.

[0154] Specifically, efficient handling of the coefficient matrix: The coefficient matrix in dynamic differential equations is often of high order, and direct solution is not only computationally intensive but also prone to introducing numerical errors. This embodiment fully considers the characteristics of the coefficient matrix during optimization, and effectively reduces the complexity of the solution through techniques such as matrix decomposition and sparsification.

[0155] For example, for large sparse matrices, this embodiment can employ efficient algorithms such as LU decomposition and Cholesky decomposition to reduce computational load by leveraging the sparsity of the matrix. Simultaneously, by combining parallel computing techniques, the task of solving large matrices is distributed across multiple processors for parallel processing, further improving the solution speed.

[0156] Specifically, the solution process is intelligently simplified: In the process of model calculation, in order to pursue higher accuracy, some code segments often need to perform complex numerical calculations, which inevitably increases the solution time. In order to balance solution efficiency and calculation accuracy, this embodiment introduces intelligent methods such as graph search and data-driven approaches to simplify the solution process.

[0157] Graph search methods construct a solution space graph of the problem and use heuristic information to guide the search process, quickly finding approximate solutions that meet accuracy requirements. Data-driven methods, on the other hand, train machine learning models to predict solutions to the current problem using historical data, thereby reducing computational load while maintaining accuracy.

[0158] In some embodiments, when performing step 204, the specific steps may be as follows:

[0159] A basic model of an articulated commercial vehicle simulation platform was built in Unreal Engine, including components such as the vehicle body shell, tires, and suspension. Based on these components, a complete articulated commercial vehicle model was assembled and constructed.

[0160] The optimized dynamics simulation code obtained in step 203 is combined with the articulated commercial vehicle model in Unreal Engine. Unreal Engine is then used to visualize the calculation results of the simulation code, allowing users to view the results more clearly and conveniently. This forms an overall framework for the self-written code to calculate the dynamics behavior and the Unreal Engine model to display the code's calculation results.

[0161] User-friendliness was considered during the development process, and a corresponding user interface was developed based on the Qt platform, including basic functions such as modular components, component parameter modification, motion process display, and mouse drag-and-drop modules. External data interfaces were provided during development, enabling the developed simulation platform to support the testing and verification of decision-making, planning, and control algorithms. Ultimately, a fully autonomous and sophisticated articulated commercial vehicle dynamics simulation platform was constructed.

[0162] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 7 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data for the articulated commercial vehicle simulation platform. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for constructing an articulated commercial vehicle simulation platform.

[0163] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0164] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0165] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0166] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0167] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0168] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0169] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0170] In summary, this application has the following technical effects:

[0171] In the dynamics modeling of articulated commercial vehicles, this application considers the influence of tire motion on vehicle body characteristics, employs the Lagrangian method and incorporates three-dimensional spatial rotation, thereby improving the model's accuracy and applicability. Through independent code writing and iterative optimization, a balance between efficient computation and accuracy was achieved. Furthermore, integrating the code with Unreal Engine provides a better visual interface and human-computer interaction experience, facilitating subsequent development and use.

[0172] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0173] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for constructing an articulated commercial vehicle simulation platform, characterized in that, include: Based on Lagrange dynamics theory, a dynamic model of an articulated commercial vehicle is constructed. The dynamic model consists of four parts: the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer. Based on the dynamic model of the articulated commercial vehicle, simulation code supporting vectorized operations for the dynamic model was written using an integrated development environment tool. Based on the improved 4th-order Runge-Kutta method, with the goal of improving code solving efficiency and computational accuracy, the simulation code is optimized and iterated to obtain the optimized simulation code; The improved 4th-order Runge-Kutta method is a 4th-order Runge-Kutta method that uses variable step-size integration; The optimized simulation code was combined with Unreal Engine to build an articulated commercial vehicle dynamics simulation platform in Unreal Engine. Based on Lagrange dynamics theory, a dynamic model of an articulated commercial vehicle is constructed, specifically including: According to the formula Calculate the generalized motion of the sprung mass of the tractor unit in the dynamic model of the articulated commercial vehicle; in, T t Indicates tractor The system kinetic energy, A generalized coordinate system representing the sprung mass of the tractor unit. The first derivative of the generalized coordinates of the sprung mass of the tractor unit. The second derivative of the generalized coordinate of the sprung mass of the tractor unit. The generalized mass matrix representing the sprung mass of the tractor unit. The first derivative of the generalized mass matrix representing the sprung mass of the tractor unit. This represents the generalized force acting on the sprung mass of the tractor unit; Based on Lagrange dynamics theory, a dynamic model of an articulated commercial vehicle is constructed, specifically including: According to the formula Calculate the generalized motion of the unsprung mass of the tractor in the dynamic model of the articulated commercial vehicle; in, A generalized coordinate system representing the unsprung mass of the tractor's six tires. The first derivative of the generalized coordinates representing the unsprung mass of the tractor's six tires; The second derivative of the generalized coordinates representing the unsprung mass of the tractor's six tires. The generalized mass matrix representing the unsprung mass of the tractor unit. The first derivative of the generalized mass matrix representing the unsprung mass of the tractor unit. This represents the generalized force acting on the unsprung mass of the tractor unit. Based on Lagrange dynamics theory, a dynamic model of an articulated commercial vehicle is constructed, specifically including: According to the formula Calculate the generalized motion of the trailer sprung mass in the dynamic model of the articulated commercial vehicle; in, T s This represents the system kinetic energy of trailer s. A generalized coordinate system representing the sprung mass of a trailer. The first derivative of the generalized coordinate representing the sprung mass of the trailer. The second derivative of the generalized coordinate representing the sprung mass of the trailer. The generalized mass matrix representing the sprung mass of a semi-trailer. The first derivative of the generalized mass matrix representing the sprung mass of a semi-trailer. This represents the generalized force acting on the sprung mass of the trailer; Based on Lagrange dynamics theory, a dynamic model of an articulated commercial vehicle is constructed, specifically including: According to the formula Calculate the generalized motion of the unsprung mass of the trailer in the dynamic model of the articulated commercial vehicle; in, A generalized coordinate system representing the unsprung mass of the trailer's six tires. The first derivative of the generalized coordinates representing the unsprung mass of the trailer's six tires. The second derivative of the generalized coordinates representing the unsprung mass of the trailer's six tires. The generalized mass matrix representing the unsprung mass of a semi-trailer. The first derivative of the generalized mass matrix representing the unsprung mass of a semi-trailer. This refers to the generalized force acting on the unsprung mass of the trailer.

2. The method for constructing an articulated commercial vehicle simulation platform according to claim 1, characterized in that, Based on the dynamic model of the articulated commercial vehicle, simulation code supporting vectorized operations for the dynamic model was written using an integrated development environment (IDE), specifically including: Based on the dynamic model of the articulated commercial vehicle, using Matlab or Visual Studio tools, the generalized motion formulas for the sprung mass of the tractor, the unsprung mass of the tractor, the sprung mass of the trailer, and the unsprung mass of the trailer in the dynamic model were written, resulting in simulation code for the dynamic model that supports vectorized operations.

3. The method for constructing an articulated commercial vehicle simulation platform according to claim 1, characterized in that, The optimized simulation code was combined with Unreal Engine to build an articulated commercial vehicle dynamics simulation platform within Unreal Engine, specifically including: An initial model of an articulated commercial vehicle simulation platform was built using Unreal Engine; the initial model includes the vehicle body shell, tires, and suspension. The optimized simulation code is combined with the initial model of the articulated commercial vehicle simulation platform in Unreal Engine. The calculation results of the optimized simulation code are then visualized using Unreal Engine, resulting in the articulated commercial vehicle dynamics simulation platform.

4. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement a method for constructing an articulated commercial vehicle simulation platform according to any one of claims 1-3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements a method for constructing an articulated commercial vehicle simulation platform as described in any one of claims 1-3.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a method for constructing an articulated commercial vehicle simulation platform as described in any one of claims 1-3.

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