Method and device for calculating aerodynamic parameters of vehicle

Abstract

The invention provides a vehicle aerodynamic parameter calculation method and device.The vehicle aerodynamic parameters comprise the relative air velocity and the pneumatic side slip angle, and the pneumatic side slip angle is the included angle between the direction of the relative air velocity and the longitudinal axis of a vehicle. The method comprises the following steps: acquiring a wind speed vector of wind speed under a global coordinate system and a vehicle speed vector of a vehicle under a vehicle coordinate system; according to the included angles between the target axes corresponding to the global coordinate system and the vehicle coordinate system, determining the conversion relation of coordinate axis direction conversion between the global coordinate system and the vehicle coordinate system; calculating a relative air velocity vector under the global coordinate system according to the conversion relation, the wind speed vector and the vehicle speed vector; and according to the conversion relation, the relative air velocity vector and the vehicle longitudinal axis unit vector, the pneumatic slip angle is calculated.

Description

Technical Field

[0001] This application relates to the technical field of vehicle aerodynamics, and particularly to a method and device for calculating vehicle aerodynamic parameters. Background Art

[0002] When a vehicle moves at high speed, the influence of the external air on the vehicle's attitude and performance becomes greater. Therefore, it is necessary to analyze the force and the corresponding moment acting on a certain point of the unsprung mass of the vehicle through aerodynamics, and it is necessary to calculate the force and moment through the aerodynamic sideslip angle and the relative air velocity. Since the external wind field and the vehicle belong to different coordinate systems, and these coordinate systems are different, blindly processing this information will lead to incorrect output results, causing incorrect judgments in the algorithms of other modules. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide at least a method and device for calculating vehicle aerodynamic parameters. By determining the conversion relationship for the conversion of the axis directions between the global coordinate system and the vehicle coordinate system, the relative air velocity vector in the global coordinate system is calculated based on the wind speed vector and the vehicle speed vector. By converting the relative air velocity vector in the global coordinate system into a vector in the vehicle coordinate system and then calculating the angle between it and the vehicle longitudinal axis, the aerodynamic sideslip angle is obtained, solving the technical problem of incorrect calculation in the prior art due to the external wind field and the vehicle belonging to different coordinate systems, and achieving the technical effect of improving the accuracy of calculating vehicle aerodynamic parameters.

[0004] This application mainly includes the following aspects: In the first aspect, an embodiment of this application provides a method for calculating vehicle aerodynamic parameters. The vehicle aerodynamic parameters include the relative air velocity and the aerodynamic sideslip angle, and the aerodynamic sideslip angle is the angle between the direction of the relative air velocity and the vehicle longitudinal axis. The method for calculating the vehicle aerodynamic parameters includes: obtaining the wind speed vector of the wind speed in the global coordinate system and the vehicle speed vector of the vehicle in the vehicle coordinate system; determining the conversion relationship for the conversion of the axis directions between the global coordinate system and the vehicle coordinate system through the angles between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively; calculating the relative air velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector; calculating the aerodynamic sideslip angle according to the conversion relationship, the relative air velocity vector, and the vehicle longitudinal axis unit vector.

[0005] Optionally, the conversion relationship includes a first conversion matrix and a second conversion matrix, where the first conversion matrix is a conversion matrix for converting the axis directions of the vehicle coordinate system to the axis directions of the global coordinate system, and the second conversion matrix is a conversion matrix for converting the axis directions of the global coordinate system to the axis directions of the vehicle coordinate system.

[0006] Optionally, calculating the relative air flow velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector includes: determining a converted vehicle speed vector of the vehicle in the global coordinate system according to the vehicle speed vector and the first conversion matrix; determining a relative wind speed vector according to the converted vehicle speed vector, where the relative wind speed vector is a negative vector of the converted vehicle speed vector; and calculating the relative air flow velocity vector according to the relative wind speed vector and the wind speed vector according to a pre-designed calculation strategy.

[0007] Optionally, the pre-designed calculation strategy includes: determining whether the wind speed vector is a zero vector; if the wind speed vector is a zero vector, using the relative wind speed vector as the relative air flow velocity vector; and if the wind speed vector is not a zero vector, summing the relative wind speed vector and the wind speed vector to obtain the relative air flow velocity vector.

[0008] Optionally, calculating the aerodynamic side slip angle according to the conversion relationship, the relative air flow velocity vector, and the vehicle longitudinal axis unit vector includes: converting the relative air flow velocity vector into a converted relative air flow velocity vector in the vehicle coordinate system through the second conversion matrix; and calculating an angle between the converted relative air flow velocity vector and the vehicle longitudinal axis unit vector according to the converted relative air flow velocity vector and the vehicle longitudinal axis unit vector to obtain the aerodynamic side slip angle.

[0009] Optionally, obtaining the wind speed vector of the wind speed in the global coordinate system includes: obtaining the wind direction angle and the wind speed magnitude in the global coordinate system; and determining the wind speed vector in the global coordinate system according to the wind direction angle and the wind speed magnitude.

[0010] Second aspect, an embodiment of the present application further provides a calculation device for vehicle aerodynamic parameters. The vehicle aerodynamic parameters include relative air velocity and aerodynamic side slip angle. The aerodynamic side slip angle is the angle between the direction of the relative air velocity and the vehicle longitudinal axis. The calculation device for vehicle aerodynamic parameters includes: an acquisition module, configured to acquire a wind speed vector in a global coordinate system and a vehicle speed vector of the vehicle in a vehicle coordinate system; a determination module, configured to determine a conversion relationship for converting the coordinate axis directions between the global coordinate system and the vehicle coordinate system through the angle between the target axes respectively corresponding to the global coordinate system and the vehicle coordinate system; a first calculation module, configured to calculate a relative air velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector; a second calculation module, configured to calculate the aerodynamic side slip angle according to the conversion relationship, the relative air velocity vector, and the vehicle longitudinal axis unit vector.

[0011] Optionally, the conversion relationship includes a first conversion matrix and a second conversion matrix. Among them, the first conversion matrix refers to a conversion matrix for converting the coordinate axis direction of the vehicle coordinate system to the coordinate axis direction of the global coordinate system, and the second conversion matrix refers to a conversion matrix for converting the coordinate axis direction of the global coordinate system to the coordinate axis direction of the vehicle coordinate system.

[0012] Third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, communication is carried out between the processor and the memory through the bus. When the machine-readable instructions are run by the processor, the steps of the calculation method for vehicle aerodynamic parameters described in the first aspect or any possible implementation manner in the first aspect are executed.

[0013] Fourth aspect, an embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the calculation method for vehicle aerodynamic parameters described in the first aspect or any possible implementation manner in the first aspect are executed.

[0014] A method and device for calculating vehicle aerodynamic parameters provided by an embodiment of the present application, where the vehicle aerodynamic parameters include relative air velocity and aerodynamic yaw angle, and the aerodynamic yaw angle is the angle between the direction of the relative air velocity and the vehicle longitudinal axis. The method includes: obtaining a wind speed vector in a global coordinate system and a vehicle speed vector of the vehicle in a vehicle coordinate system; determining a conversion relationship for converting the coordinate axis directions between the global coordinate system and the vehicle coordinate system through the angles between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively; calculating a relative air velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector; and calculating the aerodynamic yaw angle according to the conversion relationship, the relative air velocity vector, and the vehicle longitudinal axis unit vector. By determining the conversion relationship for converting the coordinate axis directions between the global coordinate system and the vehicle coordinate system, the relative air velocity vector in the global coordinate system is calculated based on the wind speed vector and the vehicle speed vector, and by converting the relative air velocity vector in the global coordinate system into a vector in the vehicle coordinate system and then calculating the angle with the vehicle longitudinal axis, the aerodynamic yaw angle is obtained, solving the technical problem of calculation errors in the prior art due to the external wind field and the vehicle belonging to different coordinate systems, and achieving the technical effect of improving the accuracy of calculating vehicle aerodynamic parameters.

[0015] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given in conjunction with the accompanying drawings and are described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 Shows a flowchart of a method for calculating vehicle aerodynamic parameters provided by an embodiment of the present application.

[0018] Figure 2 Shows a schematic diagram of a global coordinate system and a vehicle coordinate system provided by an embodiment of the present application.

[0019] Figure 3 Shows a functional module diagram of a device for calculating vehicle aerodynamic parameters provided by an embodiment of the present application.

[0020] Figure 4 Shows a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the accompanying drawings in this application are only for the purpose of illustration and description, and are not used to limit the protection scope of this application. Additionally, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of this application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without a logical context relationship may be reversed or implemented simultaneously. Furthermore, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of this application.

[0022] In addition, the described embodiments are only some embodiments of this application, rather than all embodiments. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application to be protected, but only represents the selected embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of this application.

[0023] In the prior art, the external wind field and the vehicle belong to different coordinate systems. Due to the different coordinate systems, the aerodynamic side slip angle and the relative air velocity directly calculated through the vehicle's aerodynamics are incorrect, and further, the forces and torques received at a certain point of the unsprung mass of the vehicle calculated through the aerodynamic side slip angle and the relative air velocity are incorrect.

[0024] Based on this, the embodiments of this application provide a method and device for calculating vehicle aerodynamic parameters. By determining the conversion relationship for the conversion of the axis directions between the global coordinate system and the vehicle coordinate system, the relative air velocity vector in the global coordinate system is calculated based on the wind speed vector and the vehicle speed vector. By converting the relative air velocity vector in the global coordinate system into a vector in the vehicle coordinate system and then calculating the angle with the vehicle longitudinal axis, the aerodynamic side slip angle is obtained, solving the technical problem of incorrect calculation in the prior art due to the external wind field and the vehicle belonging to different coordinate systems, and achieving the technical effect of improving the accuracy of calculating vehicle aerodynamic parameters.

[0025] Please refer to Figure 1 , Figure 1 which is a flowchart of a method for calculating vehicle aerodynamic parameters provided by the embodiments of this application. As Figure 1As shown in the figure, the calculation method of vehicle aerodynamic parameters provided by the embodiments of the present application, where the vehicle aerodynamic parameters include relative air velocity and aerodynamic side slip angle, and the aerodynamic side slip angle is the angle between the direction of the relative air velocity and the vehicle longitudinal axis, includes the following steps: S101: Obtain the wind speed vector in the global coordinate system and the vehicle speed vector in the vehicle coordinate system.

[0026] The global coordinate system refers to the coordinate system where the external wind field is located, that is, the coordinate system where the wind speed is located. The vehicle coordinate system is a coordinate system composed of the vehicle transverse axis and the vehicle longitudinal axis. Among them, the vehicle transverse axis serves as the transverse axis of the vehicle coordinate system, and the vehicle longitudinal axis serves as the longitudinal axis of the vehicle coordinate system.

[0027] The angle between the corresponding target axes of the global coordinate system and the vehicle coordinate system can be defined as the vehicle yaw angle. That is to say, the target axis refers to one of the transverse axis and the longitudinal axis. Both the global coordinate system and the vehicle coordinate system are rectangular coordinate systems. The vehicle yaw angle is the angle between the transverse axis of the global coordinate system and the transverse axis of the vehicle coordinate system, or the vehicle yaw angle is the angle between the longitudinal axis of the global coordinate system and the longitudinal axis of the vehicle coordinate system.

[0028] The wind speed vector includes the component of the wind speed vector on the transverse axis of the global coordinate system and the component of the wind speed vector on the longitudinal axis of the global coordinate system. The vehicle speed vector includes the component of the vehicle speed vector on the transverse axis of the vehicle coordinate system and the component of the vehicle speed vector on the longitudinal axis of the vehicle coordinate system. That is to say, both the wind speed vector and the vehicle speed vector are expressed in the coordinate form of a vector.

[0029] The obtaining of the wind speed vector of the wind speed in the global coordinate system includes: obtaining the wind direction angle and the wind speed magnitude in the global coordinate system; and determining the wind speed vector in the global coordinate system based on the wind direction angle and the wind speed magnitude.

[0030] Among them, the wind direction angle and the wind speed magnitude can be detected by a wind speed and direction sensor. The detected wind direction angle may not be within the interval of [0, 2π]. For the convenience of calculation and subsequent simulation, the detected wind direction angle can be converted to radian measure and then added or subtracted by 2kπ, where k is any integer, so that the wind direction angle belongs to the interval of [0, 2π]. That is to say, the wind direction angle can be in the form of radian measure.

[0031] Among them, the vehicle yaw angle can also be first converted to radian measure and then added or subtracted by 2kπ, where k is any integer, so that the vehicle yaw angle belongs to the interval of [0, 2π], thus facilitating the calculation.

[0032] Specifically, the wind speed vector is obtained based on the wind speed magnitude and the wind direction angle through trigonometric functions, or in other words, the wind speed vector is expressed in coordinate form.

[0033] The vehicle speed vector of the vehicle in the vehicle coordinate system includes: obtaining the speed component of the vehicle speed in the horizontal axis direction and the vertical axis direction of the vehicle coordinate system; and determining the vehicle speed vector in the vehicle coordinate system based on the speed component in the horizontal axis direction and the speed component in the vertical axis direction of the vehicle speed.

[0034] Exemplarily, there are speed components of the vehicle speed in the vehicle's horizontal axis and vertical axis respectively, and the magnitudes of the speed components are provided by sensors on the vehicle body, such as inertial sensors. Further, based on the speed component of the vehicle speed in the vehicle's horizontal axis and the speed component of the vehicle speed in the vehicle's vertical axis, the vehicle speed vector in the vehicle body coordinate system is calculated.

[0035] S102: Determine the conversion relationship for the coordinate axis direction conversion between the global coordinate system and the vehicle coordinate system through the angle between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively.

[0036] Please refer to Figure 2 , Figure 2 , which is a schematic diagram of the global coordinate system and the vehicle coordinate system shown in this application. As Figure 2 shown, the coordinate system composed of the X 1 axis and the Y 1 axis is the global coordinate system, and the coordinate system composed of the X 2 axis and the Y 2 axis is the vehicle coordinate system. Among them, the angle between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively is , that is, the vehicle yaw angle is .

[0037] The conversion relationship includes a first conversion matrix and a second conversion matrix. Among them, the first conversion matrix refers to the conversion matrix for converting the coordinate axis direction of the vehicle coordinate system to the coordinate axis direction of the global coordinate system, and the second conversion matrix refers to the conversion matrix for converting the coordinate axis direction of the global coordinate system to the coordinate axis direction of the vehicle coordinate system.

[0038] Specifically, the first conversion matrix refers to the conversion matrix for converting the horizontal axis direction of the vehicle coordinate system to the horizontal axis direction of the global coordinate system and converting the vertical axis direction of the vehicle coordinate system to the vertical axis direction of the global coordinate system, and the second conversion matrix refers to the conversion matrix for converting the horizontal axis direction of the global coordinate system to the horizontal axis direction of the vehicle coordinate system and converting the vertical axis direction of the global coordinate system to the vertical axis direction of the vehicle coordinate system.

[0039] Among them, since the calculations in this application are all vector calculations, and the position of the origin does not affect the magnitude and direction of the vector. Further, it is not necessary to consider whether the origins of the vehicle coordinate system and the global coordinate system are the same point. Therefore, the first conversion matrix and the second conversion matrix only need to perform direction conversion.

[0040] Exemplarily, the first transformation matrix , and the second transformation matrix , wherein the first transformation matrix and the second transformation matrix are inverse matrices of each other.

[0041] S103: Calculate the relative air flow velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector.

[0042] Calculating the relative air flow velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector includes: determining the converted vehicle speed vector of the vehicle in the global coordinate system according to the vehicle speed vector and the first transformation matrix; determining the relative wind speed vector according to the converted vehicle speed vector, where the relative wind speed vector is the negative vector of the converted vehicle speed vector; and calculating the relative air flow velocity vector according to the relative wind speed vector and the wind speed vector according to a preset calculation strategy.

[0043] Specifically, multiplying the vehicle speed vector by the first transformation matrix to obtain the converted vehicle speed vector of the vehicle in the global coordinate system, and the converted vehicle speed vector is also expressed in the coordinate form of the vector. Furthermore, due to relative motion, the relative wind speed is equal to the negative value of the speed at which the vehicle passes through the stationary air. Therefore, the negative vector of the converted vehicle speed vector is used as the relative wind speed vector.

[0044] The preset calculation strategy includes: determining whether the wind speed vector is a zero vector; if the wind speed vector is a zero vector, using the relative wind speed vector as the relative air flow velocity vector; if the wind speed vector is not a zero vector, adding the relative wind speed vector and the wind speed vector to obtain the relative air flow velocity vector.

[0045] Exemplarily, if the vehicle speed vector in the vehicle coordinate system is , and the wind speed vector in the global coordinate system is , and the first transformation matrix is , then the converted vehicle speed vector of the vehicle in the global coordinate system . Furthermore, the relative wind speed vector in the global coordinate system . Therefore, it is determined whether the wind speed vector is a zero vector. If the wind speed vector is a zero vector, directly using the relative wind speed vector as the relative air flow velocity vector. If the wind speed vector is not a zero vector, adding the relative wind speed vector and the wind speed vector . Since at this time the relative wind speed vector and the wind speed vector are both in the global coordinate system, the relative air flow velocity vector in the global coordinate system 。

[0046] S104: Calculate the aerodynamic sideslip angle according to the conversion relationship, the relative air velocity vector, and the unit vector of the vehicle longitudinal axis.

[0047] Calculating the aerodynamic sideslip angle according to the conversion relationship, the relative air velocity vector, and the unit vector of the vehicle longitudinal axis includes: converting the relative air velocity vector into a converted relative air velocity vector in the vehicle coordinate system through the second conversion matrix; calculating an angle between the converted relative air velocity vector and the unit vector of the vehicle longitudinal axis based on the converted relative air velocity vector and the unit vector of the vehicle longitudinal axis to obtain the aerodynamic sideslip angle.

[0048] That is to say, multiply the relative air velocity vector by the second conversion matrix to obtain a converted relative air velocity vector in the vehicle coordinate system, then substitute the converted relative air velocity vector and the unit vector of the vehicle longitudinal axis into the vector inner product formula to find the angle between the converted relative air velocity vector and the unit vector of the vehicle longitudinal axis, and the aforementioned angle is the aerodynamic sideslip angle.

[0049] Wherein, the unit vector of the vehicle longitudinal axis refers to the unit vector on the longitudinal axis of the vehicle coordinate system.

[0050] Exemplarily, as Figure 2 shown, if the relative air velocity vector in the global coordinate system , the second conversion matrix , thus, the converted relative air velocity vector in the vehicle coordinate system , and the unit vector of the vehicle longitudinal axis in the vehicle coordinate system . Therefore, , wherein, is the aerodynamic sideslip angle, .

[0051] Based on the same inventive concept, an apparatus for calculating vehicle aerodynamic parameters corresponding to the method for calculating vehicle aerodynamic parameters provided in the above embodiments is further provided in the embodiments of the present application. Since the principle of solving problems by the apparatus in the embodiments of the present application is similar to the method for calculating vehicle aerodynamic parameters in the above embodiments of the present application, the implementation of the apparatus can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0052] As Figure 3 shown, Figure 3It is a functional block diagram of a calculation device for vehicle aerodynamic parameters provided by an embodiment of the present application. The vehicle aerodynamic parameters include relative air velocity and aerodynamic sideslip angle. The aerodynamic sideslip angle is the angle between the direction of the relative air velocity and the vehicle longitudinal axis. The calculation device 10 for the vehicle aerodynamic parameters includes: an acquisition module 101, a determination module 102, a first calculation module 103, and a second calculation module 104. The acquisition module 101 is configured to acquire the wind speed vector in the global coordinate system and the vehicle speed vector in the vehicle coordinate system. The determination module 102 is configured to determine the conversion relationship for axis direction conversion between the global coordinate system and the vehicle coordinate system through the angle between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively. The first calculation module 103 is configured to calculate the relative air velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector. The second calculation module 104 is configured to calculate the aerodynamic sideslip angle according to the conversion relationship, the relative air velocity vector, and the vehicle longitudinal axis unit vector.

[0053] The conversion relationship includes a first conversion matrix and a second conversion matrix. Among them, the first conversion matrix refers to the conversion matrix for converting the axis direction of the vehicle coordinate system to the axis direction of the global coordinate system, and the second conversion matrix refers to the conversion matrix for converting the axis direction of the global coordinate system to the axis direction of the vehicle coordinate system.

[0054] Thus, the present application unifies the conversion relationship between the global coordinate system and the vehicle coordinate system, and can accurately calculate the relative air velocity and the aerodynamic sideslip angle under various working conditions (the direction of the external wind and the attitude of the vehicle body), so as to facilitate the calculation of force and torque using the aerodynamic effect.

[0055] Based on the same inventive concept, as shown in Figure 4 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device 20 includes: a processor 201, a memory 202, and a bus 203. The memory 202 stores machine-readable instructions executable by the processor 201. When the electronic device 20 runs, the processor 201 communicates with the memory 202 through the bus 203. When the machine-readable instructions are run by the processor 201, the steps of the calculation method for the vehicle aerodynamic parameters as described in any one of the above embodiments are executed.

[0056] Specifically, when the machine-readable instructions are executed by the processor 201, the following processing can be performed: The vehicle aerodynamic parameters include the relative air flow velocity and the aerodynamic sideslip angle, where the aerodynamic sideslip angle is the angle between the direction of the relative air flow velocity and the vehicle longitudinal axis. The method includes: obtaining the wind speed vector in the global coordinate system and the vehicle speed vector in the vehicle coordinate system; determining the conversion relationship for the axis direction conversion between the global coordinate system and the vehicle coordinate system through the angle between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively; calculating the relative air flow velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector; and calculating the aerodynamic sideslip angle according to the conversion relationship, the relative air flow velocity vector, and the vehicle longitudinal axis unit vector.

[0057] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, it executes the steps of the method for calculating vehicle aerodynamic parameters provided in the above embodiment.

[0058] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, it can execute the above method for calculating vehicle aerodynamic parameters. By determining the conversion relationship for the axis direction conversion between the global coordinate system and the vehicle coordinate system, the relative air flow velocity vector in the global coordinate system is calculated based on the wind speed vector and the vehicle speed vector. By converting the relative air flow velocity vector in the global coordinate system into a vector in the vehicle coordinate system and then calculating the angle with the vehicle longitudinal axis, the aerodynamic sideslip angle is obtained, solving the technical problem of calculation errors in the prior art due to the external wind field and the vehicle belonging to different coordinate systems, and achieving the technical effect of improving the accuracy of calculating vehicle aerodynamic parameters.

[0059] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems and devices can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. Also, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0060] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0061] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0062] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or a part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0063] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for calculating vehicle aerodynamic parameters, characterized in that, the vehicle aerodynamic parameters include relative air velocity and aerodynamic yaw angle, the aerodynamic yaw angle being the angle between the direction of the relative air velocity and the vehicle longitudinal axis, and the method includes: Obtaining the wind speed vector in the global coordinate system and the vehicle speed vector of the vehicle in the vehicle coordinate system; Determining the conversion relationship for axis direction conversion between the global coordinate system and the vehicle coordinate system through the angles between the target axes corresponding to the global coordinate system and the vehicle coordinate system respectively; Calculating the relative air velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector; Calculating the aerodynamic yaw angle according to the conversion relationship, the relative air velocity vector, and the vehicle longitudinal axis unit vector.

2. The method according to claim 1, characterized in that, the conversion relationship includes a first conversion matrix and a second conversion matrix, wherein, the first conversion matrix refers to the conversion matrix for converting the axis direction of the vehicle coordinate system to the axis direction of the global coordinate system, and the second conversion matrix refers to the conversion matrix for converting the axis direction of the global coordinate system to the axis direction of the vehicle coordinate system.

3. The method according to claim 2, characterized in that, the calculating the relative air velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector, and the vehicle speed vector includes: Determining the converted vehicle speed vector of the vehicle in the global coordinate system according to the vehicle speed vector and the first conversion matrix; Determining the relative wind speed vector, the relative wind speed vector being the negative vector of the converted vehicle speed vector; Calculating the relative air velocity vector according to the relative wind speed vector and the wind speed vector according to a preset calculation strategy.

4. The method according to claim 3, characterized in that, the preset calculation strategy includes: Determining whether the wind speed vector is a zero vector; If the wind speed vector is a zero vector, taking the relative wind speed vector as the relative air velocity vector; If the wind speed vector is not a zero vector, summing the relative wind speed vector and the wind speed vector to obtain the relative air velocity vector.

5. The method according to claim 2, characterized in that, the calculating the aerodynamic yaw angle according to the conversion relationship, the relative air velocity vector, and the vehicle longitudinal axis unit vector includes: Converting the relative air velocity vector into a converted relative air velocity vector in the vehicle coordinate system through the second conversion matrix; Calculating the angle between the converted relative air velocity vector and the vehicle longitudinal axis unit vector according to the converted relative air velocity vector and the vehicle longitudinal axis unit vector to obtain the aerodynamic yaw angle.

6. The method according to claim 1, characterized in that, the obtaining the wind speed vector of the wind speed in the global coordinate system includes: Obtaining the wind direction angle and the wind speed magnitude in the global coordinate system; Determine the wind speed vector in the global coordinate system based on the wind direction angle and the wind speed magnitude.

7. A calculation device for vehicle aerodynamic parameters, characterized in that the vehicle aerodynamic parameters include the relative air flow velocity and the aerodynamic sideslip angle, the aerodynamic sideslip angle is the angle between the direction of the relative air flow velocity and the vehicle longitudinal axis, and the calculation device for the vehicle aerodynamic parameters includes: an acquisition module, configured to acquire the wind speed vector of the wind speed in the global coordinate system and the vehicle speed vector of the vehicle in the vehicle coordinate system; a determination module, configured to determine the conversion relationship for converting the coordinate axis directions between the global coordinate system and the vehicle coordinate system through the angle between the target axes respectively corresponding to the global coordinate system and the vehicle coordinate system; a first calculation module, configured to calculate the relative air flow velocity vector in the global coordinate system according to the conversion relationship, the wind speed vector and the vehicle speed vector; a second calculation module, configured to calculate the aerodynamic sideslip angle according to the conversion relationship, the relative air flow velocity vector and the vehicle longitudinal axis unit vector.

8. The device according to claim 7, characterized in that the conversion relationship includes a first conversion matrix and a second conversion matrix, wherein, the first conversion matrix refers to the conversion matrix for converting the coordinate axis direction of the vehicle coordinate system to the coordinate axis direction of the global coordinate system, and the second conversion matrix refers to the conversion matrix for converting the coordinate axis direction of the global coordinate system to the coordinate axis direction of the vehicle coordinate system.

9. An electronic device, characterized in that it includes: a processor, a memory and a bus, the memory stores machine-readable instructions executable by the processor, when the electronic device runs, the processor communicates with the memory through the bus, and when the machine-readable instructions are run by the processor, the steps of the calculation method for vehicle aerodynamic parameters according to any one of claims 1 to 6 are executed.

10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the calculation method for vehicle aerodynamic parameters according to any one of claims 1 to 6 are executed.

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