A vehicle body and wheel joint modeling method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle body and wheel joint modeling method and device, electronic equipment and storage medium, and the method comprises the following steps: determining a first number of target generalized degrees of freedom based on a first external force and a second external force, vertical force between the vehicle body and four wheels, rigid body angular velocity and rigid body linear velocity, a first number of initial generalized degrees of freedom, mass tensor matrix and inertia tensor matrix; determining the translational data of the wheels relative to the vehicle body in the second direction and the third direction and the rotational data of the wheels relative to the vehicle body around the second direction according to the first number of target generalized degrees of freedom; determining the rotational data of the four wheels relative to the vehicle body in the third direction and the first direction respectively based on the multidimensional moment of the four wheels in the third direction and the first direction; and further determining the target number of generalized degrees of freedom of the vehicle body and the wheels. The vehicle body and tire joint modeling method provided by the application can solve 30 degrees of freedom of the vehicle body and the tire in the earth coordinate system.

Description

Technical Field

[0001] This invention relates to the field of vehicle simulation technology, and in particular to a method, apparatus, electronic device, and storage medium for joint modeling of vehicle body and wheels. Background Technology

[0002] As vehicle HIL (hardware-in-the-loop) simulation testing becomes increasingly sophisticated, the simulation accuracy of vehicle models has gradually become a key focus for major OEMs. Among them, the simulation accuracy of the vehicle body and tires, as core components of the vehicle, directly affects the credibility of HIL simulation testing.

[0003] Currently, the vehicle body and tire modeling method used for HIL simulation testing is usually the Newton-Euler method, which treats the vehicle body and four tires as independent rigid bodies and directly uses the Newton-Euler method to calculate the translation and rotation of the five rigid bodies in three directions in space.

[0004] Processing directly in the above manner results in a huge amount of computation, which is not conducive to real-time calculation; moreover, it requires calculating the interaction forces between the vehicle body and each tire, and these forces are highly coupled with each other. Calculating them in the above manner will affect the accuracy of the vehicle model. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a method, apparatus, electronic device and storage medium for joint modeling of vehicle body and wheels, so as to solve the problem of affecting the accuracy of vehicle model in the prior art.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] The first aspect of this invention discloses a method for joint modeling of a vehicle body and wheels, the method comprising:

[0008] When the wheels move relative to the vehicle body along the first direction, the following data is obtained: the first and second external forces acting on the vehicle body, the vertical forces between the vehicle body and the four wheels, the rigid body angular velocities and rigid body linear velocities of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torques of the four wheels in the third and first directions.

[0009] The first number of target generalized degrees of freedom are determined based on the first external force and the second external force acting on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels.

[0010] Based on the first number of target generalized degrees of freedom, determine the translational data of the wheel relative to the vehicle body in the second and third directions and the rotational data about the second direction;

[0011] Based on the multidimensional torques of the four wheels in the third and first directions, the rotation data of the four wheels relative to the vehicle body in the third and first directions are obtained respectively.

[0012] The first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions, the rotational data of the wheels moving about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions are processed to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels.

[0013] Preferably, the first number of target generalized degrees of freedom are determined based on the first and second external forces acting on the vehicle body, the vertical forces between the vehicle body and the four wheels, the rigid body angular velocities and rigid body linear velocities of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrices and inertia tensor matrices of the vehicle body and the four wheels, including:

[0014] The generalized forces acting on the overall rigid system are calculated based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels. and generalized torque ;

[0015] The first matrix of the overall rigid system is obtained by calculating the ratio of the rigid body angular velocity of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom.

[0016] The second matrix of the overall rigid system is obtained by calculating the ratio of the rigid body linear velocities of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom.

[0017] The generalized forces corresponding to the generalized degrees of freedom are determined based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix.

[0018] The generalized mass matrix of the overall rigid system is determined based on the first matrix, the second matrix, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels.

[0019] The first number of target generalized degrees of freedom are determined based on the ratio of the generalized force corresponding to the generalized degree of freedom to the generalized mass matrix of the total rigid system.

[0020] Preferably, the calculation of the generalized forces and moments of the overall rigid system based on the first external force and the second external force acting on the vehicle body, and the vertical force between the vehicle body and the four wheels, includes:

[0021] The generalized forces acting on the overall rigid system are calculated based on the first external force acting on the vehicle body and the vertical forces between the vehicle body and the four wheels.

[0022] The generalized torque on the vehicle body is obtained by summing the second external force acting on the vehicle body.

[0023] Preferably, determining the generalized forces corresponding to the generalized degrees of freedom based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix includes:

[0024] The value of the first force is determined based on the transpose of the first matrix and the generalized force acting on the total rigid system.

[0025] The second force value is determined based on the transpose of the second matrix and the generalized torque acting on the total rigid system.

[0026] The sum of the first and second force values ​​is taken as the generalized force corresponding to the generalized degree of freedom.

[0027] Preferably, the generalized mass matrix of the overall rigid system is determined based on the first matrix and the second matrix of the overall rigid system, as well as the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels, including:

[0028] The total mass tensor matrix is ​​determined based on the mass tensor matrices of the vehicle body and the four wheels.

[0029] The total inertia tensor matrix is ​​determined based on the inertia tensor matrices of the vehicle body and the four wheels.

[0030] Based on the first matrix and the total mass tensor matrix, a first data matrix is ​​determined;

[0031] The second data matrix is ​​determined by processing the second matrix and the inertia tensor matrix.

[0032] Adding the first data matrix and the second data matrix yields the generalized mass matrix of the total stiffness system.

[0033] Preferably, the rotational data of the four wheels relative to the vehicle body in the third and first directions are determined based on the multidimensional torques of the four wheels in the third and first directions, respectively, including:

[0034] The generalized torque of the four wheels in the third direction is determined based on the driving torque, braking torque, and tire resistance torque of the four wheels in the third direction of the multidimensional torque.

[0035] The generalized torque of the four wheels in the first direction is determined based on the steering torque and tire return torque of the four wheels in the first direction in the multidimensional torque.

[0036] The angular acceleration of the four wheels in the third direction is calculated based on the pre-obtained moments of inertia of the four wheels in the third direction and the generalized torque of the four wheels in the third direction.

[0037] The angular acceleration of the four wheels in the first direction is calculated based on the pre-acquired moments of inertia of the four wheels in the first direction and the generalized torque of the four wheels in the first direction.

[0038] By integrating the angular accelerations of the four wheels in the third direction and the first direction, the rotational data of the four wheels relative to the vehicle body in the third direction and the first direction are obtained.

[0039] A second aspect of this invention discloses a joint modeling apparatus for a vehicle body and wheels, the apparatus comprising:

[0040] The acquisition unit is used to acquire the following data when the wheels are moving relative to the vehicle body along the first direction: the first external force and the second external force on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, the mass tensor matrix and the inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torque of the four wheels in the third direction and the first direction.

[0041] The first processing unit is used to determine the first number of target generalized degrees of freedom based on the first external force and the second external force acting on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels.

[0042] The second processing unit is used to determine the translational data of the wheel relative to the vehicle body in the second and third directions and the rotational data about the second direction based on the first number of target generalized degrees of freedom.

[0043] The third processing unit is used to determine the rotation data of the four wheels relative to the vehicle body in the third and first directions based on the multidimensional torques of the four wheels in the third and first directions.

[0044] The fourth processing unit is used to process the first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions, the rotational data of the wheels moving about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions, respectively, to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels.

[0045] Preferably, the first processing unit is specifically used for:

[0046] The generalized forces acting on the overall rigid system are calculated based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels. and generalized torque ;

[0047] The first matrix of the overall rigid system is obtained by calculating the ratio of the rigid body angular velocity of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom.

[0048] The second matrix of the overall rigid system is obtained by calculating the ratio of the rigid body linear velocities of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom.

[0049] The generalized forces corresponding to the generalized degrees of freedom are determined based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix.

[0050] The generalized mass matrix of the overall rigid system is determined based on the first matrix, the second matrix, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels.

[0051] The first number of target generalized degrees of freedom are determined based on the ratio of the generalized force corresponding to the generalized degree of freedom to the generalized mass matrix of the total rigid system.

[0052] A third aspect of the present invention discloses an electronic device, the electronic device including a processor and a memory, the memory being used to store program code and data for data generation, and the processor being used to call program instructions in the memory to execute the joint modeling method for vehicle body and wheels disclosed in the first aspect of the present invention.

[0053] A fourth aspect of the present invention discloses a storage medium comprising a stored program, wherein, when the program is executed, the device on which the storage medium is located executes the joint modeling method for vehicle body and wheels disclosed in the first aspect of the present invention.

[0054] Based on the above embodiments of the present invention, a method, apparatus, electronic device, and storage medium for joint modeling of vehicle body and wheels are provided. The method includes: when the wheels are running relative to the vehicle body along a first direction, acquiring the following data: a first external force and a second external force on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, a first number of initial generalized degrees of freedom, the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torques of the four wheels in the third direction and the first direction. Based on the first and second external forces acting on the vehicle body, the vertical forces between the vehicle body and the four wheels, the rigid body angular velocities and rigid body linear velocities of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrices and inertia tensor matrices of the vehicle body and the four wheels, the first number of target generalized degrees of freedom are determined. Based on the first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions and the rotational data of the wheels about the second direction are determined. Based on the multidimensional torques of the four wheels in the third and first directions, the rotational data of the four wheels relative to the vehicle body in the third and first directions are determined. The first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions and the rotational data of the wheels about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions are processed to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels. In this embodiment of the invention, the vehicle body and tire joint modeling method proposed in this invention can solve for 30 degrees of freedom of the vehicle body and tires in the geodetic coordinate system, thereby realizing joint modeling of the vehicle body and tires. Compared with the traditional method, it no longer calculates the ideal constraint force between the vehicle body and tires, which greatly reduces the amount of calculation and has high accuracy. It can be used in hardware-in-the-loop simulation test system. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the combined modeling of the vehicle body and tires according to an embodiment of the present invention;

[0057] Figure 2 This is a flowchart illustrating a method for joint modeling of a vehicle body and wheels according to an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of a wheel modeling device according to an embodiment of the present invention. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0061] It should be noted that the descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0062] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0063] See Figure 1 The diagram shown here is a schematic diagram of the vehicle body and tire joint modeling of the present invention, that is, a schematic diagram of the vehicle body torsional characteristic modeling structure.

[0064] The combined vehicle body and tire model consists of a vehicle body 10 and four wheels 20, with the wheels 10 and the vehicle body 20 connected by a suspension.

[0065] Due to the suspension KC (Kinematics and Compliance) constraint between wheel 20 and vehicle body 10, the wheel only has vertical z-direction motion and rotation around y and z-directions relative to the vehicle body. Translation in x and y-directions and rotation around x-direction are constrained by z-direction motion. Among these, the wheel rotation around y and z-directions is not coupled with other degrees of freedom of the vehicle body and wheels.

[0066] Therefore, when solving the dynamics of the vehicle body and wheels, we can first form a rigid system consisting of one vehicle body 10 and four wheels 40, which is called the total rigid body. Assuming that the wheels 20 can only move in the z direction relative to the vehicle body 10, there are only 10 degrees of freedom in total for one vehicle body and four wheels, namely three translations, three rotations, and four vertical movements of the wheels relative to the vehicle body.

[0067] Multibody dynamics was then used to solve for these 10 degrees of freedom, calculating the z-axis motion of the four wheels relative to the vehicle body. The Kelvin-Claude property was then used to calculate the translational motion of the wheels relative to the vehicle body in the x and y directions and their rotation about the x-axis. Then, by solving for the steering system, braking system, power transmission system, and tire models, the rotation of the wheels about the y and z directions was calculated. This allows for the solution of 30 degrees of freedom for the five rigid bodies (one vehicle body and four wheels).

[0068] It should be noted that the origin of the coordinate system is chosen as the center of mass of the vehicle body, and a Cartesian right-hand coordinate system is adopted. The direction of the vehicle's forward movement is the x-axis, which is called the second direction; the left side of the vehicle is the y-axis, which is called the third direction; and the top of the vehicle is the z-axis, which is called the first direction, that is, the direction in which the vehicle body is vertically upward.

[0069] Based on the vehicle body and tire joint model shown above, a specific method for joint modeling of the vehicle body and wheels is implemented, such as... Figure 2 The diagram shown is a flowchart illustrating a method for joint modeling of a vehicle body and wheels according to an embodiment of the present invention. The method includes:

[0070] Step S201: When the wheels are moving relative to the vehicle body along the first direction, the following data are obtained: the first external force and the second external force on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, the mass tensor matrix and the inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torque of the four wheels in the third direction and the first direction.

[0071] Step S202: Determine the first number of target generalized degrees of freedom based on the first and second external forces acting on the vehicle body, the vertical forces between the vehicle body and the four wheels, the rigid body angular velocities and rigid body linear velocities of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels.

[0072] The combination of the car body and the four wheels can be considered a total rigid system.

[0073] It should be noted that the specific implementation process of step S202 includes the following steps.

[0074] Step S11: Calculate the generalized forces acting on the overall rigid system based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels. and generalized torque ;

[0075] It should be noted that the specific implementation of step S11 includes the following steps.

[0076] Step S111: Determine the generalized force on the overall rigid system based on the first external force acting on the vehicle body and the vertical force between the vehicle body and the four wheels, that is, the generalized force on the overall rigid system composed of the vehicle body and the four wheels. ;

[0077] In the specific implementation step S111, firstly, for each wheel i, the preset stiffness coefficient is calculated. Preset suspension damping coefficient and the speed of each wheel Calculate the vertical force between the corresponding vehicle body and wheel i to obtain the vertical force between the vehicle body and each wheel i; then substitute the vertical force between the vehicle body and each wheel i into formula (1) to calculate the vertical force between the vehicle body and the four wheels. ;

[0078] The first external force includes air resistance acting on the vehicle body. ,gravity Inertial force ;

[0079] Vertical force between the vehicle body and the four wheels Including spring force and damping force;

[0080] Next, the vertical force between the vehicle body and the four wheels... air resistance ,gravity Inertial force Substituting into formula (2) for calculation, the generalized forces acting on the rigid system of the vehicle body are obtained. .

[0081] Formula (1):

[0082]

[0083] in, , Let be the velocity of each wheel relative to the vehicle body in the z-direction; it should be noted that the connection between each wheel and the vehicle body is considered a suspension. These are the stiffness coefficients of the four suspension components. These are the damping coefficients of the four suspensions.

[0084] Formula (2):

[0085]

[0086] Next, the generalized forces acting on the four wheels and the generalized forces acting on the vehicle body, which were obtained beforehand, will be... Substituting into formula (3), we obtain the generalized forces acting on the rigid system consisting of the car body and the four wheels. .

[0087] Formula (3):

[0088]

[0089] The first external force also includes the generalized force acting on the four wheels, specifically the generalized force acting on wheel 1. Generalized forces acting on wheel 2 Generalized forces acting on wheel 3 The generalized force experienced by wheel 4 .

[0090] Step S112: Determine the generalized torque on the overall rigid system based on the second external force acting on the vehicle body, that is, the generalized torque on the rigid system composed of the vehicle body and the four wheels. .

[0091] In the specific implementation of step S112, firstly, the air resistance torque on the vehicle body in the second external force is... gravitational torque Inertial torque and braking torque The generalized torque acting on the vehicle body is obtained by summing up the braking torque (i.e., the braking torque applied to the wheels by the brake discs or friction pads). As shown in formula (4). Next, the generalized torques on the four wheels and the generalized torque on the vehicle body in the second external force are calculated. Substituting into formula (5), we obtain the generalized torque acting on the rigid system consisting of the car body and the four wheels. .

[0092] Formula (4):

[0093]

[0094] Formula (5):

[0095]

[0096] in, For the generalized torque acting on wheel 1, For the generalized torque acting on wheel 2, For the generalized torque acting on wheel 3, Let be the generalized torque acting on wheel 4.

[0097] Step S12: Calculate the rigid body linear velocities of the vehicle body and the four wheels respectively. The first matrix of the total rigid system is obtained by the ratio of the first number of initial generalized degrees of freedom;

[0098] In the specific implementation step S12, the rigid body linear velocity of the vehicle body and the four wheels are respectively... and the first number of initial generalized degrees of freedom Substituting into formula (6) and processing, we obtain the first matrix of the overall rigid system, namely the Jacobian matrix of the rigid system composed of the car body and the four wheels. ;

[0099] Formula (6):

[0100]

[0101] in, Let be the linear velocity of the i-th rigid body, where i can be the vehicle body or any wheel.

[0102] Step S13: Calculate the rigid body angular velocities of the vehicle body and the four wheels respectively, and the ratio of the first number of initial generalized degrees of freedom to obtain the second matrix of the overall rigid system;

[0103] In the specific implementation of step S13, the rigid body linear velocity of the vehicle body and the four wheels is respectively... and the first number of initial generalized degrees of freedom Substituting into formula (7) and processing, we obtain the second matrix of the overall rigid system, namely the Jacobian matrix of the rigid system composed of the car body and the four wheels. ;

[0104] Formula (7):

[0105]

[0106] in, Let be the rigid body angular velocity of the i-th rigid body, where i can be the vehicle body or any wheel.

[0107] It should be noted that different variables are expressed differently in different coordinate systems. For accuracy, the coordinate system in which the variable is expressed is usually indicated. Marking "V" indicates that the variable is expressed in the vehicle coordinate system, while not marking it defaults to the geodetic coordinate system.

[0108] Step S14: Based on the generalized forces acting on the overall rigid system and generalized torque The first and second matrices determine the generalized force Q corresponding to the generalized degrees of freedom;

[0109] It should be noted that the specific implementation of step S14 includes the following steps.

[0110] Step S141: Based on the transpose of the first matrix and the generalized forces acting on the overall rigid system Determine the first force value;

[0111] In the specific implementation step S141, the transpose of the first matrix, i.e. the Jacobian matrix of the vehicle body rigid system, is... transpose And the generalized forces acting on the overall rigid system The product of these is used as the first force value;

[0112] Step S142: Based on the transpose of the second matrix and the generalized torque acting on the overall rigid system Determine the value of the second force;

[0113] In the specific implementation step S142, the transpose of the second matrix, i.e. the Jacobian matrix of the rigid system composed of the vehicle body and the four wheels, is... transpose and the generalized torque acting on the overall rigid system. The product of these is used as the second force value;

[0114] Step S143: Take the sum of the first force value and the second force value as the generalized force corresponding to the generalized degree of freedom.

[0115] In the specific implementation of step S143, the first force value calculated in step S141 and the second force value calculated in step S142 are substituted into formula (8) for processing to obtain the generalized force Q corresponding to the generalized degree of freedom.

[0116] Formula (8):

[0117]

[0118] Step S15: Determine the generalized mass matrix M of the overall rigid system based on the first and second matrices of the overall rigid system, as well as the mass tensor matrices and inertia tensor matrices of the vehicle body and the four wheels;

[0119] It should be noted that the specific implementation of step S15 includes the following steps.

[0120] Step S151: Determine the total mass tensor matrix based on the mass tensor matrices of the vehicle body and the four wheels. ;

[0121] In the specific implementation step S151, the mass tensor matrix of the vehicle body and the four wheels is... The total mass tensor matrix is ​​obtained from the diagonal matrix. As shown in formula (9).

[0122] Formula (9):

[0123]

[0124] in, , , , and All For example, when i equals 1, for , The mass tensor matrix that can represent the vehicle body; when i equals 2, for , This can be represented by the mass tensor matrix of the first wheel; and so on, when i equals 5, for , It can represent the mass tensor matrix of the fourth wheel.

[0125] Furthermore, the mass tensor matrices of the vehicle body and the four wheels As shown in formula (10).

[0126] Formula (10):

[0127]

[0128] Where, m i It refers to the mass tensor of the i-th rigid body.

[0129] Step S152: Determine the total inertia tensor matrix based on the inertia tensor matrices of the vehicle body and the four wheels;

[0130] In the specific implementation step S152, based on the inertia tensor matrix of the vehicle body and the four wheels... The total inertia tensor matrix is ​​obtained from the diagonal matrix. As shown in formula (11).

[0131] Formula (11):

[0132]

[0133] in, , , , and All For example, when i equals 1, for , The inertia tensor matrix that can characterize the vehicle body; when i equals 2, for , This can represent the inertia tensor matrix of the first wheel; and so on, when i equals 5, for , The inertia tensor matrix that can characterize the fourth wheel.

[0134] Furthermore, the inertia tensor matrices of the vehicle body and the four wheels... As shown in formula (12).

[0135] Formula (12):

[0136]

[0137] Step S153: Process the first matrix and the total mass tensor matrix to determine the first data matrix;

[0138] In the specific implementation step S153, the vector of the transpose of the first matrix (i.e., the Jacobian matrix of the vehicle body rigid system) is... The transpose of the vector ), the vector of the first matrix (i.e., the Jacobian matrix of the car body rigid system) vector ), and the total mass tensor matrix The product of these is used as the first data matrix.

[0139] Step S154: Process the data based on the second matrix and the inertia tensor matrix to determine the second data matrix;

[0140] In the specific implementation step S154, the vector of the second matrix (i.e., the Jacobian matrix of the rigid system composed of the vehicle body and the four wheels) is... vector The vector of the transpose of the second matrix (i.e., the Jacobian matrix of the rigid system consisting of the car body and the four wheels). The transpose of the vector ), and the total inertia tensor matrix The product of these is used as the second data matrix.

[0141] Step S155: Add the first data matrix and the second data matrix to obtain the generalized mass matrix of the total stiffness system.

[0142] In the specific implementation of step S155, the first data matrix calculated in step S153 and the second data matrix calculated in step S154 are substituted into formula (13) for processing to obtain the generalized mass matrix M of the rigid system of the car body and wheels, that is, the generalized mass matrix M of the total rigid system.

[0143] Formula (13):

[0144]

[0145] Step S16: Determine the first number of target generalized degrees of freedom based on the ratio of the generalized force corresponding to the generalized degree of freedom to the generalized mass matrix of the total rigid system.

[0146] In the specific implementation step S16, the generalized force Q corresponding to the generalized degree of freedom and the generalized mass matrix M of the total rigid system are substituted into formula (14) for processing to obtain the first number of target generalized degrees of freedom. .

[0147] Formula (14):

[0148]

[0149] Among them, the first number of objective generalized degrees of freedom That is, the second-order rate of change of the generalized degrees of freedom Including the velocity differentials of the vehicle body in the x, y, and z directions. The differentials of the angular velocities of the vehicle body in the x, y, and z directions And the differential of the relative velocities of the four wheels with respect to the vehicle body in the z-direction. As shown in formula (15).

[0150] Formula (15):

[0151]

[0152] Optionally, by solving the above formulas together, the second-order rates of change for the 10 generalized degrees of freedom can be calculated. ,right Integrating the data allows us to calculate the motion characteristics of the 10 generalized degrees of freedom.

[0153] Step S203: Determine the translational data of the wheels relative to the vehicle body in the second and third directions based on the first number of target generalized degrees of freedom. and ) and rotational data about the second direction ;

[0154] In the specific implementation step S203, the value of the wheel's motion relative to the vehicle body in the z-direction is determined based on the first number of target generalized degrees of freedom. ;based on Calculate the wheel's motion relative to the vehicle body in the other 5 degrees of freedom, that is, calculate the value of the wheel's motion relative to the vehicle body in the z-direction according to the suspension KC constraint. Substituting into formula (16) for calculation, the translational data of the wheel relative to the vehicle body in the second and third directions are obtained. and ) and rotational data about the second direction ;

[0155] It should be noted that the translation in the x and y directions and the rotation in the x direction are only affected by the KC characteristic. Therefore, the value calculated by formula (16) is the final value. The rotation in the y and z directions is affected by other factors in addition to the KC characteristic. Therefore, it can be processed through step S204.

[0156] Formula (16):

[0157]

[0158] It is the translational motion of the four wheels relative to the vehicle body in the z-direction. , These refer to the translational motion of the four wheels relative to the vehicle body in the x and y directions. , , These refer to the rotation of the four wheels relative to the vehicle body in the x, y, and z directions.

[0159] Step S204: Based on the multidimensional torques of the four wheels in the third and first directions, determine the rotation data of the four wheels relative to the vehicle body in the third and first directions, respectively;

[0160] It should be noted that the specific implementation of step S204 includes the following steps.

[0161] Step S21: Based on the driving torque of the four wheels in the third direction in the multi-dimensional torque... Braking torque and tire drag torque Determine the generalized torque of the four wheels in the third direction. ;

[0162] In the specific implementation step S21, the power transmission model is called to predict the driving speed and tire radius of the four wheels when they travel in the y direction, and the driving torque is obtained. The braking model is invoked to predict the speed and tire radius of the four wheels in the y-direction, thus obtaining the braking torque. Next, the tire model is used to predict the speed and tire radius of the four wheels when traveling in the y-direction, thus obtaining the tire drag torque. Finally, the driving torque of the four wheels in the y-direction is... Braking torque and tire drag torque Substituting into formula (17) and adding them together, we obtain the generalized torque of the wheel in the y direction. .

[0163] Formula (17):

[0164]

[0165] Step S22: Based on the steering torque of the four wheels in the first direction in the multi-dimensional torque... and tire return torque Determine the generalized torque of the four wheels in the first direction ;

[0166] In the specific implementation step S22, the steering system model is called to detect the steering torque of the four wheels in the z direction. ; Call the tire model to detect the tire self-aligning torque of the four wheels in the z-direction. Finally, the steering torque of the four wheels in the z-direction is calculated. and tire return torque Substituting into formula (18) and adding them together, we obtain the generalized torque of the four wheels in the z-direction. ;

[0167] Formula (18):

[0168]

[0169] Step S23: Based on the pre-obtained rotational inertia of the four wheels in the third direction... And the generalized torque of the four wheels in the third direction Calculate the angular acceleration of the four wheels in the third direction. ;

[0170] In the specific implementation step S23, the rotational inertia of the four wheels of the vehicle model in the y direction is obtained in advance. Next, the rotational inertia of the four wheels in the y-direction is calculated. And the generalized torque of the four wheels in the y direction Substituting into formula (19) for calculation, the angular acceleration of the four wheels in the y direction is obtained. ;

[0171] Formula (19):

[0172]

[0173] Step S24: Based on the pre-acquired rotational inertia of the four wheels in the first direction And the generalized torque of the four wheels in the first direction Calculate the angular acceleration of the four wheels in the first direction. ;

[0174] In the specific implementation step S24, the rotational inertia of the four wheels of the vehicle model in the z direction is obtained in advance. Next, the rotational inertia of the four wheels in the z-direction is... And the generalized torque of the four wheels in the z-direction Substituting into formula (20) for calculation, the angular acceleration of the four wheels in the z-direction is obtained. ;

[0175] Formula (20):

[0176]

[0177] Step S25: Based on the angular acceleration of the four wheels in the third direction and angular acceleration in the first direction Integrating the data, we obtain the rotation data of the four wheels relative to the vehicle body in the third and first directions, respectively.

[0178] It should be noted that the motion characteristics of the four wheels relative to the vehicle body in the y and z directions refer to information such as the wheel angles and angular velocities.

[0179] In the specific implementation of step S25, the angular acceleration of the four wheels in the y-direction is measured respectively. and the angular acceleration of the four wheels in the z-direction Perform the first integration to obtain the corresponding angular velocity; then perform a second integration on the angular velocity to obtain the corresponding angle.

[0180] Step S205: Process the first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions, the rotational data of the wheels about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions respectively, to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels.

[0181] In the specific implementation step S205, the first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions and the rotational data of the wheels moving around the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions are input into the processing model for processing, so as to output the target number of generalized degrees of freedom of the vehicle body and the wheels.

[0182] It should be noted that the target number can be 30.

[0183] Optional, also includes:

[0184] The signals used in HIL simulation tests are usually in the geodetic coordinate system. The rotation matrix of the vehicle coordinate system relative to the geodetic coordinate system needs to be calculated based on the vehicle's attitude angles. Specifically, the angular velocity of the vehicle is calculated for the first few generalized degrees of freedom. By integrating the three angular accelerations twice, the vehicle's attitude angles can be calculated. Based on the attitude angles, the rotation matrix can be calculated, and then the expression of the 30 degrees of freedom of the vehicle's wheels in the geodetic coordinate system can be further calculated.

[0185] In this embodiment of the invention, the vehicle body and tire joint modeling method proposed in this invention can solve for 30 degrees of freedom of the vehicle body and tires in the geodetic coordinate system, thereby realizing joint modeling of the vehicle body and tires. Compared with the traditional method, it no longer calculates the ideal constraint force between the vehicle body and tires, which greatly reduces the amount of calculation and has high accuracy. It can be used in hardware-in-the-loop simulation test system.

[0186] Optionally, based on the joint modeling device for vehicle body and wheels shown in the above embodiments of the present invention, such as... Figure 3 As shown, the device includes:

[0187] The acquisition unit 301 is used to acquire the following data when the wheels are running relative to the vehicle body in the first direction: the first external force and the second external force on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, the mass tensor matrix and the inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torque of the four wheels in the third direction and the first direction.

[0188] The first processing unit 302 is used to determine the first number of target generalized degrees of freedom based on the first external force and the second external force on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels.

[0189] The second processing unit 303 is used to determine the translational data of the wheel relative to the vehicle body in the second and third directions and the rotational data about the second direction based on the first number of target generalized degrees of freedom.

[0190] The third processing unit 304 is used to determine the rotation data of the four wheels relative to the vehicle body in the third direction and the first direction based on the multidimensional torque of the four wheels in the third direction and the first direction.

[0191] The fourth processing unit 305 is used to process the first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions and the rotational data of the wheels moving about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions, respectively, to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels.

[0192] Optionally, the first processing unit 302 is specifically used for:

[0193] The generalized forces acting on the overall rigid system are calculated based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels. and generalized torque ;

[0194] The first matrix of the overall rigid system is obtained by calculating the rigid body angular velocities of the vehicle body and the four wheels, and the ratio of the first number of initial generalized degrees of freedom.

[0195] The second matrix of the overall rigid system is obtained by calculating the rigid body linear velocities of the vehicle body and the four wheels, and the ratio of the first number of initial generalized degrees of freedom.

[0196] The generalized forces corresponding to the generalized degrees of freedom are determined based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix.

[0197] The generalized mass matrix of the overall rigid system is determined based on the first and second matrices of the overall rigid system, as well as the mass tensor matrices and inertia tensor matrices of the vehicle body and the four wheels.

[0198] The first number of target generalized degrees of freedom are determined by the ratio of the generalized force corresponding to the generalized degree of freedom to the generalized mass matrix of the total rigid system.

[0199] Optionally, a first processing unit 301, which calculates the generalized forces and moments acting on the overall rigid system based on the first and second external forces acting on the vehicle body and the vertical forces between the vehicle body and the four wheels, is specifically used for:

[0200] The generalized forces acting on the overall rigid system are calculated based on the first external force acting on the vehicle body and the vertical forces between the vehicle body and the four wheels.

[0201] The generalized torque on the vehicle body is obtained by summing the second external force acting on the vehicle body.

[0202] Optionally, a first processing unit 302, which determines the generalized forces corresponding to the generalized degrees of freedom based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix, is specifically used for:

[0203] The value of the first force is determined based on the transpose of the first matrix and the generalized force acting on the overall rigid system.

[0204] The value of the second force is determined based on the transpose of the second matrix and the generalized torque acting on the overall rigid system.

[0205] The sum of the first and second force values ​​is taken as the generalized force corresponding to the generalized degree of freedom.

[0206] Optionally, a first processing unit 302, which determines the generalized mass matrix of the overall rigid system based on the first and second matrices of the overall rigid system, as well as the mass tensor matrices and inertia tensor matrices of the vehicle body and the four wheels, is specifically used for:

[0207] The total mass tensor matrix is ​​determined based on the mass tensor matrices of the vehicle body and the four wheels.

[0208] The total inertia tensor matrix is ​​determined based on the inertia tensor matrices of the vehicle body and the four wheels.

[0209] The first data matrix is ​​determined by processing the first matrix and the total mass tensor matrix.

[0210] The second data matrix is ​​determined by processing the second matrix and the inertia tensor matrix.

[0211] Adding the first data matrix and the second data matrix together yields the generalized mass matrix of the total rigidity system.

[0212] Optionally, the third processing unit 304 is specifically used for:

[0213] The generalized torque of the four wheels in the third direction is determined based on the driving torque, braking torque, and tire resistance torque of the four wheels in the third direction in the multidimensional torque.

[0214] The generalized torque of the four wheels in the first direction is determined based on the steering torque and tire return torque of the four wheels in the first direction in the multidimensional torque.

[0215] The angular acceleration of the four wheels in the third direction is calculated based on the pre-obtained moments of inertia of the four wheels in the third direction and the generalized torque of the four wheels in the third direction.

[0216] The angular acceleration of the four wheels in the first direction is calculated based on the pre-obtained moments of inertia of the four wheels in the first direction and the generalized torque of the four wheels in the first direction.

[0217] By integrating the angular accelerations of the four wheels in the third direction and the angular accelerations in the first direction, the rotational data of the four wheels relative to the vehicle body in the third direction and the first direction are obtained.

[0218] The specific principles and execution processes of each unit in the vehicle body and wheel joint modeling device disclosed in the above embodiments of the present invention are the same as the corresponding contents in the vehicle body and wheel joint modeling method provided in the above embodiments of the present invention. Please refer to the corresponding parts in the vehicle body and wheel joint modeling method disclosed in the above embodiments of the present invention, and they will not be repeated here.

[0219] This application provides an electronic device, which includes a processor and a memory. The memory is used to store program code and data for the joint modeling of the vehicle body and wheels, and the processor is used to call the program instructions in the memory to execute the steps shown in the joint modeling method of the vehicle body and wheels in the above embodiments.

[0220] This invention provides a storage medium, namely a computer-readable storage medium, which includes the electronic device provided in the above-described embodiments of this application. The electronic device is used to execute the joint modeling method for vehicle body and wheels disclosed in the embodiments of this application.

[0221] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0222] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0223] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for joint modeling of vehicle body and wheels, characterized in that, The method includes: When the wheels move relative to the vehicle body along the first direction, the following data is obtained: the first and second external forces acting on the vehicle body, the vertical forces between the vehicle body and the four wheels, the rigid body angular velocities and rigid body linear velocities of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torques of the four wheels in the third and first directions. The first number of target generalized degrees of freedom are determined based on the first external force and the second external force acting on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels. Based on the first number of target generalized degrees of freedom, determine the translational data of the wheel relative to the vehicle body in the second and third directions and the rotational data about the second direction; Based on the multidimensional torques of the four wheels in the third and first directions, the rotation data of the four wheels relative to the vehicle body in the third and first directions are obtained respectively. The first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions, the rotational data of the wheels moving about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions are processed to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels.

2. The method according to claim 1, characterized in that, Based on the first and second external forces acting on the vehicle body, the vertical forces between the vehicle body and the four wheels, the rigid body angular velocities and rigid body linear velocities of the vehicle body and the four wheels respectively, a first number of initial generalized degrees of freedom, and the mass tensor matrices and inertia tensor matrices of the vehicle body and the four wheels, the first number of target generalized degrees of freedom are determined, including: The generalized forces acting on the overall rigid system are calculated based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels. and generalized torque ; The first matrix of the overall rigid system is obtained by calculating the ratio of the rigid body angular velocity of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom. The second matrix of the overall rigid system is obtained by calculating the ratio of the rigid body linear velocities of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom. The generalized forces corresponding to the generalized degrees of freedom are determined based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix. The generalized mass matrix of the overall rigid system is determined based on the first matrix, the second matrix, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels. The first number of target generalized degrees of freedom are determined based on the ratio of the generalized force corresponding to the generalized degree of freedom to the generalized mass matrix of the total rigid system.

3. The method according to claim 2, characterized in that, Based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels, the generalized forces and moments acting on the overall rigid system are calculated, including: The generalized forces acting on the overall rigid system are calculated based on the first external force acting on the vehicle body and the vertical forces between the vehicle body and the four wheels. The generalized torque on the vehicle body is obtained by summing the second external force acting on the vehicle body.

4. The method according to claim 2, characterized in that, Based on the generalized forces and moments acting on the overall rigid system, and the first and second matrices, the generalized forces corresponding to the generalized degrees of freedom are determined, including: The value of the first force is determined based on the transpose of the first matrix and the generalized force acting on the total rigid system. The second force value is determined based on the transpose of the second matrix and the generalized torque acting on the total rigid system. The sum of the first and second force values ​​is taken as the generalized force corresponding to the generalized degree of freedom.

5. The method according to claim 2, characterized in that, Based on the first and second matrices of the overall rigid system, and the mass and inertia tensors of the vehicle body and four wheels, the generalized mass matrix of the overall rigid system is determined, including: The total mass tensor matrix is ​​determined based on the mass tensor matrices of the vehicle body and the four wheels. The total inertia tensor matrix is ​​determined based on the inertia tensor matrices of the vehicle body and the four wheels. Based on the first matrix and the total mass tensor matrix, a first data matrix is ​​determined; The second data matrix is ​​determined by processing the second matrix and the inertia tensor matrix. Adding the first data matrix and the second data matrix yields the generalized mass matrix of the total stiffness system.

6. The method according to claim 1, characterized in that, Based on the multidimensional torque determination of the four wheels in the third and first directions, the rotational data of the four wheels relative to the vehicle body in the third and first directions are obtained, including: The generalized torque of the four wheels in the third direction is determined based on the driving torque, braking torque, and tire resistance torque of the four wheels in the third direction of the multidimensional torque. The generalized torque of the four wheels in the first direction is determined based on the steering torque and tire return torque of the four wheels in the first direction in the multidimensional torque. The angular acceleration of the four wheels in the third direction is calculated based on the pre-obtained moments of inertia of the four wheels in the third direction and the generalized torque of the four wheels in the third direction. The angular acceleration of the four wheels in the first direction is calculated based on the pre-acquired moments of inertia of the four wheels in the first direction and the generalized torque of the four wheels in the first direction. By integrating the angular accelerations of the four wheels in the third direction and the first direction, the rotational data of the four wheels relative to the vehicle body in the third direction and the first direction are obtained.

7. A joint modeling device for vehicle body and wheels, characterized in that, The device includes: The acquisition unit is used to acquire the following data when the wheels are moving relative to the vehicle body along the first direction: the first external force and the second external force on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, the mass tensor matrix and the inertia tensor matrix of the vehicle body and the four wheels, and the multidimensional torque of the four wheels in the third direction and the first direction. The first processing unit is used to determine the first number of target generalized degrees of freedom based on the first external force and the second external force acting on the vehicle body, the vertical force between the vehicle body and the four wheels, the rigid body angular velocity and rigid body linear velocity of the vehicle body and the four wheels respectively, the first number of initial generalized degrees of freedom, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels. The second processing unit is used to determine the translational data of the wheel relative to the vehicle body in the second and third directions and the rotational data about the second direction based on the first number of target generalized degrees of freedom. The third processing unit is used to determine the rotation data of the four wheels relative to the vehicle body in the third and first directions based on the multidimensional torques of the four wheels in the third and first directions. The fourth processing unit is used to process the first number of target generalized degrees of freedom, the translational data of the wheels relative to the vehicle body in the second and third directions, the rotational data of the wheels moving about the second direction, and the rotational data of the four wheels relative to the vehicle body in the third and first directions, respectively, to obtain the target number of generalized degrees of freedom of the vehicle body and the wheels.

8. The apparatus according to claim 7, characterized in that, The first processing unit is specifically used for: The generalized forces acting on the overall rigid system are calculated based on the first and second external forces acting on the vehicle body, and the vertical forces between the vehicle body and the four wheels. and generalized torque ; The first matrix of the overall rigid system is obtained by calculating the ratio of the rigid body angular velocity of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom. The second matrix of the overall rigid system is obtained by calculating the ratio of the rigid body linear velocities of the vehicle body and the four wheels to the first number of initial generalized degrees of freedom. The generalized forces corresponding to the generalized degrees of freedom are determined based on the generalized forces and generalized moments acting on the overall rigid system, the first matrix, and the second matrix. The generalized mass matrix of the overall rigid system is determined based on the first matrix, the second matrix, and the mass tensor matrix and inertia tensor matrix of the vehicle body and the four wheels. The first number of target generalized degrees of freedom are determined based on the ratio of the generalized force corresponding to the generalized degree of freedom to the generalized mass matrix of the total rigid system.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, the memory being used to store program code and data for data generation, and the processor being used to call program instructions in the memory to execute the joint modeling method for the vehicle body and wheels as described in any one of claims 1-6.

10. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, it controls the device where the storage medium is located to perform the joint modeling method for the vehicle body and wheels as described in any one of claims 1-6.

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