Joint simulation method, apparatus and device, and medium

Abstract

The embodiment of the invention provides a joint simulation method, device, equipment and medium, and the method comprises the steps: constructing a vehicle dynamics model in a vehicle simulation platform, and determining at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced with a high-precision physical subsystem model; sending a first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physical engine; feedback force output by the multi-body dynamics physical engine based on the first variable is sent to the vehicle simulation platform; and the vehicle simulation platform outputs a simulation result according to the vehicle dynamics model and the feedback force. According to the embodiment of the invention, the vehicle simulation platform and the multi-body dynamics physical engine are coupled, the key components are selectively replaced by the high-precision physical subsystem model of the multi-body dynamics physical engine, and the modeling precision of the key subsystem in vehicle dynamics simulation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle dynamics simulation, and in particular to a joint simulation method, device, equipment and medium. Background Art

[0002] Vehicle dynamics simulation technology is a key tool for autonomous driving development. Currently, simulation relies solely on the built-in models of CarSim (a vehicle simulation platform). However, CarSim's built-in steering system model simplifies friction dynamics, and the suspension system model does not consider flexible body deformation. It cannot integrate the high-precision physical subsystem models of multi-body dynamics physics engines such as Chrono, resulting in low modeling accuracy of key vehicle subsystems. Summary of the Invention

[0003] In view of the above problems, the present invention aims to propose a joint simulation method, device, equipment and medium to improve the modeling accuracy of key vehicle subsystems by coupling a vehicle simulation platform and a multi-body dynamics physics engine.

[0004] According to a first aspect of the present invention, a joint simulation method is first provided, which is applied to a co-simulation controller, wherein the co-simulation controller is used to control a vehicle simulation platform and a multi-body dynamics physics engine. The method includes: Constructing a vehicle dynamics model in the vehicle simulation platform, wherein the vehicle dynamics model includes a plurality of physical subsystem models; determining at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced by a high-precision physical subsystem model; Sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine; sending the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform; The vehicle simulation platform outputs simulation results according to the vehicle dynamics model and the feedback force.

[0005] Optionally, sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine includes: sending the first variable to a shared memory via a functional simulation unit interface of the vehicle simulation platform; The first variable is sent to the multi-body dynamics physics engine through the shared memory.

[0006] Optionally, sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine includes: Calling an application programming interface of the vehicle simulation platform to write the first variable into the shared memory; The first variable in the shared memory is sent to the multi-body dynamics physics engine through a preset module of the multi-body dynamics physics engine; the preset module is used for the multi-body dynamics physics engine to access the shared memory.

[0007] Optionally, after sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine, the method further includes: monitoring a first local truncation error of the vehicle simulation platform and a second local truncation error of the multi-body dynamics physics engine; The simulation step size of the multi-body dynamics physics engine is adjusted according to the first local truncation error and the second local truncation error.

[0008] Optionally, adjusting the simulation step size of the multi-body dynamics physics engine according to the first local truncation error and the second local truncation error includes: When the first local truncation error and / or the second local truncation error is greater than or equal to a preset threshold, adjusting the simulation step size of the multi-body dynamics physics engine; When the first local truncation error and the second local truncation error are smaller than a preset threshold, the simulation step size of the multi-body dynamics physics engine is maintained.

[0009] Optionally, after adjusting the simulation step size of the multi-body dynamics physics engine when the first local truncation error and / or the second local truncation error is greater than or equal to a preset threshold, the method further includes: comparing the simulation step size of the vehicle simulation platform and the simulation step size adjusted by the multi-body dynamics physics engine; When the simulation step length of the vehicle simulation platform is different from the simulation step length after adjustment of the multi-body dynamics physics engine, data compensation is performed on the multi-body dynamics physics engine.

[0010] Optionally, the target physical subsystem model includes a steering system model and a suspension system model; the feedback force includes a steering resistance torque and a suspension force; The step of sending the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform includes: In the multi-body dynamics physics engine, constructing the steering system model and the suspension system model according to the first variable; Obtaining a steering resistance torque through the steering system model; Obtaining suspension force through the suspension system model; sending the steering resistance torque and the suspension force to the vehicle simulation platform; The vehicle simulation platform updates a target physical subsystem model according to the steering resistance torque and the suspension force.

[0011] According to a second aspect of the present invention, a joint simulation device is further provided, comprising: A model building module, configured to build a vehicle dynamics model in the vehicle simulation platform, wherein the vehicle dynamics model includes a plurality of physical subsystem models; a replacement module, configured to determine at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced by a high-precision physical subsystem model; A first sending module, configured to send a first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine; a second sending module, configured to send the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform; An output module is used for the vehicle simulation platform to output simulation results based on the vehicle dynamics model and the feedback force.

[0012] According to a third aspect of the present invention, an electronic device is also provided, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above-mentioned joint simulation method when executed by the processor.

[0013] According to a fourth aspect of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the joint simulation method as described above is implemented.

[0014] The joint simulation method provided by an embodiment of the present invention constructs a vehicle dynamics model in a vehicle simulation platform, the vehicle dynamics model including multiple physical subsystem models; determines at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced with a high-precision physical subsystem model; sends a first variable output by the vehicle simulation platform based on the target physical subsystem model to a multi-body dynamics physics engine; sends a feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform; and the vehicle simulation platform outputs a simulation result based on the vehicle dynamics model and the feedback force. By coupling the vehicle simulation platform and the multi-body dynamics physics engine, the embodiment of the present invention selectively replaces key components with the high-precision physical subsystem models of the multi-body dynamics physics engine, thereby improving the modeling accuracy of key subsystems in vehicle dynamics simulation.

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings: Figure 1 is a flowchart of the steps of a joint simulation method provided by one embodiment of the present invention; Figure 2 This is a simulation step size adjustment flow chart provided by one embodiment of the present invention; Figure 3 This is a joint simulation flow chart provided by one embodiment of the present invention; Figure 4 It is a structural diagram of a joint simulation device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, each embodiment of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in each embodiment of the present invention, many technical details are provided to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present invention can be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with each other and referenced to each other under the premise that there is no contradiction.

[0018] The vehicle dynamics modeling method based on CarSim in related technologies improves the simulation accuracy of the entire vehicle by integrating subsystem models such as the vehicle body, steering, and braking. However, it has the following problems: Insufficient component-level modeling accuracy: CarSim's built-in steering system model simplifies friction dynamics, and the suspension system model does not consider flexible body deformation, resulting in significant simulation errors in low-speed steering feel and high-frequency vibration. Lack of high-fidelity physics engine collaboration: The inability to integrate high-precision component models (such as gear contact mechanics and nonlinear damping) from physics engines like Chrono limits the ability to reproduce complex physical phenomena. Real-time interaction technology gap: The coupling of heterogeneous models between CarSim and external engines requires solving problems such as data synchronization and step coordination, but related technologies have not provided effective solutions.

[0019] This application addresses the shortcomings of related vehicle dynamics simulation technologies and solves the following problems through a joint simulation method based on the coupling of CarSim and the Chrono multi-physics engine: Insufficient component-level modeling accuracy: The relevant CarSim dynamics model simplifies key physical details (such as friction nonlinearity and flexible body deformation) in the simulation of subsystems such as steering and suspension. This leads to large simulation errors in conditions such as low-speed steering torque and high-frequency vibration. Difficulty in coordinating heterogeneous models: CarSim's closed architecture makes it difficult to interact in real time with high-precision multi-body dynamics physics engines such as Chrono. It also lacks dynamic data synchronization and step-size adaptive adjustment mechanisms, which affects the stability of joint simulations.

[0020] CarSim (vehicle simulation platform) is a widely used professional software in vehicle dynamics simulation and autonomous driving development. It focuses on high-precision vehicle dynamics modeling and real-time simulation. It can simulate the vehicle's longitudinal, lateral, and vertical movements (such as acceleration, braking, steering, suspension vibration, etc.).

[0021] Chrono (Multibody Dynamics Physics Engine), an open source multibody dynamics simulation engine, focuses on high-precision physical modeling and is particularly good at dynamic analysis of complex mechanical systems (such as vehicle subsystems, robots, and aerospace mechanisms). Its core advantages lie in flexible body dynamics, nonlinear contact mechanics, and multi-physics field coupling capabilities.

[0022] The Co-Simulation Controller is the core component of co-simulation, responsible for coordinating and managing the operation of multiple simulation models. Its main tasks include time synchronization, data exchange, step size management, and error handling.

[0023] Reference Figure 1 , shows a flowchart of a joint simulation method provided by an embodiment of the present invention, which may specifically include the following steps: Step 101: construct a vehicle dynamics model in the vehicle simulation platform, wherein the vehicle dynamics model includes a plurality of physical subsystem models.

[0024] The vehicle dynamics model refers to an integrated model built based on CarSim that includes multiple physical subsystem models such as the vehicle body model, tire model, power system model, suspension system model, and steering system model. This integrated model can comprehensively simulate the dynamic behavior of the vehicle under various working conditions and is the core of vehicle dynamics simulation.

[0025] In the vehicle simulation platform, CarSim, select a predefined vehicle model or define one as needed. Based on the vehicle's design or experimental data, set basic vehicle parameters such as body dimensions, mass distribution, and aerodynamic coefficients. Body dimensions include length, width, height, wheelbase, and front and rear track width. Mass distribution includes the vehicle's total mass, center of mass (center of mass position in the vehicle coordinate system), and moment of inertia. Aerodynamic coefficients include drag coefficient, lateral force coefficient, and other parameters. These parameters define the vehicle's basic physical characteristics and environmental conditions.

[0026] Define the simulation scenario, such as initial velocity, initial position, and target path. Configure environmental conditions, such as road friction coefficient, slope, and wind speed. Then, run the simulation and output vehicle state variables, such as speed, acceleration, yaw rate, steering wheel angle, wheel center displacement, and component boundary conditions (such as steering rack displacement and suspension vertical force).

[0027] Specifically, the vehicle dynamics model is constructed: Start CarSim and create a new project; Select a basic vehicle model from the CarSim model library, or create a custom vehicle model. CarSim provides a variety of vehicle types, such as SUVs (sport / suburban utility vehicles), sedans, trucks, motorcycles, etc. Set vehicle parameters, including body dimensions (length, width, height, wheelbase, front and rear track, etc.), mass distribution (vehicle mass, center of mass position, moment of inertia, etc.), aerodynamic coefficients (air drag coefficient, lift coefficient, etc.), etc.; Define the simulation scenario, select the simulation scenario type, such as straight driving, curve driving, etc., and define the scenario parameters, such as road surface type, road friction coefficient, wind speed and direction, etc.; Set the simulation step size and simulation time, and start the simulation; Output vehicle state variables, including vehicle state (vehicle speed, acceleration, yaw rate, steering wheel angle, wheel center displacement, etc.) and component boundary conditions (such as steering rack displacement, suspension vertical force).

[0028] Step 102 : Determine at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced by a high-precision physical subsystem model.

[0029] Because CarSim's built-in steering system model simplifies friction dynamics and the suspension system model doesn't account for flexible body deformation, significant simulation errors in low-speed steering feel and high-frequency vibration are common. Therefore, we employed Chrono, a multibody dynamics physics engine, to build high-precision steering and suspension system models to improve the accuracy of key sub-models.

[0030] Step 103: Send the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine.

[0031] The first variable is the variable output by CarSim based on the physical subsystem model that needs to be replaced in the vehicle dynamics model, namely the steering wheel angle and wheel center displacement output by CarSim.

[0032] Since Chrono is required to build high-precision steering and suspension system models, Chrono obtains the first variables (steering wheel angle and wheel center displacement) output by CarSim according to the construction requirements to build high-precision physical subsystem models (steering system model and suspension system model).

[0033] The steering system is a key subsystem in vehicle dynamics. Chrono provides a powerful gear contact dynamics module for simulating nonlinear friction between racks and pinions. Specifically, Chrono's gear contact dynamics module simulates the contact and friction forces between the steering rack and pinion, taking into account the nonlinear characteristics of gear contact, including contact stiffness, contact damping, and friction coefficient.

[0034] Suspension system modeling is a key component of vehicle dynamics simulation, encompassing the vehicle's dynamic response under varying road conditions and driving conditions. Accurately modeling the suspension system requires consideration of the flexible deformation of suspension components, particularly key components like control arms. Chrono offers a flexible multibody dynamics module for simulating the flexible deformation of suspension components like control arms.

[0035] Chrono is a high-precision simulation tool that enables detailed physical modeling of key components such as a vehicle's steering and suspension systems. By coupling the CarSim dynamics model with Chrono's high-precision physical subsystem models, a balance between vehicle efficiency and component accuracy can be achieved in vehicle dynamics simulation.

[0036] In this application, in order to ensure the consistency of data exchange and simulation results between CarSim and Chrono in the joint simulation, their simulation clocks must be synchronized so that the data exchange between CarSim and Chrono is based on the synchronized simulation clocks.

[0037] The simulation clock is a virtual clock used in the simulation system to track simulation time. It records the elapsed time from the start of the simulation to the current moment and determines how the simulation software advances time, calculates system state, and handles data transfers. For example, if the simulation step size is 10ms, the simulation clock updates every 10ms.

[0038] Specifically, the Precision Time Protocol (PTP) can be used to synchronize simulation clocks before simulation. PTP is a protocol for synchronizing clocks within a network and is widely used in areas requiring high-precision time synchronization. PTP transmits timestamp information within the network, enabling the clocks of each node to be synchronized to nanosecond accuracy. The core concept of PTP is to achieve clock synchronization through a master-slave clock structure, where the master clock sends time synchronization messages to the slave clocks, which then adjust their own clocks based on the received messages.

[0039] Simulation software with higher clock accuracy is typically chosen as the master clock. Therefore, in a CarSim and Chrono co-simulation scenario, CarSim can be used as the master clock and Chrono as the slave clock. Clock synchronization is achieved using the PTP protocol. CarSim, as the master clock, periodically sends synchronization messages to Chrono, which contain the master clock's timestamp. Upon receiving the synchronization message, Chrono records the receipt timestamp. The master clock then sends a Delay Request message, which Chrono immediately responds with a Delay Response message. This allows network transmission delays to be calculated. Based on the received synchronization message and the network transmission delay, Chrono adjusts its own clock to maintain synchronization with CarSim's clock.

[0040] By adopting the PTP protocol, high-precision synchronization of the CarSim and Chrono simulation clocks can be achieved, ensuring that the timestamps of the two are aligned in the joint simulation.

[0041] Step 104 : Sending the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform.

[0042] Chrono constructs high-precision physical subsystem models (steering system model and suspension system model) based on the primary variables (steering wheel angle and wheel center displacement) obtained from CarSim output. It then feeds back the steering resistance torque and suspension force (the force exerted by the suspension system on the entire vehicle (wheels and body) (such as vertical force, longitudinal force, and lateral force)) to CarSim.

[0043] Chrono is a high-precision simulation tool that enables detailed physical modeling of key components such as a vehicle's steering and suspension systems. By coupling the CarSim dynamics model with Chrono's high-precision physical subsystem models, a balance between vehicle efficiency and component accuracy can be achieved in vehicle dynamics simulation.

[0044] Step 105: The vehicle simulation platform outputs a simulation result according to the vehicle dynamics model and the feedback force.

[0045] After the simulation is complete, CarSim outputs simulation results based on the vehicle dynamics model and the received steering torque and suspension forces. CarSim updates the vehicle's steering and suspension system states based on these received steering torque and suspension forces, and uses the vehicle dynamics model to determine the vehicle's motion under different operating conditions. The simulation results reflect the vehicle's overall dynamic behavior (including body posture, tire forces, suspension forces, steering torque, etc.) and kinematic behavior (including velocity, displacement, etc.). CarSim simulation results can be used to analyze the vehicle's overall performance, such as acceleration, braking, and steering, as well as its dynamic response under different driving conditions, such as body posture, tire forces, and suspension forces.

[0046] By coupling the CarSim dynamics model with Chrono's high-precision physical subsystem models (steering system model, suspension system model), a balance is achieved between vehicle efficiency and component accuracy in vehicle dynamics simulation.

[0047] In an optional embodiment of the present invention, step 103 further includes the following steps: S1031, sending the first variable to a shared memory through a functional simulation unit interface of the vehicle simulation platform; S1032: Send the first variable to the multi-body dynamics physics engine through the shared memory.

[0048] CarSim supports the output of vehicle state variables such as steering rack displacement, wheel forces, and vehicle speed through the FMI standard interface (Functional Mock-up Interface).

[0049] FMI is an open, standardized interface protocol for interoperability and co-simulation of simulation models. It supports model exchange and co-simulation between different simulation tools and is widely used in the automotive, aerospace, and energy sectors.

[0050] The vehicle state variables output by CarSim are stored in shared memory through CarSim's FMI standard interface. Chrono then retrieves the primary variables (steering wheel angle and wheel center displacement) required to build high-precision physical subsystem models (steering system model and suspension system model) from the shared memory.

[0051] CarSim is responsible for solving the dynamics of the entire vehicle, while Chrono is dedicated to high-fidelity component simulation. The two interact in real time through a standardized interface (FMI), solving the compatibility issues between closed commercial software (CarSim) and the open source engine (Chrono).

[0052] In an optional embodiment of the present invention, step 103 further includes the following sub-steps: S103-1, calling the application programming interface of the vehicle simulation platform to write the first variable into the shared memory; S103-2, sending the first variable in the shared memory to the multi-body dynamics physics engine through a preset module of the multi-body dynamics physics engine; the preset module is used for the multi-body dynamics physics engine to access the shared memory.

[0053] CarSim provides a C / C++ API (Application Programming Interface) that allows users to read and write CarSim's internal variables during simulation.

[0054] The co-simulation controller calls CarSim's C / C++ API to write the vehicle state variables output by CarSim into shared memory. A pre-defined module (Direct Solver) is then written in Chrono to retrieve the primary variables (steering wheel angle and wheel center displacement) required to build high-precision physical subsystem models (steering and suspension) in shared memory. The pre-defined module (Direct Solver) directly accesses data in shared memory.

[0055] When CarSim and Chrono exchange data through the FMI and API, data conversion is required due to differences in data formats, units, and variable definitions. Specifically, a map is used to convert CarSim variable names and data types to the corresponding Chrono variable names and data types.

[0056] By using maps for data conversion and mapping, CarSim and Chrono can effectively handle issues such as variable naming, data formats, and unit conversion when interacting with data through FMI and APIs. This not only improves data exchange efficiency but also ensures the accuracy and consistency of simulation results. In practice, the use of maps can be adjusted to meet specific needs, such as adding more mapping relationships and handling more complex data type conversions.

[0057] In this application, in addition to using FMI and API, the interface can also use ROS / ROS2 (Robot Operating System / Robot Operating System 2) middleware instead of FMI / API to achieve distributed data interaction (suitable for HIL (Hardware-in-the-Loop) scenarios), or asynchronous data transmission through database cache (such as Redis).

[0058] CarSim is responsible for solving vehicle dynamics, while Chrono is dedicated to high-fidelity component simulation. The two interact in real time through standardized interfaces (FMI / API), solving the compatibility issues between closed commercial software (CarSim) and open source engines (Chrono).

[0059] In an optional embodiment of the present invention, S103 further includes the following sub-steps: S1, monitoring a first local truncation error of the vehicle simulation platform and a second local truncation error of the multi-body dynamics physics engine; S2: Adjusting a simulation step size of the multi-body dynamics physics engine according to the first local truncation error and the second local truncation error.

[0060] Local truncation error (LTE) is used in numerical analysis to describe the error introduced by numerical integration methods within a single step. It is an important indicator for measuring the accuracy of numerical methods and directly affects the accuracy and stability of simulation results.

[0061] In a joint simulation of CarSim and Chrono, the co-simulation controller needs to monitor the LTE of both CarSim and Chrono in real time. Specifically, it monitors key data in CarSim and Chrono (such as suspension resistance, torque, and speed). By monitoring the change in this data within a simulation step, it can determine whether the simulation has experienced anomalies or error accumulation. The simulation step is the time interval between each simulation iteration in the simulation system, defining the update frequency of the simulation system in the time dimension. The simulation step of CarSim is fixed at 10ms, while the simulation step of Chrono is variable at 1 to 5ms.

[0062] Suppose that within a simulation step, the suspension resistance exceeds the expected range. For example, the suspension resistance was 150 in the previous simulation step, but suddenly changes to 200 in the next simulation step. The change (LTE) is calculated to determine whether it exceeds a set threshold. The threshold can be set based on the specific vehicle data and simulation requirements to better adapt to the characteristics of the simulation scenario.

[0063] In addition, the co-simulation controller monitors changes in key data (such as steering torque) in real time during the simulation process. It can determine whether a sudden change has occurred by calculating the difference between the current and previous steering torques. If the data exceeds the limit (such as a sudden change in steering torque greater than 50Nm), the switching mechanism is triggered and automatically switches back to the CarSim built-in model. That is, the co-simulation is no longer carried out and the simulation is continued with the CarSim built-in model to avoid simulation divergence.

[0064] In an optional embodiment of the present invention, S2 further includes the following sub-steps: S21, when the first local truncation error and / or the second local truncation error is greater than or equal to a preset threshold, adjusting the simulation step size of the multi-body dynamics physics engine; S22: When the first local truncation error and the second local truncation error are smaller than a preset threshold, maintaining the simulation step size of the multi-body dynamics physics engine.

[0065] When the LTE of CarSim and / or Chrono exceeds a set threshold, the co-simulation controller sends a command to Chrono to shorten its simulation step (for example, from 5ms to 2ms). The co-simulation controller also notifies CarSim of the adjusted Chrono simulation step, allowing CarSim to synchronize its simulations in subsequent simulations. If the LTE of CarSim and Chrono do not exceed the set threshold, Chrono's simulation step remains at its original value.

[0066] When LTE drops below a threshold, Chrono's simulation step size can be gradually restored to the original simulation step size (for example, from 2ms to 5ms).

[0067] Because CarSim dominates the simulation and is usually the main simulation engine for joint simulation, the simulation step size is fixed and its computational complexity is high. Shortening the step size significantly increases the computational burden. Adjusting the step size of Chrono can improve local accuracy without affecting CarSim.

[0068] Among them, the data deviation caused by the change of simulation step size can be compensated by the prediction-correction algorithm.

[0069] The Predictor-Corrector Method (PCM) is a classic numerical integration method widely used in solving ordinary differential equations and simulating dynamic systems. Its core idea is to improve the accuracy of numerical solutions while reducing errors through two steps: prediction and correction.

[0070] Prediction step: Use information from the current simulation step (such as state variables) to predict the state at the next time point; the prediction formula is usually based on numerical integration methods; Correction step: Based on the prediction results, the predicted value is corrected in combination with the local truncation error (LTE) or other error estimation methods; the corrected value is used to update the system state and serves as the input for the next time step.

[0071] Specifically, during the prediction phase, Chrono simulates the current state (such as position, velocity, acceleration, etc.) using an adaptive step size to determine the state for the next adaptive step size. Then, based on CarSim's fixed step size (10ms), Chrono predicts CarSim's state within the next fixed step size. This prediction can be based on simple numerical integration methods (such as the Euler method or the Runge-Kutta method) or more complex model predictive control methods. The predicted state is then passed to CarSim as input. Correction phase: CarSim simulates the received predicted state using a fixed 10ms step size to obtain the actual CarSim state. CarSim then feeds its actual state back to Chrono, which corrects its own prediction based on the CarSim feedback. The correction formula can be based on error estimates (such as local truncation error) or simple interpolation methods.

[0072] The corrected state will be synchronized to the next fixed step (10ms) of CarSim to ensure data consistency between the two simulation tools.

[0073] In an optional embodiment of the present invention, S21 further includes the following sub-steps: S21-1, comparing the simulation step size of the vehicle simulation platform and the simulation step size adjusted by the multi-body dynamics physics engine; S21-2, when the simulation step size of the vehicle simulation platform is different from the simulation step size after adjustment of the multi-body dynamics physics engine, performing data compensation on the multi-body dynamics physics engine.

[0074] When the LTE of CarSim and / or Chrono exceeds the set threshold, Chrono adjusts its simulation step size and compares the CarSim simulation step size (fixed step size 10ms) with the adjusted Chrono simulation step size. If the CarSim simulation step size (fixed step size 10ms) and the Chrono adjusted simulation step size are inconsistent, cubic spline interpolation is used to compensate for the data delay.

[0075] Cubic Spline Interpolation is a common interpolation method used to generate a smooth continuous function given a set of discrete data points. It uses a cubic polynomial to approximate the data in each interval and ensures the continuity of the first and second order derivatives at the data points, thereby generating a smooth curve.

[0076] Specifically, at the end of each simulation compensation, the simulation data (such as vehicle status, force, speed, etc.) is recorded. When the compensation is inconsistent, the intermediate compensation data is calculated using cubic spline interpolation, and the interpolated data is passed to the simulation software with a smaller simulation step size (such as Chrono) to compensate for the data delay.

[0077] Assume that the simulation step size of CarSim is 10ms and that of Chrono is 2ms. At the end of the first CarSim step (10ms), record data point A. At the end of the second CarSim step (20ms), record data point B. Use cubic spline interpolation to generate four intermediate data points (12ms, 14ms, 16ms, and 18ms) between A and B. These data are then passed to Chrono.

[0078] When the LTE of CarSim (fixed step size 10ms) and Chrono (variable step size 1-5ms) exceeds the limit, the step size is dynamically adjusted to avoid excessive error accumulation. This can reduce unnecessary calculations while ensuring accuracy, thereby improving simulation efficiency.

[0079] Reference Figure 2 , shows a simulation step size adjustment flow chart provided by an embodiment of the present invention, which is as follows: CarSim has a fixed simulation step size of 10ms, while Chrono has a variable simulation step size of 1 to 5ms. The co-simulation controller monitors the local truncation error (LTE) of CarSim and Chrono and determines whether the local truncation error of CarSim and / or Chrono is greater than or equal to 0.001. If the local truncation error of CarSim and / or Chrono is greater than or equal to 0.001, the simulation step size of Chrono is shortened to 0.8 times, that is, the original simulation step size is multiplied by 0.8. At this time, CarSim and Chrono differ, and interpolation compensation is activated, using cubic spline interpolation to compensate for data delay.

[0080] If the LTE of both CarSim and Chrono is less than 0.001, keep the original simulation step size of Chrono, or increase the simulation step size of Chrono to 1.2 times, that is, multiply the original simulation step size by 1.2.

[0081] The prediction-correction algorithm compensates for the data deviation caused by the change in simulation step size, and synchronizes the Chrono corrected state to the next fixed step size of CarSim.

[0082] In an optional embodiment of the present invention, S104 further includes the following sub-steps: S1041: In the multi-body dynamics physics engine, construct the steering system model and the suspension system model according to the first variable; S1042, obtaining a steering resistance torque using the steering system model; S1043, obtaining a suspension force using the suspension system model; S1044, sending the steering resistance torque and the suspension force to the vehicle simulation platform; S1045: The vehicle simulation platform updates a target physical subsystem model according to the steering resistance torque and the suspension force.

[0083] In Chrono, the steering system model is built based on the steering wheel angle, and the suspension system model is built based on the wheel center displacement.

[0084] Specifically, the steering system model is constructed: In Chrono, define the geometric parameters of the rack and gear (such as the number of teeth, module, pressure angle, etc.), set the material properties of the gear system (such as elastic modulus, friction coefficient, etc.), and define the initial position and motion constraints of the rack and gear; Use Chrono's friction model to define the friction characteristics of the rack-pinion interface. Consider static friction, dynamic friction, and nonlinear friction characteristics. Set the relationship between the friction coefficient and relative speed to simulate the friction between the rack and pinion under different motion conditions. Use Chrono's contact dynamics solver to calculate the contact and friction forces between the rack and gear, taking into account the nonlinear characteristics of gear meshing, including tooth surface contact deformation, meshing stiffness, etc.

[0085] The steering wheel angle output by CarSim is used as the input of the rack-and-pinion system. The steering wheel angle drives the pinion to rotate, which in turn drives the rack to move, driving the steering wheel to rotate. The steering resistance torque is then calculated based on the contact force and friction between the pinion and rack, and the steering resistance torque is fed back to CarSim. CarSim updates the vehicle's dynamic model based on the new steering resistance torque received, and then updates the vehicle's dynamic state, such as tire lateral force and body posture, so that the vehicle moves according to the updated parameters.

[0086] The Chrono physics engine's gear contact dynamics model accurately simulates nonlinear characteristics such as steering rack friction and low-speed hysteresis. Compared to the traditional CarSim simplified model, the steering torque simulation error is reduced by more than 30% (especially in low-speed parking conditions).

[0087] Build the suspension system model: Using Chrono's Flexible Multibody Dynamics module, the control arm is modeled as a flexible body. The finite element method (FEM) is then used to generate a flexible model of the control arm, defining its material properties (such as elastic modulus, Poisson's ratio, etc.) and geometry. Define the nodes and elements of the control arm and generate a finite element mesh. Each node represents a mass point of the control arm, and the element represents the connection between the nodes. Define the fixed and connection points of the control arm. For example, the connection point between the control arm and the vehicle body can be defined as the fixed point, while the connection point with the wheel can be defined as the free point. Using Chrono's dynamics solver, the deformation and stress distribution of the control arm under different loads are calculated.

[0088] The wheel center displacement output by CarSim is used as input for the control arm's flexible deformation. In Chrono, the suspension system's forces (such as vertical, longitudinal, and lateral forces) acting on the entire vehicle (wheels and body) are calculated based on the control arm's deformation and stress distribution. The calculated suspension forces are fed back to CarSim, which uses the new suspension forces to update the vehicle's dynamic model and, in turn, its dynamic state, including body posture and tire forces, ensuring that the vehicle moves according to the new parameters.

[0089] Chrono's flexible multibody dynamics module accurately simulates and restores the flexible deformation of the control arm, increasing the frequency spectrum consistency between the vehicle body vibration frequency response simulation and the actual vehicle test to 95% (traditional models only have 80%).

[0090] Through the above embodiment, Chrono modeling is only used for key physical subsystems (such as steering and suspension), while CarSim is still used for the rest. This reduces computing resource consumption by 60% compared to the full Chrono model. The FMI / API interface and dynamic step size adjustment algorithm resolve the timing conflicts between CarSim (fixed step size) and Chrono (variable step size), improving the stability of the joint simulation and achieving a maximum allowable step size difference of 5 times. Using shared memory and predictive correction interpolation technology, data interaction delay is controlled within 1ms, meeting the real-time requirements of hardware-in-the-loop (HIL).

[0091] In this application, a finite element analysis (FEA) model can also be used in Chrono to replace the flexible model, which has a higher computational cost but better accuracy. A machine learning proxy model can also be used to replace Chrono's dynamic solver, which improves real-time performance but requires a large amount of training data.

[0092] In this application, the steering and suspension simulations can also be split into independent modules and coupled with CarSim respectively to avoid multi-engine coordination issues.

[0093] In this application, in addition to Chrono, the multi-body dynamics physics engine can also use Adams (Automatic Dynamic Analysis of Mechanical Systems, automatic analysis of mechanical system dynamics), Simpack or RecurDyn (Recursive Dynamic) to replace Chrono. When replacing, the interface protocol needs to be adjusted accordingly. For example, Adams is coupled with CarSim through Solver DLL (Dynamic Link Library). Among them, Adams, Simpack and RecurDyn are the three mainstream software tools in the field of multi-body dynamics simulation. They have important applications in vehicle dynamics, mechanical system simulation and other fields. Solver DLL is an interface protocol provided by Adams that allows users to write custom solvers and interact with Adams through DLL files.

[0094] Adams is primarily used for kinematic and dynamic simulation and optimization design of mechanical systems, supporting static, kinematic, and dynamic analysis. Simpack is a high-precision multibody dynamics analysis software package focused on virtual prototype development and complex system simulation. Its core functions include rigid-flexible coupling modeling, time / frequency domain analysis, and nonlinear dynamics solution. It uses relative coordinate system modeling and recursive algorithms to improve computing speed. The software supports full-process simulation from conceptual design to production optimization and is widely used in the automotive, railway, engine, and fan fields, significantly reducing reliance on physical prototypes. RecurDyn focuses on the kinematic and dynamic simulation of complex mechanical systems and is widely used in the automotive, aerospace, robotics, engineering machinery, and other fields. It uses relative coordinate system motion equation theory and a fully recursive algorithm, making it very suitable for solving large-scale multibody system dynamics problems.

[0095] In addition to CarSim, other vehicle simulation platforms can be used to replace CarSim, such as VI-CarRealTime or dSPACE ASM. VI-CarRealTime communicates with Chrono via TCP / IP, while ASM relies on Simulink as an intermediate layer.

[0096] VI-CarRealTime (VI-Vehicle Real-Time Simulation) and dSPACE ASM (dSPACE AutomotiveSimulation Models) are two widely used tools for vehicle dynamics simulation and real-time testing. They are primarily used in the automotive industry for virtual prototyping, hardware-in-the-loop (HIL) testing, and real-time simulation.

[0097] Through the above-mentioned embodiment of the invention, a vehicle dynamics model is constructed in a vehicle simulation platform, and the vehicle dynamics model includes multiple physical subsystem models; at least one physical subsystem model in the vehicle dynamics model is determined as a target physical subsystem model to be replaced by a high-precision physical subsystem model; the first variable output by the vehicle simulation platform according to the target physical subsystem model is sent to the multi-body dynamics physics engine; the feedback force output by the multi-body dynamics physics engine based on the first variable is sent to the vehicle simulation platform; the vehicle simulation platform outputs simulation results according to the vehicle dynamics model and the feedback force. This embodiment of the present invention couples the vehicle simulation platform with a multi-body dynamics physics engine, selectively replacing key components with the multi-body dynamics physics engine's high-precision physical subsystem models. This improves the modeling accuracy of key subsystems in vehicle dynamics simulation. The Chrono physics engine's gear contact dynamics model accurately simulates nonlinear characteristics such as steering rack friction and low-speed hysteresis. Compared to the traditional simplified CarSim model, steering torque simulation errors are reduced by over 30% (especially in low-speed parking conditions). Chrono's flexible multi-body dynamics module restores the flexible deformation of the control arm, improving the spectral agreement between the vehicle body vibration frequency response simulation and the actual vehicle test to 95% (compared to only 80% for traditional models). Furthermore, the FMI / API interface and dynamic step size adjustment algorithm resolve the timing conflicts between CarSim (fixed step size) and Chrono (variable step size), improving the stability of the joint simulation and achieving a maximum allowable step size difference of 5 times. Furthermore, the use of shared memory and predictive correction interpolation technology keeps data exchange latency within 1ms, meeting the real-time requirements of hardware-in-the-loop (HIL).

[0098] Reference Figure 3 , shows a joint simulation flow chart provided by an embodiment of the present invention, which is as follows: 1. Dynamic model initialization, that is, building a vehicle dynamics model based on CarSim; 2. Output vehicle state variables, such as vehicle speed, steering angle, wheel center displacement, etc.; 3. Send the primary variables required by Chrono (steering angle (i.e., steering wheel angle) and wheel center displacement) to Chrono through CarSim's FMI standard interface or API interface; 4. Chrono receives the required data (steering wheel angle, wheel center displacement) and constructs high-precision physical subsystem models (steering system model and suspension system model). From these models, it derives high-precision component forces (steering resistance torque, suspension force). 5. The co-simulation controller monitors the LTE of CarSim and Chrono in real time; 6. When LTE is less than the set threshold, maintain the current simulation step size; 7. When LTE is greater than or equal to the set threshold, shorten the Chrono simulation step and use cubic spline interpolation to compensate for data delay; 8. Chrono feeds steering resistance torque and suspension force back to CarSim; 9. CarSim updates the vehicle's dynamic model and dynamic state based on the new parameters (steering resistance torque, suspension force); 10. At the end of the simulation, CarSim outputs the simulation results; 11. If the simulation does not end, continue to output the vehicle state variables through CarSim.

[0099] Reference Figure 4 , shows a schematic structural diagram of a joint simulation device provided by an embodiment of the present invention, the device comprising: A model building module 201 is used to build a vehicle dynamics model in the vehicle simulation platform, wherein the vehicle dynamics model includes multiple physical subsystem models; a replacement module 202 for determining at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced with a high-precision physical subsystem model; A first sending module 203 is configured to send the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine; A second sending module 204 is configured to send the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform; The output module 205 is used for the vehicle simulation platform to output simulation results according to the vehicle dynamics model and the feedback force.

[0100] In an optional embodiment of the present invention, the first sending module 203 includes: a variable sending module, configured to send the first variable to a shared memory via a functional simulation unit interface of the vehicle simulation platform; A shared memory sending module is used to send the first variable to the multi-body dynamics physics engine through the shared memory.

[0101] In an optional embodiment of the present invention, the first sending module 203 further includes: A calling module, configured to call an application programming interface of the vehicle simulation platform to write the first variable into the shared memory; A reading module is used to send the first variable in the shared memory to the multi-body dynamics physics engine through a preset module of the multi-body dynamics physics engine; the preset module is used for the multi-body dynamics physics engine to access the shared memory.

[0102] In an optional embodiment of the present invention, the device further includes: A monitoring module, configured to monitor a first local truncation error of the vehicle simulation platform and a second local truncation error of the multi-body dynamics physics engine; An adjustment module is configured to adjust a simulation step size of the multi-body dynamics physics engine according to the first local truncation error and the second local truncation error.

[0103] In an optional embodiment of the present invention, the adjustment module includes: a first comparison module, configured to adjust a simulation step size of the multi-body dynamics physics engine when the first local truncation error and / or the second local truncation error is greater than or equal to a preset threshold; The second comparison module is configured to maintain the simulation step size of the multi-body dynamics physics engine when the first local truncation error and the second local truncation error are smaller than a preset threshold.

[0104] In an optional embodiment of the present invention, after the first comparison module, the following further comprises: A simulation step length adjustment module, configured to compare the simulation step length of the vehicle simulation platform with the simulation step length adjusted by the multi-body dynamics physics engine; The data compensation module is used to perform data compensation on the multi-body dynamics physics engine when the simulation step size of the vehicle simulation platform is different from the simulation step size adjusted by the multi-body dynamics physics engine.

[0105] In an optional embodiment of the present invention, the target physical subsystem model includes a steering system model and a suspension system model; the feedback force includes a steering resistance torque and a suspension force; The second sending module 204 includes: A first construction module is configured to construct the steering system model and the suspension system model according to the first variable in the multi-body dynamics physics engine; A steering resistance torque acquisition module, configured to obtain the steering resistance torque through the steering system model; a suspension force acquisition module, configured to obtain the suspension force through the suspension system model; a feedback force sending module, configured to send the steering resistance torque and the suspension force to the vehicle simulation platform; An updating module is used for the vehicle simulation platform to update a target physical subsystem model according to the steering resistance torque and the suspension force.

[0106] In an embodiment of the present invention, a vehicle dynamics model is constructed in a vehicle simulation platform, the vehicle dynamics model includes multiple physical subsystem models; at least one physical subsystem model in the vehicle dynamics model is determined as a target physical subsystem model to be replaced by a high-precision physical subsystem model; the first variable output by the vehicle simulation platform according to the target physical subsystem model is sent to the multi-body dynamics physics engine; the feedback force output by the multi-body dynamics physics engine based on the first variable is sent to the vehicle simulation platform; the vehicle simulation platform outputs a simulation result according to the vehicle dynamics model and the feedback force. This embodiment of the present invention couples the vehicle simulation platform with a multi-body dynamics physics engine, selectively replacing key components with the multi-body dynamics physics engine's high-precision physical subsystem models. This improves the modeling accuracy of key subsystems in vehicle dynamics simulation. The Chrono physics engine's gear contact dynamics model accurately simulates nonlinear characteristics such as steering rack friction and low-speed hysteresis. Compared to the traditional simplified CarSim model, steering torque simulation errors are reduced by over 30% (especially in low-speed parking conditions). Chrono's flexible multi-body dynamics module restores the flexible deformation of the control arm, improving the spectral agreement between the vehicle body vibration frequency response simulation and the actual vehicle test to 95% (compared to only 80% for traditional models). Furthermore, the FMI / API interface and dynamic step size adjustment algorithm resolve the timing conflicts between CarSim (fixed step size) and Chrono (variable step size), improving the stability of the joint simulation and achieving a maximum allowable step size difference of 5 times. Furthermore, the use of shared memory and predictive correction interpolation technology keeps data exchange latency within 1ms, meeting the real-time requirements of hardware-in-the-loop (HIL).

[0107] An embodiment of the present invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above-mentioned joint simulation method when executed by the processor.

[0108] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0109] The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0110] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the joint simulation method described above is implemented.

[0111] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0112] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in accordance with the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid-state disk (SSD)).

[0113] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," 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 elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0114] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A joint simulation method, applied to a co-simulation controller, wherein the co-simulation controller is used to control a vehicle simulation platform and a multi-body dynamics physics engine, characterized in that: The method comprises: Constructing a vehicle dynamics model in the vehicle simulation platform, wherein the vehicle dynamics model includes a plurality of physical subsystem models; determining at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced by a high-precision physical subsystem model; Sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine; sending the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform; The vehicle simulation platform outputs simulation results according to the vehicle dynamics model and the feedback force.

2. The method according to claim 1, characterized in that The step of sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine includes: sending the first variable to a shared memory via a functional simulation unit interface of the vehicle simulation platform; The first variable is sent to the multi-body dynamics physics engine through the shared memory.

3. The method according to claim 1, characterized in that The step of sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine includes: Calling an application programming interface of the vehicle simulation platform to write the first variable into the shared memory; The first variable in the shared memory is sent to the multi-body dynamics physics engine through a preset module of the multi-body dynamics physics engine; the preset module is used for the multi-body dynamics physics engine to access the shared memory.

4. The method according to claim 1, wherein After sending the first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine, the method further includes: monitoring a first local truncation error of the vehicle simulation platform and a second local truncation error of the multi-body dynamics physics engine; The simulation step size of the multi-body dynamics physics engine is adjusted according to the first local truncation error and the second local truncation error.

5. The method according to claim 4, characterized in that The adjusting the simulation step size of the multi-body dynamics physics engine according to the first local truncation error and the second local truncation error comprises: When the first local truncation error and / or the second local truncation error is greater than or equal to a preset threshold, adjusting the simulation step size of the multi-body dynamics physics engine; When the first local truncation error and the second local truncation error are smaller than a preset threshold, the simulation step size of the multi-body dynamics physics engine is maintained.

6. The method according to claim 5, characterized in that: After adjusting the simulation step size of the multi-body dynamics physics engine when the first local truncation error and / or the second local truncation error is greater than or equal to a preset threshold, the method further includes: comparing the simulation step size of the vehicle simulation platform and the simulation step size adjusted by the multi-body dynamics physics engine; When the simulation step length of the vehicle simulation platform is different from the simulation step length after adjustment of the multi-body dynamics physics engine, data compensation is performed on the multi-body dynamics physics engine.

7. The method according to claim 1 or 3, characterized in that The target physical subsystem model includes a steering system model and a suspension system model; the feedback force includes a steering resistance torque and a suspension force; The step of sending the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform includes: In the multi-body dynamics physics engine, constructing the steering system model and the suspension system model according to the first variable; Obtaining a steering resistance torque through the steering system model; Obtaining suspension force through the suspension system model; sending the steering resistance torque and the suspension force to the vehicle simulation platform; The vehicle simulation platform updates a target physical subsystem model according to the steering resistance torque and the suspension force.

8. A joint simulation device, characterized in that: The device comprises: A model building module, configured to build a vehicle dynamics model in the vehicle simulation platform, wherein the vehicle dynamics model includes a plurality of physical subsystem models; a replacement module, configured to determine at least one physical subsystem model in the vehicle dynamics model as a target physical subsystem model to be replaced by a high-precision physical subsystem model; A first sending module, configured to send a first variable output by the vehicle simulation platform according to the target physical subsystem model to the multi-body dynamics physics engine; a second sending module, configured to send the feedback force output by the multi-body dynamics physics engine based on the first variable to the vehicle simulation platform; An output module is used for the vehicle simulation platform to output simulation results based on the vehicle dynamics model and the feedback force.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the joint simulation method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the joint simulation method according to any one of claims 1 to 7 is implemented.

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