Multi-body isomerism-oriented hierarchical external dynamics simulation method and system

Abstract

The invention discloses a multi-body isomerism-oriented hierarchical external dynamics simulation method and system. The method comprises the following steps of (1) starting a simulation engine, obtaining a simulation map, rendering a scene and rendering unmanned system objects 1-N at a specified position of the scene map; (2) acquiring a specified unmanned system dynamic model according to the type of the unmanned system, and instantiating and performing simulation operation on the dynamic model; (3) in the current frame of simulation, the unmanned system dynamical model obtains dynamical parameter configuration in four modes according to the type of the unmanned system dynamical model; (4) the simulation engine calculates the state of the next frame of the unmanned system and updates the state of the unmanned system; according to the method, the iteration and optimization process of the simulation model is accelerated, and the development efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned system dynamics simulation, and in particular to a multi-body heterogeneous hierarchical external dynamics simulation method and system. Background Art

[0002] With the rapid development of computer technology, especially the significant improvement of computing power and storage capacity, high-precision simulation of complex physical systems has become possible. Efficient numerical calculation methods and advanced algorithms provide strong support for unmanned system dynamics simulation. At present, more and more simulation engines and simulation software can achieve fine-grained, high-fidelity unmanned system dynamics simulation, comprehensively simulate the motion laws and performance of complex systems, and provide accurate and reliable support for product design and scientific research.

[0003] However, the existing technology usually uses built-in models or code integration to perform dynamic simulation. These solutions have the following defects: first, the flexibility is low, the dynamic model is fixed, and it is difficult to adjust the model parameters; second, the simulation process is rigid and difficult to adapt to the changing needs of unmanned systems; finally, the integration is difficult, and one needs to be familiar with the internal logic of the simulation engine to integrate or modify the dynamic model. Summary of the invention

[0004] In order to solve the above problems in the prior art, the present invention proposes a hierarchical external dynamics simulation method and system for multi-body heterogeneity, which controls the setting of the dynamics model through parameter configuration items or files independent of the simulation engine, reduces the intrusion into the simulation engine code, and significantly improves the flexibility and adaptability of multi-body heterogeneous dynamics simulation; solves the problems existing in the background technology.

[0005] The hierarchical external dynamics simulation method for multi-body heterogeneity of the present invention comprises the following steps: (1) The simulation engine starts and obtains the simulation map, renders the scene, and renders the unmanned system objects 1-N at the specified location on the scene map; (2) Obtain the specified unmanned system dynamics model according to the type of unmanned system, instantiate the dynamics model and simulate it; (3) In the current frame of the simulation, the unmanned system dynamics model obtains the dynamics parameter configuration according to its own type through any of the following methods: Method 1: The unmanned system dynamics model is configured according to its own type through the default parameters in the dynamics model; Method 2: The unmanned system dynamics model is configured according to its own type from the preset dynamics parameters in the simulation engine; Method 3: The unmanned system dynamics model obtains dynamics startup parameters from an external parameter list according to its own type when the simulation engine is running; Method 4: The unmanned system dynamics model obtains an external dynamics parameter configuration file according to its own type; (4) The simulation engine calculates the next frame state of the unmanned system and updates the state of the unmanned system.

[0006] Furthermore, in step (1), the unmanned system includes a land unmanned system, an air unmanned system, and a marine unmanned system.

[0007] Furthermore, in step (2), the unmanned system dynamics model and the unmanned system virtual model have a one-to-one correspondence, and the correspondence is determined by the type of the unmanned system.

[0008] Furthermore, in step (3), the dynamic parameter configuration includes multiple priority configuration modes including preset parameters, startup parameters and external parameter files.

[0009] Furthermore, in step (3), the priorities of the kinetic parameter configuration methods 1, 2, 3 and 4 are increased in sequence.

[0010] Furthermore, in step (3), the simulation engine includes simulation engine programs such as Unreal 4 and Unity.

[0011] The hierarchical external dynamics simulation system for multi-body heterogeneity of the present invention comprises: Simulation engine module: used to render and run simulation scenes, unmanned system virtual models and dynamic models, etc., to realize the simulation of the virtual world; Simulation scene module: used for the virtual world running in the simulation engine based on the assumptions, including scene maps, dynamic and static elements, weather and lighting, etc.; Unmanned system virtual model: used for unmanned systems running in simulation scenarios, including unmanned vehicles, drones or unmanned ships; Unmanned system dynamics model: a simulation model for the kinematics and dynamics of unmanned systems in motion; Dynamics preset parameter module: used to predefine the configuration parameters of the dynamics model based on different unmanned system types and models; Dynamics startup parameter module: used to pass the operating parameters when the simulation engine is started. The operating parameters are passed separately for different unmanned system types. Dynamic parameter file module: used for unmanned system dynamic parameter configuration files independent of the simulation engine, which are defined and stored separately for different unmanned system types.

[0012] An electronic device described in the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, any one of the hierarchical external dynamics simulation methods for multi-body heterogeneity is implemented.

[0013] A storage medium described in the present invention stores a computer program, and when the computer program is executed by a processor, it implements any one of the multi-body heterogeneous hierarchical external dynamics simulation methods described.

[0014] Beneficial effects: Compared with the prior art, the present invention has the following advantages: The present invention moves the parameters of the dynamic model from the inside of the model to the external configuration file, avoiding frequent modification and recompiling of the core code of the simulation engine, reducing the invasiveness of the code, and making the update and maintenance of the model easier. The present invention can handle a variety of different types of unmanned systems (such as drones, unmanned vehicles, unmanned ships, etc.), and supports the simultaneous simulation of these heterogeneous unmanned systems. By providing a unified interface and parameterization method, the differences between the dynamic models of different unmanned systems are reduced, and the simulation process is simplified. The present invention provides a variety of parameter configuration modes such as preset parameters, startup parameters and parameter files, and users can choose the most appropriate parameter configuration method according to different needs and scenarios. This flexible parameter configuration mode reduces the workload of users in debugging and integrating dynamic models, reduces the cost of debugging and integration, accelerates the iteration and optimization process of simulation models, and improves development efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of the present invention; Figure 2 This is the architecture diagram of the hierarchical external dynamics simulation system of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further explained and illustrated below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the embodiments are only used to illustrate and explain the present invention, and do not impose any limitation on the scope of implementation of the present invention.

[0017] like Figure 1 As shown, the embodiment of the present invention provides a hierarchical external dynamics simulation method for multi-body heterogeneity, comprising the following steps: Step 1: The simulation engine starts and obtains the simulation map, renders the scene, and renders the unmanned system objects 1-N at the specified location of the scene map.

[0018] In the present invention, the simulation of the unmanned system and the dynamic model depends on the operation of the simulation engine, such as Unreal 4, Unity and other simulation engine programs. The simulation engine is started and the simulation scene is rendered. According to the configuration information of the simulation scene, the simulation map is obtained and rendered. On the basis of the simulation map, the lighting, weather and dynamic and static elements are rendered to form a simulation of the basic world. At the same time, the unmanned system virtual model is instantiated and rendered at a specified position in the simulation map. Different types and quantities of unmanned systems can be included in the assumed configuration, and the present invention is not limited to this.

[0019] The unmanned systems and intelligent unmanned systems mentioned in the present invention can be divided into the following types according to their spatial scope and application fields: a Land unmanned systems: These systems are mainly operated on land, including but not limited to reconnaissance unmanned vehicles, transport unmanned vehicles, combat unmanned vehicles, obstacle removal unmanned vehicles, bomb disposal unmanned vehicles, and unmanned vehicle formations and command systems; b. Aerial unmanned systems: Aerial unmanned systems mainly include single drone platforms and drone clusters; c Marine unmanned systems: Marine unmanned systems include two categories: surface unmanned systems and underwater unmanned systems.

[0020] Different types of unmanned systems result in different parameters of dynamic models, including differences in physical structures such as mass, size, and shape, and differences in motion characteristics such as maximum speed, acceleration, and turning radius. In order to accurately simulate and control different types of unmanned systems, the parameters of the dynamic model must be customized and optimized according to the characteristics of each system.

[0021] In one embodiment, the startup of the simulation engine involves multiple steps, first of all, it is necessary to ensure the compatibility of all software and system environments, such as using a specific version of Visual Studio and Python, and a version of Carla that is compatible with UE4. The startup process begins with the configuration of environment variables, ensuring that all necessary dependencies and paths are set correctly. Next, a series of build commands are executed through command line tools, such as make setup, and cloning the latest asset library, overwriting the original content. Subsequently, the library files are compiled, a solution file (sln) is generated, and the source code is compiled using an IDE (such as Visual Studio).

[0022] Step 2: Obtain the specified unmanned system dynamics model according to the unmanned system type, and instantiate and simulate the dynamics model.

[0023] After the unmanned system virtual model is rendered, the unmanned system dynamics model corresponding to the unmanned system type is found and started to instantiate according to the type of the unmanned system. Generally, there is a one-to-one correspondence between the unmanned system dynamics model and the unmanned system virtual model, and the correspondence is determined by the unmanned system type, which is generally determined when the virtual model is defined.

[0024] In one embodiment, for different types of unmanned systems, it is first necessary to select a suitable dynamic model according to their characteristics. For example, for an unmanned helicopter, a nonlinear flight dynamics model that meets the requirements of real-time simulation can be established. For a ground unmanned platform, a four-wheel independent drive model can be used, and the kinematic model can be simplified, only considering the translation along the x and y directions and the yaw motion around the z direction, and ignoring the translation, pitch and roll motion along the z direction. Such a model can more accurately simulate the movement of a ground unmanned platform on a flat road.

[0025] After obtaining a suitable dynamics model, the model needs to be instantiated. This step involves setting the specific parameters of the model, such as mass, size, shape, etc., according to the specifications of the actual unmanned system. For example, a vehicle dynamics model can be built based on UE4 to provide a complete vehicle dynamics model and improve simulation accuracy. Instantiation also includes configuring the sensor and actuator models of the unmanned system. These models need to match the actual hardware to ensure that the simulation environment can accurately reflect the physical phenomena in the real world.

[0026] Step 3: In the current frame of the simulation, the unmanned system dynamics model obtains the dynamics parameter configuration in any of the following ways according to its own type.

[0027] The unmanned system dynamics model defines the kinematics and dynamics of a specified unmanned system, and calculates the response to be made in real time based on the current state and control instructions of the unmanned system. For example, when a ground unmanned system is driving at 50 kilometers per hour, a command of 230N torque is given to turn left, and the unmanned system should have the posture, roll and speed, etc. This response is different for different unmanned system properties (such as weight, wheelbase, wheel type, etc.) and environmental conditions (such as ground properties, etc.). Therefore, all unmanned system properties related to kinematics and dynamics are unified as dynamic parameter configurations.

[0028] Method 1: The unmanned system dynamics model is configured according to its own type through the default parameters in the dynamics model.

[0029] The default parameter configuration of the dynamics model provided by the simulation engine is designed to allow the model to run without specific tuning. These parameters are usually derived based on extensive experimental data and theoretical analysis, and can represent the average behavior of a class of unmanned systems in typical environments.

[0030] In one embodiment, the vehicle is configured as a heavy, soft-suspension off-road vehicle, and its default dynamic parameters may be: Weight: The vehicle weight is 2420 Kg. 0-60 mph: The acceleration time is about 8 seconds. Top Speed: The maximum speed is about 115 miles per hour.

[0031] Method 2: The unmanned system dynamics model is configured according to its own type from the preset dynamics parameters in the simulation engine.

[0032] Although the simulation engine provides default dynamic model parameters, users can often adjust these parameters to meet specific application requirements. This flexibility allows users to simulate unmanned system behavior under specific conditions or fine-tune the model to improve the accuracy of the simulation.

[0033] During the operation of the simulation engine, the preset dynamic parameter configuration, environmental condition factors and current unmanned system status data are input in real time at each frame and the next frame status of the unmanned system is calculated. Among them: In the simulation engine, dynamic parameters are pre-set, which define the physical behavior of unmanned systems (such as drones, unmanned vehicles, etc.), such as mass, speed, acceleration, steering angle, etc. At the beginning of each frame (that is, each time step in the simulation), the simulation engine reads these preset dynamic parameters to ensure that the movement of the unmanned system complies with physical laws and design requirements.

[0034] Environmental conditions include wind speed, wind direction, temperature, humidity, etc., which may affect the performance and behavior of unmanned systems. The simulation engine needs to obtain these environmental data in real time and use them as input to simulate the real environmental impact in the simulation.

[0035] The current state data of the unmanned system includes the current position, speed, acceleration, attitude (for aerial unmanned systems) and other state information of the unmanned system. These data are usually calculated by the simulation engine in the previous frame, or in actual applications, they are transmitted back in real time by the actual sensors of the unmanned system.

[0036] The simulation engine allows users to dynamically adjust dynamic parameters according to different application scenarios and requirements. For example, in the CARLA simulation platform, parameters can be applied to the vehicle in the next frame through the apply_physics_control method, which provides flexible control over the simulation of vehicle performance.

[0037] However, it should be noted that the preset dynamic parameter configuration stored in the simulation engine needs to be set in advance before the simulation is run, and the parameter configuration cannot be modified during the simulation.

[0038] Method 3: The unmanned system dynamics model obtains dynamics startup parameters from an external parameter list according to its own type when the simulation engine is running.

[0039] In the present invention, in order to decouple the dynamics simulation model and the preset dynamics parameter configuration, an external dynamics parameter configuration with a higher priority is used to overwrite the preset dynamics parameter configuration. When the simulation engine is started, optionally, startup parameters are provided for a specific unmanned system type to flexibly configure the dynamics simulation model parameters of the corresponding unmanned system. At this time, the startup parameter configuration has a higher priority and overwrites the preset dynamics model parameters of the unmanned system, so as to achieve the motion law of the customized unmanned system without modifying the dynamics simulation model and the preset dynamics parameter configuration.

[0040] At the same time, the startup parameters have more fine-grained configuration properties, which can flexibly select which parameters can overwrite the preset parameters and which ones can keep the preset parameters. For example, the preset dynamics parameters have four parameter configurations: A, B, C, and D. The startup parameters can choose to overwrite and modify only the A and B parameter configurations, or only overwrite and modify the B and C parameter configurations, while retaining the validity of other parameter configurations. This step can efficiently debug and customize the kinematics and dynamics of the unmanned system.

[0041] The dynamics parameters are not hard-coded inside the dynamics model, but are stored in a parameter list outside the simulation engine. The advantage of this is that these parameters can be adjusted at any time without modifying the code of the dynamics model itself, thereby improving the flexibility and maintainability of the dynamics model. Before the simulation starts, the simulation engine will load and apply these parameters.

[0042] In one embodiment, the parameter list may be displayed in the following manner:

[0043] It should be noted that the way the simulation engine obtains parameter configuration from the parameter list needs to be set in advance before the simulation runs, and the parameter configuration cannot be modified during the simulation run.

[0044] Method 4: The unmanned system dynamics model obtains an external dynamics parameter configuration file based on its own type.

[0045] More preferably, the present invention supports the highest priority external dynamic parameter configuration file to customize the kinematics and dynamics of the unmanned system, reducing the tediousness of manually inputting specific startup parameters in method three, further reducing debugging and modification costs, and improving the flexibility of the overall system.

[0046] The external dynamics parameter configuration file has the highest priority, and its one-to-one correspondence with the unmanned system is specified by the simulation engine startup parameter configuration, which specifies the specific unmanned system type and the corresponding specific path of the external dynamics parameter configuration file.

[0047] When the simulation engine is running, it will dynamically obtain the corresponding dynamic parameters from the external parameter configuration file according to the type of the current unmanned system. In each state of the simulation, the simulation engine will load and apply these parameters to ensure the accuracy and real-time performance of the simulation. Therefore, through the external configuration file, the dynamic parameters can be easily updated and optimized to improve the accuracy of the simulation.

[0048] In one embodiment, the external dynamic parameter configuration file corresponding to the unmanned vehicle unmanned system model AJ-80 is the aj80.param file, and when the simulation engine is started, a command in the form of --arg aj-80= / path / to / aj80.param is specified. The dynamics module of the simulation engine reads the parameter configuration from the specified file.

[0049] Similarly, the external dynamics parameter configuration file also has fine-grained configuration properties, which can flexibly select which parameters can override the preset parameters, which parameters are obtained from the startup parameters, and which parameters remain the preset parameters.

[0050] It needs to be emphasized again here that the priorities of the four methods for obtaining dynamic parameters are increasing in sequence, that is, the priority of method four is greater than that of method three, the priority of method three is greater than that of method two, and so on.

[0051] When both the external dynamics parameter configuration file and the external parameter list are obtained at the same time, the external dynamics parameter configuration file will overwrite the parameter configuration in the external parameter list, and you can flexibly choose which preset parameters to overwrite.

[0052] Step 4: The simulation engine calculates the next frame state of the unmanned system and updates the state of the unmanned system.

[0053] Based on the dynamic parameters, environmental conditions, and state of the unmanned system in the current frame, the simulation engine uses a physics engine (such as Niagara, the physics engine in UE4) to calculate the state of the unmanned system in the next frame. This process involves solving physical equations, such as Newton's laws of motion, and possible control algorithms to predict the position and velocity of the unmanned system in the next frame.

[0054] The parameters of the dynamics model can not only be set at the beginning of the simulation, but also updated in real time during the simulation, which can be achieved by calling an external dynamics parameter configuration file. For example, according to the needs of the simulation, the friction coefficient of the tire, the mass of the vehicle, the air resistance and other parameters can be adjusted to simulate different environmental conditions and operating scenarios.

[0055] After the calculation is completed, the simulation engine will update the status of the unmanned system, and this status information will be used for the calculation of the next frame. In this way, each frame is updated based on the results of the previous frame, thus achieving continuous dynamic simulation.

[0056] The embodiment of the present invention also provides a hierarchical external dynamics simulation system for multi-body heterogeneity, such as Figure 2 As shown, including: Simulation engine module: used to render and run simulation scenes, unmanned system virtual models and dynamic models, etc., to realize the simulation of the virtual world; Simulation scene module: used for the virtual world running in the simulation engine based on the assumptions, including scene maps, dynamic and static elements, weather and lighting, etc.; Unmanned system virtual model: used for unmanned systems running in simulation scenarios, including unmanned vehicles, drones or unmanned ships; Unmanned system dynamics model: a simulation model for the kinematics and dynamics of unmanned systems in motion; Dynamics preset parameter module: used to predefine the configuration parameters of the dynamics model based on different unmanned system types and models; Dynamics startup parameter module: used to pass the operating parameters when the simulation engine is started. The operating parameters are passed separately for different unmanned system types. Dynamic parameter file module: used for unmanned system dynamic parameter configuration files independent of the simulation engine, which are defined and stored separately for different unmanned system types.

Claims

1. A hierarchical external dynamics simulation method for multi-body heterogeneity, characterized in that: The following steps are involved: (1) The simulation engine starts and obtains the simulation map, renders the scene, and renders the unmanned system objects 1-N at the specified location on the scene map; (2) Obtain the specified unmanned system dynamics model according to the type of unmanned system, instantiate the dynamics model and simulate it; (3) In the current frame of the simulation, the unmanned system dynamics model obtains the dynamics parameter configuration according to its own type through any of the following methods: Method 1: The unmanned system dynamics model is configured according to its own type through the default parameters in the dynamics model; Method 2: The unmanned system dynamics model is configured according to its own type from the preset dynamics parameters in the simulation engine; Method 3: The unmanned system dynamics model obtains dynamics startup parameters from an external parameter list according to its own type when the simulation engine is running; Method 4: The unmanned system dynamics model obtains an external dynamics parameter configuration file according to its own type; (4) The simulation engine calculates the next frame state of the unmanned system and updates the state of the unmanned system.

2. The multi-body heterogeneous hierarchical external dynamics simulation method according to claim 1 is characterized in that: In step (1), the unmanned systems include land unmanned systems, air unmanned systems and marine unmanned systems.

3. The multi-body heterogeneous hierarchical external dynamics simulation method according to claim 1, characterized in that: In step (2), there is a one-to-one correspondence between the unmanned system dynamics model and the unmanned system virtual model, and the correspondence is determined by the type of the unmanned system.

4. The multi-body heterogeneous hierarchical external dynamics simulation method according to claim 1, characterized in that: In step (3), the dynamic parameter configuration includes multiple priority configuration modes such as preset parameters, startup parameters and external parameter files.

5. The multi-body heterogeneous hierarchical external dynamics simulation method according to claim 1, characterized in that: In step (3), the priorities of the kinetic parameter configuration methods 1, 2, 3 and 4 are increased in sequence.

6. The multi-body heterogeneous hierarchical external dynamics simulation method according to claim 1, characterized in that: In step (3), the simulation engine includes Unreal 4 and Unity simulation engine programs.

7. A hierarchical external dynamics simulation system for multi-body heterogeneity, characterized in that: include: Simulation engine module: used to render and run simulation scenes, unmanned system virtual models and dynamic models to achieve simulation of the virtual world; Simulation scenario module: a virtual world based on assumptions running in the simulation engine, including scenario maps, dynamic and static elements, weather and lighting; Unmanned system virtual model: used to simulate unmanned systems running in scenarios, including unmanned vehicles, drones or unmanned ships; Unmanned system dynamics model: a simulation model for the kinematics and dynamics of unmanned systems in motion; Dynamics preset parameter module: used to predefine the configuration parameters of the dynamics model based on different unmanned system types and models; Dynamics startup parameter module: used to pass the operating parameters when the simulation engine is started. The operating parameters are passed separately for different unmanned system types. Dynamic parameter file module: used for unmanned system dynamic parameter configuration files independent of the simulation engine, which are defined and stored separately for different unmanned system types.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is loaded into a processor, the multi-body heterogeneous hierarchical external dynamics simulation method according to any one of claims 1 to 6 is implemented.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the multi-body heterogeneous hierarchical external dynamics simulation method according to any one of claims 1 to 6 is implemented.

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