Reconstruction part determination method and device, equipment and storage medium

Abstract

The invention relates to a reconstruction part determination method, device and equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the steps of obtaining collision data of a vehicle; the collision data comprises a plurality of collision force sequences and sideslip displacement corresponding to each collision force sequence, and one collision force sequence comprises stage collision force of the vehicle and the barrier in different collision stages in one collision process. And according to the multiple collision force sequences and the sideslip displacement amount corresponding to each collision force sequence, target stage collision force influencing the sideslip displacement amount of the vehicle is determined. And determining a part needing to be reconstructed in the collision stage corresponding to the collision force in the target stage. The cost of the vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, equipment and storage medium for determining a reconstruction component. Background Art

[0002] As the process of vehicle electrification is getting faster and faster, compared with fuel vehicles, new energy vehicles have increasingly larger curb weights due to the presence of power battery packs. The average curb weight of mainstream medium and large suburban utility vehicles (SUVs) has reached more than 2.4 tons, resulting in a significant increase in the collision energy of the barrier impacting the passenger compartment.

[0003] In order to improve the safety of the vehicle, the common technical solution at present is to strengthen the frame of the whole vehicle to make the vehicle stronger. For example, the prior art discloses a subframe composition and a car, including a subframe and a double wishbone suspension, the double wishbone suspension includes a lower wishbone and an upper wishbone, the lower wishbone includes a lower front arm and a lower rear arm, the front end of the longitudinal beam of the subframe is bent outward, thereby forming a bending point on the longitudinal beam, the inner end of the lower front arm is connected to the longitudinal beam and the connection point is located before the bending point, and the inner end of the lower rear arm is connected to the longitudinal beam and the connection point is located after the bending point. A small offset collision structure optimization method is also disclosed in the prior art, by constructing an orthogonal matrix of the equivalent axial force of each collision area, establishing a second-order response surface of the vehicle body intrusion amount, and finally obtaining the optimal Pareto solution, thereby strengthening each collision area. In this way, the adjustment of the entire frame leads to an increase in the cost of the vehicle. Summary of the invention

[0004] One of the objectives of the present invention is to provide a method, device, equipment and storage medium for determining a reconstruction component to reduce the cost of a vehicle.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] According to a first aspect of the present invention, a method for determining a reconstructed component is provided, the method comprising: obtaining collision data of a vehicle; the collision data comprising a plurality of collision force sequences and a side sliding displacement corresponding to each collision force sequence, wherein a collision force sequence comprises stage collision forces between a vehicle and a barrier at different collision stages during a collision process. According to the plurality of collision force sequences and the side sliding displacement corresponding to each collision force sequence, a target stage collision force affecting the side sliding displacement of the vehicle is determined. The component that needs to be reconstructed at the collision stage corresponding to the target stage collision force is determined.

[0007] According to the above technical means, when the collision data of the vehicle is obtained, the target stage collision force affecting the side slip displacement of the vehicle is determined according to multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. Further, the bearing components corresponding to the target collision stage are determined to be reconstructed components. In this way, by calculating the target stage collision force affecting the side slip displacement of the vehicle, the components that need to be reconstructed in the collision stage corresponding to the target stage collision force are determined. In this way, only the reconstructed components need to be adjusted to reduce the cost of the vehicle.

[0008] In one possible manner, a target stage collision force affecting the side slip displacement of a vehicle is determined according to a plurality of collision force sequences and the side slip displacement corresponding to each collision force sequence, including: determining a correlation between the collision force of each stage and the side slip displacement of the vehicle according to the plurality of collision force sequences and the side slip displacement corresponding to each collision force sequence. Determine the target stage collision force. The correlation between the target stage collision force and the side slip displacement of the vehicle is greater than a preset correlation.

[0009] According to the above technical means, by calculating the correlation between the collision force at each stage and the side sliding displacement of the vehicle, multiple correlations are obtained. Thus, the stage collision force corresponding to the target correlation greater than the preset correlation is determined as the target collision force, and then the components that need to be reconstructed are obtained. In this way, the reconstruction of each associated component involved in the collision stage is avoided, and the cost of the vehicle is reduced.

[0010] In one possible manner, the stage collision force includes a stage collision force in a first direction and a stage collision force in a second direction, the stage collision force in the first direction and the stage collision force in the second direction are obtained by decomposing the stage collision force, and the correlation between each stage collision force and the sideslip displacement of the vehicle is determined according to multiple collision force sequences and the sideslip displacement corresponding to each collision force sequence, including: according to multiple collision force sequences and the sideslip displacement corresponding to each collision force sequence, determining the correlation between each stage collision force in the first direction and the sideslip displacement of the vehicle, and the correlation between each stage collision force in the second direction and the sideslip displacement of the vehicle.

[0011] According to the above technical means, the collision force at each stage is decomposed to obtain the correlation between the collision force at each stage in the first direction and the side sliding displacement of the vehicle, and the correlation between the collision force at each stage in the second direction and the side sliding displacement of the vehicle. In this way, the correlation between the collision force at each stage and the side sliding displacement of the vehicle can be accurately obtained, thereby improving the safety of the vehicle.

[0012] In a possible manner, the method further includes: determining a reconstruction strategy of the component according to the correlation between the collision force in the target phase and the side slip displacement of the vehicle. The reconstruction strategy is used to indicate the reconstruction of the component.

[0013] According to the above technical means, the reconstruction strategy of the component is determined according to the correlation between the collision force in the target stage and the side sliding displacement of the vehicle. In this way, the reconstruction strategy of the reconstruction component is obtained to improve the safety of the vehicle.

[0014] In a possible manner, obtaining collision data of the vehicle includes: determining the sideslip displacement corresponding to each collision force sequence based on a sideslip displacement determination model.

[0015] In one possible manner, the method further includes: determining sample driving parameters of the vehicle; the sample driving parameters are used to characterize parameters in the process of the vehicle colliding with a barrier. According to the sample driving parameters and a preset plane rigid body algorithm, a sample side slip displacement of the vehicle is determined. Based on the sample driving parameters and the sample side slip displacement, a side slip displacement determination model is trained.

[0016] According to the above technical means, the sample side slip displacement of the vehicle is determined according to the sample driving parameters and the preset plane rigid body algorithm. In this way, the sample data is prevented from being obtained from the collision of the actual vehicle, and the cost of obtaining the sample data is reduced.

[0017] In one possible approach, the sample driving parameters include a sample collision force sequence, a collision speed of the vehicle, a mass of the vehicle, a collision duration, and a moment of inertia. The sample sideslip displacement of the vehicle is determined based on the sample driving parameters and a preset planar rigid body algorithm, including: determining the translational displacement of the vehicle based on the mass, collision duration, and the sample collision force sequence; determining the rotational displacement of the vehicle based on the moment of inertia and the sample collision force sequence; and determining the sample sideslip displacement of the vehicle based on the translational displacement and the rotational displacement.

[0018] According to a second aspect provided by the present invention, a device for determining a reconstruction component is provided, and the determination device includes: an acquisition unit and a determination unit. The acquisition unit is used to acquire collision data of a vehicle; the collision data includes multiple collision force sequences and the side slip displacement corresponding to each collision force sequence, and a collision force sequence includes the stage collision forces between the vehicle and the barrier at different collision stages during a collision process. The determination unit is used to determine the target stage collision force that affects the side slip displacement of the vehicle based on the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. The determination unit is also used to determine the components that need to be reconstructed in the collision stage corresponding to the target stage collision force.

[0019] In one possible manner, the determination unit is specifically configured to: determine the correlation between the collision force at each stage and the side slip displacement of the vehicle according to the plurality of collision force sequences and the side slip displacement corresponding to each collision force sequence; determine the collision force at a target stage; and the correlation between the collision force at the target stage and the side slip displacement of the vehicle is greater than a preset correlation.

[0020] In one possible manner, the stage collision force includes a stage collision force in a first direction and a stage collision force in a second direction, the stage collision force in the first direction and the stage collision force in the second direction are obtained by decomposing the stage collision force, and the determination unit is specifically used to: determine the correlation between each stage collision force in the first direction and the sideslip displacement of the vehicle, as well as the correlation between each stage collision force in the second direction and the sideslip displacement of the vehicle according to multiple collision force sequences and the sideslip displacement corresponding to each collision force sequence.

[0021] In a possible manner, the determination unit is further configured to: determine a reconstruction strategy of the component according to the correlation between the collision force and the side slip displacement of the vehicle in the target phase. The reconstruction strategy is used to instruct the reconstruction of the component.

[0022] In a possible manner, the acquisition unit is specifically configured to determine the sideslip displacement corresponding to each collision force sequence based on a sideslip displacement determination model.

[0023] In one possible manner, the determination device further includes: a processing unit. The determination unit is further used to determine sample driving parameters of the vehicle; the sample driving parameters are used to characterize parameters in the process of the vehicle colliding with a barrier. The determination unit is further used to determine the sample sideslip displacement of the vehicle according to the sample driving parameters and a preset plane rigid body algorithm. The processing unit is used to train a sideslip displacement determination model based on the sample driving parameters and the sample sideslip displacement.

[0024] In one possible manner, the sample driving parameters include a sample collision force sequence, a collision speed of the vehicle, a mass of the vehicle, a collision duration and a moment of inertia, and a determination unit is specifically used to: determine the translational displacement of the vehicle based on the mass, the collision duration and the sample collision force sequence; determine the rotational displacement of the vehicle based on the moment of inertia and the sample collision force sequence; determine the sample sideslip displacement of the vehicle based on the translational displacement and the rotational displacement.

[0025] According to a third aspect of the present invention, there is provided an electronic device, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0026] According to a fourth aspect provided by the present invention, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of a processing device, the processing device is enabled to execute the method in the above-mentioned first aspect and any possible implementation manner thereof.

[0027] According to a fifth aspect of the present invention, a computer program product is provided. The computer program product includes computer instructions. When the computer instructions are executed on a processing device, the processing device executes the method of the first aspect and any possible implementation manner thereof.

[0028] Therefore, the above technical features of the present invention have the following beneficial effects:

[0029] (1) When the collision data of the vehicle is obtained, the target stage collision force affecting the side slip displacement of the vehicle is determined according to multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. Further, the load-bearing components corresponding to the target collision stage are determined to be reconstructed components. In this way, by calculating the target stage collision force affecting the side slip displacement of the vehicle, the components that need to be reconstructed in the collision stage corresponding to the target stage collision force are determined. In this way, only the reconstructed components need to be adjusted, thereby reducing the cost of the vehicle.

[0030] (2) By calculating the correlation between the collision force at each stage and the side slip displacement of the vehicle, multiple correlations are obtained. The stage collision force corresponding to the target correlation greater than the preset correlation is determined as the target collision force, and the components that need to be reconstructed are obtained. In this way, the reconstruction of each associated component involved in the collision stage is avoided, thereby reducing the cost of the vehicle.

[0031] (3) Determine the sample side slip displacement of the vehicle based on the sample driving parameters and the preset plane rigid body algorithm. In this way, the sample data is prevented from being obtained from the collision of the actual vehicle, thereby reducing the cost of obtaining the sample data. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic structural diagram of a vehicle structure reconstruction system is shown as an exemplary embodiment provided by the present invention;

[0033] Figure 2 One of the flow charts of a vehicle structure reconstruction method shown in an exemplary embodiment provided by the present invention;

[0034] Figure 3 A schematic diagram showing the correlation between the stage collision force and the side sliding displacement of the vehicle according to an exemplary embodiment provided by the present invention;

[0035] Figure 4 A schematic diagram of the contact position between a vehicle and a barrier is provided for an exemplary embodiment of the present invention;

[0036] Figure 5 A schematic diagram of coordinates of a vehicle position shown in an exemplary embodiment provided by the present invention;

[0037] Figure 6A cross-sectional view of the side slip boundary in the target phase collision force shown in an exemplary embodiment provided by the present invention;

[0038] Figure 7 A model training flow chart shown as an exemplary embodiment provided by the present invention;

[0039] Figure 8 A schematic diagram of the barrier collision force bandwidth shown in an exemplary embodiment provided by the present invention;

[0040] Fig. 9 A side slip mode prediction result diagram is shown for an exemplary embodiment provided by the present invention;

[0041] Fig.10 A diagram showing a side slip displacement prediction result according to an exemplary embodiment of the present invention;

[0042] Fig.11 A schematic diagram of a small offset collision is shown for an exemplary embodiment provided by the present invention;

[0043] Fig.12 A schematic diagram of the displacement of point A when a vehicle rotates around its center of mass is shown in an exemplary embodiment provided by the present invention;

[0044] Fig.13 A schematic diagram of a vehicle side sliding is shown in an exemplary embodiment provided by the present invention;

[0045] Fig.14 A schematic diagram of a vehicle in a side-slip mode is shown for an exemplary embodiment provided by the present invention;

[0046] Fig.15 A schematic diagram of a vehicle in a semi-skid mode is shown as an exemplary embodiment provided by the present invention;

[0047] Fig.16 A schematic diagram of a vehicle in a hard rigidity mode is shown for an exemplary embodiment provided by the present invention;

[0048] Fig.17 A comparison diagram of simulation and theoretical results of the displacement time history of point A of a vehicle shown in an exemplary embodiment of the present invention;

[0049] Fig.18 A comparison diagram of simulation and theoretical results of a vehicle body rotation angle time history shown in an exemplary embodiment of the present invention;

[0050] Fig.19 A second flowchart diagram of a method for determining a reconstruction component according to an exemplary embodiment of the present invention;

[0051] Fig. 20A schematic diagram of a device for determining a reconstruction component is shown as an exemplary embodiment provided by the present invention;

[0052] Fig.21 The present invention is a schematic diagram of an electronic device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0055] As the process of vehicle electrification is getting faster and faster, compared with fuel vehicles, new energy vehicles have increasingly larger curb weights due to the presence of power battery packs. The average curb weight of mainstream medium and large suburban utility vehicles (SUVs) has reached more than 2.4 tons, resulting in a significant increase in the collision energy of the barrier impacting the passenger compartment.

[0056] In order to improve the safety of the vehicle, the common technical solution at present is to strengthen the frame of the whole vehicle to make the vehicle more solid. For example, the publication number is CN114435478A, which discloses a subframe composition and a car, including a subframe and a double wishbone suspension, the double wishbone suspension includes a lower wishbone and an upper wishbone, the lower wishbone includes a lower front arm and a lower rear arm, the front end of the longitudinal beam of the subframe is bent outward, thereby forming a bending point on the longitudinal beam, the inner end of the lower front arm is connected to the longitudinal beam and the connection point is located before the bending point, and the inner end of the lower rear arm is connected to the longitudinal beam and the connection point is located after the bending point. The publication number is CN114435478A, which discloses a small offset collision structure optimization method, by constructing an orthogonal matrix of equivalent axial forces in each collision area, establishing a second-order response surface of the vehicle body intrusion amount, and finally obtaining the optimal Pareto solution, thereby strengthening each collision area. In this way, the adjustment of the entire frame leads to an increase in the cost of the vehicle.

[0057] In order to solve the above technical problems, the present invention provides a method for determining a load-bearing component, the method comprising: obtaining collision data of a vehicle. The collision data comprises a plurality of collision force sequences and a plurality of side-slip displacements, wherein a collision force sequence comprises stage collision forces between a vehicle and a barrier at different collision stages during a collision. According to the plurality of collision force sequences and the side-slip displacements corresponding to each collision force sequence, a target stage collision force affecting the side-slip displacement of the vehicle is determined. The component that needs to be reconstructed at the collision stage corresponding to the target stage collision force is determined.

[0058] According to the above technical means, when the collision data of the vehicle is obtained, the target stage collision force affecting the side slip displacement of the vehicle is determined according to multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. Further, the bearing components corresponding to the target collision stage are determined to be reconstructed components. In this way, by calculating the target stage collision force affecting the side slip displacement of the vehicle, the components that need to be reconstructed in the collision stage corresponding to the target stage collision force are determined. In this way, only the reconstructed components need to be adjusted to reduce the cost of the vehicle.

[0059] like Figure 1 As shown, Figure 1 The embodiment of the present invention provides a vehicle structure reconstruction system 100. The reconstruction system 100 may include a data collection module 101, a processing module 102, a motion mode prediction module 103, a sideslip prediction module 104 and a design boundary display module 105.

[0060] The data collection module 101 is used to obtain vehicle dynamics parameters, collision force sequence of the vehicle colliding with a barrier, and collision force bandwidth parameters.

[0061] The processing module 102 is used to perform normalization operations on the barrier contact force sequence and numerical variables of the vehicle collision, and calculate the distance information between the vehicle and the barrier.

[0062] The processing module 102 is also used to obtain the collision data of the vehicle, and determine the target stage collision force that affects the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. The processing module 102 is also used to reconstruct the load-bearing component corresponding to the target collision stage to obtain the reconstructed load-bearing component; the target collision stage is the collision stage corresponding to the target stage collision force, and the reconstructed load-bearing component is used to unload the collision energy between the vehicle and the barrier.

[0063] The motion mode prediction module 103 is used to determine the motion mode of the vehicle.

[0064] The sideslip amount prediction module 104 is used to determine the displacement sideslip amount of the vehicle.

[0065] The boundary display module 105 is designed to provide a boundary diagram of the vehicle support force in the side-slip mode in each collision time period and a sensitivity analysis of the collision contact force in different collision time periods in the side-slip mode to guide the reconstruction of the corresponding structure of the vehicle.

[0066] The reconstruction system 100 in the embodiment of the present invention may be configured in an electronic device. The electronic device may be a terminal device or a server, which is not limited in the embodiment of the present invention.

[0067] The terminal device in the embodiment of the present invention can be a mobile device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device, or a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device, which exchanges language and / or data with a radio access network (RAN) node. For example, the terminal device can be: a vehicle, a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, a wireless terminal device in smart home, etc.

[0068] The server in the embodiment of the present invention may be a single server, a server cluster, or a cloud server, which is not limited in the embodiment of the present invention.

[0069] For ease of understanding, the vehicle structure reconstruction method provided by the present invention is specifically introduced below with reference to the accompanying drawings.

[0070] Figure 2 According to a flowchart of a vehicle structure reconstruction method shown in an exemplary embodiment, the method includes: S201-S203.

[0071] S201: Acquire collision data of the vehicle.

[0072] The collision data includes a plurality of collision force sequences and a side sliding displacement corresponding to each collision force sequence. A collision force sequence includes the stage collision forces between the vehicle and the barrier at different collision stages during a collision process.

[0073] In some embodiments, the electronic device obtains the collision data of the vehicle while determining the side slip displacement corresponding to each collision force sequence.

[0074] Exemplarily, each collision force sequence includes multiple stage collision forces: F1, F2, F3, F4 and F5. F1 is the stage collision force of the first collision stage, F2 is the stage collision force of the second collision stage, F3 is the stage collision force of the third collision stage, F4 is the stage collision force of the fourth collision stage, and F5 is the stage collision force of the fifth collision stage.

[0075] In another exemplary embodiment, each collision force sequence includes a plurality of stage collision forces: x1, y1, x2, y2, x3 and y3. x1 and y1 are respectively the stage collision force in the first direction and the stage collision force in the second direction in the first collision stage. The first direction is perpendicular to the second direction. For example, the first direction is the direction in which the vehicle is traveling.

[0076] In other embodiments, the electronic device determines the collision data corresponding to the vehicle model according to the vehicle model when determining the vehicle model.

[0077] S202: Determine a target stage collision force that affects the side slip displacement of the vehicle according to a plurality of collision force sequences and a plurality of side slip displacements.

[0078] As a possible implementation method, the electronic device determines whether each stage collision force in multiple collision force sequences is associated with the vehicle's sideslip displacement when acquiring collision data, and uses the stage collision force associated with the vehicle's sideslip displacement as the target stage collision force.

[0079] In some embodiments, the electronic device calculates the correlation between each stage collision force in multiple collision force sequences and the side sliding displacement of the vehicle, and uses the stage collision force corresponding to the target correlation greater than the preset correlation as the target stage collision force.

[0080] Exemplarily, each collision force sequence includes multiple stage collision forces: F1, F2, F3, F4 and F5. The electronic device calculates the correlation between F1, F2, F3, F4 and F5 and the side slip displacement of the vehicle, respectively, and obtains 5 correlations. Furthermore, among the 5 correlations, the electronic device uses the stage collision forces (F1, F2 and F5) corresponding to the 3 correlations greater than the preset correlation as the target stage collision force. In this way, it is possible to determine the side slip displacement affecting the vehicle in the first collision stage, the second collision stage and the fifth collision stage.

[0081] In some embodiments, the stage collision force includes a stage collision force in a first direction and a stage collision force in a second direction, and the stage collision force in the first direction and the stage collision force in the second direction are obtained by decomposing the stage collision force. The electronic device determines the correlation between each stage collision force in the first direction and the side slip displacement of the vehicle, and the correlation between each stage collision force in the second direction and the side slip displacement of the vehicle according to multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. Further, the electronic device uses the stage collision force corresponding to the target correlation greater than the preset correlation as the target stage collision force.

[0082] Exemplarily, each collision force sequence includes multiple stage collision forces: x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6. The electronic device calculates the correlation between the 6 stage collision forces in the first direction (x-axis) and the side sliding displacement of the vehicle, and the correlation between the 6 stage collision forces in the second direction (y-axis) and the side sliding displacement of the vehicle. Further, 12 correlations are obtained, such as Figure 3 As shown, the abscissa represents the degree of association, the ordinates x1-x6 represent the contact force of the barrier in the first direction (x direction) during collision stages 1-6, and y1-y6 represent the contact force of the barrier in the second direction (y direction) during collision stages 1-6.

[0083] In some embodiments, multiple collision force sequences and multiple side-slip displacements are input into a pre-trained correlation model to obtain the correlation between the collision force and the side-slip displacement of the vehicle at each stage.

[0084] It should be noted that the preset correlation degree is pre-stored in the electronic device by the operation and maintenance personnel.

[0085] S203: Determine the components that need to be reconstructed in the collision phase corresponding to the collision force in the target phase.

[0086] Among them, the target collision phase is the collision phase corresponding to the target phase collision force.

[0087] In some embodiments, when determining the target stage collision force, the electronic device determines the collision stage corresponding to the target stage collision force as the target collision stage, and determines the bearing component corresponding to the target collision stage as the reconstruction component.

[0088] For example, Figure 4 As shown in FIG. 1 , a schematic diagram of the contact position between the vehicle and the barrier at each collision stage is shown. Figure 4 In the collision period of the vehicle, it is divided into 6 collision stages. In each collision stage, the barrier contact force corresponds to the support force of the corresponding structure of the vehicle body. The main bearing structures of each collision stage are as follows: Collision stage 1: the bearing structures are the main and auxiliary anti-collision beams and energy absorption boxes; Collision stage 2: the bearing structures are the front section of the upper side beam, the subframe and longitudinal beam mounting structure, and the front section of the subframe; Collision stage 3: the bearing structures are the front section of the upper side beam, the rim (not much deformation at this stage), and the swing arm; Collision stage 4: the bearing structures are the rear section of the upper side beam, the rim (large deformation at this stage, which is the main force-bearing structure), and the door sill; Collision stage 5: the bearing structures are the rear section of the upper side beam, the rim, the swing arm, and the steering knuckle; Collision stage 6: the bearing structures are the lower section of the A-pillar, the extended section of the A-pillar, and the door sill.

[0089] Combination Figure 4 , taking the collision forces of the target stage as F1, F2 and F6 as an example. The electronic device determines the load-bearing components corresponding to the first collision stage, the load-bearing components corresponding to the second collision stage and the load-bearing components corresponding to the sixth collision stage as reconstruction components. That is, the main and auxiliary anti-collision beams, energy absorption boxes, front sections of upper side beams, subframe and longitudinal beam mounting structure, front section of subframe, lower section of A-pillar, extended section of A-pillar and door sill are used as reconstruction components.

[0090] The method for determining the load-bearing components provided by the embodiment of the present invention brings at least the following beneficial effects: when the collision data of the vehicle is obtained, the target stage collision force affecting the side slip displacement of the vehicle is determined according to multiple collision force sequences and the side slip displacement corresponding to each collision force sequence. Further, the load-bearing components corresponding to the target collision stage are determined to be reconstructed components. In this way, by calculating the target stage collision force affecting the side slip displacement of the vehicle, the components that need to be reconstructed in the collision stage corresponding to the target stage collision force are determined. In this way, only the reconstructed components need to be adjusted to reduce the cost of the vehicle.

[0091] In one possible design, the above S202 specifically includes: S2021-S2022.

[0092] S2021. Determine the correlation between the collision force and the sideslip displacement of the vehicle at each stage according to a plurality of collision force sequences and the sideslip displacement corresponding to each collision force sequence.

[0093] In some embodiments, the electronic device inputs a plurality of collision force sequences and the side sliding displacement corresponding to each collision force sequence into a preset correlation model to obtain the correlation between the collision force and the side sliding displacement of the vehicle at each stage.

[0094] Exemplarily, each collision force sequence includes multiple stage collision forces: F1, F2, F3, F4 and F5. The electronic device calculates the correlation between F1, F2, F3, F4 and F5 and the side slip displacement of the vehicle.

[0095] As another example, each collision force sequence includes multiple stage collision forces: x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6. The electronic device calculates the correlation between the 6 stage collision forces in the first direction (x-axis) and the side slip displacement of the vehicle, and the correlation between the 6 stage collision forces in the second direction (y-axis) and the side slip displacement of the vehicle. The electronic device calculates the correlation between x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6 and y6 and the side slip displacement of the vehicle.

[0096] It should be noted that the preset correlation model is pre-set in the electronic device by the operation and maintenance personnel.

[0097] S2022. Determine the target stage collision force.

[0098] Among them, the correlation between the collision force in the target stage and the sideslip displacement of the vehicle is greater than the preset correlation.

[0099] In some embodiments, when obtaining the correlation between the collision force at each stage and the side sliding displacement of the vehicle, the electronic device uses the stage collision force corresponding to a correlation greater than a preset correlation as the target stage collision force.

[0100] It should be noted that the preset correlation is pre-set in the electronic device by the maintenance personnel. The correlation between the stage collision force and the side sliding displacement of the vehicle can be positively correlated or negatively correlated, which is not limited in the embodiment of the present invention.

[0101] In a possible design, the stage collision force includes a stage collision force in a first direction and a stage collision force in a second direction, and the stage collision force in the first direction and the stage collision force in the second direction are obtained by decomposing the stage collision force. The above S2021 specifically includes: S301.

[0102] S301. Determine, based on a plurality of collision force sequences and the sideslip displacement corresponding to each collision force sequence, a correlation between each first-direction stage collision force and the sideslip displacement of the vehicle, and a correlation between each second-direction stage collision force and the sideslip displacement of the vehicle.

[0103] In some embodiments, the electronic device, while obtaining the stage collision force in the first direction and the stage collision force in the second direction of each collision force sequence in multiple collision force sequences, calculates the correlation between each stage collision force in the first direction and the sideslip displacement of the vehicle, as well as the correlation between each stage collision force in the second direction and the sideslip displacement of the vehicle.

[0104] In some embodiments, Figure 5 As shown, a coordinate diagram of the position of a vehicle is shown. Figure 5 In the coordinate system, the origin is located at the tangent point between the vehicle and the inner side of the barrier, the x-axis points from the front of the vehicle to the parking space, and the y-axis points from the left side of the vehicle to the right side. Based on the coordinate system, the vehicle center of mass position C, the coordinates of point A at the front end of the A-pillar of the vehicle, and the vertical distance between the coordinates of point A and the origin of the coordinate system O are determined in the driving parameters of the specific vehicle. Furthermore, the electronic device decomposes the stage collision force into the stage collision force in the x-axis direction and the stage collision force in the y-axis direction.

[0105] For example, each collision force sequence includes multiple stage collision forces: x1, y1, x2, y2, x3, y3, x4, y4, x5, y5, x6, y6. The electronic device calculates the correlation between the 6 stage collision forces in the first direction (x-axis) and the side slip displacement of the vehicle, and the correlation between the 6 stage collision forces in the second direction (y-axis) and the side slip displacement of the vehicle. The electronic device calculates the correlation between x1 and the side slip displacement of the vehicle, the correlation between y1 and the side slip displacement of the vehicle, the correlation between x2 and the side slip displacement of the vehicle, the correlation between y2 and the side slip displacement of the vehicle, the correlation between x3 and the side slip displacement of the vehicle, the correlation between y3 and the side slip displacement of the vehicle, the correlation between x4 and the side slip displacement of the vehicle, the correlation between y4 and the side slip displacement of the vehicle, the correlation between x5 and the side slip displacement of the vehicle, the correlation between y5 and the side slip displacement of the vehicle, the correlation between x6 and the side slip displacement of the vehicle, and the correlation between y6 and the side slip displacement of the vehicle.

[0106] In a possible design, in order to improve the safety of the vehicle driver, the determination method provided by the embodiment of the present invention also includes: S204-S205.

[0107] S204: Determine a component reconstruction strategy according to the correlation between the collision force in the target phase and the side sliding displacement of the vehicle.

[0108] As a possible implementation method, the electronic device determines the component reconstruction strategy according to the correlation between the target phase collision force and the vehicle's sideslip displacement when determining the correlation between the target phase collision force and the vehicle's sideslip displacement.

[0109] For example, Figure 3As shown in the figure, through correlation analysis, the collision force in the target stage is: y2, y1, y3, y4, x4, x5. Among them, the barrier contact force y2, y1, y3, y4 in the second direction is positively correlated with the side slip amount, while the barrier contact force x4, x5 in the first direction is negatively correlated with the side slip amount. The second direction contact force y1 is the main and secondary anti-collision beams and energy absorption boxes, and the degree of improvement is limited, so the second direction contact force y2, y3, y4 is mainly improved; the barrier contact force x4, x5 in the first direction is mainly the chassis parts such as tires, brake discs, and steering knuckles clamped by the barrier. Reducing the X-direction contact force x4, x5 requires ensuring that the tires fall off the body smoothly, thereby increasing the side slip amount to achieve vehicle side slip.

[0110] in addition, Figure 3 The importance factor has been given, and the four target stage collision forces of x4, y2, y3, and y4 are selected. The collision forces of other stages are set to the average of the barrier forces of the corresponding collision stages (such as time intervals). The side slip boundary section diagrams related to the collision forces of the above four target stages are given respectively, as shown in Figure 6 As shown. Figure 6 Six side slip boundary cross-sectional views (a), (b), (c), (d), (e) and (f) are shown in FIG. Figure 6 In the figure, the area where the dots are located is the area where sideslip is achieved, and the area where the squares are located is the non-sidelip area.

[0111] Figure 6 (a) shows the side sliding boundary section of y2-x4. Figure 6 As shown in (a) in the figure, to achieve sideslip, the barrier collision force y2 is increased to more than 170kN, and at the same time, the barrier collision force x4 is reduced to less than 680kN to achieve sideslip.

[0112] Figure 6 (b) shows the side sliding boundary section of y2-y3. Figure 6 As shown in (b), to achieve side sliding, the barrier collision force y2 is increased to more than 25 kN. At the same time, the barrier collision force y3 is not restricted, and side sliding can be achieved.

[0113] Figure 6 (c) shows the side sliding boundary section of x4-y3. Figure 6 As shown in (c) in the figure, to achieve sideslip, the barrier collision force y2 must be less than 620 kN, and at the same time, the barrier collision force y3 must be greater than 150 kN to achieve sideslip.

[0114] Figure 6 (d) shows the side sliding boundary section of y2-y4. Figure 6As shown in (d) in the figure, to achieve side sliding, the barrier collision force y2 must be greater than 20 kN. At the same time, the barrier collision force y4 is not restricted, and side sliding can be achieved.

[0115] Figure 6 (e) shows the side slip boundary section of x2-y2. Figure 6 As shown in (e), to achieve sideslip, the barrier collision force x2 must be less than 620 kN. At the same time, there is no restriction on the barrier collision force y4, so sideslip can be achieved.

[0116] Figure 6 (f) shows the side sliding boundary section of y4-y3. Figure 6 As shown in (f) in the figure, to achieve sideslip, the barrier collision forces y3 and y4 are not restricted, and sideslip can be achieved.

[0117] S205: Reconstruct the components according to the reconstruction strategy.

[0118] As a possible implementation manner, the electronic device reconstructs the reconstructing component after determining the reconstructing strategy.

[0119] In a possible design, the above S201 also includes: S2011.

[0120] S2011. Determine the sideslip displacement corresponding to each collision force sequence based on a sideslip displacement determination model.

[0121] In some embodiments, when acquiring each collision force sequence, the electronic device inputs each collision force sequence into a side sliding displacement determination model to obtain the side sliding displacement corresponding to each collision force sequence.

[0122] Exemplarily, when acquiring 20 collision force sequences, the electronic device inputs each collision force sequence into the side sliding displacement determination model to obtain 20 side sliding displacements.

[0123] In a possible design, the determination method provided by an embodiment of the present invention further includes: S206-S208.

[0124] S206: Determine sample driving parameters of the vehicle.

[0125] Among them, the sample driving parameters are used to characterize the parameters in the process of the vehicle colliding with the barrier.

[0126] According to the theory of plane rigid body mechanics, Figure 5 In the figure, the displacement of point A at the front end of the vehicle's A oblique column can be decomposed into the translational displacement of the vehicle's center of mass C and the rotational displacement of the vehicle around the center of mass C. According to the theory of plane rigid body mechanics, a model for determining the sideslip displacement is constructed.

[0127] Before constructing the side slip displacement determination model, it is necessary to obtain a sample training database. In some embodiments, the electronic device determines a plurality of sample driving parameters of the vehicle.

[0128] S207: Determine the sample sideslip displacement of the vehicle according to the sample driving parameters and a preset plane rigid body algorithm.

[0129] In some embodiments, the electronic device determines the sample side slip displacement of the vehicle based on the sample driving parameters and a preset plane rigid body algorithm after determining the sample driving parameters. Further, the sample driving parameters and the sample side slip displacement are determined as a sample training data.

[0130] Specifically, the electronic device determines the translation displacement of the vehicle based on the mass, collision duration, and sample collision force sequence. Further, the electronic device determines the rotation displacement of the vehicle based on the rotational inertia and sample collision force sequence. Subsequently, the electronic device determines the sample side slip displacement of the vehicle based on the translation displacement and the rotation displacement.

[0131] It should be noted that the preset plane rigid body algorithm is pre-set by the operation and maintenance personnel.

[0132] It is understandable that obtaining training data requires LSDYNA finite element simulation or real-time data collection after a vehicle collision, which results in a time-consuming, labor-intensive and costly method for determining sample sideslip displacement. The embodiment of the present invention can quickly determine sample sideslip displacement by presetting a plane rigid body algorithm, thereby obtaining training data and reducing the cost of obtaining training data.

[0133] This step is detailed in the following steps S2071-S2073 and will not be repeated here.

[0134] S208: Based on the sample driving parameters and the sample sideslip displacement, a sideslip displacement determination model is trained.

[0135] In some embodiments, the electronic device obtains sample driving parameters and sample sideslip displacements, trains an initial sideslip displacement determination model, and obtains a sideslip displacement determination model.

[0136] In some embodiments, in order to better understand the process of determining the side slip displacement determination model in the embodiments of the present invention, as shown in FIG. Figure 7 As shown, a model training flow chart is shown, including: S11-S14.

[0137] S11. Create sample data.

[0138] like Figure 7As shown, the established sample database includes a sample database A and a sample database B. The data in the sample database B is part or all of the data in the sample database A.

[0139] In some embodiments, the electronic device uses the sample training data of vehicle sideslip in the sample database A as the data in the sample database B.

[0140] Specifically, the electronic device determines the displacement of vehicle point A and the rotation angle of the vehicle body according to the sample driving parameters and the preset plane rigid body algorithm. Further, according to the displacement of vehicle point A and the rotation angle of the vehicle body, it is determined whether the sample data corresponding to the sample driving parameters is data in the sample database B.

[0141] This step is detailed in S2073 below and will not be repeated here.

[0142] S12. Build a model.

[0143] In some embodiments, Figure 7 As shown, when the electronic device obtains sample database A and sample database B, it inputs sample database A into a preset classification model to train a collision model and inputs sample database B into a preset regression model to train a sideslip displacement determination model.

[0144] It should be noted that the preset classification model and the preset regression model are pre-set in the electronic device by the operation and maintenance personnel. In addition, a machine learning algorithm such as a tree model, a logistic regression model, a support vector machine model, a neural network model, etc. can also be used to obtain a side-slip displacement determination model. The embodiment of the present invention does not limit the underlying algorithm for obtaining the side-slip displacement determination model.

[0145] In some embodiments, part of the data in the database is used as training samples, and the other part is used as verification samples.

[0146] Exemplarily, 70% of the database is used as training samples, and the remaining 30% is used as validation samples.

[0147] In order to reduce the dimension of the model, the collision force waveform is reduced to an n-order square wave according to the mean. For example, the contact force in the x-axis direction and the contact force in the y-axis direction of the barrier are respectively equivalent to a 6th-order square wave according to the mean, x1-x6 represents the force value of the 6th-order square wave of the barrier X-direction contact force, and x7-x12 represents the force value of the 6th-order square wave of the barrier Y-direction contact force, that is, it is finally reduced to a 12th-order square wave, and each order square wave is normalized according to the mean and equivalent to 12 levels, as shown in Table 1.

[0148] Table 1 Training sample table

[0149]

[0150] The force value of each order square wave in Table 1 is the interval value of the collision contact force bandwidth parameter. Figure 8 As shown in FIG. 1 , a schematic diagram of the bandwidth of a barrier collision force is shown. Figure 8 In the figure, the horizontal axis is time t (in milliseconds), and the vertical axis is collision force. The collision force bandwidth is divided into multiple intervals (such as 12 intervals). As shown in Table 1, the 6 in x1 of sample number 1 is the collision force of the first collision stage in the x-axis direction with the interval of 6.

[0151] According to the collision training samples, the collision mode is obtained, which is shown in Table 2 for example.

[0152] Table 2 Collision mode table

[0153]

[0154] Among them, when the vehicle's sideslip direction is clockwise, the sideslip angle is a negative value, and when the vehicle's sideslip direction is counterclockwise, the sideslip angle is a positive value.

[0155] In some embodiments, the collision model and the side-slip displacement determination model both use a neural network algorithm. Specifically, a multilayer perceptron (MLP) is used, which consists of an input layer (X), multiple hidden layers and an output layer (O). Among them, each hidden layer is composed of a linear projection layer, a batch normalization layer and an activation function layer. The batch normalization layer is to accelerate the convergence speed of the model and avoid overfitting. The activation function layer performs nonlinear conversion to improve the fitting ability of the model; the input and output layers are both linear layers. The number of hidden layers and the number of neurons in each layer are hyperparameters. Exemplarily, three hidden layers are used, and the number of neurons in each layer is 32, 64, and 128 respectively. The activation function layer uses the Relu function.

[0156] In addition, back propagation uses mini-batch gradient descent (SGD) to update weights. The collision model loss function uses the cross entropy loss function. y i They represent the value of the true label in the i-th category (0 or 1), Represents the probability value predicted by the model, and n is the number of categories. The side slip displacement determination model uses the root mean square loss function y i as well as They are i The true value and predicted value of samples, n is the number of samples.

[0157] The verification samples in the sample database A and the sample database B are input into the respectively trained collision model and the sideslip displacement determination model to obtain the prediction results of the vehicle sideslip mode and the sideslip amount.

[0158] Fig. 9 The side slip mode prediction result diagram is shown. Fig. 9 In FIG. 1 , it is shown that in side sliding mode 0, the predicted mode and the actual mode match 2289 times and do not match 15 times; in side sliding mode 1, the predicted mode and the actual mode match 2209 times and do not match 94 times. Thus, the prediction accuracy reaches 97.6%.

[0159] Fig.10 The side slip displacement prediction result diagram is shown, and the prediction result has good accuracy. Fig.10 In FIG. 1 , the horizontal axis shows the collision time, and the vertical axis shows the absolute value of the product of Say and the sideslip angle.

[0160] S13, database supplement.

[0161] S14. Revised model.

[0162] In some embodiments, based on the acquisition of sample database A and sample database B, the real database Aplus and the sideslip real database Bplus are continuously constructed through LSDYNA finite element simulation or data collected in real time after a real vehicle collision. The collision model is trained on the sample database A, and transfer learning (model fine-tuning) is performed according to the real database Aplus, that is, the pre-trained collision model is loaded. During the model training process, all layers except the last layer are frozen, that is, the model only updates the weight of the last layer to obtain the modified model AModified, which can ensure that the prediction results of AModified are closer to the real data. In the same way, transfer learning can be performed on the sideslip displacement determination model to obtain BModefied.

[0163] In a possible design, the sample driving parameters include a sample collision force sequence, a collision speed of the vehicle, a mass of the vehicle, a collision duration, and a moment of inertia. The above S207 also includes: S2071-S2073.

[0164] S2071. Determine the translational displacement of the vehicle according to the mass, collision duration, and sample collision force sequence.

[0165] S2072. Determine the rotational displacement of the vehicle according to the rotational inertia and the sample collision force sequence.

[0166] S2073: Determine the sample sideslip displacement of the vehicle according to the translational displacement and the rotational displacement.

[0167] Specifically, Fig.11 Figure 2 shows a schematic diagram of a vehicle with a small offset collision based on rigid body plane motion. Fig.11 In the figure, Scy is the side slip of the vehicle's mass center C in the y-axis direction, Scx is the side slip of the vehicle's mass center C in the x-axis direction, LCA is the distance from the vehicle's mass center to point A, β is the angle between the barrier force FBarrier and the X-axis, and θ is the vector The angle with the x-axis, h is the arm distance between the direction of the barrier collision force and the center of mass of the vehicle, C' is the coordinate of the center of mass of the vehicle after the sideslip, A' is the coordinate of the front end point of the inclined column of vehicle A after the sideslip, S Ay is the side slip displacement of the vehicle in the y-axis direction, S Ax is the side slip displacement of the vehicle in the x-axis direction. Fig.10 , determine the motion formula for the side sliding displacement of the vehicle during a vehicle collision.

[0168] The vehicle's motion formula in the x-axis direction is shown in the following formula 1:

[0169] F Barrier cosβ=M Vehicle a Cx Formula 1

[0170] Among them, F Barrier is the collision force, β is the angle between the collision force and the x-axis, M Vehicle is the mass of the vehicle, a Cx is the acceleration of the vehicle in the x-axis direction.

[0171] F Barrier sinβ=M Vehicle a Cy Formula 2

[0172] Among them, F Barrier is the collision force, β is the angle between the collision force and the x-axis, M Vehicle is the mass of the vehicle, a Cy is the acceleration of the vehicle in the y-axis direction.

[0173] F Barrier h=J Vehicle_CZ α Vehicle_CZ Formula 3

[0174] Among them, F Barrier is the collision force, h is the distance between the contact force direction and the center of mass of the vehicle, J Vehicle_CZ is the moment of inertia of the vehicle around the Z axis of the center of mass C, α Vehicle_CZ It is the rotational angular acceleration of the vehicle around the Z axis of the center of mass C during the collision.

[0175]

[0176] in, is the rotation angle of the Z axis around the center of mass C during the collision of the vehicle body, and t is the moment when the vehicle collides with the barrier.

[0177] The displacement caused by the translation of the center of mass of the vehicle at the time t of the collision at point A is obtained by integration as shown in the following formulas 5 and 6.

[0178]

[0179] Among them, S Ax_translation is the translation displacement of the vehicle in the x-axis direction, v0 is the initial velocity of the vehicle when the vehicle contacts the barrier, t is the moment when the vehicle collides with the barrier, and a Cx is the acceleration of the vehicle in the x-axis direction.

[0180]

[0181] Among them, S Ay_translation is the translational displacement of the vehicle in the y-axis direction, t is the moment when the vehicle collides with the barrier, and a Cy is the acceleration of the vehicle in the y-axis direction.

[0182] For example, Fig.12 The displacement diagram of point A when the vehicle rotates around its center of mass is given. Fig.11 middle, is the rotation angle of the Z axis around the center of mass C during the collision of the vehicle body. The displacement of the vehicle around the center of mass C at the time t of the collision at point A is obtained by integration, as shown in the following formulas 7 and 8.

[0183]

[0184] Among them, S Ax_rotation is the rotation displacement of the vehicle in the x-axis direction, L CA is the distance between the center of mass C and point A, is the rotation angle of the Z axis around the center of mass C during the collision of the vehicle body, and θ is the vector The angle with the x-axis.

[0185]

[0186] Among them, S Ay_rotation is the rotation displacement of the vehicle in the y-axis direction, L CA is the distance between the center of mass C and point A, is the rotation angle of the Z axis around the center of mass C during the collision of the vehicle body, and θ is the vector The angle with the x-axis.

[0187] Finally, the translational displacement of the vehicle is added to the rotational displacement of the vehicle to obtain the sideslip displacement of point A of the vehicle in the x-direction and the y-direction, as shown in the following formulas 9 and 10.

[0188] S Ax =S Ax_translation +S Ax_rotation Formula 9

[0189] Among them, S Ax is the side slip displacement of the vehicle in the x-axis direction, S Ax_rotation is the rotation displacement of the vehicle in the x-axis direction, S Ax_translation is the translational displacement of the vehicle in the x-axis direction.

[0190] S Ay =S Ay_translation +S Ay_rotation Formula 10

[0191] Among them, S Ay is the side slip displacement of the vehicle in the y-axis direction, S Ay_rotation is the rotation displacement of the vehicle in the y-axis direction, S Ay_translation is the translational displacement of the vehicle in the y-axis direction.

[0192] By performing a differential operation on Formula 9 and Formula 10, a displacement time history curve of point A of the vehicle and a time history curve of the vehicle rotation angle are obtained.

[0193] In addition, the collision motion mode of the vehicle is determined based on the time history curve of the displacement of point A of the vehicle and the time history curve of the rotation angle of the vehicle.

[0194] For example, Fig.13 A schematic diagram of a vehicle side sliding is shown. Fig.13 The coordinates of the center of mass C of the vehicle and the front end point A of the A-pillar of the vehicle at the time when the vehicle starts to contact the barrier, the center of mass C' of the vehicle and the front end point A' of the A-pillar of the vehicle at the time t1 when the vehicle separates from the barrier, and the side slip displacement S of the vehicle in the y-axis direction are shown in FIG. Ay The vehicle collision motion modes include side sliding mode, semi-side sliding mode and hard collision mode.

[0195] Side-slip mode: At time t1 when the vehicle separates from the barrier, the displacement of point A of the vehicle satisfies S Ax ≥L X_OA , S Ay ≥25%×W Vehicle , the body rotation angle meets exist Fig.14 The vehicle in side-slip mode is shown in FIG. Ax is the side slip displacement of the vehicle in the x-axis direction, L X_OA is the distance between the vehicle's A and the collision point in the x-axis direction, is the rotation angle of the Z axis around the center of mass C during the collision of the vehicle body, W Vehicle is the width of the vehicle.

[0196] Semi-skid mode: At time t1 when the vehicle separates from the barrier, the displacement of point A of the vehicle satisfies S Ax ≥L X_OA , S Ay ≥25%×W Vehicle , the body rotation angle meets exist Fig.15 The vehicle is shown in semi-skid mode.

[0197] Hard mode: At time t1 when the vehicle is separated from the barrier, the displacement of point A of the vehicle satisfies S Ax <L X_OA , the body rotation angle meets exist Fig.16 The vehicle is shown in hard mode.

[0198] In order to verify the preset plane rigid body algorithm provided by the embodiment of the present invention.

[0199] A specific LSDYNA finite element model result is used to extract the vehicle's dynamic parameters, including the vehicle mass M, vehicle width W, vehicle center of mass C coordinates, vehicle point A coordinates, moment of inertia J, and vehicle initial velocity v0, and then substituted into the above-mentioned planar rigid body motion theoretical model to obtain the displacement of vehicle point A and the vehicle's rotation angle time history.

[0200] Fig.17 The following is a comparison chart of the simulation and theoretical results of the displacement time history of point A of the vehicle. Fig.17 In the figure, the horizontal axis is time and the vertical axis is the displacement of point A. Fig.17 As shown, the results and values ​​are in good agreement.

[0201] Fig.18 The figure shows the comparison between the simulation and theoretical results of the vehicle body rotation angle time history. Fig.18 In the figure, the horizontal axis is time and the vertical axis is the rotation angle of the vehicle body. Fig.18 As shown, the results and values ​​are in good agreement.

[0202] In order to better understand the determination method provided in the embodiment of the present invention, Fig.19 As shown, a flowchart of a method for determining a reconstruction component is shown, such as Fig.19 As shown, including: S21-S26.

[0203] S21. Obtain collision data of the vehicle.

[0204] In some embodiments, S22 is executed when collision data of the vehicle is acquired.

[0205] In other embodiments, when the collision data of the vehicle is obtained, the collision is input into the side sliding displacement determination model, such as S24 described below.

[0206] S22, inputting the collision data into the collision model.

[0207] S23: Determine whether the vehicle is sliding sideways.

[0208] If it is a side slip, execute S24; if it is not a side slip, execute S26.

[0209] S24, inputting the collision data into the sideslip displacement determination model.

[0210] S25. Determine the side slip displacement.

[0211] S26. Display reconstruction strategy.

[0212] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the method. In order to achieve the above functions, the communication device includes a hardware structure and / or software module corresponding to each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0213] Fig. 20 A device for determining a reconstruction component is shown according to an exemplary embodiment. Fig. 20 The determination device 40 of the reconstruction component includes: an acquisition unit 401 and a determination unit 402.

[0214] The acquisition unit 401 is used to acquire collision data of the vehicle; the collision data includes multiple collision force sequences and the side sliding displacement corresponding to each collision force sequence, and a collision force sequence includes the stage collision force between the vehicle and the barrier at different collision stages during a collision process. The determination unit 402 is used to determine the target stage collision force that affects the side sliding displacement of the vehicle according to the multiple collision force sequences and the side sliding displacement corresponding to each collision force sequence. The determination unit 402 is also used to determine the components that need to be reconstructed in the collision stage corresponding to the target stage collision force.

[0215] In one possible manner, the determination unit 402 is specifically configured to: determine the correlation between the collision force at each stage and the side slip displacement of the vehicle according to the plurality of collision force sequences and the side slip displacement corresponding to each collision force sequence; determine the collision force at a target stage; and the correlation between the collision force at the target stage and the side slip displacement of the vehicle is greater than a preset correlation.

[0216] In one possible manner, the stage collision force includes a stage collision force in a first direction and a stage collision force in a second direction, the stage collision force in the first direction and the stage collision force in the second direction are obtained by decomposing the stage collision force, and the determination unit 402 is specifically used to: determine the correlation between each stage collision force in the first direction and the sideslip displacement of the vehicle, and the correlation between each stage collision force in the second direction and the sideslip displacement of the vehicle according to multiple collision force sequences and the sideslip displacement corresponding to each collision force sequence.

[0217] In a possible manner, the determination unit 402 is further configured to: determine a reconstruction strategy of the component according to the correlation between the collision force in the target phase and the side slip displacement of the vehicle. The reconstruction strategy is used to indicate the reconstruction of the component.

[0218] In a possible manner, the acquisition unit is specifically configured to determine the sideslip displacement corresponding to each collision force sequence based on a sideslip displacement determination model.

[0219] One possible approach is Fig. 20 The determining device 40 further includes: a processing unit 403. The determining unit 402 is further used to determine the sample driving parameters of the vehicle; the sample driving parameters are used to characterize the parameters in the process of the vehicle colliding with the barrier. The determining unit 402 is further used to determine the sample sideslip displacement of the vehicle according to the sample driving parameters and the preset plane rigid body algorithm. The processing unit 403 is used to train a sideslip displacement determination model based on the sample driving parameters and the sample sideslip displacement.

[0220] In one possible manner, the sample driving parameters include a sample collision force sequence, a collision speed of the vehicle, a mass of the vehicle, a collision duration, and a moment of inertia. The determination unit 402 is specifically used to: determine the translational displacement of the vehicle based on the mass, the collision duration, and the sample collision force sequence; determine the rotational displacement of the vehicle based on the moment of inertia and the sample collision force sequence; and determine the sample sideslip displacement of the vehicle based on the translational displacement and the rotational displacement.

[0221] Fig.21 FIG. 1 is a schematic diagram of an electronic device according to an exemplary embodiment. Fig.21 As shown, the processing device includes but is not limited to: a processor 501 and a memory 502 .

[0222] The memory 502 is used to store executable instructions of the processor 501. It can be understood that the processor 501 is configured to execute instructions to implement the model training method and SOC estimation method in the above embodiment.

[0223] It should be noted that those skilled in the art can understand that Fig.21 The processing device structure shown in the figure does not constitute a limitation on the processing device, and the processing device may include Fig. 9 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0224] The processor 501 is the control center of the processing device. It uses various interfaces and lines to connect various parts of the entire processing device. By running or executing software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it performs various functions of the processing device and processes data, thereby monitoring the processing device as a whole. The processor 501 may include one or more processing units. Optionally, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0225] The memory 502 can be used to store software programs and various data. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0226] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions, and the above instructions can be executed by a processor 501 of a processing device to implement the method in the above embodiment.

[0227] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0228] In an exemplary embodiment, the present invention further provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 501 of the processing device to complete the method in the above embodiment.

[0229] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the processing device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0230] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0231] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0232] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0233] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0234] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, in essence, or the part that contributes to the prior art, or the entire classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform the entire classification part or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or optical disk and other media that can store program codes.

[0235] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for determining a reconstruction component, characterized in that: The method comprises: Acquire collision data of the vehicle; the collision data includes a plurality of collision force sequences and a side sliding displacement corresponding to each collision force sequence, wherein a collision force sequence includes stage collision forces between the vehicle and the barrier at different collision stages during a collision process; Determining a target stage collision force affecting the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence; The components that need to be reconstructed in the collision phase corresponding to the collision force in the target phase are determined.

2. The method according to claim 1, characterized in that The step of determining the target stage collision force affecting the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence comprises: Determining the correlation between the collision force at each stage and the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence; The target phase collision force is determined; the correlation between the target phase collision force and the side slip displacement of the vehicle is greater than a preset correlation.

3. The method according to claim 2, characterized in that The stage collision force includes a stage collision force in a first direction and a stage collision force in a second direction, the stage collision force in the first direction and the stage collision force in the second direction are obtained by decomposing the stage collision force, and determining the correlation between each stage collision force and the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence, comprises: According to the multiple collision force sequences and the sideslip displacements corresponding to each collision force sequence, the correlation between each first direction stage collision force and the sideslip displacement of the vehicle and the correlation between each second direction stage collision force and the sideslip displacement of the vehicle are determined.

4. The method according to claim 2, characterized in that: The method further comprises: A reconstruction strategy of the component is determined according to the correlation between the collision force in the target phase and the side slip displacement of the vehicle; the reconstruction strategy is used to instruct the reconstruction of the component.

5. The method according to any one of claims 1 to 4, characterized in that The obtaining of the collision data of the vehicle comprises: Based on the sideslip displacement determination model, the sideslip displacement corresponding to each collision force sequence is determined.

6. The method according to claim 5, characterized in that The method further comprises: Determining sample driving parameters of the vehicle; the sample driving parameters are used to characterize parameters of the vehicle during collision with the barrier; Determining a sample side slip displacement of the vehicle according to the sample driving parameters and a preset plane rigid body algorithm; The sideslip displacement determination model is trained based on the sample driving parameters and the sample sideslip displacement.

7. The method according to claim 6, characterized in that The sample driving parameters include a sample collision force sequence, a collision speed of the vehicle, a mass of the vehicle, a collision duration, and a moment of inertia. The method of determining the sample side slip displacement of the vehicle according to the sample driving parameters and a preset plane rigid body algorithm includes: Determining a translational displacement of the vehicle according to the mass, the collision duration, and the sample collision force sequence; Determining a rotational displacement of the vehicle according to the rotational inertia and the sample collision force sequence; A sample sideslip displacement of the vehicle is determined according to the translation displacement and the rotation displacement.

8. A device for determining a reconstruction component, characterized in that: The device comprises: an acquisition unit and a determination unit; The acquisition unit is used to acquire collision data of the vehicle; the collision data includes a plurality of collision force sequences and a side sliding displacement corresponding to each collision force sequence, and a collision force sequence includes the stage collision force between the vehicle and the barrier at different collision stages during a collision process; The determining unit is used to determine a target stage collision force affecting the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence; The determining unit is further used to determine the components that need to be reconstructed in the collision phase corresponding to the collision force in the target phase.

9. The device according to claim 8, characterized in that The determining unit is specifically configured to: Determining the correlation between the collision force at each stage and the side slip displacement of the vehicle according to the multiple collision force sequences and the side slip displacement corresponding to each collision force sequence; The target phase collision force is determined; the correlation between the target phase collision force and the side slip displacement of the vehicle is greater than a preset correlation.

10. An electronic device, characterized in that: including memory and processor; The memory is coupled to the processor; The memory is used to store computer program code, wherein the computer program code includes computer instructions; When the processor executes the computer instructions, the electronic device performs the determination method as described in any one of claims 1-7.

11. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a processing device, the processing device can perform the determination method according to any one of claims 1 to 7.

12. A computer program product or a computer program, characterized in that The computer program product comprises the computer program, and the computer program is suitable for being loaded by a processor and executing the determination method according to any one of claims 1 to 7.

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