Suspension hard point determination method, device and system of suspension dynamical model

Abstract

The invention relates to a suspension hard point determination method, device and system for a suspension dynamical model, and the method comprises the steps: obtaining structure data obtained through the measurement of a preset rack; wherein an automobile suspension component is assembled on the preset rack; calculating a first hard point coordinate of the automobile suspension component according to the structural data; calculating a second hard point coordinate based on the suspension dynamical model of the automobile suspension component; and determining a target suspension hard point of the suspension dynamical model according to offset information between the first hard point coordinate and the second hard point coordinate. Through the method and the device, the problem of low accuracy of suspension hard point determination is solved.

Description

Technical Field

[0001] The present application relates to the field of automobile suspension, and in particular to a suspension hard point determination method, device and system of a suspension dynamics model. Background Art

[0002] The suspension is an important assembly of modern automobiles. It elastically connects the body and wheels. Its main function is to transmit all forces and moments between the body and wheels, mitigate the impact load transmitted to the body by the uneven road surface, attenuate the vibration of the load-bearing system caused by it, and control the movement law of the wheels to ensure that the car has the required smoothness and handling stability. The key to determining the performance of the suspension is the position of the suspension hard point. The position of the hard point will directly affect the performance parameters characterizing the whole vehicle, and the stability of the performance parameters is very critical to ensuring the performance of the whole vehicle. In the prior art, when determining the above-mentioned suspension hard points, it is usually verified through the whole vehicle KC (kinematic and elastic kinematic performance) experiment, which has low accuracy.

[0003] Currently, no effective solution has been proposed for the problem of low accuracy in determining the suspension hard points of the suspension dynamics model in the related art. Summary of the invention

[0004] The embodiments of the present application provide a method, device and system for determining suspension hard points of a suspension dynamics model, so as to at least solve the problem of low accuracy in determining suspension hard points of a suspension dynamics model in the related art.

[0005] In a first aspect, an embodiment of the present application provides a method for determining suspension hard points of a suspension dynamics model, the method comprising:

[0006] Acquire structural data measured for a preset bench, wherein the preset bench is assembled with automobile suspension components;

[0007] Calculating the first hard point coordinates of the vehicle suspension component according to the structural data;

[0008] Calculating a second hard point coordinate based on a suspension dynamics model of the automobile suspension component;

[0009] A target suspension hard point of the suspension dynamics model is determined according to the offset information between the first hard point coordinates and the second hard point coordinates.

[0010] In some embodiments, the obtaining of structural data measured on a preset bench includes:

[0011] Acquire the structural data obtained by measuring the preset platform with a coordinate measuring instrument; or,

[0012] The point cloud data generated by scanning the preset platform with a three-dimensional scanning device is acquired, and the structural data is obtained according to the point cloud data.

[0013] In some embodiments, the step of acquiring point cloud data generated by scanning the preset gantry with a three-dimensional scanning device, and obtaining the structural data according to the point cloud data includes:

[0014] According to the point cloud data, key points of the automobile suspension component are identified, and structural data of the identified key points are obtained.

[0015] In some embodiments, the calculating the second hard point coordinates based on the suspension dynamics model of the automobile suspension component includes:

[0016] Obtaining preset elastic component parameters;

[0017] The elastic member parameters are input into the suspension dynamics model to obtain the second hard point coordinates.

[0018] In some embodiments, there are a plurality of first hard point coordinates and a plurality of second hard point coordinates; determining a target suspension hard point of the suspension dynamics model according to offset information between the first hard point coordinates and the second hard point coordinates includes:

[0019] Generating a first fitting curve according to each of the first hard point coordinates; wherein each of the first hard point coordinates is generated by corresponding calculation based on adjusting a number of setting parameters of the elastic element on the automobile suspension component;

[0020] Generate a second fitting curve according to each of the second hard point coordinates; wherein each of the second hard point coordinates is generated by corresponding calculation based on adjusting the elastic member parameters;

[0021] The first fitting curve and the second fitting curve are compared to obtain the offset information and determine the target suspension hard point.

[0022] In some embodiments, determining a target suspension hard point of the suspension dynamics model according to the offset information between the first hard point coordinates and the second hard point coordinates includes:

[0023] In the case where it is detected that the offset information is greater than a preset offset threshold, determining the target suspension hard point based on the first hard point coordinates;

[0024] The suspension dynamics model is adjusted based on the target suspension hard point, and a new suspension dynamics model is generated.

[0025] In some embodiments, obtaining the offset information between the first hard point coordinates and the second hard point coordinates includes:

[0026] Determine the reference coordinate system according to the positioning reference point of the automobile subframe;

[0027] Converting the first hard point coordinates in the gantry coordinate system to the reference coordinate system to obtain the third hard point coordinates, and converting the second hard point coordinates in the simulation coordinate system to the reference coordinate system to obtain the fourth hard point coordinates;

[0028] The third hard point coordinates and the fourth hard point coordinates are compared to obtain the offset information.

[0029] In a second aspect, an embodiment of the present application provides a suspension hard point determination device for a suspension dynamics model, the device comprising:

[0030] An acquisition module, used for acquiring structural data measured on a preset bench, wherein the preset bench is assembled with automobile suspension components;

[0031] A first hard point calculation module, used for calculating the first hard point coordinates of the automobile suspension component according to the structural data;

[0032] A second hard point calculation module, used for calculating the second hard point coordinates based on the suspension dynamics model of the automobile suspension component;

[0033] An offset correction module is used to determine a target suspension hard point of the suspension dynamics model according to offset information between the first hard point coordinates and the second hard point coordinates.

[0034] In a third aspect, an embodiment of the present application provides a suspension hard point determination system for a suspension dynamics model, the system comprising a controller; the controller is used to execute the suspension hard point determination method for the suspension dynamics model as described in the first aspect above.

[0035] In a fourth aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the suspension hard point determination method described in the first aspect when running.

[0036] Compared with the related art, the suspension hard point determination method, device and system of the suspension dynamics model provided in the embodiment of the present application obtains the structural data measured for the preset bench; wherein the preset bench is assembled with the automobile suspension components; according to the structural data, the first hard point coordinates of the automobile suspension components are calculated; based on the suspension dynamics model of the automobile suspension components, the second hard point coordinates are calculated; according to the offset information between the first hard point coordinates and the second hard point coordinates, the target suspension hard point of the suspension dynamics model is determined. Based on this, it is possible to test the actual coordinates (first hard point coordinates) of each hard point of the automobile suspension component, and whether the actual coordinates of each hard point are offset relative to the second hard point coordinates of the suspension dynamics model, thereby realizing an accurate hard point determination method for complex and mutually influential suspension components, and effectively solving the problem of low accuracy in suspension hard point determination.

[0037] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 It is a hardware structure block diagram of a terminal of a suspension hard point determination method of a suspension dynamics model according to an embodiment of the present application;

[0040] Figure 2 is a flow chart of a suspension hard point determination method of a suspension dynamics model according to an embodiment of the present application;

[0041] Figure 3 is a flow chart of a method for determining suspension hard points of another suspension dynamics model according to an embodiment of the present application;

[0042] Figure 4 It is a structural block diagram of a suspension hard point determination device of a suspension dynamics model according to an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0044] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0045] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0046] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. Taking running on a terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a terminal of a suspension hard point determination method according to an embodiment of the present application. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0047] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the suspension hard point determination method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0048] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0049] This embodiment provides a suspension hard point determination method for a suspension dynamics model. Figure 2 is a flow chart of a suspension hard point determination method of a suspension dynamics model according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0050] Step S210, obtaining structural data measured for a preset test bench; wherein the preset test bench is assembled with automobile suspension components.

[0051] The above-mentioned preset test bench is a pre-designed test bench on which all parts of the automobile chassis, including the automobile suspension components, can be assembled. In other words, the preset test bench can accommodate and fix all key parts of the automobile chassis, including the suspension components, thereby providing a stable and controllable testing environment to ensure that the quality and performance of the whole vehicle can reach the expected level.

[0052] In this step, the preset stand can be adjusted up and down, the wheel center of the car can be adjusted to the designed position, and the wheel center position can be fixed. After that, the preset stand that has been built and adjusted can be measured using measuring tools (such as a three-coordinate measuring instrument, a laser rangefinder, a vernier caliper, etc.) to obtain the structural data of each component on the preset stand. The structural data specifically refers to the measurement data of the structure of each component in the automobile suspension components built on the preset stand.

[0053] Step S220, calculating the first hard point coordinates of the automobile suspension component according to the structural data.

[0054] The hard points in the suspension include key installation points, motion hinge center points, bushing center points, etc. Specifically, the wheel center point, inner and outer points of the swing arm, inner and outer points of the steering rod, shock absorber installation points, etc. are all hard points in the suspension system; the position and relationship of these hard points determine the suspension motion trajectory and the direction of wheel bounce. Specifically, by measuring the preset bench with automobile suspension components in the above steps, the structural data of key parts such as shock absorbers and steering knuckles are obtained, and the hard points on the suspension components are identified according to the suspension design drawings and measurement data, and then the first hard point coordinates on the suspension components are determined.

[0055] Step S230, calculating the second hard point coordinates based on the suspension dynamics model of the automobile suspension component.

[0056] The establishment process of the suspension dynamics model of the above simulation can be as follows: first, the type of suspension (such as McPherson, double wishbone, multi-link, etc.) is clarified, because different types of suspensions have different kinematic and dynamic characteristics. Next, the geometric model of the suspension components, including shock absorbers, springs, control arms, steering knuckles, etc., is established using simulation software such as Adams / Car; in the geometric model, the hard points of the suspension are defined according to the design drawings and actual conditions of the suspension.

[0057] Next, in the simulation process based on the suspension dynamics model constructed above, the correct material properties are assigned to the suspension components, including density, elastic modulus, Poisson's ratio, etc. The suspension model is subjected to kinematic analysis through simulation software to simulate the motion trajectory and posture changes of the suspension under different working conditions. Based on the kinematic simulation, dynamic analysis is performed to calculate the dynamic parameters such as the force, acceleration, and velocity of the suspension components. Finally, the position information of the key nodes is extracted from the simulation results. These nodes usually correspond to the hard points of the suspension, that is, the coordinates of the second hard point mentioned above are obtained.

[0058] Step S240: determining a target suspension hard point of the suspension dynamics model according to the offset information between the first hard point coordinates and the second hard point coordinates.

[0059] Among them, by comparing the positional relationship between the first hard point coordinate and the second hard point coordinate, it can be determined whether the actual hard point coordinate (first hard point coordinate) calculated under the test environment is offset compared to the hard point coordinate (second hard point coordinate) generated by the simulation calculation. If so, the first hard point coordinate can be used as the basis for design adjustment to adjust the simulated kinematic model to achieve the purpose of correcting the design and obtain the precise position of the corrected target suspension hard point. On the contrary, it can be considered that the actual hard point coordinate (first hard point coordinate) determined by the test has not been offset compared to the hard point coordinate (second hard point coordinate) of the simulation design, or the offset has not affected the suspension performance. At this time, the second hard point coordinate can be determined as the target suspension hard point, so there is no need to adjust the simulation model design, and the subsequent workflow can be continued.

[0060] In the above-mentioned suspension hard point determination method, by measuring and calculating the first hard point coordinates of a preset test bench assembled with automobile suspension components, and comparing them with the second hard point coordinates calculated using a simulated suspension dynamics model, the actual coordinates of each hard point of the automobile suspension component and whether the hard point is offset can be tested, thereby realizing an accurate hard point determination method for complex and mutually influential suspension components, and effectively solving the problem of low accuracy in suspension hard point determination.

[0061] In some embodiments, the above-mentioned obtaining of structural data obtained by measuring the preset stage may further include the following step: obtaining structural data obtained by measuring the preset stage with a coordinate measuring instrument.

[0062] In this embodiment, a high-precision three-dimensional measuring device such as a three-coordinate measuring instrument can be used to measure the key points of the automobile suspension components built on the preset stand. In the subsequent calculation process of the first hard point coordinate, if the hard point itself is one of the measurement points, the coordinates of the point are directly used as the hard point coordinates. If the hard point is not on the measurement point, but can be interpolated through the measurement point, an interpolation algorithm (such as linear interpolation, spline interpolation, etc.) is used to calculate the hard point coordinates. Alternatively, the hard point coordinates can also be calculated using geometric methods (such as distance, angle, etc.) based on the geometric shape of the suspension component and the measurement data. It should also be understood that before calculating the hard point coordinates, in order to further ensure the accuracy of the hard point coordinate calculation and simplify the amount of calculation, the above-mentioned measurement data can be processed by removing noise and outliers and other data preprocessing methods, and then the first hard point coordinates are calculated based on the measurement data obtained after preprocessing.

[0063] Alternatively, in another embodiment, the above-mentioned acquisition of point cloud data generated by scanning a preset stand by a three-dimensional scanning device, and obtaining structural data based on the point cloud data. The three-dimensional scanning device can be a handheld laser scanner, a structured light scanner, or a stereoscopic vision scanner. After the scanning is completed, the point cloud data is extracted from the scanning device; the point cloud data is a collection of a large number of three-dimensional coordinate points, which represent the surface shape of the automobile suspension components.

[0064] More specifically, based on the point cloud data, the key points of the automobile suspension components are identified, and the structural data of the identified key points are obtained. Among them, the key points of the suspension system, such as the subframe, shock absorber, steering knuckle, etc., can be extracted from the point cloud data using 3D modeling software. According to the design drawings and assembly requirements of the suspension system, the installation hard points of the suspension are determined at the extracted key points. Then, the measurement tools in the 3D modeling software are used to calculate the 3D coordinates of each installation hard point. It can be seen that scanning and measuring by 3D scanning equipment can help reduce the labor cost of manually recording measurement data, and improve calculation efficiency and accuracy, compared with the measurement achieved by coordinate measuring instruments.

[0065] Through the above embodiments, a variety of methods for measuring a preset stand are provided, so that the staff can select an appropriate measurement method according to the actual situation, thereby expanding the application scenarios.

[0066] In some embodiments, the calculation of the second hard point coordinates based on the suspension dynamics model of the automobile suspension component may further include the following steps:

[0067] Obtaining preset elastic member parameters; wherein the elastic member parameters correspond to elastic element setting information of the automobile suspension component; inputting the elastic member parameters into the suspension dynamics model, and obtaining the second hard point coordinates.

[0068] It should be noted that in order to accurately detect the hard point changes before and after the suspension components are subjected to force, the automobile suspension components built on the preset test bench can adjust different force values ​​and calculate the first hard point coordinates corresponding to the automobile suspension components under different force conditions. Accordingly, the elastic component parameters input to the suspension dynamics model are adjusted to simulate the suspension dynamics model under the same force condition, and the corresponding second hard point coordinates are calculated. The elastic component parameters specifically refer to the parameters including stiffness, damping and other data set for elastic elements such as springs and shock absorbers in the simulated suspension dynamics model; these parameters will directly affect the dynamic response of the suspension.

[0069] The following is a brief description of this step by taking the calculation of hard point coordinates for the two situations of force and no force as an example. Among them, when the suspension component built on the preset stand is equipped with a spring, a point cloud scan is performed on the entire vehicle chassis on the stand, and after the spring of the suspension component is removed, a point cloud scan is performed on the entire chassis. Calculation is performed based on the two types of point cloud data, and the first hard point coordinates under force and the first hard point coordinates under no force are output accordingly. A suspension dynamics model of the suspension is built, the elastic component parameters are output, the force state is changed by changing the elastic component parameters, and the second hard point coordinates under force and the second hard point coordinates under no force are output. After that, the first hard point coordinates under force are compared with the second hard point coordinates under force, and the first hard point coordinates under no force are compared with the second hard point coordinates under no force, so as to determine the target suspension hard point according to the changes in the hard point coordinates before and after force.

[0070] Through the above embodiment, by adjusting and inputting the corresponding elastic part parameters, the second hard point coordinates calculated by simulation can be generated under the same stress environment as the first hard point coordinates of the test, thereby taking into account the actual stress conditions of the suspension components, the changes between the simulated hard points and the actual hard points, which is beneficial to improving the accuracy of suspension hard point deviation correction.

[0071] In some of the embodiments, there are several first hard point coordinates and several second hard point coordinates. The multiple first hard point coordinates and the multiple second hard point coordinates can be calculated by adjusting the automobile suspension components built on the preset test bench and adjusting the elastic component parameters. For example, different force values ​​under the test environment can be set by adjusting the spring preload, shock absorber hardness, etc. of the suspension components built on the preset test bench in the test environment, and calculating the coordinates of each first hard point based on the data obtained by measuring under different force values; by adjusting the elastic component parameters of the simulation model, set the corresponding multiple force values, and output the coordinates of each second hard point under different elastic component parameters; then compare the hard point coordinates of the two one by one and calibrate them.

[0072] Furthermore, considering that the test requires more manpower and material resources to repeatedly adjust the spring preload, in order to save costs and save calculation time, in this embodiment, the target suspension hard point of the suspension dynamics model is determined according to the offset information between the first hard point coordinates and the second hard point coordinates, and the following steps may also be included:

[0073] A first fitting curve is generated according to each first hard point coordinate; wherein each first hard point coordinate is generated by corresponding calculation based on adjusting a number of setting parameters of an elastic element on a vehicle suspension component; a second fitting curve is generated according to each second hard point coordinate; wherein each second hard point coordinate is generated by corresponding calculation based on adjusting elastic component parameters; the first fitting curve and the second fitting curve are compared to obtain offset information and determine a target suspension hard point.

[0074] The above-mentioned setting parameters specifically refer to the parameters such as the spring preload and shock absorber hardness actually adjusted for the elastic elements such as springs and shock absorbers in the automobile suspension components built on the preset test bench. For example, the springs are installed on the automobile suspension components built under the test environment and the spring preloads with different parameter values ​​are adjusted, the preset test bench under different spring warning forces is scanned, and the preset test bench after the springs are removed is scanned; based on the various types of point cloud data scanned in the above-mentioned various situations, the corresponding first hard point coordinates are calculated respectively.

[0075] Among them, by setting a proper amount of test points with different force values ​​(including 0 force value), using mathematical methods such as least squares method, a series of discrete test points in the test environment and a series of discrete points in the simulation environment are connected into smooth curves, so as to better understand and analyze the data. The first fitting curve in the test environment and the second fitting curve in the simulation environment represent the change trend of the hard point coordinates under different preset bench construction parameters such as spring preload and shock absorber hardness, as well as the change trend of the hard point coordinates simulated under different elastic part parameters. After that, the first fitting curve in the test environment and the second fitting curve in the simulation environment are compared, and finally the offset of the two hard point coordinates can be determined.

[0076] Through the above-mentioned embodiments, the suspension hard point offset is verified under different force conditions, thereby further improving the accuracy of suspension hard point determination and verification; at the same time, by comparing the hard point coordinates through fitting curves, some test bench adjustment steps and simulation suspension dynamics model parameter adjustment steps can be omitted, which is beneficial to improving the efficiency of suspension determination.

[0077] In some embodiments, the step of determining the target suspension hard point of the suspension dynamics model according to the offset information between the first hard point coordinates and the second hard point coordinates may further include the following steps:

[0078] When it is detected that the offset information is greater than a preset offset threshold, a target suspension hard point is determined based on the first hard point coordinates; the suspension dynamics model is adjusted based on the target suspension hard point, and a new suspension dynamics model is generated.

[0079] The above offset threshold can be set by the staff in advance based on the actual situation, including the performance requirements and design standards of the suspension components, to determine whether the change of the suspension hard point is within an acceptable range. If the offset information exceeds the threshold, it is considered that the offset of the hard point coordinates will affect the performance of the suspension components, and the target suspension hard point needs to be determined based on the first hard point coordinates. Based on the determined target suspension hard point, the original suspension dynamics model needs to be adjusted. Otherwise, there is no need to adjust the simulation model design, and the subsequent workflow can be continued.

[0080] More specifically, the adjustment process for the above suspension dynamics model can be as follows: open the current suspension dynamics model in the simulation software, check the hard point coordinate settings of the model, and determine the hard point coordinates that need to be adjusted. According to the analysis results, according to the offset between the above two types of coordinates, formulate a strategy for adjusting the hard point coordinates, including the direction, range, and step size of the adjustment. Then, adjust the hard point coordinates manually or automatically in the simulation software; manual adjustment usually involves directly modifying the coordinate values, while automatic adjustment can use an optimization algorithm to find the optimal coordinate values ​​based on the above hard point coordinate adjustment strategy. After adjusting the hard point coordinates, generate a new suspension dynamics model, and save the adjusted suspension dynamics model in the simulation software for subsequent analysis and optimization.

[0081] Through the above-mentioned embodiments, the accurate calibration of the hard point offset of the suspension dynamics model is achieved, which is beneficial to the accuracy of the automobile suspension structure design.

[0082] In some embodiments, the obtaining of the offset information between the first hard point coordinates and the second hard point coordinates may further include the following steps:

[0083] According to the positioning reference point of the automobile subframe, a reference coordinate system is determined; the first hard point coordinate in the test bench coordinate system is converted to the reference coordinate system to obtain the third hard point coordinate, and the second hard point coordinate in the simulation coordinate system is converted to the reference coordinate system to obtain the fourth hard point coordinate; the third hard point coordinate and the fourth hard point coordinate are compared to obtain offset information.

[0084] It should be noted that since the gantry coordinate system where the first hard point coordinate is located is different from the simulation coordinate system where the second hard point coordinate is located, in order to accurately compare the spatial position relationship between the first hard point coordinate and the second hard point coordinate, in this step, the gantry coordinate system and the simulation coordinate system can be first unified. The unification method can be through establishing a reference coordinate system, and according to the conversion relationship between the gantry coordinate system and the reference coordinate system, the first hard point coordinate is converted to the reference coordinate system, and according to the conversion relationship between the simulation coordinate system and the reference coordinate system, the second hard point coordinate system is converted to the reference coordinate system, thereby realizing the unification of the two types of hard point coordinates.

[0085] Specifically, considering that the positioning reference points on the automobile subframe are usually precisely processed and calibrated to ensure the accurate position of the subframe in the vehicle, a reference coordinate system can be established based on the positioning reference points of the subframe. Among them, the subframe is a bracket that supports the front and rear axles and suspension components. Subsequently, on a preset bench, the coordinates of the subframe and its related hard points are measured using a precise measuring device (such as a three-coordinate measuring machine); these coordinate values ​​are recorded and ensured to be associated with the coordinate system of the preset bench. Using known transformation relationships (such as rotation matrices and translation vectors), the first hard point coordinates are converted from the preset bench coordinate system to the reference coordinate system. In addition, the coordinates of the subframe and its related hard points are extracted from the simulated suspension dynamics model; these coordinates are usually based on the built-in coordinate system of the simulation software or a user-defined coordinate system. Use the alignment or conversion tool in the simulation software to align the second hard point coordinates to the reference coordinate system. Finally, the third hard point coordinates and the fourth hard point coordinates that have been unified to the reference coordinate system are compared to determine the offset of the hard point position.

[0086] Through the above embodiments, the hard point coordinates in the test environment and the simulation environment are unified into the reference coordinate system, thereby effectively improving the accuracy and efficiency of the hard point coordinate comparison, and further improving the accuracy and efficiency of the suspension hard point determination.

[0087] The embodiments of the present invention are described in detail below in conjunction with actual application scenarios. Figure 3 is a flow chart of another suspension hard point determination method of a suspension dynamics model according to an embodiment of the present application, such as Figure 3 As shown, the process includes the following steps:

[0088] Step S301, start the process; build a preset stand, wherein a stand is designed to assemble all chassis components, and the chassis components are assembled.

[0089] Step S302, adjusting the suspension, adjusting the wheel center to the designed position, and fixing the wheel center position.

[0090] Step S303, point cloud scanning. Specifically, when the suspension system is equipped with springs, the entire chassis is scanned with a point cloud, and after the springs of the suspension system are removed, the entire chassis is scanned with a point cloud again, to obtain point cloud data in the above two cases, so as to compare the changes in the hard points of each swing arm with and without the spring force.

[0091] Step S304: data processing, outputting the coordinates of the first hard point under the force condition and the coordinates of the first hard point under the force-free condition.

[0092] Step S305, building a suspension dynamics model.

[0093] Step S306, inputting elastic component parameters for simulation analysis.

[0094] Step S307, simulate hard point output, wherein the coordinates of the second hard point under the force condition and the coordinates of the second hard point under the force condition are output.

[0095] Step S308, hard point comparison; end the process. Among them, the first hard point coordinates under force are compared with the second hard point coordinates under force, and the first hard point coordinates under no force are compared with the second hard point coordinates under no force. If there is a deviation between the first hard point coordinates under force and the second hard point coordinates, the first hard point coordinate value measured on the preset bench is used as the basis for design adjustment, and the hard point coordinates of the simulation model under the corresponding force are adjusted to achieve the purpose of correcting the design and improve the handling, sportiness, comfort and driving pleasure of the car. If there is a deviation between the first hard point coordinates under no force and the second hard point coordinates, or if there is a deviation between the hard point coordinates under force and no force, the simulation model is adjusted accordingly. If there is no deviation between the hard point coordinates under force and no force, or the coordinate offset is within the offset threshold, there is no need to adjust the simulation model.

[0096] Through the above embodiments, a method for verifying the offset of suspension hard points is provided in view of the fact that simulation software cannot fully simulate the deviation of the actual vehicle suspension hard points relative to the design. The offset of the suspension hard points under different force conditions can be verified. Compared with the prior art, this method mainly focuses on the simulation and actual hard point changes before and after the suspension components are subjected to force, and mainly targets complex mechanisms, rather than the deformation of the simple structure itself as in the prior art, so it has higher accuracy.

[0097] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here. Figure 3In the embodiment, step S301 may be performed before step S305; or, step S301 and step S305 may be performed simultaneously; or, step S305 may be performed first, and then step S301 of building the preset stand may be performed.

[0098] This embodiment also provides a suspension hard point determination device for a suspension dynamics model, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the terms "module", "unit", "subunit", etc. may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0099] Figure 4 is a structural block diagram of a suspension hard point determination device of a suspension dynamics model according to an embodiment of the present application, such as Figure 4 As shown, the device includes: an acquisition module 41, used to acquire structural data measured on a preset test bench; wherein the preset test bench is assembled with automobile suspension components; a first hard point calculation module 42, used to calculate the first hard point coordinates of the automobile suspension component according to the structural data; a second hard point calculation module 43, used to calculate the second hard point coordinates based on the suspension dynamics model of the automobile suspension component; an offset correction module 44, used to determine the target suspension hard point of the suspension dynamics model according to the offset information between the first hard point coordinates and the second hard point coordinates.

[0100] In some embodiments, the acquisition module 41 is also used to acquire structural data obtained by measuring a preset gantry with a coordinate measuring instrument; or, the acquisition module 41 is also used to acquire point cloud data generated by scanning a preset gantry with a three-dimensional scanning device, and to obtain structural data based on the point cloud data.

[0101] In some of the embodiments, the acquisition module 41 is further used to identify key points of the automobile suspension components according to the point cloud data, and to acquire structural data of the identified key points.

[0102] In some embodiments, the second hard point calculation module 43 is further used to obtain preset elastic member parameters; the second hard point calculation module 43 inputs the elastic member parameters into the suspension dynamics model and obtains the second hard point coordinates.

[0103] In some of the embodiments, there are several first hard point coordinates and several second hard point coordinates; the offset correction module 44 is also used to generate a first fitting curve based on each first hard point coordinate; wherein each first hard point coordinate is generated by corresponding calculation based on adjusting several setting parameters of the elastic element on the automobile suspension component; the offset correction module 44 is also used to generate a second fitting curve based on each second hard point coordinate; wherein each second hard point coordinate is generated by corresponding calculation based on adjusting the elastic component parameters; the offset correction module 44 is also used to compare the first fitting curve with the second fitting curve to obtain offset information and determine the target suspension hard point.

[0104] In some of the embodiments, the first hard point coordinates include the first force-bearing hard point coordinates and the second force-bearing hard point coordinates; the second hard point coordinates include the third force-bearing hard point coordinates and the fourth force-bearing hard point coordinates; the offset correction module 44 is also used to determine the target suspension hard point based on the offset information between the first force-bearing hard point coordinates and the third force-bearing hard point coordinates, and the offset information between the second force-bearing hard point coordinates and the fourth force-bearing hard point coordinates.

[0105] In some of the embodiments, the offset correction module 44 is also used to determine the target suspension hard point based on the first hard point coordinates when it is detected that the offset information is greater than a preset offset threshold; the offset correction module 44 is also used to adjust the suspension dynamics model based on the target suspension hard point and generate a new suspension dynamics model.

[0106] In some of the embodiments, the offset correction module 44 is also used to determine a reference coordinate system based on a positioning reference point of the automobile subframe; the offset correction module 44 is also used to convert a first hard point coordinate in the test bench coordinate system to the reference coordinate system to obtain a third hard point coordinate, and to convert a second hard point coordinate in the simulation coordinate system to the reference coordinate system to obtain a fourth hard point coordinate; the offset correction module 44 is also used to compare the third hard point coordinate with the fourth hard point coordinate to obtain offset information.

[0107] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0108] This embodiment also provides a suspension hard point determination system for a suspension dynamics model, the system comprising a controller; the controller is used to execute the suspension hard point determination method for a suspension dynamics model as described in any of the above embodiments.

[0109] In addition, in combination with the suspension hard point determination method of the suspension dynamics model in the above embodiments, the present application embodiment can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any one of the suspension hard point determination methods of the suspension dynamics model in the above embodiments is implemented.

[0110] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0111] Those skilled in the art should understand that the technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0112] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A suspension hard point determination method for a suspension dynamics model, characterized in that: The method comprises: Acquire structural data measured for a preset bench, wherein the preset bench is assembled with automobile suspension components; Calculating the first hard point coordinates of the vehicle suspension component according to the structural data; Calculating a second hard point coordinate based on a suspension dynamics model of the automobile suspension component; A target suspension hard point of the suspension dynamics model is determined according to the offset information between the first hard point coordinates and the second hard point coordinates.

2. The method for determining suspension hard points according to claim 1, characterized in that: The step of obtaining structural data measured on a preset bench includes: Acquire the structural data obtained by measuring the preset platform with a coordinate measuring instrument; or, The point cloud data generated by scanning the preset platform with a three-dimensional scanning device is acquired, and the structural data is obtained according to the point cloud data.

3. The method for determining suspension hard points according to claim 2, characterized in that: The step of acquiring point cloud data generated by scanning the preset gantry with a three-dimensional scanning device, and obtaining the structural data according to the point cloud data, comprises: According to the point cloud data, key points of the automobile suspension component are identified, and structural data of the identified key points are obtained.

4. The method for determining suspension hard points according to claim 1, characterized in that: The calculation of the second hard point coordinates based on the suspension dynamics model of the automobile suspension component includes: Acquiring preset elastic member parameters; wherein the elastic member parameters correspond to the elastic element setting information of the automobile suspension component; The elastic member parameters are input into the suspension dynamics model to obtain the second hard point coordinates.

5. The method for determining suspension hard points according to claim 4, characterized in that: The number of the first hard point coordinates is several, and the number of the second hard point coordinates is several; and determining the target suspension hard point of the suspension dynamics model according to the offset information between the first hard point coordinates and the second hard point coordinates includes: Generating a first fitting curve according to each of the first hard point coordinates; wherein each of the first hard point coordinates is generated by corresponding calculation based on adjusting a number of setting parameters of the elastic element on the automobile suspension component; Generate a second fitting curve according to each of the second hard point coordinates; wherein each of the second hard point coordinates is generated by corresponding calculation based on adjusting the elastic member parameters; The first fitting curve and the second fitting curve are compared to obtain the offset information and determine the target suspension hard point.

6. The method for determining suspension hard points according to claim 1, characterized in that: Determining the target suspension hard point of the suspension dynamics model according to the offset information between the first hard point coordinates and the second hard point coordinates includes: In the case where it is detected that the offset information is greater than a preset offset threshold, determining the target suspension hard point based on the first hard point coordinates; The suspension dynamics model is adjusted based on the target suspension hard point, and a new suspension dynamics model is generated.

7. The method for determining suspension hard points according to any one of claims 1 to 6, characterized in that: Acquiring offset information between the first hard point coordinates and the second hard point coordinates includes: Determine the reference coordinate system according to the positioning reference point of the automobile subframe; Converting the first hard point coordinates in the gantry coordinate system to the reference coordinate system to obtain the third hard point coordinates, and converting the second hard point coordinates in the simulation coordinate system to the reference coordinate system to obtain the fourth hard point coordinates; The third hard point coordinates and the fourth hard point coordinates are compared to obtain the offset information.

8. A suspension hard point determination device for a suspension dynamics model, characterized in that: The device comprises: An acquisition module, used for acquiring structural data measured on a preset bench, wherein the preset bench is assembled with automobile suspension components; A first hard point calculation module, used for calculating the first hard point coordinates of the automobile suspension component according to the structural data; A second hard point calculation module, used for calculating the second hard point coordinates based on the suspension dynamics model of the automobile suspension component; An offset correction module is used to determine a target suspension hard point of the suspension dynamics model according to offset information between the first hard point coordinates and the second hard point coordinates.

9. A suspension hard point determination system for a suspension dynamics model, characterized in that: The system comprises a controller; the controller is used to execute the suspension hard point determination method of the suspension dynamics model according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the suspension hard point determination method of the suspension dynamics model according to any one of claims 1 to 7 when running.

Images