CN114861335B

CN114861335B - Calibration method of automobile dynamics calculation model and related equipment

Info

Publication number: CN114861335B
Application number: CN202210808083.1A
Authority: CN
Inventors: 丁鼎; 韩广宇; 张永仁; 卢放; 赵永钊
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-10-21
Anticipated expiration: 2042-07-11
Also published as: CN114861335A

Abstract

The application discloses a calibration method of an automobile dynamics calculation model and related equipment. The method comprises the following steps: acquiring a component actual measurement load and a component simulation load based on a target load applied by a wheel center; performing first calibration on the preset automobile dynamics calculation model according to the component actual measurement load and the component simulation load to obtain a first calibrated automobile dynamics calculation model, wherein the first calibration is used for calibrating the preset automobile dynamics calculation model except the tire model; acquiring wheel center load actual measurement data and wheel center load simulation data based on the test yard characteristic road surface; and carrying out second calibration on the tire model of the preset automobile dynamics calculation model after the first calibration is finished according to the wheel center load actual measurement data and the wheel center load simulation data to obtain a target automobile dynamics model. The method for calibrating the automobile dynamic model, provided by the embodiment of the application, enables the calibration work to be more efficient and accurate, has important engineering significance, and can improve the accuracy of calibrating the automobile dynamic model.

Description

Calibration method of automobile dynamics calculation model and related equipment

Technical Field

The present disclosure relates to the field of automobile simulation, and more particularly, to a calibration method for an automobile dynamics calculation model and related devices.

Background

The automobile can perform strength durability simulation analysis work on parts in a research and development stage to predict the strength durability of a design scheme, so that structural design improvement is performed in a data stage, and the test verification period and the test cost of the automobile can be shortened. In the part strength endurance simulation analysis, the strength endurance load of the part is the most important input, and the precision of the strength endurance load directly determines the precision of the part strength endurance simulation. And the precision of the strength and durability load is ensured by the precision of a dynamic load calculation model of the automobile multi-body dynamics. At present, a plurality of commercial software can realize the establishment of an automobile multi-body dynamic load calculation model, but how to set model parameters of the automobile multi-body dynamic load calculation model can ensure that the precision of the strength durable load meets the use requirement on engineering is always a difficult point of industry. Because the parameters of the calculation model are numerous, a plurality of parameters have great influence on the precision of the strength and durability load of the automobile, and if the precision of the strength and durability load cannot meet the requirement, the precision of the calculation model cannot be improved by depending on engineering experience or manually adjusting the parameters of the model so as to meet the requirement of engineering use.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. The summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In order to improve the accuracy of the vehicle dynamics calculation model, in a first aspect, the present invention provides a calibration method of a vehicle dynamics calculation model, where the method includes:

acquiring a component actual measurement load and a component simulation load based on a target load applied by a wheel center;

performing first calibration on a preset automobile dynamics calculation model according to the component actual measurement load and the component simulation load to obtain a first calibrated automobile dynamics calculation model, wherein the first calibration is used for calibrating the preset automobile dynamics calculation model except the tire model;

acquiring wheel center load actual measurement data and wheel center load simulation data based on the test yard characteristic road surface;

and carrying out second calibration on the tire model of the preset automobile dynamics calculation model after the first calibration is finished according to the wheel center load actual measurement data and the wheel center load simulation data so as to obtain a target automobile dynamics model.

Optionally, the obtaining of the component actual measurement load and the component simulation load based on the target load applied by the wheel center includes:

acquiring the actual measurement load of the part measured by the automobile shaft coupling test bench test based on the target load applied to the wheel center;

and acquiring the part simulation load corresponding to the preset automobile dynamics calculation model under the condition that the target load is applied to the wheel center.

Optionally, the first calibration of the preset vehicle dynamics calculation model according to the actual measurement load of the component and the simulation load of the component to obtain a first calibrated vehicle dynamics calculation model includes:

acquiring a first load root mean square error of the actual measurement load of the component and the simulation load of the component;

and under the condition that the first load root mean square error is larger than a first preset root mean square error, carrying out first calibration on the preset automobile dynamics calculation model to obtain a first calibrated automobile dynamics calculation model.

Optionally, the first calibrating the preset vehicle dynamics calculation model to obtain a first calibrated vehicle dynamics calculation model includes:

under the condition that the first load root mean square error is larger than the first preset root mean square error, acquiring the model parameter sensitivity of the preset automobile dynamics calculation model;

and performing first calibration on the model parameters with the sensitivity greater than the first preset sensitivity by adopting a genetic algorithm to obtain a first calibrated automobile dynamics calculation model.

Optionally, the above-mentioned wheel center load measured data and wheel center load simulation data obtained based on the test yard characteristic road surface includes:

testing and obtaining the wheel center load actual measurement data on the characteristic road surface of the test yard based on the target vehicle;

and carrying out simulation calculation on the preset automobile dynamics calculation model completing the first calibration on the test yard characteristic road surface to obtain the wheel center load simulation data.

Optionally, the second calibrating the tire model of the preset vehicle dynamics calculation model completing the first calibrating according to the wheel center load actual measurement data and the wheel center load simulation data to obtain the target vehicle dynamics model includes:

acquiring a second load root mean square error of the wheel center load actual measurement data and the wheel center load simulation data;

and under the condition that the second load root mean square error is larger than a second preset root mean square error, performing second calibration on the tire model of the preset automobile dynamics calculation model subjected to the first calibration so as to obtain the second calibrated automobile dynamics calculation model.

Optionally, the second calibrating the tire model of the preset vehicle dynamics calculation model after the first calibrating is performed to obtain the second calibrated vehicle dynamics calculation model includes:

acquiring tire parameter sensitivity;

and performing second calibration on the tire parameters with the tire parameter sensitivity greater than a second preset sensitivity by adopting a genetic algorithm to obtain a target automobile dynamics calculation model.

In a second aspect, the present invention further provides a calibration apparatus for a vehicle dynamics calculation model, including:

a first acquisition unit configured to acquire a component actual measurement load and a component simulation load based on a target load applied by a wheel center;

the first calibration unit is used for carrying out first calibration on a preset automobile dynamics calculation model according to the component actual measurement load and the component simulation load, wherein the first calibration is used for calibrating the preset automobile dynamics calculation model except the tire model;

the second acquisition unit is used for acquiring wheel center load actual measurement data and wheel center load simulation data based on the test yard characteristic road surface;

and the second calibration unit is used for carrying out second calibration on the tire model of the preset automobile dynamics calculation model after the first calibration is finished according to the wheel center load actual measurement data and the wheel center load simulation data so as to obtain a target automobile dynamics model.

In a third aspect, an electronic device includes: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the method for calibrating a computational model of vehicle dynamics as described in any one of the first aspect above when the computer program stored in the memory is executed.

In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the calibration method for the vehicle dynamics calculation model according to any one of the first aspect.

To sum up, the calibration method for the vehicle dynamics calculation model provided by the embodiment of the application comprises the following steps: acquiring a component actual measurement load and a component simulation load based on a target load applied by a wheel center; performing first calibration on a preset automobile dynamics calculation model according to the component actual measurement load and the component simulation load to obtain a first calibrated automobile dynamics calculation model, wherein the first calibration is used for calibrating the preset automobile dynamics calculation model except the tire model; acquiring wheel center load actual measurement data and wheel center load simulation data based on the test yard characteristic road surface; and carrying out second calibration on the tire model of the preset automobile dynamics calculation model after the first calibration is finished according to the wheel center load actual measurement data and the wheel center load simulation data so as to obtain a target automobile dynamics model. According to the automobile dynamics model calibration method provided by the embodiment of the application, calibration work is divided into two parts by means of the whole automobile shaft coupling test bed, and the preset automobile dynamics calculation model except the tire model and the model parameters of the tire are calibrated respectively, so that the calibration work is more efficient and accurate. According to the automobile multi-body dynamic load calculation model calibrated by the scheme, accurate strength durable load can be obtained, so that the accuracy of strength durable simulation input of parts is ensured, and the method has important engineering significance. The method for automatically calibrating the automobile dynamic model is provided, the workload of calibration work of the automobile multi-body dynamic load calculation model is greatly reduced, and the accuracy of calibration of the automobile dynamic model can be improved by the scheme.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic flowchart of a calibration method for an automotive dynamics calculation model according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a calibration apparatus of an automotive dynamics calculation model according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of an electronic device of a calibration method for an automotive dynamics calculation model according to an embodiment of the present application.

Detailed Description

According to the automobile dynamics model calibration method provided by the embodiment of the application, calibration work is divided into two parts by means of the whole automobile shaft coupling test bed, and the preset automobile dynamics calculation model except the tire model and the model parameters of the tire are calibrated respectively, so that the calibration work is more efficient and accurate. The automobile multi-body dynamic load calculation model calibrated according to the scheme can obtain accurate strength durable load, so that the accuracy of strength durable simulation input of parts is ensured, and the method has important engineering significance. The method for realizing the automatic calibration of the automobile dynamic model is provided, the workload of the calibration work of the automobile multi-body dynamic load calculation model is greatly reduced, and the accuracy of the calibration of the automobile dynamic model can be improved by the scheme.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

Referring to fig. 1, a schematic flow chart of a calibration method for an automotive dynamics calculation model provided in an embodiment of the present application may specifically include:

s110, acquiring a component actual measurement load and a component simulation load based on a target load applied by a wheel center;

illustratively, a measured measurement of the vehicle, i.e., a measured component load, is obtained by the entire axle coupling test stand based on a target load applied at the wheel center. And applying the same target load in a preset automobile dynamics calculation model, and acquiring the corresponding part simulation load. The target load comprises a force load signal, a torque load signal and a displacement load signal;

s120, performing first calibration on a preset automobile dynamics calculation model according to the component actual measurement load and the component simulation load, wherein the first calibration is used for calibrating the preset automobile dynamics calculation model except the tire model;

for example, a first calibration based on the component measured loads and the component simulated loads will be performed without consideration of a preset vehicle dynamics model of the vehicle tires. It will be appreciated that the first calibration is to calibrate other model parameters than the tire model parameters. It should be noted that the preset automotive multi-body dynamics calculation model may include a powertrain model, a front suspension model, a rear suspension model, a braking system model, a body system model, a steering system model, and an FTire tire model. The first calibration automobile dynamics calculation model preset automobile dynamics calculation model is a preset automobile multi-body dynamics model excluding a tire model. The first calibration of the model parameters of the preset automobile dynamics calculation model comprises the following steps: the numerical value of the hard point coordinate, the mass of the part, the barycenter coordinate of the part, the rotational inertia of the part, the spring stiffness, the damper damping, the stiffness and the damping of the elastic part, the clearance of the limiting block and the like.

S130, acquiring wheel center load actual measurement data and wheel center load simulation data based on the test yard characteristic road surface;

illustratively, the characteristic road surface of the test yard may include belgium, twisted, pebble, washboard, stone-strip, noise, resonance, etc., the wheel center load actual measurement data is obtained by a road test of the target vehicle on the characteristic road surface of the test yard, and the wheel center load simulation data is obtained by a simulation calculation of 3D digital data corresponding to the characteristic road surface of the test yard through a preset vehicle dynamics calculation model after a first calibration. The wheel center load measured data and wheel center load simulated data include each wheel center X, Y and forces and moments in the Z direction.

And S140, performing second calibration on the tire model of the preset automobile dynamics calculation model subjected to the first calibration according to the wheel center load actual measurement data and the wheel center load simulation data to obtain a target automobile dynamics model.

Illustratively, the tire model of the preset automobile dynamics calculation model which completes the first calibration is subjected to second calibration according to the wheel center load actual measurement data and the wheel center load simulation data, so that the error between the load simulation data of the tire model after calibration and the wheel center load actual measurement data is within an acceptable range, and the parameters of the tire model are optimized, thereby obtaining the target automobile dynamics model after the first calibration and the second calibration.

In summary, according to the method for calibrating the automobile dynamics model provided by the embodiment of the application, the calibration work is divided into two parts by virtue of the whole automobile shaft coupling test bed, and the calibration work is more efficient and accurate by respectively calibrating the preset automobile dynamics calculation model except the tire model and the model parameters of the tire. The automobile multi-body dynamic load calculation model calibrated according to the scheme can obtain accurate strength durable load, so that the accuracy of strength durable simulation input of parts is ensured, and the method has important engineering significance. The method for realizing the automatic calibration of the automobile dynamic model is provided, the workload of the calibration work of the automobile multi-body dynamic load calculation model is greatly reduced, and the accuracy of the calibration of the automobile dynamic model can be improved by the scheme.

In some examples, the obtaining of the component measured load and the component simulated load based on the target load applied by the wheel center includes:

Illustratively, measured data of the vehicle, i.e., measured loads of the components, are measured by a vehicle axle coupling test stand. It should be noted that, the entire vehicle axle coupling test bed: the method applies a road simulation test technology, adopts a shaft coupling mode, and simultaneously provides 6 degrees of freedom for each angle of a passenger car: the input of vertical, horizontal, lateral, camber, steering and braking realizes the force and displacement simulation drive of the test yard road load in a laboratory, reproduces more than 90% of damage of the road, and performs relatively quick and comprehensive examination on the whole chassis and the structural member of the vehicle body. And corresponding sensors are arranged on the measured automobile to acquire wheel center load signals and component measured loads corresponding to the automobile. The wheel center load signal of the automobile is obtained by arranging a wheel center six-component sensor on the wheel center of the automobile, acquiring the six-component load of the wheel center of the automobile and defining the six-component load signal as the wheel center load signal of the automobile.

The component loads of the vehicle are defined as follows: an acceleration sensor is arranged on the wheel center of the automobile, an acceleration sensor is arranged at the installation point of the shock absorber of the automobile, and the like, so that the acceleration load signal of the part of the automobile can be obtained. Strain gauge sensors are arranged on parts such as a two-force rod piece of an automobile, a ball pin of a part, a guide rod of a shock absorber, a spring and the like, and a strain signal is calibrated into a force signal through a drawing press machine, so that a part force load signal of the automobile can be obtained. A stay wire displacement sensor and the like are arranged between a body and a chassis swing arm of the automobile, so that a component displacement load signal of the automobile can be obtained.

The preset automobile multi-body dynamics calculation model can comprise a power assembly model, a front suspension model, a rear suspension model, a braking system model, a vehicle body system model, a steering system model and an FTire tire model. The first calibrated automobile dynamics calculation model is a preset automobile multi-body dynamics model without tire model calibration.

Respectively applying the target load to the wheel center of the test vehicle in the automobile shaft coupling test bed and the wheel center of the preset automobile dynamics calculation model, which specifically includes:

and A, the target load comprises a force load signal, a torque load signal and a displacement load signal. Applying X-direction force load signal to wheel center of automobile

: amplitude of

In a frequency range of

A white noise signal of (a); applying Y-direction force load signal to wheel center of automobile

: amplitude of

In a frequency range of

The white noise signal of (a); applying Z-direction load transfer signal to wheel center of automobile

: amplitude of

In a frequency range of

A white noise signal of (a); applying X-direction moment load signal to wheel center of automobile

: amplitude of

In a frequency range of

The white noise signal of (a); applying Y-direction moment load signal to wheel center of automobile

: amplitude of

In a frequency range of

A white noise signal of (a); applying Z-direction moment load signal to wheel center of automobile

: amplitude of

In a frequency range of

White noise signal of (2). On the axle coupling test bed of the automobile, the load signal defined above is applied to the wheel center of the automobile, and the signal sensor arranged in the above step is combinedThe component load signal set of the automobile can be obtained through testing

The expression is as follows:

wherein:

representing a set of component measured load signals;

、

、

representing a component measured load signal obtained by testing;

representing the total number of the measured load signals of the component obtained by the test.

B, applying the same target load in the step A to a preset automobile dynamics calculation model to calculate and obtain a part simulation load signal set of the automobile

The expression is as follows:

wherein:

representing a part simulation load signal set obtained by calculation;

、

、

representing the part simulation load signal of the automobile obtained by calculation;

the total number of the part simulation load signals of the automobile obtained by the test is represented.

In summary, according to the method for calibrating the automobile dynamics model provided by the embodiment of the application, the target load is applied to the wheel center, the influence of the automobile tire on the calibration of the automobile dynamics is isolated, and the preset automobile dynamics calculation model outside the tire can be calibrated well.

In some examples, the first calibrating the preset vehicle dynamics calculation model according to the measured component load and the simulated component load to obtain a first calibrated vehicle dynamics calculation model includes:

Illustratively, the set of measured loads of the component is obtained from measurements

And the simulated load set of the simulated component

By calculating the first load mean square root error

And has a first predetermined root mean square error

Compare if, if

If the calculation accuracy of the simulation load signal of the component meets the requirement of the preset accuracy, the preset automobile dynamics simulation model does not need to be calibrated firstly, and if the calculation accuracy of the simulation load signal of the component meets the requirement of the preset accuracy, the first calibration is not needed to be carried out on the preset automobile dynamics simulation model

If the calculation accuracy of the simulated load signal of the component does not meet the requirement of the preset accuracy, the preset automobile dynamics simulation model needs to be calibrated firstly.

It should be noted that, in the following description,

representing the simulated load signal curve of the part of the automobile obtained by solving calculation

Obtaining a part test load signal curve of the automobile corresponding to the corresponding test

The root mean square error function of;

representing a first pre-set root mean square error,

in summary, the method for calibrating the automobile dynamics model provided by the embodiment of the application evaluates the actual measurement load and the simulation load of the part of the automobile through the root-mean-square error, and does not perform the first calibration under the condition of meeting the error requirement, so that the workload of the calibration work of the automobile multi-body dynamics dynamic load calculation model can be greatly reduced.

In some examples, the first calibrating the preset vehicle dynamics calculation model to obtain a first calibrated vehicle dynamics calculation model includes:

Illustratively, if the first loading root mean square error is greater than the first predetermined root mean square error, i.e. the first loading root mean square error is greater than the first predetermined root mean square error

At this time, it is stated that the calculation accuracy of the component simulation load signal does not meet the requirement of the preset accuracy, the parameter sensitivity in the preset automobile dynamics calculation model needs to be obtained, and the model parameter with the model parameter sensitivity greater than that of the first preset sensitivity model is subjected to first calibration by adopting a genetic algorithm to obtain a first calibrated automobile dynamics calculation model. Wherein the model parameters include: the coordinate value of the hard point, the mass of the part, the mass center coordinate of the part, the rotational inertia of the part, the rigidity of the spring, the damping of the shock absorber, the rigidity and the damping of the elastic part, the clearance of the limiting block and the like.

The specific operation of performing the first calibration may include:

s210, if

If the load signal does not meet the requirement, the calculation accuracy of the load signal is judged to be not met; synchronously marking and reordering the part simulation load signals which do not meet the conditions, and defining the part simulation load signals as the load signals for improving the calculation precision by carrying out the first calibration of the parameters of the whole vehicle model subsequently, wherein the expression is as follows:

wherein:

representing a part simulation load signal set of the automobile, which is obtained by calculation and needs to be subjected to precision improvement;

to represent

Correspondingly testing and obtaining an obtained actual measurement load signal set of the automobile component;

、

、

to represent

Calculating and obtaining a part simulation load signal of the automobile in the set;

、

、

to represent

And acquiring the obtained actual measurement load signal of the part of the automobile by the test in the set.

Representing the total number of load signals.

S220, screening model parameters of a preset automobile multi-body dynamic load calculation model except the tire model: carrying out detailed review on the combination of the model parameters and the previous parameter test results; for some model parameters, because the reliability of the test result obtained by the test is high, the model parameters do not participate in calibration optimization in the following process, for example: model parameters such as component mass, spring stiffness and the like; the sensitivity can be determined for other model parameters

The expression of (a) is as follows:

wherein:

expressing an absolute value function;

a value representing the sensitivity of a model parameter to a load signal of a component of the vehicle;

、

、

a larger value, a smaller value and a middle value representing the setting of the model parameters;

、

、

the parameters of the representation model are respectively

、

And a component load signal of the automobile obtained by the calculation under P0.

S230, if the sensitivity of the model parameters to the load signals needing to be improved in calculation precision is less than or equal to a first preset sensitivity

If the parameter is not sensitive to the load signal, the parameter does not participate in the subsequent calibration calculation.

S240, if the sensitivity of the model parameters to the load signals needing to be improved in calculation accuracy is larger than a first preset sensitivity

It is said that the parameter is sensitive to the load signal and if the sensitivity of the model parameter to the load signal that has reached computational accuracy is less than a threshold constant

Then the model parameters need to be calculated for the first calibration.

S250, first calibration: defining parameter sets of preset automobile multi-body dynamic load calculation models except tire models after model parameter screening is finished

The expression is as follows:

wherein:

representing a parameter set of a preset automobile multi-body dynamic load calculation model except the tire model after model parameter screening is completed;

、

、

parameters representing a computational model;

representing the total number of computational model parameters.

And for parameter sets to

Sets a value range, whose expression is as follows:

wherein:

a parameter representing a predetermined automotive multi-body dynamic load calculation model other than the tire model;

、

and expressing the minimum constant and the maximum constant of the parameters, and taking the value as the maximum value if the data is greater than the maximum value in subsequent iterative calculation, and taking the value as the minimum value if the data is less than the minimum value. Step S250 is embodiedStep S2501 to step S2508 may also be included.

S2501, setting the maximum iteration number as

An iteration objective function vector F and an iteration termination error vector

The expression formula is as follows:

the iteration termination condition is as follows:

，

representing an iterative objective function vector;

、

、

the method comprises the steps of calculating a part load signal curve of an automobile and obtaining a root mean square error value of the part load signal curve of the automobile through corresponding test;

representing an iteration termination error vector;

、

、

representing an iteration end error vector

Each column of data value parameter constants.

S2502, model parameter set

Within the element value range of (2), randomly producing K model parameter sets

Generating collections

Any individual in set SK

Corresponding objective function vector

The expression formula is as follows:

wherein:

representing a set of model parameters

A set of (a);

representing a set of model parameters

The number of (2) is summed up;

representing a model parameter set of a preset automobile multi-body dynamic load calculation model except a tire model;

、

、

representing a set of model parameters

Parameter data of (3);

representing model parameters of

A time-corresponding objective function vector;

、

、

representing model parameters

The first, e, and F columns of values.

Will be assembled

Each model parameter set in (1)

The parameter values are converted from decimal values to binary values.

S2503, sorting the initially generated set SK aiming at the non-dominance solution, and putting the non-dominance solution into an external set SW, wherein the specific steps are as follows:

(1) For individuals within set SK

Wherein

；

(2) For all other individuals

，

And is

Comparing individuals

And individuals

Dominant and non-dominant relationships between;

(3) If none exists

Corresponding objective function vector

Each column of values of (a) is less than unity

Corresponding objective function vector

Each column value of (1) is marked

Is a non-dominant solution; if an individual is present

Corresponding objective function vector

Each column of values of (1) is less than unity

Corresponding objective function vector

Each column value of (1) is recorded synchronously

Is administered once.

(4) Order to

And (3) turning to the step (2) until all non-dominated solutions are found, and putting the non-dominated solutions into the outer set SW.

S2504, setting a selection algorithm for the set SK, specifically including the following steps:

defining any individual in set SK

Fitness function of

The expression formula is as follows:

wherein:

representing an individual

A fitness function of;

means when the individual is

In the case of a non-dominant solution,

(ii) a When the individual is

To govern the solution, take

= number of times dominated +1;

represents a positive constant parameter; e denotes a natural constant.

Selection of individuals in set SK by roulette

Individual, individual

Probability of being selected

The expression formula is as follows:

wherein:

representing an individual

Probability of being selected;

representing an individual

A fitness function of;

the fitness function representing all individuals in the set SK totals up.

S2505, setting a cross algorithm aiming at the set SK: aiming at the individuals who have finished the selection algorithm in the previous step, randomly selecting the individuals to participate in the cross operation,random probability set as

The expression formula is as follows:

wherein:

、

respectively represent the number of times of the iteration

And t is the random probability of participating in the cross operation

、

(ii) a t represents the current iteration number; t represents the maximum number of iterations;

represents a constant parameter; random probability of participating in cross operation in first iteration

Is a constant set initially;

the calculation rule of the cross operation is as follows: individuals

And individual

Are all randomly selected individuals, and are aimed at

Corresponding binary data and individuals

The corresponding binary data are exchanged at random points to generate new individuals

And new individuals

。

S2506, setting a variation algorithm for the set SK, specifically including the following steps: aiming at the individuals who have finished the cross algorithm in the previous step, randomly selecting the individuals to participate in the cross operation, and setting the random probability as

The expression formula is as follows:

wherein:

、

respectively represent the number of times of the iteration

T is a random probability of participating in mutation operation

、

(ii) a t represents the current iteration number; t represents the maximum number of iterations; random participation in variation operation in first iterationProbability of

Is a constant set initially;

the calculation rule of the variation operation is as follows: individuals

For randomly selected individuals, for the individuals

The corresponding binary data is inverted at random point positions (namely 0 is changed to 1,1 is changed to 0), so that new individuals are generated

。

S2507, after the set SK completes the selection algorithm, the cross algorithm and the mutation algorithm, the set SK is updated to be a new set

(ii) a Set after updating

And external set

Taking a union set, then carrying out non-dominated sorting on the union set, and updating to generate a new external set

；

S2508, if the new external set is generated by updating

If the iteration termination condition is satisfied, the external set is output

Namely, the calibrated parameters of the whole vehicle model except the tire model are obtained; such asGenerating a new external set of fruit updates

If the iteration termination condition is not met, updating to generate a new external set

As a new set SK, the newly produced set SK is calculated again according to the steps from S2504 to S2507 until the maximum iteration number reaches the set maximum iteration number

Or an iteration termination condition is satisfied.

In summary, the method for calibrating the automotive dynamics model provided by the embodiment of the application evaluates the actual measurement load and the simulation load of the component of the vehicle through the root mean square error, evaluates the sensitivity of the parameter of the component model under the condition that the error requirement is not met, and calibrates the model parameter with higher sensitivity by adopting the genetic algorithm, so that the workload of the calibration work of the automotive multi-body dynamics dynamic load calculation model can be greatly reduced.

In some examples, the obtaining of the wheel center load actual measurement data and the wheel center load simulation data based on the test yard characteristic road surface includes:

Illustratively, the measured wheel center load data is obtained by testing a target vehicle on a test yard characteristic road surface, the test yard characteristic road side may include belgium, twisted, pebble, washboard, stone, noise, resonance, and the like, and the measured wheel center load data may include: the front wheel comprises a left front wheel center X-direction force/Y-direction force/Z-direction force/X-direction moment/Y-direction moment/Z-direction moment, a right front wheel center X-direction force/Y-direction force/Z-direction force/X-direction moment/Y-direction moment/Z-direction moment, a left rear wheel center X-direction force/Y-direction force/Z-direction moment/Y-direction moment/Z-direction moment, and a right rear wheel center X-direction force/Y-direction force/Z-direction force/X-direction moment/Y-direction moment/Z-direction moment.

The wheel center load simulation data is obtained by performing simulation calculation on 3D digital data corresponding to the test yard characteristic road surface by using a first calibrated preset automobile dynamics calculation model, and the wheel center load simulation data comprises the following steps: the front wheel comprises a left front wheel center X-direction force/Y-direction force/Z-direction force/X-direction moment/Y-direction moment/Z-direction moment, a right front wheel center X-direction force/Y-direction force/Z-direction force/X-direction moment/Y-direction moment/Z-direction moment, a left rear wheel center X-direction force/Y-direction force/Z-direction moment/Y-direction moment/Z-direction moment, and a right rear wheel center X-direction force/Y-direction force/Z-direction force/X-direction moment/Y-direction moment/Z-direction moment.

In summary, according to the method for calibrating the automobile dynamics model provided by the embodiment of the application, the second calibration is performed on the tire model of the preset automobile dynamics calculation model after the first calibration is completed, and the target automobile dynamics calculation model after the second calibration is completed is higher in precision.

In some examples, the second calibrating the tire model of the preset vehicle dynamics calculation model with the first calibration completed according to the wheel center load measured data and the wheel center load simulation data to obtain the target vehicle dynamics model includes:

and under the condition that the second load root mean square error is larger than a second preset root mean square error, performing second calibration on the tire model of the preset automobile dynamics calculation model after the first calibration is completed to obtain the second calibrated automobile dynamics calculation model.

Illustratively, the wheel center measured load signals of the automobile are respectively obtained through testing

And calculating to obtain a wheel center simulation load signal set of the automobile

For comparison, the expression formula is as follows:

wherein:

、

respectively representing forces and moments in three directions of a wheel center X, Y and Z of each wheel, which are obtained by solving, calculating and simulating and obtained by test actual measurement;

representing the curve of the actual measurement load signal of the wheel center of the automobile obtained by solving and calculating

Obtaining the wheel center simulation load signal curve of the automobile by corresponding test

A second loading root mean square error function of;

representing a second predetermined root mean square error. If the root mean square error of the second load meets the conditions, the calculation accuracy of the load signal meets the requirements, the preset automobile dynamics simulation model does not need to be calibrated secondarily, and if the root mean square error of the second load meets the conditions, the preset automobile dynamics simulation model does not need to be calibrated secondarily

If the calculation accuracy of the load signal does not meet the requirement of the preset accuracy, the preset automobile dynamics simulation model needs to be calibrated for the second time.

In summary, the method for calibrating the automobile dynamic model provided by the embodiment of the application judges the actual tire load and the simulated tire load of the vehicle through the root-mean-square error, and does not perform the second calibration under the condition of meeting the error requirement, so that the workload of the calibration work of the automobile multi-body dynamic load calculation model can be greatly reduced.

In some examples, the second calibrating the tire model of the preset vehicle dynamics calculation model with the first calibration completed to obtain the second calibrated vehicle dynamics calculation model includes:

acquiring tire parameter sensitivity;

and carrying out second calibration on the tire parameters with the tire parameter sensitivity greater than a second preset sensitivity by adopting a genetic algorithm to obtain a target automobile dynamics calculation model.

For example, if the tested load signal and the calculated load signal do not satisfy the above condition, the calculation accuracy of the load signal is not satisfied; synchronously marking and reordering the load signals which do not meet the conditions, and defining the load signals as the load signals for subsequently calibrating tire model parameters so as to improve the calculation accuracy, wherein the expression formula is as follows:

wherein:

representing a wheel center load signal set of the automobile obtained by calculation needing precision improvement;

to represent

Correspondingly testing to obtain a wheel center load signal set of the automobile;

、

、

to represent

Calculating in the set to obtain a wheel center load signal of the automobile;

、

、

to represent

The tests in the set obtain the wheel load signals of the cars,

representing the total number of load signals.

S310, screening tire model parameters: carrying out detailed review on the test result of the tire model parameters; for some model parameters, because the reliability of the test result obtained by the test is high, the model parameters do not participate in calibration optimization in the following process, for example: geometric dimension, mass, moment of inertia and other model parameters; the sensitivity can be calculated for other model parameters, and the expression formula is as follows:

wherein:

expressing an absolute value function;

representing a value of sensitivity of a certain tire model parameter to a certain wheel center load signal of the automobile;

、

、

a larger value, a smaller value, and a middle value representing the setting of a certain tire model parameter;

、

、

representing a certain tire model parameter as

、

、

And obtaining the wheel center load signal of the automobile through the following calculation.

S320, if the sensitivity of a certain tire model parameter to a load signal needing to be improved in calculation precision is smaller than a threshold constant

If the parameter is not sensitive to the load signal, the parameter does not participate in the subsequent calibration meterAnd (4) calculating.

S330, if the sensitivity of the model parameters to the load signals needing to be improved in calculation precision is larger than a threshold constant

Then the parameter is shown to be sensitive to the load signal, and if the sensitivity of the model parameter to the load signal that has achieved computational accuracy is less than a threshold constant

Then the model parameters need to participate in the subsequent calibration calculation.

S340, after the model parameter screening is completed, defining parameter set combination of the tire model

The expression formula is as follows:

wherein the content of the first and second substances,

a set of parameters representing a tire model;

、

、

parameters representing a tire model;

a number of parameters representing a tire model;

and for parameter sets to

Sets a value range, which is expressed as follows:

wherein:

a parameter representing a tire model;

、

and expressing the minimum constant and the maximum constant of the parameter, and taking the value as the maximum value if the data is greater than the maximum value in subsequent iterative computation, and taking the value as the minimum value if the data is less than the minimum value.

S360: and carrying out second calibration by adopting a genetic algorithm to calibrate the model parameters of the tire.

Referring to step S250, calibrating the same algorithm in the preset vehicle dynamics calculation model by using a genetic algorithm may specifically include:

s3601, setting the maximum iteration times, the iteration target function vector and the iteration termination error vector of the subsequent iteration.

S3602, tire model parameter set

Within the range of the element values of (A), randomly producing

Set of tire model parameters

Generating collections

。

S3603 aiming at initially generated set

Ordering against non-dominant solutions and putting non-dominant solutions into an outer set

In (1).

S3604, setting a target set

Selection algorithm, crossover algorithm, and mutation algorithm.

S3605, in the set

After the selection algorithm, the cross algorithm and the variation algorithm are completed, the algorithm is updated into a new set

(ii) a Will be provided with

And external set

Taking a union set, and then carrying out non-dominated sorting on the union set to generate a new external set

。

S3606, if the generated external set

If the iteration termination condition is satisfied, the external set is output

The tire model parameters are calibrated; if the generated external set

As a new set

Set to be updated

The operation is carried out again according to the steps S3603 to S3605 until the maximum iteration number reaches the set maximum iteration number

Or an iteration termination condition is satisfied.

In summary, the method for calibrating the automobile dynamic model provided by the embodiment of the application evaluates the actual tire measurement load and the tire simulation load of the vehicle through the root mean square error, evaluates the sensitivity of the tire model parameters under the condition that the error requirements are not met, and calibrates the model parameters with higher sensitivity by adopting a genetic algorithm, so that the workload of the calibration work of the automobile multi-body dynamic load calculation model can be greatly reduced.

Referring to fig. 2, an embodiment of a calibration apparatus for an automotive dynamics calculation model in an embodiment of the present application may include:

a first acquisition unit 21 configured to acquire a component actual measurement load and a component simulation load based on a target load applied from a wheel center;

a first calibration unit 22, configured to perform a first calibration on a preset vehicle dynamics calculation model according to the component actual measurement load and the component simulation load to obtain a first calibrated vehicle dynamics calculation model, where the first calibration is to calibrate the preset vehicle dynamics calculation model except for the tire model;

the second obtaining unit 23 is configured to obtain wheel center load actual measurement data and wheel center load simulation data based on the test yard characteristic road surface;

and the second calibration unit 24 is configured to perform a second calibration on the tire model of the preset vehicle dynamics calculation model after the first calibration is completed according to the wheel center load actual measurement data and the wheel center load simulation data, so as to obtain a target vehicle dynamics model.

As shown in fig. 3, an electronic device 300 is further provided in the present embodiment, which includes a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and operable on the processor, and when the computer program 311 is executed by the processor 320, the steps of any one of the above-mentioned calibration methods for a vehicle dynamics calculation model are implemented.

Since the electronic device described in this embodiment is a device used for implementing a calibration apparatus of a vehicle dynamics calculation model in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand a specific implementation manner of the electronic device of this embodiment and various variations thereof, so that how to implement the method in this embodiment by the electronic device is not described in detail herein, and as long as the person skilled in the art implements the device used for implementing the method in this embodiment, the scope of protection intended by this application is included.

In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 3 when executed by a processor.

It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Embodiments of the present application further provide a computer program product, where the computer program product includes computer software instructions, and when the computer software instructions are executed on a processing device, the processing device executes a flow of a calibration method of an automobile dynamics calculation model in the embodiment corresponding to fig. 1.

The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. Computer-readable storage media can be any available media that a computer can store or a data storage device, such as a server, data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A calibration method of an automobile dynamics calculation model is characterized by comprising the following steps:

2. The method of claim 1, wherein obtaining component measured loads and component simulated loads based on the target load applied by the wheel center comprises:

3. The method of claim 1, wherein the first calibrating the pre-set vehicle dynamics calculation model based on the component measured loads and the component simulated loads to obtain a first calibrated vehicle dynamics calculation model comprises:

acquiring a first load root mean square error of the component actual measurement load and the component simulation load;

and under the condition that the first load root mean square error is larger than a first preset root mean square error, performing first calibration on the preset automobile dynamics calculation model to obtain a first calibrated automobile dynamics calculation model.

4. The method of claim 3, wherein the first calibrating the predetermined vehicle dynamics calculation model to obtain a first calibrated vehicle dynamics calculation model comprises:

obtaining model parameter sensitivity of the preset automobile dynamics calculation model;

and performing first calibration on the model parameters with the sensitivity greater than a first preset sensitivity by adopting a genetic algorithm to obtain a first calibrated automobile dynamics calculation model.

5. The method of claim 1, wherein the obtaining of wheel center load measured data and wheel center load simulation data based on the test yard characteristic road surface comprises:

testing and acquiring the wheel center load actual measurement data on the characteristic road surface of the test yard based on a target vehicle;

6. The method according to claim 1, wherein the second calibrating the tire model of the pre-set vehicle dynamics calculation model completing the first calibration according to the measured wheel center load data and the wheel center load simulation data to obtain the target vehicle dynamics model comprises:

and under the condition that the second load root mean square error is larger than a second preset root mean square error, performing second calibration on the tire model of the preset automobile dynamics calculation model after the first calibration is completed to obtain a second calibrated automobile dynamics calculation model.

7. The method according to claim 6, wherein the second calibrating the tire model of the preset vehicle dynamics calculation model after the first calibrating to obtain the second calibrated vehicle dynamics calculation model comprises:

acquiring tire parameter sensitivity;

8. A calibration device for an automotive dynamics calculation model is characterized by comprising:

the first calibration unit is used for carrying out first calibration on a preset automobile dynamics calculation model according to the component actual measurement load and the component simulation load so as to obtain a first calibrated automobile dynamics calculation model, wherein the first calibration is used for calibrating the preset automobile dynamics calculation model except the tire model;

9. An electronic device, comprising: memory, processor and computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to carry out the steps of the method for calibrating a computational model of vehicle dynamics according to any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements a method for calibrating a computational model of vehicle dynamics according to any one of claims 1-7.