Vehicle testing method, device and equipment and storage medium

Abstract

The invention discloses a vehicle testing method, device and equipment and a storage medium, and relates to the technical field of vehicle testing, and the method comprises the steps: carrying out the axial splitting of a real vehicle motion curve, and obtaining an acceleration curve of each axis; performing frequency domain conversion on the acceleration curve of each axis to generate a power spectral density function corresponding to each axis; to-be-converted amplitudes are extracted from the power spectral density function, and a to-be-converted amplitude sequence corresponding to each axis is obtained; constructing a rotation axis motion curve corresponding to each axis according to the amplitude sequence to be converted; and controlling the small simulation test bench based on the rotating shaft motion curve so as to carry out vehicle motion sickness test. According to the method, the frequency domain conversion is firstly carried out, and based on the amplitude after the frequency domain conversion, on the premise of keeping the whole MSDV unchanged, the frequency domain conversion is carried out, and the rotation axis motion curve corresponding to each axis is constructed, so that the small test simulation rack can be controlled to simulate the same working condition of the real MSDV test; therefore, the motion sickness test can be carried out by using the small simulation test bench.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle testing, and particularly to vehicle testing methods, devices, equipment, and storage media. Background Art

[0002] Motion sickness is a subjective perception phenomenon. In the industrial field, MSDV (Motion Sickness Dose Value) or MSI (Motion Sickness Index) is usually used as a quantitative evaluation index. Currently, for motion sickness testing, generally, the same test vehicle is used on a fixed test section (a test scenario), and professional drivers perform standardized driving operation procedures. The test subjects complete the test process in groups in turn. However, the test results of MSDV are affected by individual differences (gender, age, physiological state, etc.) and objective environments (odor, temperature, noise, etc.). Therefore, large-scale sample testing and statistical analysis are required to ensure the accuracy and reliability of the test results.

[0003] In terms of real vehicle testing, the consistency of test conditions cannot be fully guaranteed, and thus the accuracy of test results cannot be ensured. On the other hand, the test cost is extremely high. Therefore, in order to ensure testing that is basically consistent with actual measurements and stable, using a simulation test bench for simulation testing is an ideal choice. Currently, very few giant automobile manufacturers have large-scale simulation test benches. A large-scale simulation test bench can truly cover the six degrees of freedom of vehicle movement, requires a large amount of space, and is also expensive. Such large-scale test benches are not acceptable to all automobile manufacturers. Some automobile manufacturers may only be equipped with small-scale test simulation benches. The axial travel of small-scale test simulation benches in the X-axis and Y-axis directions is limited and cannot simulate the real six degrees of freedom. How to ensure that motion testing can be carried out using small-scale test simulation benches is a difficult problem that urgently needs to be solved currently. Summary of the Invention

[0004] The main purpose of the present application is to provide a vehicle testing method, device, equipment, and storage media, aiming to solve the technical problem in the prior art that it is difficult to correctly perform vehicle motion sickness testing using a small-scale simulation test bench.

[0005] To achieve the above purpose, the present application proposes a vehicle testing method, and the method includes:

[0006] Axially split the real vehicle motion curve to obtain the acceleration curves of each axis;

[0007] Perform frequency domain conversion on the acceleration curves of each axis to generate the power spectral density function corresponding to each axis;

[0008] Extract the amplitudes to be converted from the power spectral density function to obtain the amplitude sequences to be converted corresponding to each axis;

[0009] Construct the rotational axis motion curves corresponding to each axis according to the to-be-converted amplitude sequence;

[0010] Control the small-scale simulation test bench based on the rotational axis motion curves to conduct vehicle motion sickness tests.

[0011] Optionally, extracting the to-be-converted amplitudes from the power spectral density function to obtain the to-be-converted amplitude sequences corresponding to each axis includes:

[0012] Obtain the amplitude determination thresholds corresponding to each axis;

[0013] Take the part of the power spectral density function with amplitudes greater than the amplitude determination threshold as the to-be-converted amplitudes;

[0014] Combine the to-be-converted amplitudes to generate the to-be-converted amplitude sequences corresponding to each axis.

[0015] Optionally, obtaining the amplitude determination threshold includes:

[0016] Obtain the maximum amplitude in the power spectral density function;

[0017] Multiply the maximum amplitude by a preset determination ratio to generate the amplitude determination threshold.

[0018] Optionally, constructing the rotational axis motion curves corresponding to each axis according to the to-be-converted amplitude sequence includes:

[0019] Calculate the motion sickness characterization sequence based on the to-be-converted amplitude sequence;

[0020] Taking the motion sickness characterization sequence as unchanged as the benchmark, convert the to-be-converted amplitude sequence into the rotational amplitude sequence corresponding to the rotational axis;

[0021] Construct the rotational axis motion curve according to the rotational axis amplitude sequence.

[0022] Optionally, calculating the motion sickness characterization sequence based on the to-be-converted amplitude sequence includes:

[0023] Traverse the to-be-converted amplitude sequence and take the traversed value as the current amplitude;

[0024] Find the frequency range corresponding to the current amplitude;

[0025] Obtain the axial sensitivity weight corresponding to the frequency range;

[0026] Determine the motion sickness characterization value corresponding to the current amplitude based on the axial sensitivity weight and the current amplitude;

[0027] At the end of the traversal, assemble the motion sickness characterization values corresponding to each amplitude in the to-be-converted amplitude sequence into the motion sickness characterization sequence.

[0028] Optionally, based on the invariance of the motion sickness characterization sequence, converting the to-be-converted amplitude sequence into a rotation amplitude sequence corresponding to a rotation axis includes:

[0029] Traverse the to-be-converted amplitude sequence, and use the value traversed as the current amplitude;

[0030] Find the frequency range corresponding to the current amplitude;

[0031] Obtain the rotation axis sensitivity weight corresponding to the frequency range;

[0032] Extract the motion sickness characterization value corresponding to the current amplitude from the motion sickness characterization sequence;

[0033] Calculate the rotation amplitude corresponding to the current amplitude based on the motion sickness characterization value and the rotation axis sensitivity weight;

[0034] At the end of the traversal, assemble the rotation amplitudes corresponding to the amplitudes in the to-be-converted amplitude sequence into a rotation amplitude sequence corresponding to the rotation axis.

[0035] Optionally, constructing a rotation axis motion curve based on the rotation axis amplitude sequence includes:

[0036] Perform polynomial expansion on the axis acceleration curve to obtain a polynomial expression;

[0037] Modify the to-be-converted amplitude sequence in the polynomial expression to the rotation axis amplitude sequence to obtain a rotation curve expression;

[0038] Perform polynomial combination on the rotation curve expression to obtain a rotation axis motion curve.

[0039] In addition, to achieve the above object, the present application further provides a vehicle testing device, and the vehicle testing device includes:

[0040] A splitting module, configured to perform axial splitting on the real vehicle motion curve to obtain axis acceleration curves;

[0041] A conversion module, configured to perform frequency domain conversion on the axis acceleration curves to generate power spectral density functions corresponding to the axes;

[0042] An extraction module, configured to extract to-be-converted amplitudes from the power spectral density functions to obtain to-be-converted amplitude sequences corresponding to the axes;

[0043] A construction module, configured to construct rotation axis motion curves corresponding to the axes according to the to-be-converted amplitude sequences;

[0044] A control module for controlling a small-scale simulation test bench based on the rotational axis motion curve to perform vehicle motion sickness tests.

[0045] In addition, to achieve the above object, the present application also provides a vehicle test device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle test method as described above.

[0046] In addition, to achieve the above object, the present application also provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the vehicle test method as described above.

[0047] In addition, to achieve the above object, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle test method as described above.

[0048] One or more technical solutions proposed by the present application have at least the following technical effects:

[0049] Since frequency domain conversion is performed first, and based on the amplitude after frequency domain conversion, on the premise of maintaining the overall MSDV unchanged, it is converted, and the rotational axis motion curve corresponding to each axis is constructed, ensuring that the control of the small-scale test simulation bench can simulate the same working conditions as the real MSDV test, so as to ensure that motion sickness tests can be performed using the small-scale simulation test bench. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0051] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0052] Figure 1 It is a schematic flowchart provided for Embodiment 1 of the vehicle test method of the present application;

[0053] Figure 2 It is a schematic flowchart provided for Embodiment 2 of the vehicle test method of the present application;

[0054] Figure 3 It is a schematic module structure diagram of the vehicle test device according to the embodiment of the present application;

[0055] Figure 4 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle testing method in the embodiments of the present application.

[0056] The realization of the purpose, functional characteristics, and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Specific Embodiments

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] For a better understanding of the technical solutions of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0059] Based on this, the embodiments of the present application provide a vehicle testing method, with reference to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the vehicle testing method of the present application.

[0060] In this embodiment, the vehicle testing method includes steps S10 to S50:

[0061] Step S10: Axially split the real vehicle motion curve to obtain the acceleration curves of each axis.

[0062] It should be noted that the execution subject of this embodiment may be the vehicle testing device. The vehicle testing device may be an electronic device that can control the simulation test bench, such as an intelligent computer, a server, or other electronic devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the vehicle testing method of the present application will be described by taking the vehicle testing device as an example.

[0063] It should be noted that the real vehicle motion curve may be the motion curve of the test vehicle collected when driving the test vehicle for MSDV testing. The real vehicle motion curve may be a two-dimensional curve of acceleration and time.

[0064] In actual use, the real vehicle motion curve can be axially split into components of multiple axes of the vehicle, so as to obtain multiple axial acceleration curves.

[0065] For example: if the vehicle has an X-axis (longitudinal axis, extending in the front-rear direction of the vehicle), a Y-axis (transverse axis, extending from one side of the vehicle to the other side), and a Z-axis (vertical axis, perpendicular to the ground and passing through the center of gravity of the vehicle), then at this time, the real vehicle motion curve can be axially split to obtain multiple axis acceleration curves, namely the X-axis acceleration curve αx(t), the Y-axis acceleration curve αy(t), and the Z-axis acceleration curve αz(t).

[0066] Among them, when necessary, the acceleration curve of the rotation axis can also be split to obtain, for example, the acceleration curve αrx(t) of the rotation axis along the X-axis, the acceleration curve αry(t) of the rotation axis along the Y-axis, and the acceleration curve αrz(t) of the rotation axis along the Z-axis.

[0067] Step S20: Perform frequency-domain conversion on the acceleration curves of each axis to generate the corresponding power spectral density function for each axis.

[0068] It should be noted that the strokes of the X-axis, Y-axis, etc. of the small simulation test bench are limited and cannot simulate real 6-degree-of-freedom motion sickness. At this time, in order to ensure that the vehicle motion conditions that can be simulated are basically the same as those in actual tests, equivalent conversion is required;

[0069] In order to ensure that when controlling the small simulation test bench, the specific effects that can be achieved are the same as those in actual MSDV tests, when converting the acceleration curve of each axis 1 into the corresponding control curve for controlling the small test simulation bench, it is necessary to ensure that the MSDV remains unchanged. However, MSDV is calculated in the frequency domain, while data acquisition, vehicle motion, control, etc. are all in the time domain. Therefore, the real-axis acceleration curve cannot be directly and equivalently converted into the corresponding control curve for controlling the small test simulation bench. It is necessary to first perform frequency-domain conversion on the acceleration curves of each axis to generate the corresponding power spectral density function for each axis.

[0070] Among them, when performing frequency-domain conversion, the fast Fourier transform (FFT) can be performed on the axis acceleration curve to generate the corresponding power spectral density function for that axis. For example: for the X-axis acceleration curve αx(t), perform FFT processing on it and convert it to the frequency domain, then the power spectral density function Gx(f) of the X-axis component can be obtained.

[0071] Step S30: Extract the amplitudes to be converted from the power spectral density function to obtain the corresponding amplitude sequences to be converted for each axis.

[0072] In actual use, in order to ensure the actual effect, all frequency components in the power spectral density function can be converted. Therefore, all amplitudes in the power spectral density function corresponding to each axis can be used as the amplitudes to be converted, and the amplitudes to be converted are combined into a sequence to obtain the corresponding amplitude sequences to be converted for each axis.

[0073] For example: all amplitudes in the power spectral density function Gx(f) of the X-axis component are used as the amplitudes to be converted, and each amplitude to be converted is assembled into the corresponding amplitude sequence to be converted for the X-axis.

[0074] In a specific implementation, in order to reduce the calculation amount and improve the conversion efficiency, step S30 of this embodiment may include:

[0075] Obtain the amplitude determination threshold corresponding to each axis;

[0076] Take the part of the power spectral density function with an amplitude greater than the amplitude determination threshold as the amplitude to be converted;

[0077] Combine the amplitudes to be converted to generate an amplitude sequence to be converted corresponding to each axis.

[0078] It should be noted that when performing equivalent conversion based on the invariance of MSDV, theoretically, all frequency components need to be converted. However, if all are converted, the computational complexity is very high, and at the same time, the time consumption is high. At this time, an attempt can be made to remove the part with a small impact on MSDV to reduce the computational complexity requirement and improve the conversion efficiency. Therefore, the part of the power spectral density function with an amplitude greater than the amplitude determination threshold can be used as the amplitude to be converted.

[0079] Among them, the amplitude determination threshold can be set in advance by the management personnel of the vehicle test equipment. If the amplitude is less than the amplitude determination threshold, it means that this amplitude has a small impact on MSDV and can even be ignored.

[0080] In a specific implementation, in order to ensure the rationality of amplitude determination, the step of obtaining the amplitude determination threshold corresponding to each axis in this embodiment may include:

[0081] Obtain the maximum amplitude value in the power spectral density function;

[0082] Multiply the maximum amplitude value by a preset determination ratio to generate an amplitude determination threshold.

[0083] It should be noted that the amplitudes of different axes may be different. At the same time, for different driving conditions, the amplitudes may also be different. If the amplitude determination threshold is directly set to a fixed value, if it is set too high, it may cause some parts with a large impact on MSDV not to be converted; if it is set too small, it may cause more invalid amplitudes to be equivalently converted. To avoid this situation, the amplitude determination threshold can be not set as a fixed value, but associated with the maximum amplitude value in the power spectral density function.

[0084] In actual use, the preset determination ratio can be set in advance by the management personnel of the vehicle test equipment, and this ratio can be set relatively small. For example, the preset determination ratio is set to 1%.

[0085] It can be understood that if an amplitude only accounts for a small proportion of the maximum amplitude value, it means that this amplitude is very different from the maximum amplitude, and its impact on MSDV can be basically ignored. Based on this, taking the product of the maximum amplitude value in the power spectral density function and the preset determination ratio as the amplitude determination threshold can reasonably perform amplitude determination and select appropriate amplitudes to be converted.

[0086] Step S40: Construct the rotational axis motion curves corresponding to each axis according to the to-be-converted amplitude sequence.

[0087] In actual use, after obtaining the to-be-converted amplitude sequence, it can be processed. On the premise of keeping the MSDV unchanged, the to-be-converted amplitude sequence is converted into the amplitude corresponding to the rotational axis, and then it is converted into the rotational axis motion curves corresponding to each axis.

[0088] For example: The to-be-converted amplitude sequence corresponding to the X axis is equivalently converted to generate the amplitude sequence of the roll axis rotating along the X axis. Then, according to this sequence, the rotational axis motion curve corresponding to the roll rotational axis is constructed; similarly, the to-be-converted amplitude sequence corresponding to the Y axis can be equivalently converted to generate the amplitude sequence of the pitch axis rotating along the Y axis. Then, according to this sequence, the rotational axis motion curve corresponding to the rotational axis is constructed; based on this, the rotational axis motion curve corresponding to the yaw rotational axis can also be constructed according to the to-be-converted amplitude sequence corresponding to the Z axis.

[0089] Step S50: Control the small-scale simulation test bench based on the rotational axis motion curves to conduct vehicle motion sickness tests.

[0090] It should be noted that after constructing the rotational axis motion curves, the small-scale simulation test bench can be controlled according to the rotational axis motion curves to simulate the specific working conditions of the vehicle during actual MSDV tests, so as to facilitate vehicle motion sickness tests.

[0091] In actual use, since the axial stroke of the small-scale simulation test bench may be limited only on the X and Y axes, and it can move flexibly on the Z axis, in this case, only the axis acceleration curves corresponding to the X and Y axes can be equivalently converted, without processing the axis acceleration curve corresponding to the Z axis.

[0092] For example: The axis acceleration curves corresponding to the X and Y axes are equivalently converted to generate the rotational axis motion curve α'rx(t) of the roll rotational axis and the rotational axis motion curve α'rz(t) of the yaw axis. Then, the small-scale simulation test bench can be controlled by combining the axis acceleration curve αz(t), α'rx(t) and α'rz(t) corresponding to the Z axis to conduct vehicle motion sickness tests.

[0093] It should be noted that when needed, the rotational axis motion curves obtained by equivalent transformation can also be superimposed with the rotated axial acceleration curves axially split from the real vehicle motion curves.

[0094] For example: the rotational axis motion curve α'rx(t) of the roll rotational axis obtained by equivalently converting the axis acceleration curve corresponding to the X axis, and when performing axial splitting, the axial acceleration curve of the roll rotational axis obtained is αrx(t), then the curve during final control = α'rx(t) + αrx(t).

[0095] This embodiment provides a vehicle testing method. Since frequency domain conversion is first performed, and based on the amplitude after frequency domain conversion, on the premise of maintaining the overall MSDV unchanged, it is converted to construct the rotational axis motion curves corresponding to each axis, ensuring that the small test simulation bench can simulate the same working conditions as the real MSDV test, so as to ensure that motion sickness tests can be carried out using a small simulation test bench.

[0096] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as in the above-mentioned embodiment one can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 2 , the step S40 includes steps S401 to S403:

[0097] Step S401: Calculate the motion sickness characterization sequence based on the to-be-converted amplitude sequence.

[0098] It should be noted that there can be multiple motion sickness characterization values in the motion sickness characterization sequence, and the motion sickness characterization values in the motion sickness characterization sequence correspond one by one to the amplitudes in the to-be-converted amplitude sequence.

[0099] In specific implementation, in order to correctly construct the motion sickness characterization sequence, step S401 in this embodiment may include:

[0100] Traverse the to-be-converted amplitude sequence and use the traversed value as the current amplitude;

[0101] Find the frequency range corresponding to the current amplitude;

[0102] Obtain the axial sensitivity weight corresponding to the frequency range;

[0103] Determine the motion sickness characterization value corresponding to the current amplitude based on the axial sensitivity weight and the current amplitude;

[0104] At the end of the traversal, assemble the motion sickness characterization values corresponding to each amplitude in the to-be-converted amplitude sequence into a motion sickness characterization sequence.

[0105] In actual use, when finding the axial sensitivity weight corresponding to the frequency range, the corresponding axial sensitivity weight can be found in the standard document ISO 2631-1 standard of MSDV according to the frequency range.

[0106] Meanwhile, the MSDV calculation formula can be used to calculate the motion sickness characterization value corresponding to the current amplitude, and we have:

[0107] Aw = [(Kx * Awx)^2 + (Ky * Awy)^2 + (Kz * Awz)^2]^(1 / 2)

[0108] Among them, when necessary under special circumstances, the influence of the component in the rotational direction around the axis can be added, then:

[0109] Aw = [(Kx * Awx)^2 + (Ky * Awy)^2 + (Kz * Awz)^2 + (Krx * Awrx)^2 + (Kry * Awry)^2 + (Krz * Awrz)^2]^(1 / 2)

[0110] Among them, Kx, Ky, Kz, Krx, Kry, Krz are the axial weighting coefficients of each axis such as X, Y, Z, roll, yaw, pitch, etc., Awx, Awy, Awz are the root mean square values of the weighted acceleration along the X, Y, Z three axes respectively, and Awrx, Awry, Awrz are the root mean square values of the rotational weighted acceleration along the roll, pitch, yaw three axes respectively;

[0111] Then MSDV = Aw * T^(1 / 2), where T is the action time.

[0112] Among them, the calculation of Awx can be:

[0113] The component of the acceleration curve collected from the real vehicle on the X-axis, that is, the axial acceleration curve α(t) of the X-axis, is subjected to a fast Fourier transform to obtain the power spectral density function Ga(f);

[0114] Look up the table to obtain the frequency weighting function W(f) in the X-axis direction;

[0115] Then we have

[0116] The calculation methods of Awy, Awz, etc. are similar to that of Awx, and will not be elaborated here.

[0117] Step S402: Based on the invariant motion sickness characterization sequence, convert the sequence of amplitudes to be converted into a sequence of rotational amplitudes corresponding to the rotation axes.

[0118] It should be noted that in order to ensure that when controlling the small-scale simulation test bench, the specific effects that can be achieved are consistent with those during the actual MSDV test, when converting the acceleration curves of each axis 1 into the corresponding control curves for controlling the small-scale test simulation bench, it is necessary to ensure that the overall MSDV remains unchanged.

[0119] Therefore, based on the invariant motion sickness characterization sequence, the sequence of amplitudes to be converted can be converted into a sequence of rotational amplitudes corresponding to the rotation axes.

[0120] In a specific implementation, to ensure correct execution of the equivalent conversion, step S402 described in this embodiment may include:

[0121] Traverse the sequence of amplitudes to be converted, and use the value traversed as the current amplitude;

[0122] Find the frequency range corresponding to the current amplitude;

[0123] Obtain the rotational axis sensitivity weight corresponding to the frequency range;

[0124] Extract the motion sickness characterization value corresponding to the current amplitude from the motion sickness characterization sequence;

[0125] Calculate the rotational amplitude corresponding to the current amplitude based on the motion sickness characterization value and the rotational axis sensitivity weight;

[0126] At the end of the traversal, assemble the rotational amplitudes corresponding to each amplitude in the sequence of amplitudes to be converted into a sequence of rotational amplitudes corresponding to the rotational axis.

[0127] It should be noted that when calculating the rotational amplitude corresponding to the current amplitude, an equivalent conversion formula can be used for calculation. Taking the X-axis as an example, there can be:

[0128] (Kx*Wd)2*Ax(f) = (Krx*We)2*A'rx(f)

[0129] Where Kx and Krx are the MSDV weighting coefficients in the X-axis direction and the Roll direction respectively, Wd and We are the frequency weighting functions in the X-axis direction and the Roll direction (i.e., the weighting functions representing the weights of different frequency components on MSDV), Kx*Wd is the axial sensitivity weight of the X-axis, Krx*We is the rotational axis sensitivity weight of the Roll rotational axis, Ax(f) is the amplitude sequence corresponding to each frequency in the X-axis direction, that is, the sequence of amplitudes to be converted, and A'rx(f) is the amplitude sequence corresponding to each frequency converted to the Roll rotational axis direction, that is, the sequence of rotational amplitudes;

[0130] By transforming this, the equivalent conversion formula for the X-axis can be obtained:

[0131] A'rx(f) = ((Kx*Wd)2*Ax(f)) / (Krx*We)2

[0132] The method for finding the rotational axis sensitivity weight is similar to that of the axial sensitivity weight, and it can also be found in the corresponding standard document, which will not be elaborated here.

[0133] Step S403: Construct a rotational axis motion curve based on the sequence of rotational axis amplitudes.

[0134] In actual use, after obtaining the amplitude sequence of the rotating shaft, it can be converted into a motion curve of the rotating shaft that has the same phase as the shaft acceleration curve and can keep the MSDV unchanged while controlling the rotating shaft.

[0135] In a specific implementation, to ensure the rationality of the constructed motion curve of the rotating shaft, step S403 described in this embodiment may include:

[0136] Perform polynomial expansion on the shaft acceleration curve to obtain a polynomial expression;

[0137] Modify the amplitude sequence to be converted in the polynomial expression to the amplitude sequence of the rotating shaft to obtain a rotation curve expression;

[0138] Perform polynomial combination on the rotation curve expression to obtain a motion curve of the rotating shaft.

[0139] It should be noted that the shaft acceleration curve can be processed by Fourier Series Expansion for polynomial expansion, and it can be converted into a form of superposition of multiple sine components to obtain a polynomial expression;

[0140] After that, the amplitude sequence to be converted in the polynomial expression can be modified to the amplitude sequence of the rotating shaft, so as to obtain a rotation curve expression. Finally, by using the inverse process of polynomial expansion for polynomial combination, a motion curve of the rotating shaft with the same phase as the shaft acceleration curve can be obtained.

[0141] For example: Suppose the amplitude sequence to be converted includes elements Ax(f1), Ax(f2),..., Ax(fn), and the amplitude sequence of the rotating shaft includes elements A'rx(f1), A'rx(f2),..., A'rx(fn);

[0142] Taking the shaft acceleration curve αx(t) of the X-axis as an example, αx(t) can be polynomially expanded to obtain the polynomial expression:

[0143] αx(t) = Ax(f1)*sin(2*pi*f1*t + Φ1) + Ax(f2)*sin(2*pi*f2*t + Φ2) +... + Ax(fn)*sin(2*pin*fn*t + Φn);

[0144] After that, replace the amplitude sequence to be converted therein with the amplitude sequence of the rotating shaft, then a rotation curve expression can be obtained. At this time, there is:

[0145] a'rx(t) = A'rx(f1) * sin(2 * pi * f1 * t + Φ1) + A'rx(f2) * sin(2 * pi * f2 * t + Φ2) +... + A'rx(fn) * sin(2 * pi * fn * t + Φn);

[0146] Finally, perform polynomial combination on the expression of the rotation curve to obtain the motion curve of the rotation axis.

[0147] This embodiment provides a vehicle testing method. By ensuring that the MSDV remains unchanged, this embodiment equivalently converts the amplitude into the amplitude of the rotation axis, thereby ensuring that the motion curve of the rotation axis can be reasonably constructed.

[0148] It should be noted that the above examples are only for understanding this application and do not constitute a limitation to the vehicle testing method of this application. Based on this technical concept, more forms of simple transformations are within the protection scope of this application.

[0149] This application also provides a vehicle testing device. Please refer to Figure 3 , the vehicle testing device includes:

[0150] The splitting module 10 is used to axially split the motion curve of the real vehicle to obtain the acceleration curves of each axis;

[0151] The conversion module 20 is used to perform frequency domain conversion on the acceleration curves of each axis to generate the power spectral density function corresponding to each axis;

[0152] The extraction module 30 is used to extract the amplitude to be converted from the power spectral density function to obtain the sequence of amplitudes to be converted corresponding to each axis;

[0153] The construction module 40 is used to construct the motion curve of the rotation axis corresponding to each axis according to the sequence of amplitudes to be converted;

[0154] The control module 50 is used to control the small-scale simulation test bench based on the motion curve of the rotation axis to perform vehicle motion sickness testing.

[0155] The vehicle testing device provided by this application adopts the vehicle testing method in the above embodiment, which can solve the technical problem that it is difficult to correctly perform vehicle motion sickness testing using a small-scale simulation test bench in the prior art. Compared with the prior art, the beneficial effects of the vehicle testing device provided by this application are the same as those of the vehicle testing method provided by the above embodiment, and other technical features in the vehicle testing device are the same as those disclosed in the method of the above embodiment, which will not be elaborated here.

[0156] The present application provides a vehicle testing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the vehicle testing method in the first embodiment above.

[0157] Reference is made below to Figure 4 , which shows a schematic structural diagram of a vehicle testing device suitable for implementing the embodiments of the present application. The vehicle testing device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions: tablet computers), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The vehicle testing device shown is merely an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0158] As Figure 4 shown, the vehicle testing device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory 1002 or the program loaded from the storage device 1003 into the random access memory 1004. In the random access memory 1004, various programs and data required for the operation of the vehicle testing device are also stored. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. The input / output interface 1006 is also connected to the bus. Generally, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the vehicle testing device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a vehicle testing device having various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be alternatively implemented or had.

[0159] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by a processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0160] The vehicle testing device provided by the present application adopts the vehicle testing method in the above embodiment, and can solve the technical problem that it is difficult to correctly perform vehicle motion sickness testing by using a small-scale simulation test bench in the prior art. Compared with the prior art, the beneficial effects of the vehicle testing device provided by the present application are the same as those of the vehicle testing method provided by the above embodiment, and other technical features in the vehicle testing device are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0161] It should be understood that each part disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0162] As described above, the above are only specific embodiments 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 in the present application, and all 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.

[0163] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle testing method in the above embodiment.

[0164] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0165] The above computer-readable storage medium can be included in a vehicle test device; or it can exist separately without being assembled into the vehicle test device.

[0166] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle test device, the vehicle test device is caused to: axially split the actual vehicle motion curve to obtain the acceleration curves of each axis; perform frequency-domain conversion on the acceleration curves of each axis to generate the power spectral density functions corresponding to each axis; extract the amplitudes to be converted from the power spectral density functions to obtain the sequences of amplitudes to be converted corresponding to each axis; construct the rotational axis motion curves corresponding to each axis according to the sequences of amplitudes to be converted; and control a small-scale simulation test bench based on the rotational axis motion curves to perform vehicle motion sickness tests.

[0167] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN: Local Area Network) or a wide area network (WAN: Wide Area Network), or it can be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0168] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0169] The modules involved in the embodiments described in this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0170] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned vehicle test method, and can solve the technical problem that it is difficult to correctly perform vehicle motion sickness tests using a small simulation test bench in the prior art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle test method provided in the above embodiments, and will not be elaborated here.

[0171] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the vehicle testing method as described above.

[0172] The computer program product provided by the present application can solve the technical problem that it is difficult to correctly conduct vehicle motion sickness tests using a small-scale simulation test bench in the prior art. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the vehicle testing method provided in the above embodiments, and will not be elaborated here.

[0173] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A vehicle testing method, characterized in that: The vehicle testing method comprises: Split the actual vehicle motion curve axially to obtain the acceleration curve of each axis; Perform frequency domain conversion on the acceleration curve of each axis to generate the power spectrum density function corresponding to each axis; Extract the amplitude to be converted from the power spectrum density function to obtain the amplitude sequence to be converted corresponding to each axis; Constructing a rotation axis motion curve corresponding to each axis according to the amplitude sequence to be converted; A small simulation test bench is controlled based on the rotation axis motion curve to perform a vehicle motion sickness test.

2. The vehicle testing method according to claim 1, characterized in that: The step of extracting the amplitude to be converted from the power spectrum density function to obtain a sequence of amplitudes to be converted corresponding to each axis includes: Get the amplitude judgment threshold corresponding to each axis; The part of the power spectrum density function whose amplitude is greater than the amplitude determination threshold is used as the amplitude to be converted; The amplitudes to be converted are combined to generate a sequence of amplitudes to be converted corresponding to each axis.

3. The vehicle testing method according to claim 2, characterized in that: The obtaining of the amplitude determination threshold comprises: Obtaining the maximum amplitude value in the power spectral density function; The amplitude maximum value is multiplied by a preset determination ratio to generate an amplitude determination threshold.

4. The vehicle testing method according to claim 1, characterized in that: The step of constructing the rotation axis motion curve corresponding to each axis according to the amplitude sequence to be converted comprises: Calculating a motion sickness characterization sequence based on the amplitude sequence to be converted; Taking the motion sickness characterization sequence as a reference, converting the amplitude sequence to be converted into a rotation amplitude sequence corresponding to the rotation axis; A rotation axis motion curve is constructed according to the rotation axis amplitude sequence.

5. The vehicle testing method according to claim 4, characterized in that: The step of calculating a motion sickness characterization sequence based on the amplitude sequence to be converted comprises: Traversing the amplitude sequence to be converted, and taking the traversed value as the current amplitude; Find the frequency range corresponding to the current amplitude; Obtaining an axial sensitivity weight corresponding to the frequency range; Determine a motion sickness characterization value corresponding to the current amplitude based on the axial sensitivity weight and the current amplitude; At the end of the traversal, the motion sickness characterization values ​​corresponding to the amplitudes in the amplitude sequence to be converted are assembled into a motion sickness characterization sequence.

6. The vehicle testing method according to claim 4, characterized in that: The step of converting the amplitude sequence to be converted into a rotation amplitude sequence corresponding to the rotation axis based on the unchanged motion sickness characterization sequence comprises: Traversing the amplitude sequence to be converted, and taking the traversed value as the current amplitude; Find the frequency range corresponding to the current amplitude; Obtaining a rotation axis sensitivity weight corresponding to the frequency range; Extracting the motion sickness characterization value corresponding to the current amplitude from the motion sickness characterization sequence; Calculating a rotation amplitude corresponding to the current amplitude based on the motion sickness characterization value and the rotation axis sensitivity weight; At the end of the traversal, the rotation amplitudes corresponding to the amplitudes in the to-be-converted amplitude sequence are assembled into a rotation amplitude sequence corresponding to the rotation axis.

7. The vehicle testing method according to claim 4, characterized in that: The step of constructing a rotation axis motion curve according to the rotation axis amplitude sequence comprises: Performing polynomial expansion on the axis acceleration curve to obtain a polynomial expression; Modify the to-be-converted amplitude sequence in the polynomial expression into the rotation axis amplitude sequence to obtain a rotation curve expression; The rotation curve expression is subjected to polynomial merging to obtain a rotation axis motion curve.

8. A vehicle testing device, characterized in that: The vehicle testing device comprises: The splitting module is used to split the actual vehicle motion curve axially to obtain the acceleration curve of each axis; A conversion module is used to perform frequency domain conversion on the acceleration curve of each axis to generate a power spectrum density function corresponding to each axis; An extraction module, used to extract the amplitude to be converted from the power spectrum density function to obtain a sequence of amplitudes to be converted corresponding to each axis; A construction module, used for constructing a rotation axis motion curve corresponding to each axis according to the amplitude sequence to be converted; The control module is used to control a small simulation test bench based on the rotation axis motion curve to perform vehicle motion sickness testing.

9. A vehicle testing device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle testing method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle testing method according to any one of claims 1 to 7 are implemented.

Images