CN102034257A - Computer system for simulating and reproducing collision accident between automobile and two-wheel or three-wheel vehicle - Google Patents
Computer system for simulating and reproducing collision accident between automobile and two-wheel or three-wheel vehicle Download PDFInfo
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Abstract
The invention discloses a system for simulating and reproducing a collision accident between an automobile and a two-wheel or three-wheel vehicle, which is used for assessing a road traffic accident by the traffic control department of the public security organ. Through the system, basic data can be obtained by inspection of an accident scene, the traveling speeds and collision speeds of the automobile and a motorcycle in the collision accident between the automobile and the two-wheel or three-wheel vehicle are obtained by calculating, and two-dimensional track description and three-dimensional process reproduction of accident vehicles, output of a major calculated data table for the collision accident between the automobile and the two-wheel or three-wheel vehicle and brief description text output of an accident occurrence process are realized. The system can be popularized and applied widely, effectively increases the technical content of assessment and treatment of the traffic accident, achieves an analysis and identification result which is easily and highly approved by the traffic management department, the accident assessment unit and parties of the traffic accident and plays important roles in distinguishing responsibilities, avoiding conflicts, reducing social unstable factors, improving harmonious operation of social life and the like.
Description
Technical field
The present invention relates to the Computer Simulation applied technical field, particularly the Computer Analysis calculating and the simulation reconstruction analogue system of automobile and two-wheeled or tricycle collision accident form.
Background technology
Automobile and two-wheeled or tricycle collision accident are meant that the common road traffic accident accident of the class form of positive (or side, knock into the back) collision takes place for automobile and two-wheeled or tricycle (comprising motorcycle, bicycle, electric bicycle, tricycle).Two-wheeled or the tricycle motion state after crashing belongs to runaway condition, and the motion of aerial projectile motion or land slide takes place again, cause the vehicle movement Mechanical Calculation and Analysis of this type of accident and the complicacy of accident process simulation reconstruction emulation, become one of the difficult point in road traffic accident Computer Analysis reproducing technology field and cutting edge technology.
Traditional automobile and two-wheeled or tricycle collision accident Analysis and Identification method, mainly according to scene of the accident litigant and eye witness's statement, detect scenes of the accident prospecting data such as acquisition accident center of impact position, the final stop position of vehicle, road surface braking track from traffic accident situ and draw accident situ maps, analyze the motion state and the field process situation of accident vehicle simply, approx, and it is main according to above testimony and exhibit, authentication process traffic hazard.The parameter of complicated road traffic accident is confirmed and condition discrimination has significant limitation, randomness and blindness because application traditional analysis computing method are carried out, Analysis and Identification result's accuracy and precision are all not high, very easily cause technical error on the traffic accident responsibility partition problem, occurring, thereby cause social dispute.
Through the prior art literature search is found, number of patent application is 200810038173.7, name is called automobile and two wheeler system for reproducing collision accident, this technology provides a kind of automobile and two wheeler system for reproducing collision accident, comprise information acquisition, process simulation, optimize and reproduce and result treatment, adopt many rigid bodies method to set up automobile and two wheeler collision model, loss sensitive part to dummy model is set up finite element model, be combined into new combined type dummy model with many rigid anthropometric dummys agent model, this classification traffic hazard is optimized emulation to the car crass two wheeler.The present invention mainly adopts momentum and conservation of angular momentum theoretical method to analyze automobile and two-wheeled or tricycle collision accident, the overall plan of analytical Calculation and simulation reconstruction automobile and two-wheeled or tricycle collision accident has been proposed, automobile and two-wheeled or the analytical calculation of tricycle collision accident and simulation reconstruction system have been made up, the data that obtain by input scene of the accident prospecting can calculate the speed of operation and the collision speed of automobile and motorcycle in automobile and two-wheeled or the tricycle collision accident, and realize the two-dimentional track description of accident vehicle, three dimensional process is reproduced, main computational data table of automobile and two-wheeled or tricycle collision accident and the output of accident generating process summary text.Use the present invention to handle automobile and two-wheeled or tricycle collision accident, to improve this type of extremely complex accident evaluation and the technology content of handling effectively, and make its Analysis and Identification result be subjected to vehicle supervision department, accident evaluation unit, accident litigant's height approval easily.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of automobile and two-wheeled or tricycle collision accident simulation reconstruction system that public safety traffic management department road traffic accident is identified that be used for, the master data that native system can utilize scene of the accident prospecting to obtain, calculate the speed of operation and the collision speed of automobile and motorcycle in automobile and two-wheeled or the tricycle collision accident, and realize that two-dimentional track descriptions, three dimensional process reproduction, automobile and the two-wheeled of accident vehicle or the main computational data table output of tricycle collision accident and accident generating process sketch text and export.
In order to realize above-mentioned technical assignment, the present invention adopts following technical scheme to be achieved:
A kind of automobile and two-wheeled or tricycle collision accident simulation reconstruction computer system, this computer system comprises at least:
On-the-spot master data typing of automobile and two-wheeled or tricycle collision accident and storage subsystem are used to realize that the on-the-spot master data typing of automobile and two-wheeled or tricycle collision accident, data normalization are handled, unique point is checked, the input data storage function;
Automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem, be used for according to the scenes of the accident such as ground, scene of the accident vestige, automobile and two-wheeled after the normalized or tricycle center of impact position and attitude, the final stop position of vehicle and attitude prospectings data 6DOF linear velocity and magnitude of angular velocity after reverse 6DOF linear velocity of trying to achieve the automobile of moment after automobile and two-wheeled or the tricycle impact effect and magnitude of angular velocity, two-wheeled or tricycle collide;
Automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem, be used for according to after the scene of the accident after normalized prospecting data, the accident vehicle impact effect moment vehicle 6DOF linear velocity value and magnitude of angular velocity, calculate automobile and two-wheeled or tricycle impact effect 6DOF linear velocity value and the magnitude of angular velocity of preceding moment;
Automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, according to before the scene of the accident such as braking distance or vestige value, vehicle heading prospecting data, automobile and two-wheeled or the tricycle impact effect before the vehicle collision of normalized moment vehicle 6DOF speed and angular velocity, calculate the cruising speed of a motor vehicle of accident vehicle before the precarious position generation;
Automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem, be used for according to before the scene of the accident of normalized prospecting data, automobile and two-wheeled or the tricycle impact effect moment accident vehicle 6DOF linear velocity and angular velocity and vehicle normal row vehicle speed, the two-dimentional reconstruct of realization automobile and two-wheeled or tricycle collision accident track state;
Automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect that is used for check disposing according to normalization moment accident vehicle 6DOF linear velocity and angular velocity and road speed, the 3-d reproduction of realization vapour automobile and two-wheeled or tricycle collision accident panorama overall process state;
Automobile and two-wheeled or tricycle collision accident analog computation result export the descriptor system, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect that is used for check disposing according to normalization moment accident vehicle 6DOF linear velocity and the two-dimentional reconstruct of angular velocity, road speed and accident track, output vapour automobile and two-wheeled or tricycle collision accident feature calculation tables of data and accident generating process summary text, and the storage of realization accident case data;
On-the-spot master data typing of described automobile and two-wheeled or tricycle collision accident and storage subsystem, automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem, automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem, automobile links to each other successively with two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, automobile links to each other with two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem with automobile with two-wheeled or tricycle collision accident track two dimension reconstruction subsystem with automobile respectively with two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, and the while automobile is exported descriptor system with automobile with two-wheeled or tricycle collision accident analog computation result with two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem with automobile with two-wheeled or tricycle collision accident track two dimension reconstruction subsystem and linked to each other with storage subsystem with two-wheeled or the on-the-spot master data typing of tricycle collision accident with automobile.
Other technologies characteristics of the present invention are:
On-the-spot master data typing of described automobile and two-wheeled or tricycle collision accident and storage subsystem comprise two functional modules: automobile and two-wheeled or the input of tricycle collision accident inspection of the scene of a crime data and normalization module and automobile and two-wheeled or tricycle collision accident data memory module; Described automobile and two-wheeled or input of tricycle collision accident inspection of the scene of a crime data and normalization module, the scene of the accident is investigated on the spot the scene of the accident road structure of acquisition according to the traffic police, hit two-wheeled or tricycle structure, the vehicle main structure parameters, performance parameter and loading conditions, accident car crass injury mark, ground, scene of the accident vestige, automobile and two-wheeled or tricycle center of impact landmark locations, scene of the accident master datas such as automobile and two-wheeled or the final stop position of tricycle, finishing automobile and two-wheeled or tricycle collision accident inspection of the scene of a crime data typing and position of collision data checks, common parameter loads and the pre-service of track characteristic point, for follow-up co simulate calculates, accident two dimension trajectory reconstruction and three dimensional process are reproduced the normalization data support are provided; Described car crass two-wheeled or tricycle casualty data memory function module adopt the Access database technology, utilize the VC++6.0 development platform to set up accident inspection of the scene of a crime data warehouse, are used to store normalization and check the scene of the accident prospecting data of handling;
Described automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem comprises four modules: fall down to the ground slippage dynamics calculation module, track iterative fitting computing module of dynamics calculation module, two-wheeled or tricycle behind the wheel that becomes more meticulous-ground mechanics module, car crass two-wheeled or the tricycle; The described wheel that becomes more meticulous-ground mechanics module adopts the G.Gim tire theoretical mechanics Model Calculation ground with big side drift angle motion fitness to face the acting force of tire; Dynamics calculation mould behind described car crass two-wheeled or the tricycle, bump the center of impact position of two-wheeled or tricycle, the ground that calculates acting force according to automobile in the face of wheel, adopt 5 quality, 15 degree of freedom dynamics of vehicle computing modules, calculate 6DOF linear velocity value and the magnitude of angular velocity of each moment in the motor racing of collision back; Described two-wheeled or the tricycle slippage dynamics calculation module that falls down to the ground, bump the scene of the accident prospecting data of two-wheeled or tricycle center of impact position, two-wheeled or normalizeds such as tricycle ground vestige, two-wheeled or the final stop position of tricycle according to automobile, use the equivalent impact velocity translation method of ground contact surface rubbing contact Mechanics Calculation method, conservation of energy principle, calculate two-wheeled or tricycle 6DOF linear velocity value and the magnitude of angular velocity after collision; Described track iterative fitting computing module, according to vehicle collision center, automobile, two-wheeled or tricycle and final stop position of occupant and attitude, iterative computation obtains amounts of exercise such as the systemic velocity of moment after automobile and two-wheeled or the tricycle impact effect and yaw velocity; Described track iterative fitting computing module is according to automobile and two-wheeled or tricycle center of impact position, automobile, final stop position of two-wheeled or tricycle and occupant thereof and attitude, use the vehicle 5 quality 15 degree of freedom dynamics of vehicle computing modules and the wheel-ground mechanics module that becomes more meticulous, get the center of impact position from the accident on-site land survey and through native system pretreatment check, use the differential digital computing method and try to achieve corresponding automobile earlier, two-wheeled or tricycle, two-wheeled or tricycle occupant calculate stop position and attitude, when the calculating amount of exercise is zero, utilize state of motion of vehicle iteration-convergence judgment models to two-wheeled or tricycle occupant, the calculating final position value of two-wheeled or tricycle and automobile, the stop position that obtains with the on-the-spot actual survey of collision compares, check its approximation ratio whether to reach predefined permissible error requirement, when error during greater than the error allowed band, moment motion value after one group of new collision of golden section principle iteration in the optimizing application method, repeat aforementioned calculation, till calculating final position value converges on actual measurement stop position value in the permissible error scope of setting; When calculating final position value is in the permissible error scope, according to up-to-date one group of collision back moment motion value, obtain 6DOF linear velocity and the magnitude of angular velocity of moment after automobile and two-wheeled or the tricycle impact effect, and two-wheeled or the dish out speed of tricycle occupant in collision process.
Described automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem described combination accident automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem are divided into central collision type accident, side impact type accident, rear-end collision type accident form with the accident form of two-wheeled or tricycle and car crass, calculate the speed of collision automobile of preceding moment according to principle of conservation of momentum before and after the collision.
Described automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem comprise two modules: automobile and two-wheeled or tricycle collision accident 5 quality, 15 degree of freedom dynamics of vehicle computing modules and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module; Described automobile and two-wheeled or tricycle collision accident 5 quality 15 degree of freedom dynamics of vehicle computing modules are used to calculate transient motion attitude and the motion value of accident vehicle under various stressed and various moving situations; Described automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module, be used to calculate the cruising vehicle speed value of vehicle before accident takes place, this module is according to the automobile and two-wheeled or the tricycle impact effect moment exercise parameter that calculate, the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant are for calculating target, with the braking distance value or the distance value that breaks away to lose control of one's vehicle before the definite vehicle collision of ground, scene of the accident vestige situation, travel route before automobile and two-wheeled or the tricycle collision is design conditions, after first calculating stops, utilize state of motion of vehicle iteration-convergence judgment models to the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant, automobile and two-wheeled or tricycle impact effect moment exercise parameter, with the on-the-spot actual survey of the collision vehicle and the occupant's stop position that obtain, automobile that calculates and two-wheeled or tricycle impact effect moment exercise parameter compare, and check its approximation ratio whether to reach predefined permissible error requirement.If error is also big, then the golden section principle in the optimizing application method changes iteration step length automatically, one group of new automobile of iteration and two-wheeled or tricycle cruising vehicle speed value, use 5 quality, 15 degree of freedom dynamics of vehicle computing modules, repeat aforementioned calculation, till calculating the final position value in the permissible error scope of setting and converging on the automobile and two-wheeled or tricycle impact effect moment exercise parameter that actual measurement stop position value and above-mentioned steps calculate; When calculating final position value was in the permissible error scope, automobile that up-to-date one group of iteration obtains and two-wheeled or tricycle cruising vehicle speed value were exactly desired value.
Described automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem comprise based on the automobile of CDC figure rule and two-wheeled or tricycle collision accident set of data X-Y scheme library module and automobile and two-wheeled or tricycle collision accident track location and graphics driver module; Described automobile and two-wheeled or tricycle collision accident set of data X-Y scheme library module based on CDC figure rule, check the scene of the accident prospecting data of disposing according to normalization, call the accident storage unit of automobile, two-wheeled or CDC figure rules such as tricycle, road structure in the X-Y scheme storehouse; Described automobile and two-wheeled or tricycle collision accident track location and graphics driver module, utilize X-Y scheme that automobile and two-wheeled or tricycle collision accident track state are carried out two-dimentional reconstruct, this module is read in the automobile from the scene of the accident automatically, two-wheeled or tricycle and occupant's thereof stop position, the initial travel route of vehicle, the center of impact position of automobile and two-wheeled or tricycle, the scenes of the accident such as ground tire print prospecting data, and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident the module automobile and two-wheeled or the tricycle impact effect moment exercise parameter automobile that calculate, the final stop position of two-wheeled or tricycle, two-wheeled or tricycle occupant's final stop position, use 5 quality, 15 degree of freedom dynamics of vehicle computation models, comprise automobile and two-wheeled or tricycle center-of-mass coordinate value by beginning and whole order computation automobile and two-wheeled or the transient posture of tricycle in each link and each period, position angle and transient motion amount comprise planar line speed and yaw velocity, under the prerequisite of the calculating step-length of setting, each instantaneous form and the unique point calculated on the step-length in preset time in good time demonstration accident automobile and two-wheeled or tricycle on the computer screen comprise automobile and two-wheeled or tricycle center of impact position, automobile and two-wheeled or tricycle barycenter and two-wheeled or tricycle occupant barycenter, thus the two-dimentional reconstruct effect that animation shows automobile and two-wheeled or tricycle collision accident track state continuously obtained.
Described automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem comprise based on the automobile of OpenGL graph technology and two-wheeled or tricycle collision accident set of data bottom 3 dimension perspective figure MBM and automobile and two-wheeled or driving of tricycle collision accident animation and trace display module; Described automobile and two-wheeled or tricycle collision accident set of data bottom 3 dimension perspective figure MBM based on the OpenGL graph technology are checked the scene of the accident prospecting data of disposing according to normalization, adopt OpenGL three-dimensional picture development technique to realize the bottom modeling of three-dimensional perspective figures such as accident vehicle, road structure, human body; Described automobile and two-wheeled or tricycle collision accident animation drive and the trace display module utilizes 3 dimension perspective figures that the three dimensional process reproduction module of automobile and two-wheeled or tricycle collision accident panorama overall process is read in automobile from the scene of the accident automatically, two-wheeled or tricycle and occupant's thereof stop position, the initial travel route of vehicle, the center of impact position of automobile and two-wheeled or tricycle, the scenes of the accident such as ground tire print prospecting data, and the automobile that calculates of automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module, the final stop position of two-wheeled or tricycle, two-wheeled or tricycle occupant's final stop position, automobile and two-wheeled or tricycle impact effect moment exercise parameter, on the basis of the bottom modeling of three-dimensional perspective figure, use 5 quality, 15 degree of freedom dynamics of vehicle computing modules, transient posture in each link of accident process and each period comprises vehicle center-of-mass coordinate value and vehicle body yaw by beginning and whole order computation vehicle, pitching, 3DOF angle values such as inclination and transient motion amount comprise 6DOF linear velocity and magnitude of angular velocity, and on screen, show simultaneously vehicle each instantaneous form on the preset time step-length in the field scene space coordinates in real time, wheel ground trace, the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant are obtained the 3-d reproduction effect that animation shows automobile and two-wheeled or tricycle collision accident panorama overall process state continuously.
Described automobile and two-wheeled or tricycle collision accident analog computation result export the descriptor system and comprise three modules: automobile and two-wheeled or tricycle collision accident principal character computational data table output module, automobile and two-wheeled or tricycle collision accident generating process summary output module and automobile and two-wheeled or tricycle collision accident case data memory module; Described automobile and two-wheeled or tricycle collision accident principal character computational data table output module, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect of check disposing according to normalization moment accident vehicle the 6DOF linear velocity and the road speed of angular velocity, automobile and two-wheeled or tricycle, the publicly-owned parameter the during generation of output accident, the parameter relevant and the parameter of being correlated with two-wheeled or tricycle with automobile; Described automobile and two-wheeled or tricycle collision accident generating process summary output module, according to scene of the accident prospecting data and accident track two dimension reconstruction result that the normalization check is disposed, the time that the output accident takes place, weather, condition of road surface, place where the accident occurred point, accident vehicle transport condition, calculating speed of operation, accident process text description and two-dimentional track are described; Described automobile and two-wheeled or tricycle collision accident case data memory module adopt the Access database technology, utilize the VC++6.0 development platform to set up accident case data warehouse, realize the accident case data that the storage analog computation generates.Use system of the present invention through analytical calculation and simulation reconstruction to automobile and two-wheeled or tricycle collision accident, its result explains out with the form of three-dimensional animation course replay, two-dimentional trajectory reconstruction, automobile and two-wheeled or tricycle collision accident principal character computational data table and accident generating process summary text, can be used as the evidence material that public security deparment and traffic police department carries out automobile and two-wheeled or technical appraisement of tricycle collision accident and accident responsibility identification.
Achievement in research of the present invention will change traditional poor efficiency, the road traffic accident analyzing and processing mode and the means that fall behind, have efficient, imagery, characteristics such as the sense of reality and transparency height, identify and the technology content of handling effectively improving traffic hazard, make its Analysis and Identification result be subjected to vehicle supervision department easily, accident is identified unit, accident litigant's height approval, play and distinguish responsibility, avoid intensifying the contradictions, reduce social labile factor, promote the vital role such as harmony operation of social life, the evaluation that impels China's road traffic accident is to having more science, accuracy and authoritative development.The present invention can be adopted by road traffic accident authentication process department, scientific research institutions, automobile enterprise, insurance company and external colleague, has tangible industry general character and public and social interest's property.
Generally, the field investigation of real road collision accident and the collision speed data all inaccurate, should not be used for verifying the correctness of analytical Calculation model.Accurately the full scale vehicle collision experimental data under the controlled condition and test findings have been carried out the comparison checking to the simulation reconstruction system at one group in the present invention.Under given corresponding design conditions, the average relative error value of the analytical Calculation collision speed of host computer model is 5.21%, and maximum relative error is 11.5%.The simulation reconstruction result and the test findings of collision back vehicle movement track and stop position are identical substantially.
Description of drawings
Fig. 1 is automobile and two-wheeled or tricycle crash analysis calculating and simulation reconstruction system chart;
Fig. 2 is automobile and two-wheeled or on-the-spot master data typing of tricycle collision accident and storage subsystem data flowchart;
Fig. 3 is automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem system data flowchart;
Fig. 4 is automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem data flowchart;
Fig. 5 is automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem data flowchart;
Fig. 6 is automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem data flowchart;
Fig. 7 is automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem data flowchart;
Fig. 8 exports descriptor system data flow process figure for automobile and two-wheeled or tricycle collision accident analog computation result
Fig. 9 is an embodiments of the invention accident essential information data input dialogue window;
Figure 10 is provided with dialog box for the main structure parameters of embodiments of the invention accident vehicle;
Figure 11 is provided with dialog box for embodiments of the invention scene of the accident road structure;
Figure 12 is embodiments of the invention accident point of impingement vehicle location and stop vehicle position data input dialogue window;
Figure 13 is provided with dialog box for the motion vestige point of embodiments of the invention accident vehicle before collision;
Figure 14 is provided with dialog box for embodiments of the invention automotive wheel state;
Figure 15 is an embodiments of the invention accident speed of a motor vehicle result of calculation;
Figure 16 is that embodiments of the invention accident three dimensional process is reproduced;
Figure 17 is an embodiments of the invention accident two dimension trajectory reconstruction;
Figure 18 is an embodiments of the invention speed of a motor vehicle computational data table;
Figure 19 describes for the embodiments of the invention accident process.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment has provided concrete operating process and detailed embodiment being to implement under the prerequisite with the technical solution of the present invention, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present invention includes seven subsystems: on-the-spot master data typing of (1) automobile and two-wheeled or tricycle collision accident and storage subsystem, (2) automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem, (3) automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem, (4) automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, (5) automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem, (6) automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem, (7) automobile and two-wheeled or tricycle collision accident analog computation result export the descriptor system.Utilize the human-computer interaction interface of system of the present invention, can realize that automobile and two-wheeled or tricycle collision accident inspection of the scene of a crime data are read in storage, accident vehicle sport dynamics calculation of parameter, accident two dimension trajectory reconstruction, three dimensional process reproduction, automobile and two-wheeled or the main computational data table of tricycle collision accident is exported and the accident generating process is sketched interactive operations such as text output.
The realization design proposal and the execution sequence of each main functional modules of native system are:
(1) referring to Fig. 2, on-the-spot master data typing of automobile and two-wheeled or tricycle collision accident and storage subsystem are used to realize that the on-the-spot master data typing of automobile and two-wheeled or tricycle collision accident, data normalization are handled, unique point is checked, the input data storage function.Data normalization mainly is that the typing parameter is carried out standardization, eliminates the difference of the dimension and the order of magnitude.This subsystem comprises two functional modules: automobile and two-wheeled or the input of tricycle collision accident inspection of the scene of a crime data and normalization module and automobile and two-wheeled or tricycle collision accident data memory module.
A) input of automobile and two-wheeled or tricycle collision accident inspection of the scene of a crime data and normalization module, the scene of the accident is investigated on the spot the scene of the accident road structure of acquisition according to the traffic police, hit two-wheeled or tricycle structure, the vehicle main structure parameters, performance parameter and loading conditions, accident car crass injury mark, ground, scene of the accident vestige, automobile and two-wheeled or tricycle center of impact landmark locations, scene of the accident master datas such as automobile and two-wheeled or the final stop position of tricycle, finishing automobile and two-wheeled or tricycle collision accident inspection of the scene of a crime data typing and position of collision data checks, common parameter loading and the pre-service of track characteristic point etc. are that follow-up co simulate calculates, accident two dimension trajectory reconstruction and three dimensional process are reproduced the normalization data support are provided.
B) car crass two-wheeled or tricycle casualty data memory function module are used to store normalization and check the scene of the accident prospecting data of handling; Adopt the Access database technology, utilize the VC++6.0 development platform to set up accident inspection of the scene of a crime data warehouse.
(2) referring to Fig. 3, automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem, according to the scenes of the accident such as ground, scene of the accident vestige, automobile and two-wheeled after the normalized or tricycle center of impact position and attitude, the final stop position of vehicle and attitude prospectings data, 6DOF linear velocity and magnitude of angular velocity after reverse 6DOF linear velocity of trying to achieve the automobile of moment after automobile and two-wheeled or the tricycle impact effect and magnitude of angular velocity, two-wheeled or tricycle collide.This subsystem comprises four modules: fall down to the ground slippage dynamics calculation module, track iterative fitting computing module of dynamics calculation module, two-wheeled or tricycle behind the wheel that becomes more meticulous-ground mechanics module, car crass two-wheeled or the tricycle.
A) wheel-ground mechanics module that becomes more meticulous, when accident vehicle under the collision impact inertia effect, stop at last until vehicle from impact effect end moment " free movement ", collision vehicle only is subjected to the effect of gravity and wheel-ground force during this, and air effect power can be ignored.Tire-ground force calculating is relevant with tyre slip angle, tire characteristics and vertical load, and this module adopts the G.Gim tire theoretical mechanics Model Calculation ground with big side drift angle motion fitness to face the acting force of tire.(G.Gim tire theoretical mechanics model concrete formula is referring to Wei Lang. be used for the tire model analysis of collision accident dynamics of vehicle simulation. and Xian Road Communication Univ.'s journal, 1999.2 (1))
B) dynamics calculation module behind car crass two-wheeled or the tricycle, this module is mainly bumped the center of impact position of two-wheeled or tricycle, the ground that the calculates acting force in the face of wheel according to automobile, adopt 5 quality, 15 degree of freedom dynamics of vehicle computing modules, calculate 6DOF linear velocity value and the magnitude of angular velocity of each moment in collision back automobile (freedom) motion.
5 quality, 15 degree of freedom dynamics of vehicle computing modules are used to calculate transient motion attitude and the motion value of accident vehicle under various stressed and various moving situations.Specifically comprise: automobile body quality (automobile spring carried mass) 6DOF is (in space coordinates, respectively along 3 linear velocity of X, Y, Z direction and the inclination campaign of rotating around X-axis, the luffing of rotating around Y-axis and around the weaving of Z axle rotation), 4 wheel independent mass (automobile spring carried mass) vertical movement and the rolling movement that are had, and front-wheel on average turns to (angle) motion.
C) two-wheeled or the tricycle slippage dynamics calculation module that falls down to the ground, bump the scene of the accident prospecting data of two-wheeled or tricycle center of impact position, two-wheeled or normalizeds such as tricycle ground vestige, two-wheeled or the final stop position of tricycle according to automobile, use the equivalent impact velocity translation method of ground contact surface rubbing contact Mechanics Calculation method, conservation of energy principle, calculate two-wheeled or tricycle 6DOF linear velocity value and the magnitude of angular velocity after collision.
1. in the collision accident of motorcycle (or electric motor car) and automobile, the motion of occupant and motorcycle is regarded as two dimension, the motion of motorcycle has three degree of freedom, and occupant's motion has 7 degree of freedom.In two dimension collision sport dynamics model, motorcycle integral body is regarded as rigid motion (only impact effect is instantaneous anterior local deformation arranged), three freedoms of motion are respectively its directions X translation motion in earth axes, the translation motion of Y direction and rotatablely moving around its barycenter.The degree of freedom of motorcycle passenger motion is 7: the whole barycenter of occupant rotatablely moves around its barycenter along translation motion, the trunk of earth axes directions X and Y direction; Arm and legs and feet are seen as 2 leverages respectively, and the mass concentration of each leverage is in the barycenter place of rod member, respectively around the gyration of occupant's trunk barycenter.Can list two groups of equations of motion to motorcycle and occupant by analyzing.But because two groups of equations of motion of motorcycle and occupant are not independent, should add certain part of reflection motorcycle passenger and the equation of constraint of motorcycle generation convected motion, thereby two groups of equations of motion of simultaneous solution are found the solution the dish out speed of motorcycle passenger in collision process.
2. in the collision accident of bicycle and automobile, bicycle can be divided into the motion process of car crass contact, free flight and slippage three phases.When bumping, bicycle contacts with automobile, and under the effect of collision momentum, bicycle lower limb of passenger and bicycle are to upthrow, bicycle occupant upper body part is tumbled and is swung to automotive hood, and bicycle and occupant move forward to final stop position with the form of sliding or roll respectively then.Begin to be defined as respectively bicycle and bicycle occupant's throwing distance to the distance of bicycle and the last rest position of occupant from collision.In accident was calculated, bicycle and bicycle occupant's throwing was apart from obtaining from the accident on-site land survey.For accident being carried out the influence of introducing bicycle in computational analysis chamber, introduced the notion of equivalent throwing apart from Ld to bicycle occupant motion.It is defined as:
In the formula,
With
It is respectively the throwing distance of bicycle occupant and bicycle;
With
It is respectively their quality coefficient.
Throw distance according to equivalent, adopt power conservation principle and conservation of energy principle, calculate bicycle occupant's the speed of dishing out.
D) track iterative fitting computing module, can be by vehicle collision center, automobile, two-wheeled or tricycle and final stop position of occupant and attitude, iterative computation obtains amounts of exercise such as the systemic velocity of moment after automobile and two-wheeled or the tricycle impact effect and yaw velocity.
Track iterative fitting computing module, according to automobile and two-wheeled or tricycle center of impact position, automobile, final stop position of two-wheeled or tricycle and occupant thereof and attitude, use the vehicle 5 quality 15 degree of freedom dynamics of vehicle computing modules and the wheel-ground mechanics module that becomes more meticulous, get the center of impact position from accident on-site land survey (and through native system pretreatment check), use the differential digital computing method and try to achieve corresponding automobile earlier, two-wheeled or tricycle, two-wheeled or tricycle occupant calculate stop position and attitude, when the calculating amount of exercise is zero, utilize state of motion of vehicle iteration-convergence judgment models to two-wheeled or tricycle occupant, the calculating final position value of two-wheeled or tricycle and automobile, the stop position that obtains with the on-the-spot actual survey of collision compares, and checks its approximation ratio whether to reach predefined permissible error requirement.If error is also big, then moment motion value after the one group of new collision of golden section principle iteration in the optimizing application method repeats aforementioned calculation, till calculating final position value converges on actual measurement stop position value in the permissible error scope of setting.When calculating final position value is in the permissible error scope, according to up-to-date one group of collision back moment motion value, obtain 6DOF linear velocity and the magnitude of angular velocity of moment after automobile and two-wheeled or the tricycle impact effect, and two-wheeled or the dish out speed of tricycle occupant in collision process.
Iteration-convergence judgment models:
In the formula:
Be the permissible error value of setting;
,
,
For from the moment after the collision to vehicle transient motion amount difierence equation function between the final stop position.X, Y are the position coordinate value (m) of vehicle barycenter in earth axes;
For car body longitudinal centre line and X axle angulation (counterclockwise for just, rad); V is speed (km/h),
Be angular velocity (rad/s); Subscript meaning: x, y are X axis, Y-component; The value of su for stopping to locate eventually; G is the collision back value of moment; A, B are the value of A car, B car; S is calculated value (or setting value).
The differential digital computing method:
(3) referring to Fig. 4, automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem, according to after the scene of the accident after normalized prospecting data, the accident vehicle impact effect moment vehicle 6DOF linear velocity value and magnitude of angular velocity, calculate automobile and two-wheeled or tricycle impact effect 6DOF linear velocity value and the magnitude of angular velocity of preceding moment.The accident form of two-wheeled or tricycle and car crass is divided into: central collision type accident, side impact type accident, rear-end collision type accident.If two wheeler is bicycle and since with car mass on differ greatly, motion state of automobile is not subjected to the influence of two wheeler quality substantially, automobile will bump with fixture after a segment distance is travelled in brake hard.Below the main influence of analyzing motorcycle to motion state of automobile.
1. central collision type accident vehicle impact moment amount of exercise computing method
In " central collision type " two-wheeled or the tricycle collision motor-vehicle accident, if motorcycle gross mass (comprising occupant's quality) is 150 ~ 300kg, when with quality be automobile generation right angle when collision more than 1 ton, automobile can be divided into two kinds of situation discussion in the forward and backward speed of collision: first kind is that the collision of motorcycle and automobile is that non-adhesion is collided, because automobile quality for motorcycle is a lot of greatly, can thinks and collide the speed approximate constant of forward and backward automobile on its travel direction.Second kind is because back automobile and the motion of fully integratedization of motorcycle are collided in the friction force effect, has according to the power law of conservation:
In the formula,
Be the travel speed (m/s) of automobile before colliding,
For colliding the component of back motor racing speed on former direct of travel;
Be the motorcycle gross mass;
Be the automobile gross mass.
Motorcycle also can be divided into two kinds of situation discussion in the speed before and after the collision: first kind of situation is that motorcycle and occupant are returned by bounce-back together with after the vehicle impact, has according to the power law of conservation:
, in the formula,
Impact velocity for motorcycle;
For colliding the component of back automobile on side direction;
,
,
Quality for motorcycle, motorcycle passenger, automobile.
After second kind of situation was motorcycle collision automobile, the occupant broke away from motorcycle and is jumped on the top cover of automobile by throwing, and have according to the power law of conservation this moment:
, in the formula,
Impact velocity for motorcycle;
For colliding the component of back automobile on side direction;
,
Quality for motorcycle, automobile.
2. side collision type accident vehicle impact moment amount of exercise computing method
Basic accident form is starved in car crass two-wheeled or tricycle side three kinds: center of impact the centroid position of two-wheeled or tricycle, center of impact after the centroid position of two-wheeled or tricycle, center of impact is before the centroid position of two-wheeled or tricycle.Under these three kinds of situations, the motion state of automobile is not subjected to the influence of two-wheeled or tricycle quality substantially, and the motion state of before can being considered as colliding and collision back automobile remains unchanged substantially.
3. the type that knocks into the back accident vehicle impact moment amount of exercise computing method
The type accident of knocking into the back is meant the traffic hazard form of the rear portion contact-impact of automobile and two-wheeled or tricycle.Have according to the power law of conservation:
,
For colliding back moment motorcycle speed;
The speed that is ejected for motorcycle passenger;
For before colliding moment automobile speed;
Car speed for moment behind the car crass;
,
,
Quality for motorcycle, motorcycle passenger, automobile.Can calculate the speed of collision automobile of preceding moment according to above-mentioned formula
(4) referring to Fig. 5, automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, according to braking distance (vestige) value before the vehicle collision of normalized, the scenes of the accident such as vehicle heading prospecting data, automobile and two-wheeled or tricycle impact effect vehicle 6DOF speed of preceding moment and angular velocity, adopt automobile and two-wheeled or tricycle collision accident 5 quality, 15 degree of freedom dynamics of vehicle computing modules and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module, calculate the proper motion state value (speed of operation) of accident vehicle before precarious position takes place.This subsystem comprises two modules: automobile and two-wheeled or tricycle collision accident 5 quality, 15 degree of freedom dynamics of vehicle computing modules and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module.
A) automobile and two-wheeled or tricycle collision accident 5 quality 15 degree of freedom dynamics of vehicle computing modules are used to calculate transient motion attitude and the motion value of accident vehicle under various stressed and various moving situations.Specifically comprise: automobile body quality (automobile spring carried mass) 6DOF is (in space coordinates, respectively along 3 linear velocity of X, Y, Z direction and the inclination campaign of rotating around X-axis, the luffing of rotating around Y-axis and around the weaving of Z axle rotation), 4 wheel independent mass (automobile spring carried mass) vertical movement and the rolling movement that are had, and front-wheel on average turns to (angle) motion.
B) automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module are used to calculate the cruising vehicle speed value of vehicle before accident takes place.Concrete scheme is: according to the automobile that calculates with prosthomere and two-wheeled or tricycle impact effect moment exercise parameter, the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant are for calculating target, with braking distance (vestige) value before the vehicle collision of determining according to ground, scene of the accident vestige situation or distance (vestige) value of breakking away to lose control of one's vehicle, travel route before automobile and two-wheeled or the tricycle collision is design conditions, after first calculating stops, utilize state of motion of vehicle iteration-convergence judgment models to the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant, automobile and two-wheeled or tricycle impact effect moment exercise parameter, with the on-the-spot actual survey of the collision vehicle and the occupant's stop position that obtain, automobile that above-mentioned steps calculates and two-wheeled or tricycle impact effect moment exercise parameter compare, and check its approximation ratio whether to reach predefined permissible error requirement.If error is also big, then the golden section principle in the optimizing application method changes iteration step length automatically, one group of new automobile of iteration and two-wheeled or tricycle cruising vehicle speed value, use 5 quality, 15 degree of freedom dynamics of vehicle computing modules, repeat aforementioned calculation, till calculating the final position value in the permissible error scope of setting and converging on the automobile and two-wheeled or tricycle impact effect moment exercise parameter that actual measurement stop position value and above-mentioned steps calculate.When calculating final position value was in the permissible error scope, automobile that up-to-date one group of iteration obtains and two-wheeled or tricycle cruising vehicle speed value were exactly desired value.
(5) referring to Fig. 6, automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem, according to before the scene of the accident of normalized prospecting data, automobile and two-wheeled or the tricycle impact effect moment accident vehicle 6DOF linear velocity and angular velocity and vehicle normal row vehicle speed, the two-dimentional reconstruct of realization automobile and two-wheeled or tricycle collision accident track state.This subsystem comprises two functional modules: based on CDC(Visual C++ facility environment) automobile of figure rule and two-wheeled or the tricycle collision accident set of data (automobile, two-wheeled or tricycle, site road and environment) X-Y scheme library module and automobile and two-wheeled or tricycle collision accident track location and graphics driver module.In order to improve the degree of accuracy of calculating simulation in practical operation, the truth that the two-dimentional reconstruction result and the scene of the accident of native system can be collected contrasts, if accuracy reaches accuracy requirement, and then exportable co simulate result of calculation; If accuracy is not high, should substantially accurately under the prerequisite, suitably adjust scene of the accident basic input parameters and experience and infer parameter at assurance accident center of impact point, improve the accuracy of calculating simulation, reach computation optimization result's purpose.
A) based on CDC(Visual C++ facility environment) automobile and the two-wheeled or the tricycle collision accident set of data (vehicle, two-wheeled or tricycle, site road and environment) the X-Y scheme library module of figure rule, check the scene of the accident prospecting data of disposing according to normalization, call the accident storage unit of automobile, two-wheeled or CDC figure rules such as tricycle, road structure in the X-Y scheme storehouse.
B) automobile and two-wheeled or tricycle collision accident track location and graphics driver module realize utilizing X-Y scheme that automobile and two-wheeled or tricycle collision accident track state are carried out two-dimentional reconstruct.This module is read in the automobile from the scene of the accident automatically, two-wheeled or tricycle and occupant's thereof stop position, the initial travel route of vehicle, the center of impact position of automobile and two-wheeled or tricycle, the scenes of the accident such as ground tire print prospecting data, and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident the module automobile and two-wheeled or the tricycle impact effect moment exercise parameter automobile that calculate, the final stop position of two-wheeled or tricycle, two-wheeled or tricycle occupant's final stop position, use 5 quality, 15 degree of freedom dynamics of vehicle computation models (comprising tire-ground mechanical model), by beginning and whole order computation automobile and two-wheeled or tricycle transient posture (automobile and two-wheeled or tricycle center-of-mass coordinate value in each link and each period, the position angle) with transient motion amount (planar line speed and yaw velocity), getting enough little calculating step-length (in order to improve precision, be taken as 0.0002s in the book system-computed) prerequisite under, each instantaneous form and the unique point calculated on the step-length in preset time in good time demonstration accident automobile and two-wheeled or tricycle on the computer screen (comprise automobile and two-wheeled or tricycle center of impact position, automobile and two-wheeled or tricycle barycenter, two-wheeled or tricycle occupant barycenter), thus the two-dimentional reconstruct effect that animation shows automobile and two-wheeled or tricycle collision accident track state continuously obtained.
(6) referring to Fig. 7, automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect of check disposing according to normalization moment accident vehicle 6DOF linear velocity and angular velocity and road speed, the 3-d reproduction of realization vapour automobile and two-wheeled or tricycle collision accident panorama overall process state.This subsystem comprises two functional modules: based on automobile and two-wheeled or the tricycle collision accident set of data (vehicle, two-wheeled or tricycle, human body, site road and environment) bottom 3 dimension perspective figure MBM and automobile and two-wheeled or the driving of tricycle collision accident animation and the trace display module of OpenGL graph technology.In order to improve the degree of accuracy of calculating simulation in practical operation, the truth that the three dimensional process reproduction result and the scene of the accident of native system can be collected contrasts, if accuracy reaches accuracy requirement, and then exportable co simulate result of calculation; If accuracy is not high, should substantially accurately under the prerequisite, suitably adjust scene of the accident basic input parameters and experience and infer parameter at assurance accident center of impact, improve the accuracy of calculating simulation, reach computation optimization result's purpose
A) based on the automobile of OpenGL graph technology and two-wheeled or the tricycle collision accident set of data (vehicle, two-wheeled or tricycle, human body, site road and environment) bottom 3 dimension perspective figure MBM, check the scene of the accident prospecting data of disposing according to normalization, adopt OpenGL three-dimensional picture development technique to realize the bottom modeling of three-dimensional perspective figures such as accident vehicle, road structure, human body.
B) automobile and two-wheeled or tricycle collision accident animation drive and the trace display module, realize utilizing 3 dimension perspective figures that the three dimensional process of automobile and two-wheeled or tricycle collision accident panorama overall process is reproduced.This module is read in the automobile from the scene of the accident automatically, two-wheeled or tricycle and occupant's thereof stop position, the initial travel route of vehicle, the center of impact position of automobile and two-wheeled or tricycle, the scenes of the accident such as ground tire print prospecting data, and the automobile that calculates of automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module, the final stop position of two-wheeled or tricycle, two-wheeled or tricycle occupant's final stop position, automobile and two-wheeled or tricycle impact effect moment exercise parameter, on the basis of the bottom modeling of three-dimensional perspective figure, use 5 quality, 15 degree of freedom dynamics of vehicle computing modules, by beginning and whole order computation vehicle transient posture (vehicle center-of-mass coordinate value and vehicle body yaw in each link of accident process and each period, pitching, 3DOF angle values such as inclination) with transient motion amount (6DOF linear velocity and magnitude of angular velocity), and on screen, show simultaneously vehicle each instantaneous form (vehicle traveling direction on the preset time step-length in the field scene space coordinates in real time, two-wheeled or tricycle travel direction etc.), wheel ground trace, the final stop position of automobile, the final stop position of two (three) wheel cars, two-wheeled or the final stop position of tricycle occupant are obtained the 3-d reproduction effect that animation shows automobile and two-wheeled or tricycle collision accident panorama overall process state continuously.
(7) referring to Fig. 8, automobile and two-wheeled or tricycle collision accident analog computation result export the descriptor system, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect of check disposing according to normalization moment accident vehicle 6DOF linear velocity and the two-dimentional reconstruct of angular velocity, road speed and accident track, output vapour automobile and two-wheeled or tricycle collision accident feature calculation tables of data and accident generating process summary text, and the storage of realization accident case data.This subsystem comprises three modules: automobile and two-wheeled or tricycle collision accident principal character computational data table output module, automobile and two-wheeled or tricycle collision accident generating process summary output module and automobile and two-wheeled or tricycle collision accident case data memory module.
A) automobile and two-wheeled or tricycle collision accident principal character computational data table output module, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect of check disposing according to normalization moment accident vehicle the 6DOF linear velocity and the road speed of angular velocity, automobile and two-wheeled or tricycle, the publicly-owned parameter the during generation of output accident has: time, place, weather, pavement behavior etc.; The output parameter relevant with automobile has: tracing point, the point of impingement, position angle, halt, vehicle body position of collision, maximum deformation quantity before the license plate number, car mass, collision, bump preceding braking distance, the skidding distance of turning on one's side, turn on one's side angle, the average corner of steered wheel, wheel lock up state code etc.; The parameter that output is relevant with two-wheeled or tricycle has: position angle, occupant were by the point of the landing position after dishing out when position of collision, overturning direction, occupant fell out the last stop position in back, the last stop position of occupant on tracing point, the point of impingement, position angle, halt, the two wheeler before license plate number, two-wheeled or tricycle and people's gross mass, the collision, if two-wheeled or tricycle are motorcycle or electric bicycle, the speed of a motor vehicle of the speed of a motor vehicle in the time of also will export motorcycle or electric bicycle and take to brake, collision preceding moment.
B) automobile and two-wheeled or tricycle collision accident generating process summary output module, according to scene of the accident prospecting data and accident track two dimension reconstruction result that the normalization check is disposed, the time that the output accident takes place, weather, condition of road surface, place where the accident occurred point, accident vehicle transport condition, calculating speed of operation, accident process text description and 2 dimension tracks are described.
C) automobile and two-wheeled or tricycle collision accident case data memory module are used to store the accident case data that analog computation generates.Adopt the Access database technology, utilize the VC++6.0 development platform to set up accident case data warehouse.
Use system of the present invention through analytical calculation and simulation reconstruction to automobile and two-wheeled or tricycle collision accident, its result explains out with the form of three-dimensional animation course replay, two-dimentional trajectory reconstruction, automobile and two-wheeled or tricycle collision accident principal character computational data table and accident generating process summary text, can be used as the evidence material that public security deparment and traffic police department carries out automobile and two-wheeled or technical appraisement of tricycle collision accident and accident responsibility identification.
Following inventor provides the true case that reality takes place, the overall process of identifying by the whole traffic hazard that utilizes this analysis, simulation reconstruction system to be finished.
About 2010 08 month 19: 30 on the 16th, in Xi'an Xi Fenglu and wild goose ring highway section, southern side, Zhong Lu crossing, a heavy dump truck of Shan vapour board and a big positive board DY110ZK motor tricycle that travels from south to north that travels from south to north crashes.The scene of the accident is a highway road, and North and South direction is two-way 2 tracks, and the road surface beam overall is 9m.Fine day when accident takes place, dried bituminous pavement.
The analog computation result: the speed of a motor vehicle of vapour board heavy dump truck in Shan when the driver takes to brake is 44.8km/h, and the calculating collision speed is 42.7km/h.
Data input dialogue window operation step:
1. as shown in Figure 9, the operation native system is carried out [automobile bumps two-wheeled or tricycle accident] order, ejects [the basic condition text line dialog box when accident takes place] dialog box.According to the traffic police accident essential information data of acquisition are investigated on the spot in the scene of the accident, the basic condition when in each text box, requiring the input accident to take place according to field.
2. as shown in figure 10, after above-mentioned dialog box content input finishes, click [next step] button, eject [accident vehicle structural parameters dialog box] dialog box.According to the traffic police automobile and the two-wheeled or the tricycle structural parameters data of acquisition are investigated on the spot in the scene of the accident, the type code of the collision vehicle when foundation " type of vehicle code setting regulation " setting accident takes place in [type code] text box.
3. as shown in figure 11, after above-mentioned dialog box content input finishes, click [next step] button, eject [scene of the accident road structure] dialog box.According to the traffic police road structural parameter data of acquisition are investigated on the spot in the scene of the accident, input channel line structure information in dialog box.
4. as shown in figure 12, after above-mentioned dialog box content input finishes, click [next step] button, eject [accident point of impingement vehicle location and stop vehicle location dialog box] dialog box.According to the traffic police position of collision parameter and the ground trace detection data of acquisition are investigated on the spot in the scene of the accident, input automobile and two-wheeled or data such as tricycle position of collision point and last halt in dialog box.
Data inputs points for attention: for agricultural tricycle, during its collision and when stopping position coordinates should importing this car front-wheel position coordinates; If for colliding fixture combination accident again behind car crass two-wheeled or the tricycle, corresponding stop position is automobile and fixture impact moment point position in this dialog box; Rollover aftercarriage and ground coefficient of sliding friction recommendation are 0.35-0.65, and value is in proper order from low to high: concrete road surface, bituminous pavement, native stone road surface; When accident vehicle was semitrailer, aforementioned stop position vehicle heading angle was input as the position angle of trailer, and deviate is main car position angle and the azimuthal difference of trailer, the relative trailer of main car deviation angle when left avertence get on the occasion of.
5. as shown in figure 13, after above-mentioned dialog box content input finishes, click [next step] button, eject [accident vehicle movement locus point coordinate value dialog box before the collision] dialog box.According to the traffic police position of collision parameter and the ground trace detection data of acquisition are investigated on the spot in the scene of the accident, data such as the impact moment centroid position of input automobile and two-wheeled or tricycle and center of mass motion vestige point in dialog box.
Data input points for attention: when the road surface braking track was arranged, the 1st was that road surface braking track starting point is to the point between the accident impact moment vehicle center of mass point; The 2nd is road surface braking track starting point; The the 3rd and the 4th dot sequency is the vehicle driving trace center of mass point before the braking track starting point; When not having the road surface braking track, all dot sequency is the vehicle driving trace center of mass point before the impact moment vehicle center of mass point.
6. as shown in figure 14, after above-mentioned dialog box content input finishes, click [next step] button, eject [automotive wheel state dialog box] dialog box.According to the traffic police accident vehicle supplemental characteristic of acquisition is investigated on the spot in the scene of the accident, input wheel of vehicle state in dialog box.
Data inputs points for attention: the state of each wheel be divided into seized and do not have seized, when the car brakeing locking, wheel condition hurdle input 1; When vehicle does not have when seized, wheel condition hurdle input 0; Front wheel angle with the left steering angle be on the occasion of; Have only heavy goods vehicle after collision, to can be the steering manipulation transport condition.
7. after above-mentioned dialog box content input finishes, click [next step (determining)] button.The data input of the screen display scene of the accident finishes.
So far, the EO of automobile and two-wheeled or the analytical calculation of tricycle collision accident and the input of simulation reconstruction system dialog window data, but the data storage of executive subsystem and accident computing function.
The concrete interface operation step of automobile of the present invention and two-wheeled or tricycle collision accident analog computing system:
1. as shown in figure 15, click toolbar [accident calculating] button, carry out the collision movement Mechanics Calculation.
2. as shown in figure 16, click toolbar [3-d reproduction] button, realization accident three dimensional process is reproduced.
3. as shown in figure 17, click toolbar [two-dimentional reconstruct] button, realization accident two dimension trajectory reconstruction.
4. as shown in figure 18, click toolbar [tables of data output] button, realize the output of speed of a motor vehicle computational data table.
5. as shown in figure 19, click toolbar [process prescription] button, realize the accident process description.
Claims (8)
1. an automobile and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that; This computer system comprises at least:
On-the-spot master data typing of automobile and two-wheeled or tricycle collision accident and storage subsystem are used to realize that the on-the-spot master data typing of automobile and two-wheeled or tricycle collision accident, data normalization are handled, unique point is checked, the input data storage function;
Automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem, be used for according to the scenes of the accident such as ground, scene of the accident vestige, automobile and two-wheeled after the normalized or tricycle center of impact position and attitude, the final stop position of vehicle and attitude prospectings data 6DOF linear velocity and magnitude of angular velocity after reverse 6DOF linear velocity of trying to achieve the automobile of moment after automobile and two-wheeled or the tricycle impact effect and magnitude of angular velocity, two-wheeled or tricycle collide;
Automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem, be used for according to after the scene of the accident after normalized prospecting data, the accident vehicle impact effect moment vehicle 6DOF linear velocity value and magnitude of angular velocity, calculate automobile and two-wheeled or tricycle impact effect 6DOF linear velocity value and the magnitude of angular velocity of preceding moment;
Automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, according to before the scene of the accident such as braking distance or vestige value, vehicle heading prospecting data, automobile and two-wheeled or the tricycle impact effect before the vehicle collision of normalized moment vehicle 6DOF speed and angular velocity, calculate the cruising speed of a motor vehicle of accident vehicle before the precarious position generation;
Automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem, be used for according to before the scene of the accident of normalized prospecting data, automobile and two-wheeled or the tricycle impact effect moment accident vehicle 6DOF linear velocity and angular velocity and vehicle normal row vehicle speed, the two-dimentional reconstruct of realization automobile and two-wheeled or tricycle collision accident track state;
Automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect that is used for check disposing according to normalization moment accident vehicle 6DOF linear velocity and angular velocity and road speed, the 3-d reproduction of realization vapour automobile and two-wheeled or tricycle collision accident panorama overall process state;
Automobile and two-wheeled or tricycle collision accident analog computation result export the descriptor system, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect that is used for check disposing according to normalization moment accident vehicle 6DOF linear velocity and the two-dimentional reconstruct of angular velocity, road speed and accident track, output vapour automobile and two-wheeled or tricycle collision accident feature calculation tables of data and accident generating process summary text, and the storage of realization accident case data;
On-the-spot master data typing of described automobile and two-wheeled or tricycle collision accident and storage subsystem, automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem, automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem, automobile links to each other successively with two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, automobile links to each other with two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem with automobile with two-wheeled or tricycle collision accident track two dimension reconstruction subsystem with automobile respectively with two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem, and the while automobile is exported descriptor system with automobile with two-wheeled or tricycle collision accident analog computation result with two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem with automobile with two-wheeled or tricycle collision accident track two dimension reconstruction subsystem and linked to each other with storage subsystem with two-wheeled or the on-the-spot master data typing of tricycle collision accident with automobile.
2. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that: on-the-spot master data typing of described automobile and two-wheeled or tricycle collision accident and storage subsystem comprise two functional modules: automobile and two-wheeled or the input of tricycle collision accident inspection of the scene of a crime data and normalization module and automobile and two-wheeled or tricycle collision accident data memory module; Described automobile and two-wheeled or input of tricycle collision accident inspection of the scene of a crime data and normalization module, the scene of the accident is investigated on the spot the scene of the accident road structure of acquisition according to the traffic police, hit two-wheeled or tricycle structure, the vehicle main structure parameters, performance parameter and loading conditions, accident car crass injury mark, ground, scene of the accident vestige, automobile and two-wheeled or tricycle center of impact landmark locations, scene of the accident master datas such as automobile and two-wheeled or the final stop position of tricycle, finishing automobile and two-wheeled or tricycle collision accident inspection of the scene of a crime data typing and position of collision data checks, common parameter loads and the pre-service of track characteristic point, for follow-up co simulate calculates, accident two dimension trajectory reconstruction and three dimensional process are reproduced the normalization data support are provided; Described car crass two-wheeled or tricycle casualty data memory function module adopt the Access database technology, utilize the VC++6.0 development platform to set up accident inspection of the scene of a crime data warehouse, are used to store normalization and check the scene of the accident prospecting data of handling.
3. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that: described automobile and two-wheeled or tricycle collision back moment amount of exercise computing subsystem comprises four modules: fall down to the ground slippage dynamics calculation module, track iterative fitting computing module of dynamics calculation module, two-wheeled or tricycle behind the wheel that becomes more meticulous-ground mechanics module, car crass two-wheeled or the tricycle; The described wheel that becomes more meticulous-ground mechanics module adopts the G.Gim tire theoretical mechanics Model Calculation ground with big side drift angle motion fitness to face the acting force of tire; Dynamics calculation mould behind described car crass two-wheeled or the tricycle, bump the center of impact position of two-wheeled or tricycle, the ground that calculates acting force according to automobile in the face of wheel, adopt 5 quality, 15 degree of freedom dynamics of vehicle computing modules, calculate 6DOF linear velocity value and the magnitude of angular velocity of each moment in the motor racing of collision back; Described two-wheeled or the tricycle slippage dynamics calculation module that falls down to the ground, bump the scene of the accident prospecting data of two-wheeled or tricycle center of impact position, two-wheeled or normalizeds such as tricycle ground vestige, two-wheeled or the final stop position of tricycle according to automobile, use the equivalent impact velocity translation method of ground contact surface rubbing contact Mechanics Calculation method, conservation of energy principle, calculate two-wheeled or tricycle 6DOF linear velocity value and the magnitude of angular velocity after collision; Described track iterative fitting computing module, according to vehicle collision center, automobile, two-wheeled or tricycle and final stop position of occupant and attitude, iterative computation obtains amounts of exercise such as the systemic velocity of moment after automobile and two-wheeled or the tricycle impact effect and yaw velocity; Described track iterative fitting computing module is according to automobile and two-wheeled or tricycle center of impact position, automobile, final stop position of two-wheeled or tricycle and occupant thereof and attitude, use the vehicle 5 quality 15 degree of freedom dynamics of vehicle computing modules and the wheel-ground mechanics module that becomes more meticulous, get the center of impact position from the accident on-site land survey and through native system pretreatment check, use the differential digital computing method and try to achieve corresponding automobile earlier, two-wheeled or tricycle, two-wheeled or tricycle occupant calculate stop position and attitude, when the calculating amount of exercise is zero, utilize state of motion of vehicle iteration-convergence judgment models to two-wheeled or tricycle occupant, the calculating final position value of two-wheeled or tricycle and automobile, the stop position that obtains with the on-the-spot actual survey of collision compares, check its approximation ratio whether to reach predefined permissible error requirement, when error during greater than the error allowed band, moment motion value after one group of new collision of golden section principle iteration in the optimizing application method, repeat aforementioned calculation, till calculating final position value converges on actual measurement stop position value in the permissible error scope of setting; When calculating final position value is in the permissible error scope, according to up-to-date one group of collision back moment motion value, obtain 6DOF linear velocity and the magnitude of angular velocity of moment after automobile and two-wheeled or the tricycle impact effect, and two-wheeled or the dish out speed of tricycle occupant in collision process.
4. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system, it is characterized in that: described automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem described combination accident automobile and two-wheeled or tricycle impact moment amount of exercise computing subsystem are divided into central collision type accident, side impact type accident, rear-end collision type accident form with the accident form of two-wheeled or tricycle and car crass, calculate the speed of collision automobile of preceding moment according to principle of conservation of momentum before and after the collision.
5. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that: described automobile and two-wheeled or tricycle collision accident vehicle ' speed of a motor vehicle computing subsystem comprise two modules: automobile and two-wheeled or tricycle collision accident 5 quality, 15 degree of freedom dynamics of vehicle computing modules and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module; Described automobile and two-wheeled or tricycle collision accident 5 quality 15 degree of freedom dynamics of vehicle computing modules are used to calculate transient motion attitude and the motion value of accident vehicle under various stressed and various moving situations; Described automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module, be used to calculate the cruising vehicle speed value of vehicle before accident takes place, this module is according to the automobile and two-wheeled or the tricycle impact effect moment exercise parameter that calculate, the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant are for calculating target, with the braking distance value or the distance value that breaks away to lose control of one's vehicle before the definite vehicle collision of ground, scene of the accident vestige situation, travel route before automobile and two-wheeled or the tricycle collision is design conditions, after first calculating stops, utilize state of motion of vehicle iteration-convergence judgment models to the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant, automobile and two-wheeled or tricycle impact effect moment exercise parameter, with the on-the-spot actual survey of the collision vehicle and the occupant's stop position that obtain, automobile that calculates and two-wheeled or tricycle impact effect moment exercise parameter compare, and check its approximation ratio whether to reach predefined permissible error requirement;
If error is also big, then the golden section principle in the optimizing application method changes iteration step length automatically, one group of new automobile of iteration and two-wheeled or tricycle cruising vehicle speed value, use 5 quality, 15 degree of freedom dynamics of vehicle computing modules, repeat aforementioned calculation, till calculating the final position value in the permissible error scope of setting and converging on the automobile and two-wheeled or tricycle impact effect moment exercise parameter that actual measurement stop position value and above-mentioned steps calculate; When calculating final position value was in the permissible error scope, automobile that up-to-date one group of iteration obtains and two-wheeled or tricycle cruising vehicle speed value were exactly desired value.
6. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that: described automobile and two-wheeled or tricycle collision accident track two dimension reconstruction subsystem comprise based on the automobile of CDC figure rule and two-wheeled or tricycle collision accident set of data X-Y scheme library module and automobile and two-wheeled or tricycle collision accident track location and graphics driver module; Described automobile and two-wheeled or tricycle collision accident set of data X-Y scheme library module based on CDC figure rule, check the scene of the accident prospecting data of disposing according to normalization, call the accident storage unit of automobile, two-wheeled or CDC figure rules such as tricycle, road structure in the X-Y scheme storehouse; Described automobile and two-wheeled or tricycle collision accident track location and graphics driver module, utilize X-Y scheme that automobile and two-wheeled or tricycle collision accident track state are carried out two-dimentional reconstruct, this module is read in the automobile from the scene of the accident automatically, two-wheeled or tricycle and occupant's thereof stop position, the initial travel route of vehicle, the center of impact position of automobile and two-wheeled or tricycle, the scenes of the accident such as ground tire print prospecting data, and automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident the module automobile and two-wheeled or the tricycle impact effect moment exercise parameter automobile that calculate, the final stop position of two-wheeled or tricycle, two-wheeled or tricycle occupant's final stop position, use 5 quality, 15 degree of freedom dynamics of vehicle computation models, comprise automobile and two-wheeled or tricycle center-of-mass coordinate value by beginning and whole order computation automobile and two-wheeled or the transient posture of tricycle in each link and each period, position angle and transient motion amount comprise planar line speed and yaw velocity, under the prerequisite of the calculating step-length of setting, each instantaneous form and the unique point calculated on the step-length in preset time in good time demonstration accident automobile and two-wheeled or tricycle on the computer screen comprise automobile and two-wheeled or tricycle center of impact position, automobile and two-wheeled or tricycle barycenter and two-wheeled or tricycle occupant barycenter, thus the two-dimentional reconstruct effect that animation shows automobile and two-wheeled or tricycle collision accident track state continuously obtained.
7. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that: described automobile and two-wheeled or tricycle collision accident three-dimensional simulation playback subsystem comprise based on the automobile of OpenGL graph technology and two-wheeled or tricycle collision accident set of data bottom 3 dimension perspective figure MBM and automobile and two-wheeled or driving of tricycle collision accident animation and trace display module; Described automobile and two-wheeled or tricycle collision accident set of data bottom 3 dimension perspective figure MBM based on the OpenGL graph technology are checked the scene of the accident prospecting data of disposing according to normalization, adopt OpenGL three-dimensional picture development technique to realize the bottom modeling of three-dimensional perspective figures such as accident vehicle, road structure, human body; Described automobile and two-wheeled or tricycle collision accident animation drive and the trace display module utilizes 3 dimension perspective figures that the three dimensional process reproduction module of automobile and two-wheeled or tricycle collision accident panorama overall process is read in automobile from the scene of the accident automatically, two-wheeled or tricycle and occupant's thereof stop position, the initial travel route of vehicle, the center of impact position of automobile and two-wheeled or tricycle, the scenes of the accident such as ground tire print prospecting data, and the automobile that calculates of automobile and two-wheeled or the reverse echelon combination calculation of tricycle collision accident module, the final stop position of two-wheeled or tricycle, two-wheeled or tricycle occupant's final stop position, automobile and two-wheeled or tricycle impact effect moment exercise parameter, on the basis of the bottom modeling of three-dimensional perspective figure, use 5 quality, 15 degree of freedom dynamics of vehicle computing modules, transient posture in each link of accident process and each period comprises vehicle center-of-mass coordinate value and vehicle body yaw by beginning and whole order computation vehicle, pitching, 3DOF angle values such as inclination and transient motion amount comprise 6DOF linear velocity and magnitude of angular velocity, and on screen, show simultaneously vehicle each instantaneous form on the preset time step-length in the field scene space coordinates in real time, wheel ground trace, the final stop position of automobile, the final stop position of two-wheeled or tricycle, two-wheeled or the final stop position of tricycle occupant are obtained the 3-d reproduction effect that animation shows automobile and two-wheeled or tricycle collision accident panorama overall process state continuously.
8. automobile as claimed in claim 1 and two-wheeled or tricycle collision accident simulation reconstruction computer system is characterized in that: described automobile and two-wheeled or tricycle collision accident analog computation result export the descriptor system and comprise three modules: automobile and two-wheeled or tricycle collision accident principal character computational data table output module, automobile and two-wheeled or tricycle collision accident generating process summary output module and automobile and two-wheeled or tricycle collision accident case data memory module; Described automobile and two-wheeled or tricycle collision accident principal character computational data table output module, before the scene of the accident prospecting data, automobile and two-wheeled or the tricycle impact effect of check disposing according to normalization moment accident vehicle the 6DOF linear velocity and the road speed of angular velocity, automobile and two-wheeled or tricycle, the publicly-owned parameter the during generation of output accident, the parameter relevant and the parameter of being correlated with two-wheeled or tricycle with automobile; Described automobile and two-wheeled or tricycle collision accident generating process summary output module, according to scene of the accident prospecting data and accident track two dimension reconstruction result that the normalization check is disposed, the time that the output accident takes place, weather, condition of road surface, place where the accident occurred point, accident vehicle transport condition, calculating speed of operation, accident process text description and two-dimentional track are described; Described automobile and two-wheeled or tricycle collision accident case data memory module adopt the Access database technology, utilize the VC++6.0 development platform to set up accident case data warehouse, realize the accident case data that the storage analog computation generates.
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Application publication date: 20110427 |