Vehicle trafficability design method and device and vehicle
Through parameterized vehicle modeling and ramp modeling, the vehicle's passivity design is adjusted, and the problem of passing reduction caused by low cargo table and low chassis design is solved, and the risk of interference between the vehicle bottom and the ramp in the early stage of development is achieved, the vehicle design is optimized and the development cost is reduced.
Patent Information
- Application Number
- CN202510563783.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2025-08-08
AI Technical Summary
The design of low cargo table and low chassis leads to reduced vehicle passability, especially in road conditions such as ramps, which are prone to risk of vehicle bottom interference. The existing technology is difficult to identify and solve this problem in the early stage of development.
Through parameterized vehicle modeling and ramp modeling, the clearance parameters between the vehicle and ramp are determined, and the vehicle's passivity design is adjusted according to these parameters to ensure that the clearance meets the preset range and avoid interference between the bottom of the vehicle and the ramp.
In the early stages of development, virtual verification analysis is passed to optimize vehicle design, avoid dynamic interference risks in real vehicle testing, reduce development costs and improve vehicle passability.
Smart Images
Figure CN120449314A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of vehicle technology, and specifically relates to a vehicle passability design method, device and vehicle. Background Art
[0002] At present, with the gradual depletion of oil energy, the continuous development of new energy vehicles and road infrastructure, the substantial improvement of intersections of urban and rural roads, and the widespread popularization of highways, the low cargo platform design of commercial vehicles and the low chassis design of passenger cars have become trends.
[0003] However, the vehicle's low cargo platform and low chassis design have made significant contributions to loading and unloading goods and personnel, increasing interior space, reducing wind resistance, reducing energy consumption and lowering vehicle costs, but it reduces the vehicle's ground clearance, which will lead to reduced vehicle passability. Summary of the Invention
[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a vehicle passability design method, apparatus, and vehicle, as well as electronic equipment, computer-readable storage medium, and computer program product. By parametrically modeling the vehicle and ramp, the clearance parameters are adjusted to meet a preset clearance range, thereby avoiding the risk of interference between the vehicle bottom and the ramp and improving vehicle passability.
[0005] In a first aspect, an embodiment of the present application provides a vehicle passability design method, comprising:
[0006] A vehicle model is constructed based on the vehicle's passability parameters, and a ramp model is constructed based on the ramp parameters;
[0007] When the vehicle model passes through the ramp model, determining a gap parameter between the vehicle model and the ramp model according to a driving trajectory of the vehicle model;
[0008] The passability parameter is adjusted according to the gap parameter so that the gap parameter meets a preset gap range.
[0009] In some embodiments, determining a gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model includes:
[0010] determining a target location according to a ramp type of the ramp model and a wheel position of the vehicle model;
[0011] The gap between the target part and the ramp model is used as the gap parameter.
[0012] In some embodiments, when the ramp type is uphill, determining the target location according to the ramp type of the ramp model and the wheel positions of the vehicle model includes:
[0013] In a case where the front wheels of the vehicle are not on the uphill slope, determining a portion of the vehicle model located in front of the front wheels of the vehicle as the target portion; or
[0014] When the front wheels of the vehicle are on the uphill slope and the rear wheels of the vehicle are not on the uphill slope, determining a portion of the vehicle model located behind the rear wheels of the vehicle as the target portion; or
[0015] When the front wheels of the vehicle are at the top of the uphill slope and the rear wheels of the vehicle are at the uphill slope, the undercarriage panel of the vehicle model is determined to be the target portion.
[0016] In some embodiments, when the ramp type is downhill, determining the target location according to the ramp type of the ramp model and the wheel positions of the vehicle model includes:
[0017] When the front wheels of the vehicle are at the downhill slope and the rear wheels of the vehicle are at the top of the downhill slope, determining the chassis guard plate of the vehicle model as the target portion; or
[0018] When the front wheels and the rear wheels of the vehicle are respectively on the downhill slope, determining a portion of the vehicle model located in front of the front wheels of the vehicle as the target portion; or
[0019] When the front wheels of the vehicle are at the bottom of the downhill slope and the rear wheels of the vehicle are also on the downhill slope, a portion of the vehicle model located behind the rear wheels of the vehicle is determined as the target portion.
[0020] In some embodiments, determining a gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model includes:
[0021] Obtaining a motion envelope of the vehicle model passing through the ramp model;
[0022] The minimum gap between the motion envelope and the ramp model is used as the gap parameter.
[0023] In some embodiments, adjusting the passability parameter according to the clearance parameter includes:
[0024] In the case that the clearance parameter does not meet the preset clearance range, the front overhang, rear overhang and body size of the vehicle are adjusted according to the clearance parameter so that the clearance parameter meets the preset clearance range.
[0025] In some embodiments, adjusting the front overhang, rear overhang, and body size of the vehicle according to the gap parameter includes:
[0026] When the clearance parameter is less than a minimum value of the preset clearance range, reducing the front overhang and rear overhang of the vehicle and reducing the body length of the vehicle;
[0027] When the gap parameter is greater than a maximum value of the preset gap range, the front overhang and the rear overhang of the vehicle are increased, and the body length of the vehicle is increased.
[0028] In some embodiments, constructing a vehicle model based on the vehicle's passability parameters includes:
[0029] constructing a tire model of the vehicle based on the load state of the vehicle and compression parameters of the suspension and tires of the vehicle;
[0030] constructing a body model of the vehicle based on body parameters of the vehicle;
[0031] The tire model and the vehicle body model are combined to obtain the vehicle model.
[0032] In a second aspect, an embodiment of the present application provides a vehicle passability design device, comprising:
[0033] A construction module, configured to construct a vehicle model based on the vehicle's passability parameters and a ramp model based on the ramp parameters;
[0034] a determination module, configured to determine a gap parameter between the vehicle model and the ramp model according to a driving trajectory of the vehicle model when the vehicle model passes through the ramp model;
[0035] An adjustment module is used to adjust the passability parameter according to the gap parameter so that the gap parameter meets a preset gap range.
[0036] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the vehicle passability design method as described in the first aspect are implemented.
[0037] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device described in the third aspect, wherein the memory of the electronic device stores programs or instructions that can be run on a processor, and when the program or instructions are executed by the processor, the steps of the vehicle passability design method described in the first aspect are implemented.
[0038] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle passability design method as described in the first aspect are implemented.
[0039] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when executed by a vehicle processor, implements the steps of the vehicle passability design method as described in the first aspect.
[0040] The technical solution provided in this application requires first constructing a vehicle model based on the vehicle's passability parameters, and constructing a ramp model based on the ramp parameters; and when the vehicle model passes through the ramp model, determining the gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model, so as to adjust the passability parameter according to the gap parameter, so that the gap parameter meets the preset gap range to avoid the risk of interference between the bottom of the vehicle and the ramp.
[0041] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
[0043] Figure 1 A flow chart of a vehicle trafficability design method provided in an embodiment of the present application.
[0044] Figure 2 A block diagram of a vehicle passability design method provided in an embodiment of the present application.
[0045] Figure 3 A schematic diagram of the process of a vehicle going uphill is provided in an embodiment of the present application.
[0046] Figures 4A-4C A schematic diagram of the process of a vehicle going uphill is provided in an embodiment of the present application.
[0047] Figure 5 A schematic diagram of the process of a vehicle going downhill is provided in an embodiment of the present application.
[0048] Figures 6A-6C A schematic diagram of the process of a vehicle going downhill is provided in an embodiment of the present application.
[0049] Figure 7 A schematic diagram of the process of generating a motion envelope when a vehicle goes uphill or downhill is provided in an embodiment of the present application.
[0050] Figure 8A schematic structural diagram of a vehicle passability design device provided in an embodiment of the present application.
[0051] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.
[0052] Figure 10 A schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION
[0053] The following describes embodiments of the present application in more detail with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are for illustrative purposes only and are not intended to limit the scope of protection of the present application.
[0054] It should be understood that the various steps described in the method embodiments of the present application can be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.
[0055] In recent years, with the gradual depletion of oil energy, the continuous development of new energy vehicles and road infrastructure, the substantial improvement of intersections on urban and rural roads, and the widespread popularization of highways, the low cargo platform design of commercial vehicles and the low chassis design of passenger cars have become trends.
[0056] This low cargo platform and low chassis design makes significant contributions to loading and unloading goods and people, increasing the space inside the vehicle, reducing wind resistance, reducing energy consumption and lowering vehicle use costs. However, it reduces the ground clearance of the vehicle, resulting in reduced vehicle passability.
[0057] Currently, actual vehicle road testing is conducted in the later stages of development, and it is often impossible to identify early on if the vehicle's passability settings are improper, resulting in low ground clearance. When negotiating common road conditions such as ramps and underground garages, the vehicle may experience dynamic interference, such as the front and rear of the vehicle bottoming out at the bottom of the slope, and the middle of the vehicle getting stuck at the top.
[0058] Because the mainstream method of major OEMs is to develop theoretical values of static ground clearance of key parts of the vehicle in the early stage, as well as the values of approach angle and departure angle, so as to avoid dynamic interference between the vehicle and the ramp.
[0059] However, the early stages of vehicle development, including styling design, the entire engineering design phase, and later chassis tuning, all require a certain margin to avoid dynamic interference in the actual vehicle. However, this setting results in higher energy consumption for the vehicle.
[0060] The vehicle passability design method provided in this application can avoid the risk of interference between the bottom of the vehicle and the ramp after satisfying dynamic verification through parametric vehicle modeling and ramp modeling.
[0061] Figure 1 A flow chart of a vehicle trafficability design method provided in an embodiment of the present application is provided. Figure 2 A block diagram of a vehicle trafficability design method provided in an embodiment of the present application, such as Figure 1 and Figure 2 As shown, the vehicle passability design method includes the following steps:
[0062] Step 101: construct a vehicle model based on the vehicle's trafficability parameters, and construct a ramp model based on the ramp parameters.
[0063] Specifically, the vehicle model is composed of at least one of points, lines, surfaces, and frames. Alternatively, the vehicle model can be a vehicle's contour surface, A-surface, 3D digital model, reverse digital model, or feature data containing part or all of the vehicle. The ramp model can be used for underground garages, ramp platforms, bridges, and other special ramps where the vehicle experiences ups and downs during travel, such as single-peak slopes, continuous ramps, and cross-axis ramps. The ramp model can be composed of simple geometric elements such as points, lines, surfaces, and frames, or it can be a 3D digital model, reverse digital model, or road spectrum.
[0064] In an optional implementation, a ramp model may be constructed based on angle parameters of the ramp.
[0065] Furthermore, the vehicle and ramp models were constructed using CATIA modeling software. CATIA (Computer-Aided Three-Dimensional Interactive Application) is a high-end 3D modeling and product design software developed by Dassault Systèmes of France. It is widely used in aerospace, automotive, industrial design, mechanical engineering, architecture, and other fields.
[0066] Step 102 : When the vehicle model passes through the ramp model, determine a gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model.
[0067] Specifically, based on the motion mechanism module of CATIA, the vehicle model can be controlled to pass through the ramp model, and the gap parameter is the distance between the vehicle model and the road surface of the ramp model.
[0068] Step 103: Adjust the passability parameter according to the gap parameter so that the gap parameter satisfies the preset gap range.
[0069] Specifically, if the clearance parameters meet the preset clearance range, no adjustment is required to the passability parameters. If the clearance parameters do not meet the preset clearance range, the passability parameters need to be adjusted. After the passability parameters are adjusted, the vehicle model is updated based on the adjusted passability parameters. Then, when the updated vehicle model passes through the ramp model, the clearance parameters are re-determined to determine whether the clearance parameters meet the preset clearance range.
[0070] The vehicle passability design method provided in this application utilizes parametric vehicle and ramp modeling. When the vehicle model passes through the ramp model, the clearance parameters between the vehicle model and the ramp model are determined based on the vehicle model's driving trajectory. The passability parameters are then adjusted based on the clearance parameters to ensure they fall within a preset clearance range, thereby avoiding the risk of interference between the vehicle's bottom and the ramp and improving vehicle passability. Furthermore, because this application constructs virtual vehicle and ramp models, it allows for virtual verification and analysis of passability parameters without a prototype vehicle. Compared to testing on a real vehicle, this method can significantly reduce development costs.
[0071] In some embodiments, determining a gap parameter between a vehicle model and a ramp model according to a driving trajectory of the vehicle model comprises the steps of:
[0072] Step 104 : Determine the target location based on the ramp type of the ramp model and the wheel positions of the vehicle model.
[0073] It should be noted that ramp types include uphill and downhill, and the target part is the part of the vehicle model closest to the ramp model, and the target part will change as the vehicle model moves. Step 105: The gap between the target part and the ramp model is used as a gap parameter.
[0074] This method uses the gap between the target part of the vehicle and the ramp model as a gap parameter, and adjusts the vehicle's passability parameter according to the gap parameter so that the gap parameter meets the preset gap range, thereby avoiding the risk of interference between the bottom of the vehicle and the ramp.
[0075] Figure 3 A schematic diagram of a vehicle going uphill provided in an embodiment of the present application. Figures 4A-4C A schematic diagram of a vehicle going uphill provided in an embodiment of the present application is shown in FIG. Figure 3 、 Figures 4A-4C As shown, in some embodiments, when the ramp type is uphill, determining the target location according to the ramp type of the ramp model and the wheel position of the vehicle model includes:
[0076] When the front wheels of the vehicle are not on an uphill slope, the portion of the vehicle model located in front of the front wheels of the vehicle is determined as the target portion; or when the front wheels of the vehicle are on an uphill slope and the rear wheels of the vehicle are not on an uphill slope, the portion of the vehicle model located behind the rear wheels of the vehicle is determined as the target portion; or when the front wheels of the vehicle are at the top of an uphill slope and the rear wheels of the vehicle are on an uphill slope, the chassis guard plate of the vehicle model is determined as the target portion.
[0077] Furthermore, in one example, when the front wheels of the vehicle are not on an uphill slope, the portion of the vehicle model located in front of the front wheels of the vehicle is determined as the target portion. In this case, the target portion includes at least one of the following: the front bumper, the front suspension, the headlights, the engine hood, and the front wheels.
[0078] When the front wheels of the vehicle are on an uphill slope and the rear wheels of the vehicle are not on an uphill slope, the part of the vehicle model located behind the rear wheels of the vehicle is determined as the target part. In this case, the target part includes at least one of the following: rear bumper, rear suspension, taillight, trunk lid, and rear wheel.
[0079] Figure 5 A schematic diagram of a vehicle going downhill provided in an embodiment of the present application. Figures 6A-6C A schematic diagram of a vehicle going downhill provided in an embodiment of the present application is shown in FIG. Figure 5 、 Figures 6A-6C As shown, in some embodiments, when the slope type is downhill, determining the target location according to the slope type of the ramp model and the wheel position of the vehicle model includes:
[0080] When the front wheels of the vehicle are at a downhill slope and the rear wheels of the vehicle are at the top of the downhill slope, the chassis guard plate of the vehicle model is determined as the target part; or when the front wheels of the vehicle and the rear wheels of the vehicle are respectively at a downhill slope, the part of the vehicle model located in front of the front wheels of the vehicle is determined as the target part; or when the front wheels of the vehicle are at the bottom of the downhill slope and the rear wheels of the vehicle are at the downhill slope, the part of the vehicle model located behind the rear wheels of the vehicle is determined as the target part.
[0081] Furthermore, in one example, when the front wheels and rear wheels of the vehicle are respectively on a downhill slope, a portion of the vehicle model located in front of the front wheels of the vehicle is determined as the target portion.
[0082] Specifically, in one example, the portion of the vehicle model located before the front wheels of the vehicle may be the front end of the vehicle, the front bumper, the engine hood, and the headlights.
[0083] When the front wheels of the vehicle are at the bottom of a downhill slope and the rear wheels of the vehicle are also on the downhill slope, a portion of the vehicle model located behind the rear wheels of the vehicle is determined as the target portion.
[0084] Specifically, in one example, the portion of the vehicle model located behind the rear wheels of the vehicle may be the rear end of the vehicle, the rear bumper, the trunk lid, and the taillights.
[0085] Figure 7 A schematic diagram of a process of generating a motion envelope when a vehicle goes uphill or downhill is provided in an embodiment of the present application. Figure 7 As shown, in some embodiments, determining the gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model includes:
[0086] S10. Obtaining a motion envelope of the vehicle model passing through the ramp model.
[0087] It should be noted that the above-mentioned “motion envelope” refers to the spatial range swept by various components of the vehicle (such as wheels, body, etc.) during the movement.
[0088] like Figure 7 As shown, vehicle 1's motion envelope 2 is a three-dimensional geometric region that describes the dynamic behavior of vehicle 1 under specific motion conditions. By analyzing motion envelope 2, it is possible to determine whether vehicle 1's components will interfere with obstacles (such as bottoming out or colliding) when navigating a ramp or other complex road conditions.
[0089] S11. The minimum gap between the motion envelope and the ramp model is used as a gap parameter.
[0090] By calculating the minimum gap between the motion envelope 2 and the ramp model, the present application can accurately evaluate the distance between each part of the vehicle 1 and the ramp when passing through the ramp, thereby determining whether the vehicle 1 will bottom out or interfere.
[0091] In addition, based on the minimum clearance parameters, the geometric design of the vehicle 1 (such as the front overhang, rear overhang, body size, etc.) can be optimized to ensure that the vehicle 1 has sufficient clearance when passing through the ramp to avoid the risk of bottoming out.
[0092] Furthermore, the vehicle's passability parameters are adjusted according to the above-mentioned clearance parameters, including: when the clearance parameters do not meet the preset clearance range, adjusting the front overhang, rear overhang and body size of the vehicle according to the clearance parameters so that the clearance parameters meet the preset clearance range.
[0093] The front overhang refers to the horizontal distance from the center of the front wheels to the front end of the vehicle; the rear overhang refers to the horizontal distance from the center of the rear wheels to the rear end of the vehicle. In addition, in the embodiments of this application, "body size" includes the length, width, and height of the vehicle body.
[0094] Furthermore, in an embodiment of the present application, adjusting the front overhang, rear overhang, and body size of the vehicle according to the clearance parameters includes the following steps:
[0095] S12. When the gap parameter is less than a minimum value of a preset gap range, reduce the front overhang and the rear overhang of the vehicle, and reduce the body length of the vehicle.
[0096] Among them, when the clearance parameter is less than the minimum value of the preset clearance range, reducing the front and rear overhangs of the vehicle can increase the vehicle's approach angle (Approach Angle) and departure angle (Departure Angle), so that when the vehicle goes up or down a slope, the contact point between the chassis and the slope moves backward, reducing the risk of chassis scratches.
[0097] For example, in one specific embodiment, if the front overhang of a vehicle is too long, the front of the vehicle is likely to touch the ground when climbing a slope. However, shortening the front overhang can raise the front of the vehicle to increase the ground clearance (clearance parameter) of the vehicle.
[0098] When the clearance parameter is less than the minimum value of the preset clearance range and the front and rear overhangs of the vehicle are reduced, the vehicle body length is reduced. This setting can enhance the vehicle's handling flexibility, reduce the body weight, and optimize weight distribution.
[0099] S13. When the gap parameter is greater than a maximum value of a preset gap range, increase the front overhang and rear overhang of the vehicle, and increase the body length of the vehicle.
[0100] Among them, when the gap parameter is greater than the maximum value of the preset gap range, increasing the front and rear overhangs of the vehicle can reduce the vehicle's approach angle (Approach Angle) and departure angle (Departure Angle), thereby allowing the lowest point of the vehicle's chassis to be appropriately lowered, and utilizing the extended front and rear overhangs to layout more functional components (such as battery packs).
[0101] In addition, by increasing the front and rear overhangs of the vehicle, increasing the vehicle's body length can longitudinally expand the interior layout space (such as the engine compartment and luggage compartment) while maintaining functional requirements.
[0102] In some embodiments, constructing a vehicle model based on the vehicle's passability parameters includes the following steps:
[0103] S14. Construct a tire model of the vehicle based on the load state of the vehicle and the compression parameters of the vehicle's suspension and tires.
[0104] The tire model of the vehicle includes the wheel center model and the wheel model of the vehicle.
[0105] Furthermore, the vehicle's load status includes any of the following: fully loaded, unloaded, half-loaded, and overloaded. A tire model can be composed of simple geometric elements such as points, lines, surfaces, and frames. It can also include the vehicle's styling surface, A-side, 3D digital model, reverse digital model, or data containing partial or complete wheel features.
[0106] S15. Construct a vehicle body model based on the vehicle body parameters.
[0107] Vehicle body parameters include length, width, and height. A vehicle body model can also be composed of simple geometric elements such as points, lines, surfaces, and frames, or it can include the vehicle's styling surfaces, A-sides, 3D digital models, reverse digital models, or data containing partial or complete vehicle features.
[0108] S16: Combine the tire model and the vehicle body model to obtain a vehicle model.
[0109] The tire model and the body model are Figure 3 Taking the framework shown in the figure as an example, by combining the frameworks of the two models, a complete vehicle model can be obtained.
[0110] This application also provides a vehicle passability design device. Figure 8 As shown, the vehicle passability design device includes: a construction module 10, a determination module 20 and an adjustment module 30.
[0111] Among them, the construction module 10 is used to construct a vehicle model based on the vehicle's passability parameters, and to construct a ramp model based on the ramp parameters; the determination module 20 is used to determine the gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model when the vehicle model passes through the ramp model; the adjustment module 30 is used to adjust the passability parameter according to the gap parameter so that the gap parameter meets the preset gap range.
[0112] In some embodiments, the determination module 20 is further configured to: determine the target portion according to the ramp type of the ramp model and the wheel positions of the vehicle model; and use the gap between the target portion and the ramp model as a gap parameter.
[0113] In some embodiments, when the ramp type is uphill, the determination module 20 is further used to: when the front wheels of the vehicle are not on an uphill slope, determine the portion of the vehicle model located in front of the front wheels of the vehicle as the target portion; or when the front wheels of the vehicle are on an uphill slope and the rear wheels of the vehicle are not on an uphill slope, determine the portion of the vehicle model located behind the rear wheels of the vehicle as the target portion; or when the front wheels of the vehicle are at the top of an uphill slope and the rear wheels of the vehicle are on an uphill slope, determine the chassis guard plate of the vehicle model as the target portion.
[0114] In some embodiments, when the slope type is downhill, the determination module 20 is further used to: when the front wheels of the vehicle are at a downhill slope and the rear wheels of the vehicle are at the top of the downhill slope, determine the chassis guard plate of the vehicle model as the target portion; or when the front wheels of the vehicle and the rear wheels of the vehicle are respectively at a downhill slope, determine the portion of the vehicle model located in front of the front wheels of the vehicle as the target portion; or when the front wheels of the vehicle are at the bottom of the downhill slope and the rear wheels of the vehicle are at a downhill slope, determine the portion of the vehicle model located behind the rear wheels of the vehicle as the target portion.
[0115] In some embodiments, the determination module 20 is further configured to: obtain a motion envelope of the vehicle model passing through the ramp model; and use the minimum gap between the motion envelope and the ramp model as a gap parameter.
[0116] In some embodiments, the adjustment module 30 is further configured to adjust the front overhang, rear overhang, and body size of the vehicle according to the clearance parameters when the clearance parameters do not meet the preset clearance range, so that the clearance parameters meet the preset clearance range.
[0117] In some embodiments, the adjustment module 30 is also used to: reduce the front and rear overhangs of the vehicle and reduce the body length of the vehicle when the gap parameter is less than the minimum value of the preset gap range; increase the front and rear overhangs of the vehicle and increase the body length of the vehicle when the gap parameter is greater than the maximum value of the preset gap range.
[0118] In some embodiments, the construction module 10 is also used to: construct a tire model of the vehicle based on the vehicle's load state and the compression parameters of the vehicle's suspension and tires; construct a body model of the vehicle based on the vehicle's body parameters; and combine the tire model and the body model to obtain a vehicle model.
[0119] It should be noted that the specific implementation of the vehicle passability design device according to the embodiment of the present invention corresponds one-to-one to the specific implementation of the vehicle passability design method according to the aforementioned embodiment of the present invention, and will not be repeated here.
[0120] The vehicle passability design device provided in the present application uses parameterized vehicle modeling and ramp modeling to determine the gap parameters between the vehicle model and the ramp model according to the driving trajectory of the vehicle model when the vehicle model passes through the ramp model; the passability parameters are adjusted according to the gap parameters so that the gap parameters meet the preset gap range, thereby avoiding the risk of interference between the bottom of the vehicle and the ramp.
[0121] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 9As shown, the electronic device 100 includes: a processor 120 and a memory 110, the memory 110 stores programs or instructions that can be run on the processor 120, and the above programs or instructions are executed by the processor 120 to implement the following Figure 1 Steps of vehicle passability design method.
[0122] Figure 10 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown in FIG. Figure 10 As shown, the vehicle 200 includes Figure 7 The electronic device 100, wherein the memory 110 of the electronic device 100 stores a program or instruction that can be run on the processor 120, and when the program or instruction is executed by the processor, the following is achieved: Figure 1 Steps of vehicle passability design method.
[0123] The embodiment of the present application provides a computer-readable storage medium storing a program or instruction, which is executed by a processor to implement the following Figure 1 Steps of vehicle passability design method.
[0124] The present application provides a computer program product, which, when executed by a vehicle processor, performs the following operations: Figure 1 Steps of vehicle passability design method.
[0125] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.
[0126] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general hardware platform, or of course, by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes a number of instructions for enabling a terminal or network-side device to execute the methods of the various embodiments of the present application.
[0127] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of this application and the scope of protection of the claims. These implementation methods are all within the protection of this application.
Claims
1. A vehicle trafficability design method, characterized in that: include: A vehicle model is constructed based on the vehicle's passability parameters, and a ramp model is constructed based on the ramp parameters; When the vehicle model passes through the ramp model, determining a gap parameter between the vehicle model and the ramp model according to a driving trajectory of the vehicle model; The passability parameter is adjusted according to the gap parameter so that the gap parameter meets a preset gap range.
2. The method according to claim 1, characterized in that Determining a gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model includes: determining a target location according to a ramp type of the ramp model and a wheel position of the vehicle model; The gap between the target part and the ramp model is used as the gap parameter.
3. The method according to claim 2, characterized in that In a case where the ramp type is an uphill slope, determining the target location according to the ramp type of the ramp model and the wheel positions of the vehicle model includes: In a case where the front wheels of the vehicle are not on the uphill slope, determining a portion of the vehicle model located in front of the front wheels of the vehicle as the target portion; or When the front wheels of the vehicle are on the uphill slope and the rear wheels of the vehicle are not on the uphill slope, determining a portion of the vehicle model located behind the rear wheels of the vehicle as the target portion; or When the front wheels of the vehicle are at the top of the uphill slope and the rear wheels of the vehicle are at the uphill slope, the undercarriage panel of the vehicle model is determined to be the target portion.
4. The method according to claim 2, characterized in that In a case where the slope type is downhill, determining the target location according to the slope type of the ramp model and the wheel positions of the vehicle model includes: When the front wheels of the vehicle are at the downhill slope and the rear wheels of the vehicle are at the top of the downhill slope, determining the chassis guard plate of the vehicle model as the target portion; or When the front wheels and the rear wheels of the vehicle are respectively on the downhill slope, determining a portion of the vehicle model located in front of the front wheels of the vehicle as the target portion; or When the front wheels of the vehicle are at the bottom of the downhill slope and the rear wheels of the vehicle are on the downhill slope, a portion of the vehicle model located behind the rear wheels of the vehicle is determined as the target portion.
5. The method according to claim 1, wherein Determining a gap parameter between the vehicle model and the ramp model according to the driving trajectory of the vehicle model includes: Obtaining a motion envelope of the vehicle model passing through the ramp model; The minimum gap between the motion envelope and the ramp model is used as the gap parameter.
6. The method according to any one of claims 1 to 5, characterized in that Adjusting the passability parameter according to the clearance parameter includes: In the case that the clearance parameter does not meet the preset clearance range, the front overhang, rear overhang and body size of the vehicle are adjusted according to the clearance parameter so that the clearance parameter meets the preset clearance range.
7. The method according to claim 6, characterized in that Adjusting the front overhang, rear overhang, and body size of the vehicle according to the gap parameters includes: When the clearance parameter is less than a minimum value of the preset clearance range, reducing the front overhang and rear overhang of the vehicle and reducing the body length of the vehicle; When the gap parameter is greater than a maximum value of the preset gap range, the front overhang and the rear overhang of the vehicle are increased, and the body length of the vehicle is increased.
8. The method according to claim 1, characterized in that The vehicle model is constructed based on the vehicle's passability parameters, including: constructing a tire model of the vehicle based on the load state of the vehicle and compression parameters of the suspension and tires of the vehicle; constructing a body model of the vehicle based on body parameters of the vehicle; The tire model and the vehicle body model are combined to obtain the vehicle model.
9. A vehicle trafficability design device, characterized in that: include: A construction module, configured to construct a vehicle model based on the vehicle's passability parameters and a ramp model based on the ramp parameters; a determination module, configured to determine a gap parameter between the vehicle model and the ramp model according to a driving trajectory of the vehicle model when the vehicle model passes through the ramp model; An adjustment module is used to adjust the passability parameter according to the gap parameter so that the gap parameter meets a preset gap range.
10. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle passability design method as described in any one of claims 1 to 8 are implemented.
11. A vehicle, characterized in that: The electronic device according to claim 10.
12. A computer-readable storage medium, characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle passability design method as described in any one of claims 1 to 8 are implemented.
13. A computer program product, characterized in that The program product implements the steps of the vehicle trafficability design method according to any one of claims 1 to 8 when executed by a processor of a vehicle.