Dummy positioning method and device based on seat working condition, medium and equipment

Abstract

The invention provides a dummy positioning method and device based on seat working conditions, a medium and equipment, and the method comprises the steps: dividing a target seat into a plurality of backward inclination angles, measuring key point coordinates of a man-machine dummy model, a collision dummy and a target driver at the plurality of backward inclination angles, and taking the key point coordinates of the target driver as a standard, evaluating the applicability of the man-machine dummy model and the collision dummy, selecting a target man-machine dummy model and a target collision dummy with better applicability, and calculating the target key point coordinate of a target driver corresponding to the key point coordinate of the target man-machine dummy model in the experiment process and taking the target key point coordinate as the key point coordinate of the target collision dummy; therefore, the positioning information of the target collision dummy under the large-angle seat working condition is obtained.

Description

Technical Field

[0001] The present application relates to the technical field, and in particular to a method, device, medium and equipment for positioning a dummy based on a seat working condition. Background Art

[0002] Compared with traditional upright seats, high-angle seats are more comfortable, but their impact on occupant safety has not been fully verified. In automobile crash tests, human-point machines (HPMs) and collision dummies are usually used to simulate real drivers to evaluate the vehicle's collision safety performance. The reliability of the data obtained from the collision dummy in the crash test is directly related to whether the posture it is placed in can correctly simulate the standard posture of the driver in the actual driving environment. The existing HPMs and collision dummies are all used for verification of traditional upright seats, and their performance in high-angle seat conditions is unknown. Therefore, a method is needed to position a human model in high-angle seat conditions. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a method, device, medium and equipment for locating a dummy based on a seat working condition.

[0004] According to one aspect of the present application, a dummy positioning method based on seat working conditions is provided, comprising: establishing a seat coordinate system, and dividing a target seat into multiple reclining angles based on the seat coordinate system; measuring the first key point coordinates of a human-machine dummy model at the multiple reclining angles; measuring the second key point coordinates of a collision dummy at the multiple reclining angles; measuring the third key point coordinates of a target driver at the multiple reclining angles; taking the third key point coordinates of the target driver at the multiple reclining angles as a standard, based on the first key point coordinates of the human-machine dummy model at the multiple reclining angles and the second key point coordinates of the collision dummy at the multiple reclining angles, evaluating the applicability of the human-machine dummy model and the collision dummy; selecting the human-machine dummy model and the collision dummy whose applicability meets preset conditions as the target human-machine dummy model and the target collision dummy, respectively; based on the positioning conversion relationship between the target human-machine dummy model and the target driver, calculating the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model, and using the target key point coordinates as the key point coordinates of the target collision dummy.

[0005] In one embodiment, taking the third key point coordinates of the target driver at the multiple rearward tilt angles as a standard, based on the first key point coordinates of the human-machine dummy model at the multiple rearward tilt angles and the second key point coordinates of the collision dummy at the multiple rearward tilt angles, evaluating the applicability of the human-machine dummy model and the collision dummy includes: fitting a first vector of the first key point coordinates of the human-machine dummy model followed by the rearward tilt angle based on the first key point coordinates of the human-machine dummy model at the multiple rearward tilt angles; fitting a second vector of the second key point coordinates of the collision dummy followed by the rearward tilt angle based on the second key point coordinates of the collision dummy at the multiple rearward tilt angles; fitting a third vector of the third key point coordinates of the target driver followed by the rearward tilt angle based on the third key point coordinates of the target driver at the multiple rearward tilt angles; respectively calculating a first angle between the first vector and the third vector, and a second angle between the second vector and the third vector; and evaluating the applicability of the human-machine dummy model and the collision dummy based on the first angle and the second angle.

[0006] In one embodiment, the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model are calculated based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and the target key point coordinates are used as the key point coordinates of the target collision dummy, including: during the experiment, measuring the key point coordinates of the target human-machine dummy model; inputting the key point coordinates of the target human-machine dummy model into a trained neural network model to obtain the target key point coordinates of the target driver, and using the target key point coordinates as the key point coordinates of the target collision dummy.

[0007] In one embodiment, dividing the target seat into multiple reclining angles based on the seat coordinate system includes: measuring the maximum reclining angle of the backrest of the target seat from an upright state to a maximum state; based on the set adjustment angle and the maximum reclining angle, calculating the number of reclining angles of the target seat and the size of each reclining angle.

[0008] In one embodiment, measuring the first key point coordinates of the human-machine dummy model at the multiple reclining angles includes: adjusting the target seat to the current reclining angle and installing the human-machine dummy model on the target seat; measuring the left key point coordinates and the right key point coordinates of the human-machine dummy model at the current reclining angle; if the first error between the left key point coordinates and the right key point coordinates of the human-machine dummy model is less than a first preset value, then calculating the first key point coordinates of the human-machine dummy model at the current reclining angle based on the left key point coordinates and the right key point coordinates of the human-machine dummy model.

[0009] In one embodiment, measuring the second key point coordinates of the collision dummy at the multiple rearward tilt angles includes: adjusting the target seat to the current rearward tilt angle and installing the collision dummy on the target seat; measuring the left key point coordinates and the right key point coordinates of the collision dummy at the current rearward tilt angle; if a second error between the left key point coordinates and the right key point coordinates of the collision dummy is less than a second preset value, calculating the second key point coordinates of the collision dummy at the current rearward tilt angle based on the left key point coordinates and the right key point coordinates of the collision dummy.

[0010] In one embodiment, measuring the third key point coordinates of the target driver at the multiple reclining angles includes: adjusting the target seat to the current reclining angle and adjusting the sitting posture of the target driver on the target seat; measuring the left key point coordinates and the right key point coordinates of the target driver at the current reclining angle; if the third error between the left key point coordinates and the right key point coordinates of the target driver is less than a third preset value, then calculating the third key point coordinates of the target driver at the current reclining angle based on the left key point coordinates and the right key point coordinates of the target driver.

[0011] According to another aspect of the present application, a dummy positioning device based on seat working conditions is provided, including: a reclining angle division module, used to establish a seat coordinate system, and divide the target seat into multiple reclining angles based on the seat coordinate system; a first key point measurement module, used to measure the first key point coordinates of the human-machine dummy model at the multiple reclining angles; a second key point measurement module, used to measure the second key point coordinates of the collision dummy at the multiple reclining angles; a third key point measurement module, used to measure the third key point coordinates of the target driver at the multiple reclining angles; an applicable performance evaluation module, used to use the third key point coordinates of the target driver at the multiple reclining angles as a standard, based on the The first key point coordinates of the human-machine dummy model at the multiple rearward tilt angles and the second key point coordinates of the collision dummy at the multiple rearward tilt angles are used to evaluate the applicability of the human-machine dummy model and the collision dummy; a target model selection module is used to select the human-machine dummy model and the collision dummy whose applicability meets preset conditions as the target human-machine dummy model and the target collision dummy respectively; a collision dummy positioning module is used to calculate the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and use the target key point coordinates as the key point coordinates of the target collision dummy.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above methods.

[0013] According to another aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is used to execute any of the above-described methods.

[0014] The present application provides a dummy positioning method, device, medium and equipment based on seat working conditions, which establishes a seat coordinate system and divides the target seat into multiple reclining angles based on the seat coordinate system; measures the first key point coordinates of the human-machine dummy model at multiple reclining angles; measures the second key point coordinates of the collision dummy at multiple reclining angles; measures the third key point coordinates of the target driver at multiple reclining angles; takes the third key point coordinates of the target driver at multiple reclining angles as a standard, and evaluates the applicability of the human-machine dummy model and the collision dummy based on the first key point coordinates of the human-machine dummy model at multiple reclining angles and the second key point coordinates of the collision dummy at multiple reclining angles; selects the human-machine dummy model and the collision dummy whose applicability meets the preset conditions as the target human-machine dummy model and the target target collision dummy; based on the positioning conversion relationship between the target human-machine dummy model and the target driver, the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model are calculated, and the target key point coordinates are used as the key point coordinates of the target collision dummy; by measuring the key point coordinates of the human-machine dummy model, the collision dummy and the target driver at multiple seat reclining angles, and evaluating the applicability of the human-machine dummy model and the collision dummy, so as to select the target human-machine dummy model and the target collision dummy with better applicability; during the experiment, the key point coordinates of the target human-machine dummy model are converted into the target key point coordinates of the target driver, and the target key point coordinates are used as the key point coordinates of the target collision dummy, so as to obtain the positioning information of the target collision dummy under the large-angle seat condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of a method for dummy positioning based on seat working conditions provided by an exemplary embodiment of the present application.

[0017] Figure 2It is a structural schematic diagram of a seat coordinate system provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the structure of a change vector of a measurement object provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a structural schematic diagram of a target driver's H-point coordinate value conversion model provided by an exemplary embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of the backplane structure of the HPM provided by an exemplary embodiment of the present application.

[0021] Figure 6 It is a structural schematic diagram of a conversion model for converting a posture part into a positioning part provided by an exemplary embodiment of the present application.

[0022] Figure 7 It is a structural schematic diagram of a conversion model for converting a positioning part into a posture part provided by an exemplary embodiment of the present application.

[0023] Figure 8 It is a structural schematic diagram of a dummy positioning device based on seat working conditions provided by an exemplary embodiment of the present application.

[0024] Fig. 9 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0025] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0026] Figure 1 FIG. 1 is a flow chart of a method for locating a dummy based on a seat condition provided by an exemplary embodiment of the present application. Figure 1 As shown, the dummy positioning method based on the seat working condition includes the following steps: Step 110: Establish a seat coordinate system, and divide the target seat into multiple reclining angles based on the seat coordinate system.

[0027] Specifically, the target seat is fixed on a flat ground, and the coordinate values ​​of any two symmetrical points on the surface of the seat cushion and the backrest of the target seat are measured using a flexible three-coordinate device. The coordinate values ​​of the symmetrical points in the plumb direction are compared to see if they are within the error range. If the error is exceeded, the fixed plane of the target seat or the base of the target seat needs to be adjusted until the heights of the symmetrical points on the surface of the seat cushion and the backrest in the plumb direction are consistent. The outer enclosure of the rotating shaft of the target seat backrest is removed to expose the rotating shaft of the target seat backrest. Multiple marking points are marked on the metal structures on the left and right sides of the bottom of the target seat for establishing the seat coordinate system and restoring the coordinate system after the target seat is moved. It is defined that when the driver and passenger are sitting in the target seat forward, that is, when looking from the target seat backrest to the target seat cushion, the left side of the driver and passenger is recorded as the left side of the target seat, and the right side of the driver and passenger is recorded as the right side of the target seat. The center of the left and right rotating shafts of the backrest is located using the flexible three-coordinate device, and the midpoint of the line connecting the centers of the circles is selected as the origin of the seat coordinate system. Starting from the origin, the horizontal direction from the target seat back to the target seat cushion is the positive direction of the X axis. On the line connecting the centers of the left and right rotation axes, the direction from the right side of the target seat to the left side is the positive direction of the Y axis. Perpendicular to the X and Y axes, the direction from the cushion to the headrest is the positive direction of the Z axis. Use flexible three-coordinates to record and construct the current seat coordinate system, and record the coordinates of the restored mark points for restoring the coordinate system after the target seat is moved. Figure 2 As shown in Figure (a), a fixed point is selected on the target seat back as the marking point. The position of the headrest rod or a point on the target seat back can be selected. A flat area is selected on the back as the backrest angle measurement area. According to the installation requirements of the HPMI device, the HPM device is installed on the target seat. During the installation process, the seat back should be adjusted to the HPM device torso angle to meet the design angle of the seat upright state. The seat coordinate system is restored and marked using flexible three-coordinate measurement to ensure that the installation of the HPM does not affect the accuracy of the seat coordinate system. The left and right H points (key points) of the HPM are measured using flexible three-coordinate measurement. When the error of the left and right H points is within the allowable range, the coordinates of the backrest marking points are measured and recorded as the "0 degree position". The average of the left and right H points is calculated as the H point coordinate value of the HPM I device at the "0 degree position", recorded as the "I-0-H" point (such as Figure 2 Remove the HPM equipment, wait for a while, use the inclinometer to measure and record the angle value in the backrest angle measurement area, and reset the inclinometer to zero at this position. Adjust the backrest to tilt backward until the inclinometer reads β degrees (as shown in Figure 2). Figure 2 As shown in Figure (d) in the figure), use the flexible three-dimensional coordinate system to measure and record the coordinates of the backrest mark point, which is recorded as the "β degree position". Continue to adjust the backrest to tilt backward until the inclinometer shows 2β degrees. Use the flexible three-dimensional coordinate system to measure and record the coordinates of the backrest mark point, which is recorded as the "2β degree position". Repeat this process until the backrest is adjusted to the final position "α degree position" (as shown in Figure (d) in the figure). Figure 2As shown in Figure (c) in the figure, a total of (α-0) / β angle positions are obtained.

[0028] Step 120: measuring the coordinates of the first key point of the human-machine dummy model at multiple backward tilt angles.

[0029] In the present application, a human-machine dummy model is installed on a target seat, and the coordinates of the first key points of the human-machine dummy model are measured at multiple reclining angles.

[0030] Step 130: measuring the coordinates of the second key points of the collision dummy at multiple backward tilt angles.

[0031] In the present application, a collision dummy is installed on a target seat, and the coordinates of the second key point of the collision dummy are measured at multiple rearward tilt angles.

[0032] Step 140: measuring the coordinates of the third key point of the target driver at multiple tilt angles.

[0033] In the present application, the target driver sits on the target seat and the coordinates of the third key point of the target driver are measured at multiple reclining angles.

[0034] Step 150: Taking the third key point coordinates of the target driver at multiple rearward tilt angles as a standard, based on the first key point coordinates of the human-machine dummy model at multiple rearward tilt angles and the second key point coordinates of the collision dummy at multiple rearward tilt angles, evaluate the applicability of the human-machine dummy model and the collision dummy.

[0035] The present application uses the third key point coordinates of the target driver at multiple rearward tilt angles as a standard to evaluate the applicability of the human-machine dummy model and the collision dummy. Specifically, based on the first key point coordinates of the human-machine dummy model at multiple rearward tilt angles and the second key point coordinates of the collision dummy at multiple rearward tilt angles, as well as the third key point coordinates of the target driver at multiple rearward tilt angles, the differences between the human-machine dummy model, the collision dummy and the target driver are calculated to evaluate the applicability of the human-machine dummy model and the collision dummy.

[0036] Step 160: Selecting a human-machine dummy model and a collision dummy whose applicability meets preset conditions as a target human-machine dummy model and a target collision dummy, respectively.

[0037] The present application selects a human-machine dummy model and a collision dummy whose applicability meets preset conditions as the target human-machine dummy model and the target collision dummy, that is, selects a human-machine dummy model and a collision dummy with the best applicability as the target human-machine dummy model and the target collision dummy, respectively.

[0038] Step 170: Based on the positioning conversion relationship between the target human-machine dummy model and the target driver, the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model are calculated, and the target key point coordinates are used as the key point coordinates of the target collision dummy.

[0039] The present application calculates the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and obtains the key point coordinates of the target collision dummy based on the target key point coordinates.

[0040] The present application provides a dummy positioning method based on seat working conditions, which establishes a seat coordinate system and divides the target seat into multiple reclining angles based on the seat coordinate system; measures the first key point coordinates of the human-machine dummy model at multiple reclining angles; measures the second key point coordinates of the collision dummy at multiple reclining angles; measures the third key point coordinates of the target driver at multiple reclining angles; takes the third key point coordinates of the target driver at multiple reclining angles as a standard, and based on the first key point coordinates of the human-machine dummy model at multiple reclining angles and the second key point coordinates of the collision dummy at multiple reclining angles, evaluates the applicability of the human-machine dummy model and the collision dummy; selects the human-machine dummy model and the collision dummy whose applicability meets the preset conditions as the target human-machine dummy model and the target collision dummy, respectively. ; Based on the positioning conversion relationship between the target human-machine dummy model and the target driver, the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model are calculated, and the target key point coordinates are used as the key point coordinates of the target collision dummy; by measuring the key point coordinates of the human-machine dummy model, the collision dummy and the target driver at multiple seat reclining angles, and evaluating the applicability of the human-machine dummy model and the collision dummy, the target human-machine dummy model and the target collision dummy with better applicability are selected. During the experiment, the key point coordinates of the target human-machine dummy model are converted into the target key point coordinates of the target driver, and the target key point coordinates are used as the key point coordinates of the target collision dummy, thereby obtaining the positioning information of the target collision dummy under large-angle seat conditions.

[0041] In one embodiment, the specific implementation method of the above step 150 may be: based on the first key point coordinates of the human-machine dummy model at multiple rearward tilt angles, fitting a first vector of the first key point coordinates of the human-machine dummy model followed by the rearward tilt angle; based on the second key point coordinates of the collision dummy at multiple rearward tilt angles, fitting a second vector of the second key point coordinates of the collision dummy followed by the rearward tilt angle; based on the third key point coordinates of the target driver at multiple rearward tilt angles, fitting a third vector of the third key point coordinates of the target driver followed by the rearward tilt angle; respectively calculating a first angle between the first vector and the third vector, and a second angle between the second vector and the third vector; based on the first angle and the second angle, evaluating the applicability of the human-machine dummy model and the collision dummy.

[0042] Specifically, when evaluating the suitability of the side position of a large-angle seat, the values ​​of some data in the Y direction collected by the HPM device, the collision dummy and the target driver do not have comparative significance. For example, the tragus marker point, the shoulder peak marker point, the greater trochanter marker point, the left and right knee marker points and the left and right ankle marker points used to examine the side position of the target driver only need to retain the X and Z values. At this time, the H point collected by the HPM device, the head center of mass point, the shoulder marker point, the knee marker point, the ankle marker point, etc. collected by the collision dummy also only need to retain the X and Z values. For the filtered data, the X and Z values ​​of the target driver, the HPM device and the collision dummy collected when the seat back is in the "0" position are used as the reference values, and the differences between the X and Z values ​​of the above-mentioned measurement objects at the "β", "2β", ..., "α" positions and the reference values ​​are calculated.

[0043] When evaluating the suitability of the front position of a large-angle seat, the values ​​of some data in the X direction collected by the HPM equipment, the collision dummy and the target driver are not meaningful for comparison. For example, the tragus marker, the shoulder peak marker, the greater trochanter marker, the left and right knee markers and the left and right ankle markers used to examine the front position of the target driver only need to retain the Y and Z values. At this time, the head center of mass points, shoulder markers, knee markers and ankle markers collected by the collision dummy also only need to retain the Y and Z values. Similarly, the filtered data are also processed accordingly to calculate the differences between the Y and Z values ​​of the above-mentioned measurement objects at the "β", "2β", ..., "α" positions and the reference values.

[0044] like Figure 3 As shown in the left figure, the change values ​​of the target driver, the change values ​​of the HPM device and the change values ​​of the collision dummy are plotted as vectors in the figure, and the figure shows the change vector of the measured object when the backrest changes every β degrees. Figure 3As shown in the figure on the right, the present application draws the vectors of the above two at this position and the vector of the target driver at this position with the same starting point, and the target driver vector is named , the HPM device vector is named , the collision dummy vector is named The angle value is calculated to represent the positive and negative directions of the two vectors and their degree of change, so as to evaluate the degree of deviation of the HPM equipment and the dummy compared with the target driver, and then evaluate its applicability. The angle calculation formula is as follows:

[0045] Include vector and Angle 1. and Angle 2, The larger the value is, the greater the degree of deviation between the two vectors in a certain direction of the coordinate system is, and the worse the applicability is.

[0046] In one embodiment, the specific implementation method of the above step 170 can be: during the experiment, measure the key point coordinates of the target human-machine dummy model; input the key point coordinates of the target human-machine dummy model into the trained neural network model to obtain the target key point coordinates of the target driver, and use the target key point coordinates as the key point coordinates of the target collision dummy.

[0047] Specifically, the present application measures the H point of the HPM device with high applicability, calculates the positioning position of the target driver through the conversion relationship, and uses this to provide a basis for dummy positioning. Figure 4 The neural network shown in FIG. 1 has the H point coordinate value of the HPM as input and the H point coordinate value of the target driver as output. l Layer i neurons, with the following expressions: ; in, i =1,2,..., , j =1,2,..., , l =2,3,..., n , n is the number of layers of the neural network model, It is l Tier i The value of a neuron, express l The number of neurons in a layer, Indicates l Tier i The neuron and l -1st floor The weights of the connections between neurons, It indicates the l Tier i The bias value of a neuron, function Indicates l Tier i The activation function of a neuron.

[0048] In one embodiment, the specific implementation method of the above step 110 can be: measuring the maximum tilt angle of the backrest of the target seat from the upright state to the maximum state; based on the set adjustment angle and the maximum tilt angle, calculating the number of tilt angles of the target seat and the size of each tilt angle.

[0049] The present application calculates the number of reclining angles of the target seat by measuring the maximum tilt angle of the backrest of the target seat from an upright state to a maximum state and the angle of a single adjustment. It should be understood that the more reclining angles the target seat has, the higher the measurement accuracy.

[0050] In one embodiment, the specific implementation method of the above-mentioned step 120 may be: adjusting the target seat to the current reclining angle and installing the human-machine dummy model on the target seat; measuring the left key point coordinates and the right key point coordinates of the human-machine dummy model at the current reclining angle; if the first error between the left key point coordinates and the right key point coordinates of the human-machine dummy model is less than a first preset value, then calculating the first key point coordinates of the human-machine dummy model at the current reclining angle based on the left key point coordinates and the right key point coordinates of the human-machine dummy model.

[0051] Specifically, adjust the seat back to the β degree position, select a certain HPM device, and install the device on the target seat according to the installation requirements of the HPM. After adjusting the HPM device, use the flexible three-coordinate measurement to restore the mark point of the seat coordinate system to ensure that the installation of the HPM does not affect the accuracy of the seat coordinate system. Use the flexible three-coordinate measurement to measure the left and right H points of the HPM. When the error of the left and right H points is within the allowable range, calculate the average of the left and right H points as the H point coordinate value of the HPM device at the β degree position. Adjust the seat back to the 2β degree position, repeat the above measurement process, and obtain the H point coordinate value of the HPM device at the 2β degree position. Continue the above process until the H point coordinate value of the HPM device at the α degree position is obtained. Replace other HPM devices, repeat the above operation, and measure the H point coordinate values ​​of the key points of all HPM devices at each backrest angle value.

[0052] In this process, in addition to measuring the coordinate value of the H point, at each angle measurement position, the midpoint of the upper edge of the waist plate of the HPM equipment (recorded as "II-0-L1", "II-β-L1", "II-2β-L1", ..., "II-α-L1") and the midpoint of the lower edge of the waist plate (recorded as "II-0-L2", "II-β-L2", "II-2β-L2", ..., "II-α-L2") should also be measured, such as Figure 5 shown.

[0053] In one embodiment, the specific implementation method of the above step 130 may be: adjusting the target seat to the current rearward tilt angle and installing the collision dummy on the target seat; measuring the left key point coordinates and the right key point coordinates of the collision dummy at the current rearward tilt angle; if the second error between the left key point coordinates and the right key point coordinates of the collision dummy is less than a second preset value, then calculating the second key point coordinates of the collision dummy at the current rearward tilt angle based on the left key point coordinates and the right key point coordinates of the collision dummy.

[0054] Specifically, adjust the seat back to the 0-degree position, install and adjust the position of the collision dummy according to the test standard requirements, and use the flexible three-coordinate measurement to restore the mark points of the seat coordinate system to ensure that the installation of the collision dummy does not affect the accuracy of the seat coordinate system. Use the flexible three-coordinate measurement to measure the left and right H points of the dummy. When the error of the left and right H points is within the allowable range, calculate the mean of the left and right H points. If the mean of the H points meets the H-point position requirements for this type of collision dummy in the test standard, the calculated mean is used as the coordinate value of the H point of the collision dummy at the 0-degree position. The following key points of the collision dummy are measured for subsequent comparison with the target driver measurement test: left and right center of mass points of the head, left and right mark points of the shoulders, left and right knee mark points, left and right ankle mark points, and pelvic angle.

[0055] When the left and right error values ​​of the above key points are within the allowable range, calculate the left and right mean values ​​of the key points, which are: head center of mass point, shoulder mark point, knee mark point and ankle mark point. Adjust the backrest to the next measurement angle position, gently push the chest of the collision dummy until the chest and head of the collision dummy touch the backrest and headrest respectively, repeat the above measurement method and record the H point, left and right center of mass points of the head, left and right mark points of the shoulders, left and right knee mark points, left and right ankle mark points, and pelvic angle of the collision dummy at this position. When the left and right error values ​​of the above key points are within the allowable range, calculate the left and right mean values ​​of the key points, which are: head center of mass point, shoulder mark point, knee mark point, ankle mark point. By analogy, continue to repeat the above process until the backrest is adjusted to the α degree position, measure and record the key point measurement values ​​at each angle position in the process. When the crash dummy's chest or head is unable to contact the backrest or headrest, if there is an adjustable device on the crash dummy's chest or neck, the crash dummy's chest and head structure can be adjusted according to the structural characteristics of the crash dummy to achieve the purpose of contacting the backrest and headrest. If the above-mentioned adjustable device does not exist, the backrest angle value and the non-contact state of the crash dummy at this time shall be recorded.

[0056] Replace other types of collision dummies and repeat the above process to complete the measurement of key point coordinates and key part angle values ​​of all types of collision dummies.

[0057] In one embodiment, the specific implementation method of the above step 140 can be: adjust the target seat to the current reclining angle and adjust the sitting posture of the target driver on the target seat; measure the left key point coordinates and the right key point coordinates of the target driver at the current reclining angle; if the third error between the left key point coordinates and the right key point coordinates of the target driver is less than the third preset value, then calculate the third key point coordinates of the target driver at the current reclining angle based on the left key point coordinates and the right key point coordinates of the target driver.

[0058] Specifically, mark points are pasted on the target driver's body parts: tragus point, shoulder (peak), knee, ankle and pelvic greater trochanter, mark points are pasted on the target driver's spine T5 position and L12 position, and angle sensors are pasted on the left and right anterior superior iliac spine positions of the pelvis. The seat back is adjusted to the 0 degree position, and the target driver is guided to sit in the seat normally and keep the left and right sides of the body symmetrical as much as possible. The seat coordinate system restoration mark points are measured using flexible three-coordinates to ensure that the target driver's sitting does not affect the accuracy of the seat coordinate system. The left and right mark points of the target driver are measured using flexible three-coordinates. When the error of the left and right mark points is within the allowable range, the mean of the left and right mark points is calculated. The following key points of the target driver are measured: left and right mark points of the tragus, left and right mark points of the shoulder peak, left and right knee mark points, left and right ankle mark points, spine T12 position mark point and L5 position mark point. When the left and right error values ​​of the above key points are within the allowable range, the left and right mean values ​​of the key points are calculated, which are: tragus mark point, shoulder peak mark point, knee mark point, ankle mark point. Reset the angle sensor to zero at this position, adjust the backrest to the next measurement angle position, adjust the target driver's sitting position until the chest and head touch the backrest and headrest respectively, repeat the above process and record the target driver's H point, left and right mark points of the tragus, left and right mark points of the shoulder peak, left and right knee mark points, left and right ankle mark points, spine T12 position mark point and L5 position mark point at this position. When the left and right error values ​​of the above key points are within the allowable range, calculate the left and right mean values ​​of the key points, which are: tragus mark point, shoulder peak mark point, knee mark point, ankle mark point, and record the value of the angle sensor at this time. By analogy, continue to repeat the above process until the backrest is adjusted to the α degree position, measure and record the key point measurement value and angle sensor value at each angle position in the process.

[0059] Replace other target drivers and repeat the above process to complete the measurement of the angle values ​​of key points and key parts of all target drivers.

[0060] After converting the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model, the application uses the target key point coordinates as the H point coordinates of the collision dummy, and calculates the coordinate values ​​of the posture parts of the collision dummy based on the H point coordinates. Specifically, the application first trains a forward network, using the coordinate values ​​of the center of the collision dummy's eyeball, upper neck, lower neck, upper abdomen, lower abdomen, elbows, wrists, knees, ankles, heels, toes, and head mass center (collectively referred to as posture parts) as inputs, and the coordinate values ​​of the H point (collectively referred to as the positioning part) as outputs, to construct a neural network, such as Figure 6 The obtained relationship is shown as follows: ; in, i =1,2,..., ,j =1,2,..., , l =2,3,..., n , n is the number of layers of the neural network model, The coordinate value of the posture part is input. l Tier i The value of a neuron, express l The number of neurons in a layer, Indicates l Tier i The neuron and l -1st floor The weights of the connections between neurons, It indicates the l Tier i The bias value of a neuron, function Indicates l Tier i The activation function of a neuron.

[0061] The above relationship can be expressed in the form of matrix and vector as follows: ; when l When it is the Nth layer, the above formula is the motion equation 1.

[0062] By inverting the kinematic equation 1, we can obtain the following formula: ; in, It is the diagonal matrix of the activation function. The elements on the diagonal represent the activation function of each layer, as shown below: ; ; Since the weight matrix in the neural network is not invertible, it is necessary to perform generalized inverse processing on it to obtain: ; The above formula uses the standard regularized least squares method, represents the Tychonov regularization parameter, represents the identity matrix corresponding to the regularization parameter. The regularization parameter should be determined based on the measured noise level of the measurable output or the noise level added to the calculated response. It becomes a square matrix, so after inverting the motion equation, the expressions of weights and biases in the neural network can be expressed as follows: ; ; Combining the above formula, we can calculate: ; in, and It represents the inverse operation of kinematic equation 1, that is, a neural network with the coordinate value of the positioning part as input and the coordinate value of the posture part as output, such as Figure 7 shown.

[0063] The above formula can be transformed into: ; By inputting the H point where the collision dummy is positioned, the coordinate values ​​of other positioning points of the collision dummy can be output: the coordinate values ​​of the collision dummy's eye center, upper neck, lower neck, upper abdomen, lower abdomen, elbows, wrists, knees, ankles, heels, toes, and head center of mass (collectively referred to as posture parts).

[0064] Figure 8 FIG. 1 is a schematic diagram of a dummy positioning device based on a seat working condition provided by an exemplary embodiment of the present application. Figure 8 As shown, the dummy positioning device 80 based on the seat working condition includes: a reclining angle division module 81, which is used to establish a seat coordinate system and divide the target seat into multiple reclining angles based on the seat coordinate system; a first key point measurement module 82, which is used to measure the first key point coordinates of the human-machine dummy model at multiple reclining angles; a second key point measurement module 83, which is used to measure the second key point coordinates of the collision dummy at multiple reclining angles; a third key point measurement module 84, which is used to measure the third key point coordinates of the target driver at multiple reclining angles; and an applicable performance evaluation module 85, which is used to use the third key point coordinates of the target driver at multiple reclining angles as a standard. , based on the first key point coordinates of the human-machine dummy model at multiple rearward tilt angles and the second key point coordinates of the collision dummy at multiple rearward tilt angles, the applicability of the human-machine dummy model and the collision dummy is evaluated; a target model selection module 86 is used to select a human-machine dummy model and a collision dummy whose applicability meets preset conditions as the target human-machine dummy model and the target collision dummy respectively; a collision dummy positioning module 87 is used to calculate the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and use the target key point coordinates as the key point coordinates of the target collision dummy.

[0065] The present application provides a dummy positioning device based on seat working conditions, which establishes a seat coordinate system through a reclining angle division module 81, and divides the target seat into multiple reclining angles based on the seat coordinate system; the first key point measurement module 82 measures the first key point coordinates of the human-machine dummy model at multiple reclining angles; the second key point measurement module 83 measures the second key point coordinates of the collision dummy at multiple reclining angles; the third key point measurement module 84 measures the third key point coordinates of the target driver at multiple reclining angles; the applicability performance evaluation module 85 uses the third key point coordinates of the target driver at multiple reclining angles as a standard, and evaluates the applicability of the human-machine dummy model and the collision dummy based on the first key point coordinates of the human-machine dummy model at multiple reclining angles and the second key point coordinates of the collision dummy at multiple reclining angles; the target model selection module 86 selects the human-machine dummy whose applicability meets the preset conditions The human model and the collision dummy are used as the target human-machine dummy model and the target collision dummy, respectively; the collision dummy positioning module 87 calculates the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and uses the target key point coordinates as the key point coordinates of the target collision dummy; by measuring the key point coordinates of the human-machine dummy model, the collision dummy and the target driver at multiple seat reclining angles, and evaluating the applicability of the human-machine dummy model and the collision dummy, so as to select the target human-machine dummy model and the target collision dummy with better applicability; during the experiment, the key point coordinates of the target human-machine dummy model are converted into the target key point coordinates of the target driver, and the target key point coordinates are used as the key point coordinates of the target collision dummy, so as to obtain the positioning information of the target collision dummy under the large-angle seat working condition.

[0066] In one embodiment, the above-mentioned applicability evaluation module 85 can be further configured as: based on the first key point coordinates of the human-machine dummy model at multiple rearward tilt angles, fitting a first vector of the first key point coordinates of the human-machine dummy model followed by the rearward tilt angle; based on the second key point coordinates of the collision dummy at multiple rearward tilt angles, fitting a second vector of the second key point coordinates of the collision dummy followed by the rearward tilt angle; based on the third key point coordinates of the target driver at multiple rearward tilt angles, fitting a third vector of the third key point coordinates of the target driver followed by the rearward tilt angle; respectively calculating the first angle between the first vector and the third vector, and the second angle between the second vector and the third vector; based on the first angle and the second angle, evaluating the applicability of the human-machine dummy model and the collision dummy.

[0067] In one embodiment, the above-mentioned collision dummy positioning module 87 can be further configured as follows: during the experiment, measuring the key point coordinates of the target human-machine dummy model; inputting the key point coordinates of the target human-machine dummy model into the trained neural network model to obtain the target key point coordinates of the target driver, and using the target key point coordinates as the key point coordinates of the target collision dummy.

[0068] In one embodiment, the above-mentioned reclining angle division module 81 can be further configured to: measure the maximum tilt angle of the backrest of the target seat from the upright state to the maximum state; based on the set adjustment angle and maximum tilt angle, calculate the number of reclining angles of the target seat and the size of each reclining angle.

[0069] In one embodiment, the above-mentioned first key point measurement module 82 can be further configured to: adjust the target seat to the current reclining angle and install the human-machine dummy model on the target seat; measure the left key point coordinates and the right key point coordinates of the human-machine dummy model at the current reclining angle; if the first error between the left key point coordinates and the right key point coordinates of the human-machine dummy model is less than a first preset value, then calculate the first key point coordinates of the human-machine dummy model at the current reclining angle based on the left key point coordinates and the right key point coordinates of the human-machine dummy model.

[0070] In one embodiment, the above-mentioned second key point measurement module 83 can be further configured as: adjusting the target seat to the current rearward tilt angle and installing the collision dummy on the target seat; measuring the left key point coordinates and the right key point coordinates of the collision dummy at the current rearward tilt angle; if the second error between the left key point coordinates and the right key point coordinates of the collision dummy is less than a second preset value, then calculating the second key point coordinates of the collision dummy at the current rearward tilt angle based on the left key point coordinates and the right key point coordinates of the collision dummy.

[0071] In one embodiment, the above-mentioned third key point measurement module 84 can be further configured to: adjust the target seat to the current reclining angle and adjust the sitting posture of the target driver on the target seat; measure the left key point coordinates and the right key point coordinates of the target driver at the current reclining angle; if the third error between the left key point coordinates and the right key point coordinates of the target driver is less than the third preset value, then calculate the third key point coordinates of the target driver at the current reclining angle based on the left key point coordinates and the right key point coordinates of the target driver.

[0072] Below, reference Fig. 9 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0073] Fig. 9 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0074] like Fig. 9 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0075] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0076] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0077] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0078] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0079] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0080] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0081] Of course, to simplify, Fig. 9 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0082] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0083] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0084] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0085] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0086] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0087] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0088] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0089] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0090] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A dummy positioning method based on seat working conditions, characterized in that: include: Establishing a seat coordinate system, and dividing the target seat into a plurality of reclining angles based on the seat coordinate system; measuring the coordinates of the first key point of the human-machine dummy model at the plurality of backward tilt angles; measuring coordinates of a second key point of the collision dummy at the plurality of rearward tilt angles; measuring coordinates of a third key point of the target driver at the plurality of rearward tilt angles; Taking the third key point coordinates of the target driver at the multiple rearward tilt angles as a standard, based on the first key point coordinates of the human-machine dummy model at the multiple rearward tilt angles and the second key point coordinates of the crash dummy at the multiple rearward tilt angles, evaluating the applicability of the human-machine dummy model and the crash dummy; Selecting the man-machine dummy model and the collision dummy whose applicability meets preset conditions as the target man-machine dummy model and the target collision dummy respectively; Based on the positioning conversion relationship between the target human-machine dummy model and the target driver, the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model are calculated, and the target key point coordinates are used as the key point coordinates of the target collision dummy.

2. The method for dummy positioning based on seat working condition according to claim 1, characterized in that: The evaluating the applicability of the human-machine dummy model and the collision dummy based on the third key point coordinates of the target driver at the multiple backward tilt angles and the first key point coordinates of the human-machine dummy model at the multiple backward tilt angles and the second key point coordinates of the collision dummy at the multiple backward tilt angles comprises: Based on the first key point coordinates of the human-machine dummy model at the multiple backward tilt angles, a first vector of the first key point coordinates of the human-machine dummy model and the subsequent tilt angle change is obtained by fitting; Based on the coordinates of the second key point of the collision dummy at the multiple rearward tilt angles, a second vector of the change of the second key point coordinates of the collision dummy and the rearward tilt angle is obtained by fitting; Based on the third key point coordinates of the target driver at the multiple tilt angles, fitting a third vector corresponding to the third key point coordinates of the target driver and the tilt angle change; respectively calculating a first angle between the first vector and the third vector, and a second angle between the second vector and the third vector; Based on the first angle and the second angle, the applicability of the human-machine dummy model and the collision dummy is evaluated.

3. The dummy positioning method based on seat working condition according to claim 1 is characterized in that: The step of calculating target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and using the target key point coordinates as the key point coordinates of the target collision dummy comprises: During the experiment, measuring the key point coordinates of the target human-machine dummy model; The key point coordinates of the target human-machine dummy model are input into the trained neural network model to obtain the target key point coordinates of the target driver, and the target key point coordinates are used as the key point coordinates of the target collision dummy.

4. The method for dummy positioning based on seat working condition according to claim 1, characterized in that: The step of dividing the target seat into a plurality of reclining angles based on the seat coordinate system comprises: Measuring the maximum tilt angle of the backrest of the target seat from an upright state to a maximum state; Based on the set adjustment angle and the maximum tilt angle, the number of tilt angles of the target seat and the size of each tilt angle are calculated.

5. The method for dummy positioning based on seat working condition according to claim 1, characterized in that: The coordinates of the first key points of the measuring man-machine dummy model at the multiple backward tilt angles include: Adjusting the target seat to a current reclining angle and installing the human-machine dummy model on the target seat; Measuring the left key point coordinates and the right key point coordinates of the human-machine dummy model at the current backward tilt angle; If a first error between the left key point coordinates and the right key point coordinates of the human-machine dummy model is less than a first preset value, the first key point coordinates of the human-machine dummy model at the current backward tilt angle are calculated based on the left key point coordinates and the right key point coordinates of the human-machine dummy model.

6. The method for dummy positioning based on seat working condition according to claim 1, characterized in that: The measuring of the second key point coordinates of the collision dummy at the plurality of rearward tilt angles comprises: adjusting the target seat to a current reclining angle and installing the crash dummy on the target seat; Measuring the left key point coordinates and the right key point coordinates of the collision dummy at the current backward tilt angle; If a second error between the left key point coordinates and the right key point coordinates of the collision dummy is less than a second preset value, the second key point coordinates of the collision dummy at the current backward tilt angle are calculated based on the left key point coordinates and the right key point coordinates of the collision dummy.

7. The method for dummy positioning based on seat working condition according to claim 1, characterized in that: The third key point coordinates of the measuring target driver at the multiple tilt angles include: Adjusting the target seat to a current reclining angle and adjusting the sitting posture of the target driver on the target seat; Measuring the left key point coordinates and the right key point coordinates of the target driver at the current backward tilt angle; If the third error between the left key point coordinates and the right key point coordinates of the target driver is less than a third preset value, the third key point coordinates of the target driver at the current tilt angle are calculated based on the left key point coordinates and the right key point coordinates of the target driver.

8. A dummy positioning device based on seat working conditions, characterized in that: include: A reclining angle division module, used for establishing a seat coordinate system and dividing the target seat into a plurality of reclining angles based on the seat coordinate system; A first key point measurement module, used to measure the coordinates of the first key points of the human-machine dummy model at the plurality of backward tilt angles; A second key point measurement module, used to measure the coordinates of the second key points of the collision dummy at the plurality of rearward tilt angles; A third key point measurement module, used to measure the coordinates of the third key point of the target driver at the plurality of rearward tilt angles; an applicability evaluation module, configured to evaluate the applicability of the human-machine dummy model and the collision dummy based on the first key point coordinates of the human-machine dummy model at the multiple backward tilt angles and the second key point coordinates of the collision dummy at the multiple backward tilt angles, taking the third key point coordinates of the target driver at the multiple backward tilt angles as a standard; A target model selection module, used to select the man-machine dummy model and the collision dummy whose applicability meets preset conditions as the target man-machine dummy model and the target collision dummy respectively; The collision dummy positioning module is used to calculate the target key point coordinates of the target driver corresponding to the key point coordinates of the target human-machine dummy model based on the positioning conversion relationship between the target human-machine dummy model and the target driver, and use the target key point coordinates as the key point coordinates of the target collision dummy.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method described in any one of claims 1 to 7.

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