Closed-Loop Vehicle Simulation Using Tire and Body Dynamics
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Solution Overview
Problem
Current vehicle simulation methods for unmanned vehicles lack accuracy, resulting in a significant difference between simulation and actual operation results, leading to higher time and economic costs for testing.
Innovation Solution
A method and apparatus that determine tire translational force and vehicle body motion data using a tire dynamics module and vehicle body dynamics module, respectively, based on control instructions and previous moment data, forming a closed loop for simulation testing, with data interaction between modules to improve accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional vehicle simulation methods are used, then testing can be performed, but the simulation accuracy is low and there is a significant difference between simulation and actual operation results
Solution Approach 1:
The simulation system is divided into multiple independent modules: tire dynamics module, vehicle body dynamics module, and upper planning module. Each module handles specific computational tasks separately, allowing for more precise calculations in each segment while maintaining overall system accuracy.
Solution Approach 2:
The patent implements a feedback mechanism where the tire dynamics module and vehicle body dynamics module exchange data iteratively. The tire normal load from the vehicle body dynamics module feeds back to the tire dynamics module to recalculate tire translational force, creating a closed-loop system that progressively improves simulation accuracy.
2Measurement precision
If simulation accuracy is improved through complex calculations, then better results are achieved, but computing time and complexity increase
Solution Approach 1:
The system performs preliminary calculations by determining tire translational force based on control instructions and previous moment data before proceeding to vehicle body dynamics calculations. This staged approach prevents redundant computations and reduces overall computing time.
Solution Approach 2:
The patent applies iterative calculations only where necessary - specifically in the interaction between tire dynamics and vehicle body dynamics modules - rather than performing exhaustive calculations throughout the entire simulation system. This partial iteration achieves sufficient accuracy without excessive computational overhead.
3Measurement precision
If comprehensive vehicle dynamics simulation is performed, then accuracy improves, but system complexity increases
Solution Approach 1:
The complex vehicle dynamics simulation system is segmented into distinct functional modules: tire dynamics module for calculating tire forces, vehicle body dynamics module for calculating motion data and normal loads, and upper planning module for control instructions. This modular architecture manages complexity by isolating different computational responsibilities.
Solution Approach 2:
The patent creates a universal simulation framework that can handle multiple vehicle dynamics calculations (tire forces, body motion, normal loads) through a standardized iterative process. This multi-functional approach reduces overall system complexity by using a unified methodology for diverse computational tasks.
Data Source
AI summary
The disclosure discloses a method and an apparatus for simulating a vehicle. The detailed implementation includes: determining, by a tire dynamics module, a tire translational force at a current moment based on a control instruction issued by an upper planning module and motion data of a vehicle body and a tire normal load outputted by a vehicle body dynamics module at a previous moment; and determining, by the vehicle body dynamics module, motion data of the vehicle body and a tire normal load at the current moment based on the control instruction and the tire translational force at the current moment, the motion data of the vehicle body at the current moment being used for vehicle simulation, and the tire normal load at the current moment being used to determine a tire translational force at a next moment.