Automobile sliding door stability testing device and testing method

Abstract

The invention relates to an automobile sliding door stability testing device and testing method, and belongs to the technical field of automobile testing, and the automobile sliding door stability testing device comprises an automobile door mechanism which comprises an automobile door positioning plate, a horizontal probe and a vertical probe; the vehicle body mechanism comprises a rack, a horizontal detection plate and a vertical detection plate; wherein the vertical detection plate is used for detecting a first moving track of the horizontal probe, the horizontal detection plate is used for detecting a second moving track of the vertical probe, the automobile sliding door stability testing device further comprises a controller, and the controller is used for analyzing the first moving track and the second moving track into a visual chart. Through cooperation of the horizontal detection plate and the vertical detection plate, the motion trail of the sliding door in the two planes perpendicular to each other can be synchronously obtained, the controller analyzes the trail data into a visual chart, the problem that only single-plane motion can be measured in the prior art is solved, and comprehensive evaluation of the three-dimensional motion of the sliding door is achieved.

Description

Technical Field

[0001] This invention belongs to the field of automotive testing technology, specifically relating to a device and method for testing the stability of automotive sliding doors. Background Technology

[0002] Sliding doors are widely used in MPVs, commercial vehicles, and some SUVs due to their side-opening design, which facilitates passenger entry and exit in confined spaces. The stability of a sliding door's movement directly affects the vehicle's sealing, noise control, and user experience. Therefore, effective evaluation of the trajectory accuracy and stability during the sliding process is crucial in design verification and production quality control. Currently, common testing methods in the industry include relying on engineers' experience for sensory judgment, using tools such as gap gauges for static dimensional measurements, and some solutions employ high-speed cameras to track the two-dimensional trajectory of marked points on the door.

[0003] However, these existing testing methods have a fundamental limitation: they can typically only measure the movement of sliding doors within a single plane. For example, horizontal and vertical measurement data are independent and cannot be effectively correlated, making it difficult to fully reconstruct the true motion state of the sliding door in three-dimensional space. Consequently, it is impossible to accurately quantify and evaluate its overall stability, resulting in biased and inaccurate measurement results. Summary of the Invention

[0004] To address the shortcomings of existing automotive sliding door testing devices, which struggle to fully reconstruct the actual motion state of sliding doors in three-dimensional space, thus hindering accurate quantitative assessment of their overall stability and resulting in biased and inaccurate measurement results, this solution provides an automotive sliding door stability testing device and method.

[0005] The objective of this invention can be achieved through the following technical solutions: In a first aspect, embodiments of the present invention provide a vehicle sliding door stability testing device for testing the sliding stability of a sliding door relative to the vehicle body. The vehicle sliding door stability testing device includes: a door mechanism, comprising a door positioning plate, a horizontal probe, and a vertical probe; one side of the door positioning plate is detachably connected to the sliding door; the horizontal probe is disposed on the side of the door positioning plate opposite to the sliding door; and the vertical probe is disposed on the upper side of the door positioning plate; and a vehicle body mechanism, comprising a frame, a horizontal detection plate, and a vertical detection plate; the horizontal detection plate is disposed on the upper side of the door positioning plate. Above, the upper end of the vertical probe abuts against the lower side of the horizontal detection plate; the vertical detection plate is disposed on the side of the door positioning plate opposite to the sliding door, and the side of the horizontal probe away from the door positioning plate abuts against the vertical detection plate; the horizontal detection plate and / or the vertical detection plate are connected to the frame; wherein, the vertical detection plate is used to detect the first movement trajectory of the horizontal probe, the horizontal detection plate is used to detect the second movement trajectory of the vertical probe, and the automotive sliding door stability testing device further includes a controller, the controller being used to parse the first movement trajectory and the second movement trajectory into a visual chart.

[0006] As a preferred embodiment of the present invention, the door mechanism further includes an adjustment mechanism disposed on the horizontal probe, the adjustment mechanism being configured to provide the horizontal probe with a contact pressure within a preset pressure range that points toward the vertical detection plate.

[0007] As a preferred embodiment of the present invention, the door mechanism further includes a negative pressure suction cup, and the door positioning plate is detachably attached to the sliding door by means of multiple negative pressure suction cups; the adjustment mechanism is disposed between the negative pressure suction cup and the door positioning plate, the horizontal probe passes through the vertical detection plate, and one end of the horizontal probe abuts against the vertical detection plate, and the other end is connected to the adjustment mechanism.

[0008] As a preferred embodiment of the present invention, the automobile sliding door stability testing device further includes a distance sensor, which is used to detect the distance between the door positioning plate and the vertical detection plate, and the adjustment mechanism includes an electrically controlled telescopic rod disposed between the horizontal probe and the negative pressure suction cup; The controller is used to control the extension and retraction of the electrically controlled telescopic rod, and the controller executes according to the following formula: ΔL=Kp×(d-d0)+Ki×∫(d-d0)dt+Kd×d(d-d0) / dt; Wherein, ΔL is the extension amount of the electrically controlled telescopic rod; d is the distance value detected in real time by the distance sensor; d0 is the preset target distance value, corresponding to the spacing when the horizontal probe obtains ideal contact pressure; Kp, Ki, Kd are preset control parameters; and t is time.

[0009] As a preferred embodiment of the present invention, the door positioning plate is provided with a positioning hole for the horizontal probe to pass through; a ball spline bushing is provided in the positioning hole, and the horizontal probe passes through the ball spline bushing.

[0010] As a preferred embodiment of the present invention, the frame includes a base plate and a plurality of universal casters disposed on the bottom side of the base plate. The base plate is movably supported on the ground by the plurality of universal casters. A lifting mechanism is disposed on the upper side of the base plate. The vertical detection plate is connected to the lifting end of the lifting mechanism, and the horizontal detection plate is connected to the upper side of the vertical detection plate. The horizontal detection plate and the vertical detection plate form a right angle.

[0011] As a preferred embodiment of the present invention, both the horizontal detection plate and the vertical detection plate are electronic sensing plates. The electronic sensing plate is configured to collect the motion trajectory of the vertical probe or the horizontal probe in a contact manner and generate corresponding electronic signals that are transmitted to the controller. The controller generates the visualization chart based on the electronic signals. or, Both the horizontal and vertical detection plates are transparent. The vehicle sliding door stability testing device also includes a first image acquisition device disposed on the side of the horizontal detection plate away from the vehicle under test, and a second image acquisition device disposed on the side of the vertical detection plate away from the vehicle under test. The first and second image acquisition devices are used to capture motion images of the vertical probe and the horizontal probe, respectively, and the controller generates the visualization chart based on the motion images.

[0012] As a preferred embodiment of the present invention, the projection of the door positioning plate toward the sliding door covers the sliding door, and the projections of the horizontal detection plate and the vertical detection plate toward the door positioning plate cover the vehicle under test. The horizontal probes are located at least at the geometric center of the door positioning plate and at the four corners of the door positioning plate; the vertical probes are equally spaced on the upper side of the door positioning plate.

[0013] In a second aspect, embodiments of the present invention provide a method for testing the stability of a sliding door for automobiles, applied to the automobile sliding door stability testing device described in the first aspect, comprising the following steps: The first moving trajectory of multiple horizontal probes is obtained through a vertical detection plate, and the second moving trajectory of multiple vertical probes is obtained through a horizontal detection plate. The first and second movement trajectories are spatiotemporally registered and fused to establish a three-dimensional motion model of the sliding door. Based on the three-dimensional motion model, the stability quantification index of the sliding door in multiple motion dimensions is calculated. Based on the aforementioned stability quantification index, a multi-dimensional stability visualization chart of the sliding door is generated.

[0014] As a preferred embodiment of the present invention, the step of performing spatiotemporal registration and fusion processing on the first movement trajectory and the second movement trajectory to establish a three-dimensional motion model of the sliding door includes: The first and second movement trajectories are timestamped and their coordinate systems are unified to establish a spatiotemporally synchronized trajectory dataset. Based on the spatial distribution of the horizontal and vertical probes, the first and second movement trajectories are fused and reconstructed into the three-dimensional motion trajectory of the sliding door through a spatial geometric transformation algorithm. Based on the three-dimensional motion trajectory, a six-degree-of-freedom motion model of the sliding door, including translation and rotation components, is established. The motion model describes the spatial pose changes of the sliding door relative to the vehicle body in real time.

[0015] The beneficial effects of this invention are as follows: This invention provides a stability testing device for automobile sliding doors. By cooperating with a horizontal detection plate and a vertical detection plate, the device can simultaneously acquire the motion trajectory of the sliding door in two mutually perpendicular planes. The controller then parses the trajectory data into a visual chart, solving the problem that existing technologies can only measure motion in a single plane and achieving a comprehensive evaluation of the three-dimensional motion of the sliding door. Attached Figure Description

[0016] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the vehicle structure under test for the automobile sliding door stability testing device of the present invention; Figure 2 This is a schematic diagram of the structure of a vehicle sliding door stability testing device according to the present invention; Figure 3 for Figure 2 A magnified structural diagram of part A; Figure 4 This is a flowchart of a method for testing the stability of a sliding door for automobiles according to the present invention; Figure 5This is a sub-flowchart of a method for testing the stability of a car sliding door according to the present invention.

[0018] Explanation of main symbols In the diagram: 10. Door positioning plate; 11. Horizontal probe; 12. Vertical probe; 13. Adjustment mechanism; 14. Negative pressure suction cup; 20. Frame; 201. Base plate; 202. Universal pulley; 203. Lifting mechanism; 21. Horizontal detection plate; 22. Vertical detection plate; 30. Sliding door; 40. Body. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0020] Please see Figure 1-3 This embodiment provides a vehicle sliding door stability testing device for testing the sliding stability of a sliding door 30 relative to its vehicle body 40. The vehicle sliding door 30 stability testing device includes: a door mechanism, which includes a door positioning plate 10, a horizontal probe 11, and a vertical probe 12. One side of the door positioning plate 10 is used to detachably connect to the sliding door 30. The horizontal probe 11 is located on the other side of the door positioning plate 10 opposite to the sliding door 30, and the vertical probe 12 is located on the upper side of the door positioning plate 10; and a vehicle body mechanism, which includes a frame 20, a horizontal detection plate 21, and a vertical detection plate 22. The horizontal detection plate 21 is located on the door positioning plate 10. Above the positioning plate 10, the upper end of the vertical probe 12 abuts against the lower side of the horizontal detection plate 21; the vertical detection plate 22 is located on the other side of the door positioning plate 10 away from the sliding door 30, and the side of the horizontal probe 11 away from the door positioning plate 10 abuts against the vertical detection plate 22; the horizontal detection plate 21 and / or the vertical detection plate 22 are connected to the frame 20; wherein, the vertical detection plate 22 is used to detect the first movement trajectory of the horizontal probe 11, and the horizontal detection plate 21 is used to detect the second movement trajectory of the vertical probe 12. The stability testing device for the car sliding door 30 also includes a controller, which is used to parse the first movement trajectory and the second movement trajectory into a visual chart.

[0021] It is understandable that the movement of the sliding door 30 is a complex three-dimensional spatial motion, containing six degrees of freedom. Traditional methods can only measure the motion within a single plane. Understanding the motion of a three-dimensional object solely through a planar view inevitably leads to information loss. Based on this, this embodiment accurately reflects the motion characteristics of the sliding door 30 in the XZ plane formed by the vehicle travel direction (X-axis) and the vertical direction (Z-axis) through the motion trajectory of the horizontal probe 11 on the vertical detection plate 22; simultaneously, the motion trajectory of the vertical probe 12 on the horizontal detection plate 21 accurately reflects the motion characteristics of the sliding door 30 in the XY plane formed by the vehicle travel direction (X-axis) and the width direction (Y-axis). Because the first movement trajectory (XZ plane) and the second movement trajectory (XY plane) are acquired synchronously in time and space, and a time correlation is established in the shared X-axis direction, the controller can accurately calculate the three-dimensional spatial position and attitude change of the sliding door 30 at any moment through a spatial coordinate transformation algorithm based on the shared time-position data. The controller then parses the trajectory data into a visual chart, which solves the problem that existing technologies can only measure single-plane motion and realizes a comprehensive evaluation of the three-dimensional motion of the sliding door 30.

[0022] Furthermore, the door mechanism also includes an adjustment mechanism 13 disposed on the horizontal probe 11, the adjustment mechanism 13 being configured to provide the horizontal probe 11 with a contact pressure within a preset pressure range that points toward the vertical detection plate 22.

[0023] Understandably, at the initial stage of opening the sliding door 30, the door will first undergo a slight outward displacement along the vehicle's width direction (i.e., away from the vehicle body 40) to disengage from the door lock and overcome the resistance of the sealing strip. Correspondingly, at the end of closing, the door will undergo a slight inward displacement along the vehicle's width direction (i.e., towards the vehicle body 40) to engage with the door lock and compress the sealing strip. Based on the above phenomena, the contact pressure of the horizontal probe 11 should not change due to the displacement in the width direction of the sliding door 30. Excessive pressure should be avoided to prevent interference with the natural movement of the door, or insufficient pressure to detect the movement trajectory of the horizontal probe 11. Based on this, an adjustment mechanism 13 is provided in this embodiment. During the test, when the sliding door 30 moves and causes a change in the distance between the door positioning plate 10 and the vertical detection plate 22, the adjustment mechanism 13 starts to work: if the distance increases, the horizontal probe 11 tends to detach, and the adjustment mechanism 13 drives the release probe to follow up to maintain pressure; if the distance decreases, the horizontal probe 11 is squeezed, and the adjustment mechanism 13 drives the retraction probe to absorb excessive displacement, thus ensuring the continuity and integrity of the first movement trajectory record and eliminating data interruption caused by the detachment of the horizontal probe 11; at the same time, the measurement interference is reduced, and data that can truly reflect the natural movement state of the sliding door 30 is obtained.

[0024] In some embodiments, the door mechanism further includes a negative pressure suction cup 14, and the door positioning plate 10 is detachably attached to the sliding door 30 by a plurality of negative pressure suction cups 14; the adjustment mechanism 13 is disposed between the negative pressure suction cup 14 and the door positioning plate 10, and the horizontal probe 11 passes through the vertical detection plate 22, with one end of the horizontal probe 11 abutting against the vertical detection plate 22 and the other end connected to the adjustment mechanism 13.

[0025] Furthermore, the stability testing device for the car sliding door 30 also includes a distance sensor, which is used to detect the distance between the door positioning plate 10 and the vertical detection plate 22. The adjustment mechanism 13 includes an electrically controlled telescopic rod disposed between the horizontal probe 11 and the negative pressure suction cup 14. The controller is used to control the extension and retraction of the electrically controlled telescopic rod, and the controller uses a PID (proportional-integral-derivative) control algorithm executed according to the following formula: ΔL=Kp×(d-d0)+Ki×∫(d-d0)dt+Kd×d(d-d0) / dt; Where ΔL is the extension amount of the electrically controlled telescopic rod; d is the distance value detected in real time by the distance sensor; d0 is the preset target distance value, corresponding to the spacing when the horizontal probe 11 obtains ideal contact pressure; Kp, Ki, Kd are preset control parameters; and t is time.

[0026] Understandably, when the sliding door 30 opens, it needs to move outward to disengage from the door lock mechanism, and when it closes, it needs to move inward to lock. This movement along the width of the vehicle causes a significant change in the relative distance between the door positioning plate 10 and the vertical detection plate 22, directly affecting the contact pressure between the horizontal probe 11 and the vertical detection plate 22. To avoid the contact pressure between the horizontal probe 11 and the vertical detection plate 22 affecting the accuracy of the first movement trajectory acquisition, the distance sensor monitors the distance d between the door positioning plate 10 and the vertical detection plate 22 in real time and transmits it to the controller. The controller compares the distance d with a preset target distance d0, where d0 corresponds to the optimal spacing for the horizontal probe 11 to obtain ideal contact pressure.

[0027] It should be explained that the proportional coefficient Kp determines the system's response strength to the current distance deviation (d-d0). A larger Kp value results in a faster response to distance changes, and vice versa. In this application, the typical range of Kp is 0.5-2.0, depending on the response speed of the electrically controlled telescopic rod and the motion characteristics of the sliding door 30. The integral coefficient Ki is used to eliminate steady-state errors. In this application, the typical range of Ki is 0.01-0.1. The derivative coefficient Kd is used to suppress system oscillations and prevent the contact pressure of the horizontal probe 11 from fluctuating around the set value. In this application, the typical range of Kd is 0.05-0.3. In some embodiments, Kp=1.0, Ki=0.05, and Kd=0.1.

[0028] In actual operation, when the sliding door 30 moves inward (i.e., moves towards the vehicle body 40), causing the distance d between the door positioning plate 10 and the vertical detection plate 22 to increase, the horizontal probe 11 tends to detach from the vertical detection plate 22. At this time, the controller drives the electric telescopic rod to extend based on the PID algorithm, pushing the door positioning plate 10 towards the vertical detection plate 22 to maintain the contact pressure of the horizontal probe 11. When the sliding door 30 moves outward (i.e. moves away from the vehicle body 40), causing the distance d to decrease, the horizontal probe 11 is squeezed. The controller then drives the electric telescopic rod to retract, pulling the door positioning plate 10 away from the vertical detection plate 22 appropriately to prevent excessive pressure.

[0029] In some embodiments, the door positioning plate 10 is provided with a positioning hole for the horizontal probe 11 to pass through; a ball spline bushing is provided in the positioning hole, and the horizontal probe 11 passes through the ball spline bushing.

[0030] Understandably, during the stability test of the sliding door 30, the horizontal probe 11 needs to simultaneously meet the dual requirements of radial rigidity and axial flexibility. Therefore, this embodiment employs a ball-spline bushing, which provides strong radial support to the horizontal probe 11 through its internal spline engagement mechanism, effectively suppressing radial vibration and sway of the horizontal probe 11. Simultaneously, the ball-recirculating structure ensures that the horizontal probe 11 maintains extremely low axial frictional resistance, guaranteeing its rapid response to the adjustment action of the electrically controlled telescopic rod.

[0031] In some embodiments, the frame 20 includes a base plate 201 and a plurality of universal casters 202 disposed on the bottom side of the base plate 201. The base plate 201 is movably supported on the ground by the plurality of universal casters 202. A lifting mechanism 203 is disposed on the upper side of the base plate 201. A vertical detection plate 22 is connected to the lifting end of the lifting mechanism 203. A horizontal detection plate 21 is connected to the upper side of the vertical detection plate 22, and the horizontal detection plate 21 and the vertical detection plate 22 form a right angle.

[0032] Understandably, in actual automotive production workshops or testing sites, it is necessary to conduct stability tests on sliding doors 30 for various vehicle models, and the height and position of sliding doors 30 vary significantly between different models. Therefore, this embodiment achieves overall mobility of the testing device through a base plate 201 with universal casters 202, enabling the equipment to be quickly moved between different workstations or vehicles. Simultaneously, the lifting mechanism 203 allows for precise height adjustment of the vertical testing plate 22 and horizontal testing plate 21 connected to its lifting end, ensuring adaptability to the testing requirements of different vehicle models. The lifting mechanism 203 can be implemented using electric push rods, screw and nut mechanisms, or hydraulic lifting systems, etc., and through precise controller control, drives the vertical testing plate 22 and horizontal testing plate 21 to rise and fall as a whole.

[0033] In some embodiments, both the horizontal detection plate 21 and the vertical detection plate 22 are electronic sensing plates, configured to collect the motion trajectory of the vertical probe 12 or the horizontal probe 11 in contact and generate corresponding electronic signals that are transmitted to the controller. The controller generates a visualization chart based on the electronic signals. Alternatively, both the horizontal detection plate 21 and the vertical detection plate 22 are transparent plates. The stability testing device for the car sliding door 30 also includes a first image acquisition device disposed on the side of the horizontal detection plate 21 away from the vehicle under test, and a second image acquisition device disposed on the side of the vertical detection plate 22 away from the vehicle under test. The first image acquisition device and the second image acquisition device are respectively used to capture motion images of the vertical probe 12 and the horizontal probe 11, and the controller generates a visualization chart based on the motion images.

[0034] Understandably, in the first embodiment, the electronic sensing board can specifically be a resistive or capacitive touch sensing board. The surface of the electronic sensing board is covered with uniformly distributed sensing units, forming a high-precision coordinate detection grid. When the vertical probe 12 moves on the horizontal detection plate 21, its tip contacts the sensing surface, causing a change in local electrical parameters; similarly, the movement of the horizontal probe 11 on the vertical detection plate 22 will also generate corresponding changes in electrical signals. The electronic sensing board detects the coordinate information of the probe contact points in real time through its built-in signal processing circuit and transmits it to the controller in the form of digital signals. After receiving the coordinate data streams from the horizontal detection plate 21 and the vertical detection plate 22, the controller first performs timestamp alignment processing to ensure that the horizontal and vertical motion data remain synchronized. Subsequently, the original coordinate data is converted into trajectory points in a unified world coordinate system through a coordinate transformation algorithm, and digital filtering technology is applied to eliminate random noise during the signal acquisition process.

[0035] During the actual test, the electronic sensor board continuously records the motion trajectories of the horizontal probe 11 and the vertical probe 12 at a sampling frequency of no less than 100Hz, generating a trajectory dataset containing time series. Based on the trajectory dataset, the controller calculates the displacement, velocity and acceleration parameters of the sliding door 30 in various directions in real time, and evaluates its stability index through kinematic analysis algorithm. Finally, the system presents the processed trajectory data and stability index on the display device in the form of two-dimensional curves, three-dimensional trajectory graphs and parameter dashboards.

[0036] In the second embodiment, the transparent plate is preferably made of tempered glass or acrylic material, and its surface is treated with anti-glare to ensure the clarity of image acquisition. The first and second image acquisition devices can be industrial-grade high-speed cameras with a resolution of no less than 2 million pixels and a frame rate of over 120fps to meet the requirements for accurate capture of fast motion. During actual testing, when the vertical probe 12 moves above the horizontal detection plate 21, its tip maintains slight contact with the surface of the transparent plate, and the first image acquisition device continuously captures motion sequence images of the probe from above; correspondingly, when the horizontal probe 11 moves on the surface of the vertical detection plate 22, the second image acquisition device records its motion process from the side. After receiving the image data, the controller first performs image preprocessing, including Gaussian filtering for noise reduction and contrast enhancement, and then uses the Canny edge detection algorithm to identify the precise contour of the probe tip. The sub-pixel coordinates of the probe in each frame of the image are determined by centroid calculation. Combined with pre-calibrated camera parameters, the pixel coordinates are converted into physical coordinates in a unified world coordinate system. A Kalman filter algorithm is then applied to these physical coordinates to effectively eliminate the influence of random noise, resulting in a smooth trajectory curve. Finally, a 3D reconstruction algorithm generates a visualization chart of the sliding door 30's motion state, including various representations such as 2D trajectory projection, 3D motion path, and velocity-time curves, providing engineers with intuitive and accurate data support for analyzing the stability of the sliding door 30.

[0037] In some embodiments, the projection of the door positioning plate 10 toward the sliding door 30 covers the sliding door 30, and the projections of the horizontal detection plate 21 and the vertical detection plate 22 toward the door positioning plate 10 cover the vehicle under test; the horizontal probe 11 is at least disposed at the geometric center of the door positioning plate 10 and at the four corners of the door positioning plate 10; the vertical probe 12 is disposed at equal intervals on the upper side of the door positioning plate 10.

[0038] It is understood that, in the preferred embodiment of the present invention, the door positioning plate 10 is installed such that its projection toward the sliding door 30 completely covers the surface of the sliding door 30, while the projections of the horizontal detection plate 21 and the vertical detection plate 22 toward the door positioning plate 10 completely cover the corresponding parts of the vehicle under test, thereby ensuring the global coverage of the measurement system. Regarding the probe arrangement, the horizontal probe 11 adopts a five-point layout, respectively set at the geometric center and four corners of the door positioning plate 10, to capture the overall movement trend of the door and the local deformation of the edge area; the vertical probe 12 has 3-5 measuring points evenly spaced on the upper side of the door positioning plate 10, used to accurately record the movement trajectory of the upper edge of the door in the vertical plane.

[0039] Please see Figure 4 This invention provides a method for testing the stability of a car sliding door, applied to a car sliding door stability testing device, including steps S100-S400: S100. Obtain the first moving trajectory of multiple horizontal probes through the vertical detection plate, and obtain the second moving trajectory of multiple vertical probes through the horizontal detection plate.

[0040] S200. Perform spatiotemporal registration and fusion processing on the first and second movement trajectories to establish a three-dimensional motion model of the sliding door.

[0041] S300. Based on the three-dimensional motion model, calculate the stability quantification index of the sliding door in multiple motion dimensions.

[0042] S400. Based on the stability quantification index, generate a multi-dimensional stability visualization chart of the sliding door.

[0043] It is understood that stability quantification indicators include at least translational and rotational dimension indicators. Multidimensional stability visualization charts include at least one or more of radar charts, trend curves, and 3D trajectory animations. The automotive sliding door stability testing method of this embodiment uses horizontal and vertical probes fixed to the door to slide in contact with the vertical and horizontal detection plates of the frame, respectively, to obtain the projected trajectory of the sliding door in two orthogonal planes. Subsequently, the first and second movement trajectories are spatiotemporally registered, and based on rigid body kinematics, the two-dimensional trajectories are fused through spatial geometric transformations to reconstruct a six-degree-of-freedom motion model of the sliding door. Then, based on this model, multidimensional stability quantification indicators, including the standard deviation of each axial displacement and the root mean square value of the angular velocity, are calculated. Finally, the quantification indicators and the motion process are presented in a multimodal visualization using polar coordinate radar charts, time series curves, and 3D motion animations, thereby achieving accurate quantification and intuitive diagnosis of the sliding door's dynamic stability.

[0044] like Figure 5As shown, in some embodiments, step S200 includes S210-S230: S210. Perform timestamp alignment and coordinate system unification on the first and second movement trajectories to establish a spatiotemporally synchronized trajectory dataset. S220. Based on the spatial distribution of the horizontal probe and the vertical probe, the first moving trajectory and the second moving trajectory are fused and reconstructed into the three-dimensional motion trajectory of the sliding door through a spatial geometric transformation algorithm. S230. Based on the three-dimensional motion trajectory, establish a six-degree-of-freedom motion model of the sliding door that includes translation and rotation components. The motion model describes the spatial pose change of the sliding door relative to the vehicle body in real time.

[0045] It is understood that this embodiment establishes a spatiotemporally synchronized trajectory dataset through timestamp alignment and coordinate system-one processing. Based on the spatial distribution of the horizontal and vertical probes, the two two-dimensional movement trajectories are fused and reconstructed into a three-dimensional motion trajectory through a spatial geometric transformation algorithm. Finally, a six-degree-of-freedom motion model represented by a homogeneous transformation matrix is ​​established, realizing a complete mathematical description of the spatial pose change of the sliding door relative to the vehicle body.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A vehicle sliding door stability testing device, used to test the sliding stability of the sliding door of a vehicle under test relative to its body, characterized in that, The automobile sliding door stability testing device comprises: a door mechanism, which comprises a door positioning plate, a horizontal probe and a vertical probe, one side of the door positioning plate being used for detachably connecting the sliding door, the horizontal probe being arranged on the other side of the door positioning plate away from the sliding door, and the vertical probe being arranged on the upper side of the door positioning plate; a body mechanism, which comprises a rack, a horizontal detection plate and a vertical detection plate, the horizontal detection plate being arranged above the door positioning plate, the upper end of the vertical probe abutting against the lower side of the horizontal detection plate, the vertical detection plate being arranged on the other side of the door positioning plate away from the sliding door, and the side of the horizontal probe away from the door positioning plate abutting against the vertical detection plate, the horizontal detection plate and / or the vertical detection plate being connected to the rack; wherein the vertical detection plate is used for detecting a first movement track of the horizontal probe, the horizontal detection plate is used for detecting a second movement track of the vertical probe, and the automobile sliding door stability testing device further comprises a controller, which is used for resolving the first movement track and the second movement track into a visual chart.

2. The automotive sliding door stability test apparatus according to claim 1, characterized by, The door mechanism further comprises an adjusting mechanism arranged on the horizontal probe, which is configured to provide the horizontal probe with a contact pressure within a preset pressure range and pointing to the vertical detection plate.

3. The automotive sliding door stability test apparatus according to claim 2, wherein The door mechanism further comprises negative pressure suction discs, the door positioning plate being detachably adsorbed and connected to the sliding door through the negative pressure suction discs, the adjusting mechanism being arranged between the negative pressure suction discs and the door positioning plate, the horizontal probe being arranged in the vertical detection plate, one end of the horizontal probe abutting against the vertical detection plate, and the other end of the horizontal probe being connected to the adjusting mechanism.

4. The automotive sliding door stability test apparatus according to claim 3, wherein The automobile sliding door stability testing device further comprises a distance sensor, which is used for detecting the distance between the door positioning plate and the vertical detection plate, and the adjusting mechanism comprises an electrically-controlled telescopic rod arranged between the horizontal probe and the negative pressure suction disc. wherein the controller is used for controlling the telescopic amount of the electrically-controlled telescopic rod, and the controller is used for performing the following formula: ΔL=Kp×(d-d0)+Ki×∫(d-d0)dt+Kd×d(d-d0) / dt; wherein ΔL is the telescopic amount of the electrically-controlled telescopic rod, d is the distance value detected by the distance sensor in real time, d0 is a preset target distance value corresponding to the interval at which the horizontal probe obtains an ideal contact pressure, Kp, Ki and Kd are preset control parameters, and t is time.

5. The automotive sliding door stability test apparatus according to claim 4, wherein The door positioning plate is provided with a positioning hole for the horizontal probe to pass through, and a ball spline shaft sleeve is arranged in the positioning hole, and the horizontal probe passes through the ball spline shaft sleeve.

6. The automotive sliding door stability test apparatus of claim 1, wherein The rack comprises a bottom plate and a plurality of universal pulleys arranged on the bottom side of the bottom plate, the bottom plate being movably supported on the ground by the plurality of universal pulleys; a lifting mechanism is arranged on the upper side of the bottom plate, the vertical detection plate is connected to the lifting end of the lifting mechanism, the horizontal detection plate is connected to the upper side of the vertical detection plate, and a right angle is formed between the horizontal detection plate and the vertical detection plate.

7. The automotive sliding door stability test apparatus of claim 1, wherein The horizontal detection plate and the vertical detection plate are both electronic sensing plates, the electronic sensing plates are configured to contactively collect the motion trajectories of the vertical probes or the horizontal probes, and generate corresponding electronic signals transmitted to the controller, the controller generates the visual chart based on the electronic signals; Alternatively, The horizontal detection plate and the vertical detection plate are both transparent plates; the automobile sliding door stability testing device further comprises a first image acquisition device arranged on the side of the horizontal detection plate away from the measured vehicle, and a second image acquisition device arranged on the side of the vertical detection plate away from the measured vehicle; the first image acquisition device and the second image acquisition device are respectively used to capture the motion images of the vertical probes and the horizontal probes, and the controller generates the visual chart based on the motion images.

8. The vehicle sliding door stability test apparatus according to claim 1, wherein The projection of the door positioning plate towards the sliding door covers the sliding door, and the projections of the horizontal detection plate and the vertical detection plate towards the door positioning plate cover the measured vehicle; The horizontal probes are arranged at least at the geometric center of the door positioning plate and the four corners of the door positioning plate; the vertical probes are arranged at equal intervals on the upper side of the door positioning plate.

9. A method of testing the stability of a sliding door of a vehicle, characterized in that The automobile sliding door stability testing device of any one of claims 1-8 comprises the following steps: Obtaining a first movement trajectory of a plurality of horizontal probes through a vertical detection plate and a second movement trajectory of a plurality of vertical probes through a horizontal detection plate; Performing time-space registration and fusion processing on the first movement trajectory and the second movement trajectory to establish a three-dimensional motion model of the sliding door; Based on the three-dimensional motion model, calculating a stability quantitative index of the sliding door in multiple motion dimensions; Based on the stability quantitative index, generating a multi-dimensional stability visual chart of the sliding door.

10. The method of claim 9, wherein, The time-space registration and fusion processing on the first movement trajectory and the second movement trajectory to establish a three-dimensional motion model of the sliding door comprises: Performing timestamp alignment and coordinate system unification processing on the first movement trajectory and the second movement trajectory to establish a time-space synchronous trajectory data set; Based on the spatial distribution positions of the horizontal probes and the vertical probes, the first movement trajectory and the second movement trajectory are fused and reconstructed into a three-dimensional motion trajectory of the sliding door through a spatial geometric transformation algorithm; Based on the three-dimensional motion trajectory, a six-degree-of-freedom motion model of the sliding door containing translation components and rotation components is established, and the motion model describes the spatial pose change of the sliding door relative to the vehicle body in real time.

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