CN102231210B - Accident analysis and simulated reconstruction computer system of cars out of control bumping onto fixtures - Google Patents
Accident analysis and simulated reconstruction computer system of cars out of control bumping onto fixtures Download PDFInfo
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Abstract
The invention discloses an accident simulated reconstruction system of cars out of control bumping onto fixtures in traffic accident identification by public security departments. The system can be used for utilizing the basic data inspected on the accident scene, calculating the running speed and bumping speed in the bumping accident of the car out of control bumping onto the fixtures, and realizing the two-dimensional track description and three-dimensional process reproduction of the car in the accident, the output of the major calculation data sheet of the accident, and the output of detailed text of the accident. The system provided by the invention can be widely popularized and applied, thus effectively improving the technical content of identification and processing of traffic accidents, ensuring that the analysis and identification results can be highly acknowledged by traffic management departments, accident identification units and all the parties in the accident, and playing important roles in distinguishing responsibilities, avoiding the intensification of the conflict, reducing the unstability in the society, and strengthening the harmonious operation of social life.
Description
Technical field
The present invention relates to the computer simulation technique application, particularly bump again the computer simulation system of fixture accident form behind a kind of analyses and simulations reproduction take charge.
Background technology
Bumping the fixture accident behind the take charge refers in the galloping owing to pavement state, vehicle technology state or driver handle the unexpected uncontrolled movements of reason (comprising rollover) such as error again, after collide again ground fixture one class accident form, this type of complex accident form is a kind of Common Accidents form of high-grade road traffic accident.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, when especially after facing take charge, bumping again the road traffic accident form of this class complexity of fixture accident, the traditional calculations analytical approach is impossible distinct accident process, easily cause technical error occurring at the traffic accident responsibility partition problem, thereby cause Social Dispute.
Utilize this " bumping again fixture crash analysis and simulation reconstruction computer system behind the take charge ", only need to obtain position out of control and form from reaching to lose control of one's vehicle the collision accident Site Detection, hit fixture kind material and shape, accident vehicle position of collision and final stop position, collision vestige position on fixture and the accident car body, the main structure parameters of the traffic accident situ Trace Data such as ground braking trace and accident vehicle, can try to achieve the accident vehicle collision fixture moment speed of a motor vehicle in the collision earth axes that sets, moment out of control the speed of a motor vehicle, bump again the moving situation of accident vehicle in the fixture accident process etc. behind speed of operation before the accident and 2 peacekeepings, the 3 dimension reproduction take charges, and then for finding out the accident occurrence cause, distinguish accident responsibility technical basis is provided.
Through to prior art literature search discovery, aspect the Practical Research of traffic accident reconstruction computer simulation software, start to walk relatively evening both at home and abroad at present, not yet carry out with the research of simulation reconstruction for bumping again the calculating of fixture accident behind the take charge.Native system has proposed to bump behind analytical Calculation and the simulation reconstruction take charge overall plan of fixture accident in a creative way again, bumps fixture crash analysis calculating and simulation reconstruction computer system after having made up take charge again.
Summary of the invention
Fundamental purpose of the present invention is bumped fixture crash analysis and simulation reconstruction system after being to provide a kind of take charge for the road traffic accident evaluation of public safety traffic management department again, the master data that native system can utilize the collision accident inspection of the scene of a crime to obtain, bump again speed of operation and the collision speed of each accident vehicle in the fixture accident after calculating take charge, and bump again the vehicle two dimension track description of fixture accident behind the realization take charge, three dimensional process is reproduced, bump again the main computational data table output of fixture accident and accident generating process summary text output behind the take charge.
In order to reach above-mentioned technical purpose, the present invention adopts following technical scheme to be achieved:
Bump fixture crash analysis calculating and simulation reconstruction computer system behind a kind of take charge, described computer system comprises at least again:
Bump again the master data typing of the fixture scene of the accident and storage subsystem behind the take charge, be used for according to pretreated scene of the accident master data, realize scene of the accident master data road typing, parameter check and correction, data loading, the pre-service of track characteristic point and demonstration and storage;
Driving trace and collision indication character parameter detecting subsystem are used for according to pretreated scene of the accident master data to lose control of one's vehicle, determine the coordinate position of moment out of control vehicle and the coordinate position of impact moment vehicle;
Errant vehicle and fixture collision amount of exercise computing subsystem of rear moment, be used for the coordinate position according to pretreated scene of the accident master data and impact moment vehicle, 6DOF linear velocity and the magnitude of angular velocity of moment after calculating errant vehicle and the fixture collision effect;
Errant vehicle and fixture collision effect computing subsystem are used for calculating vehicle and fixture collision effect systemic velocity, thrust into angle and the yaw velocity of front moment;
State description and critical speed computing subsystem out of control are used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of moment to lose control of one's vehicle;
Bump again fixture accident speed of operation computing subsystem behind the take charge, the road speed when normally travelling for the calculating accident vehicle;
Bump again fixture accident track Two-Dimensional Reconstruction subsystem behind the take charge, be used for to realize that on screen two-dimensional coordinate system shows in real time in the errant vehicle accident process that each the instantaneous form two dimension on the preset time step-length overlooks vehicle figure and centroid trajectory point, obtain 2 D animation continuously after the performance to lose control of one's vehicle again with the visual effect of fixture collision accident overall process and show errant vehicle motion process track;
Bump again fixture accident process 3-d reproduction subsystem behind the take charge, be used for to realize showing in real time in the errant vehicle accident process each instantaneous form three-dimensional perspective vehicle figure on the preset time step-length at the screen three-dimensional system of coordinate, obtain three-dimensional animation continuously after the performance to lose control of one's vehicle again with the visual effect of fixture collision accident overall process and show the accident vehicle tire print;
Bump again fixture co simulate result of calculation output descriptor system behind the take charge, be used for output errant vehicle and fixture collision accident feature calculation tables of data and accident generating process summary text, and realize the storage of accident case data.
Bump again the master data typing of the fixture scene of the accident and storage subsystem behind the take charge, driving trace and collision indication character parameter detecting subsystem to lose control of one's vehicle, errant vehicle and fixture collision amount of exercise computing subsystem of rear moment, errant vehicle and fixture collision effect computing subsystem, to lose control of one's vehicle state description and critical speed computing subsystem out of control, bumping fixture accident speed of operation computing subsystem behind the take charge links to each other successively again, bump again fixture accident speed of operation computing subsystem behind the take charge and bump again fixture accident track Two-Dimensional Reconstruction subsystem respectively with behind the take charge, bump again fixture accident process three-dimensional simulation playback subsystem behind the take charge, bump again behind the take charge simultaneously and bump again fixture accident process three-dimensional simulation playback subsystem behind fixture accident track Two-Dimensional Reconstruction subsystem and the take charge and bump again and bump again the master data typing of the fixture scene of the accident behind fixture co simulate result of calculation output descriptor system and the take charge and link to each other with storage subsystem again with behind the take charge.
Other technologies characteristics of the present invention are: bump the master data typing of the fixture scene of the accident and storage subsystem behind the described take charge again and comprise two functional modules: bump fixture accident metadata management module after bumping the data typing of fixture Accident scene survey and pretreatment module, take charge behind the take charge again again.
Described to lose control of one's vehicle rear driving trace and collision indication character parameter detecting subsystem contain collision indication character parameter detecting and check module.Collision indication character parameter detecting and check module, can according to the pretreated errant vehicle coordinate position of machine as calculated, vehicle and fixture collision coordinate position and vehicle structure parameter (parameters such as vehicle front overhang length, centre of gravity place, axletree, wheelspan), detect and obtain out of control centre of gravity instantly position and the position of collision of errant vehicle in the computing machine coordinate system.
Described errant vehicle and fixture collision amount of exercise computing subsystem of rear moment comprise three modules: tracing point iterative fitting computing module after the large lateral deviation sport dynamics of vehicle describing module, the collision after mechanics of tire computing module, the collision effect.
Described errant vehicle and fixture collision effect computing subsystem comprise three modules: car body plastic yield equivalent impact velocity computing module, ground fixture distortion and shearing equivalent impact velocity computing module, car body and fixture collision effect exercise parameter computing module of front moment.Described car body plastic yield equivalent impact velocity computing module is for the equivalent impact velocity of calculating with the body distortion energy equivalence.Described ground fixture is out of shape and is sheared equivalent impact velocity computing module, is used for calculating ground fixture and is subjected to Vehicular impact generation plastic yield and the equivalent impact velocity that fractures and absorb occurs to shear.Before described car body and the fixture collision effect moment exercise parameter computing module, be used for calculating errant vehicle and ground fixture impact moment systemic velocity, bang into the exercise parameters such as angle and yaw velocity.
Described to lose control of one's vehicle state description and critical speed computing subsystem out of control comprise three modules: calculating sub module, the critical riding stability calculating sub module of vehicle are judged in wheel ground mechanics module, motion vestige iteration-convergence.Described wheel ground mechanics module is used for calculating ground in the face of the acting force of errant vehicle tire.The critical riding stability calculating sub module of described vehicle is used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of front moment.Calculating sub module is judged in described motion vestige iteration-convergence, is used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of front moment.
Bump again fixture accident speed of operation computing subsystem behind the described take charge, contain and bump again the reverse echelon combination of fixture computing module behind the take charge.Bump again the reverse echelon combination of fixture computing module behind the described take charge, be used for calculating normally the travel vehicle speed value of automobile before accident occurs.
Bump again fixture accident track Two-Dimensional Reconstruction subsystem behind the described take charge, comprise two functional modules: after bumping again fixture accident set of data X-Y scheme library module and take charge behind the take charge of CDC figure rule, bump again fixture track location and graphics driver module.Described based on bumping again the fixture collision accident set of data behind the take charge of CDC figure rule, as to be used for calling the CDC figure rules such as X-Y scheme storehouse vehicle, road structure, fixture accident storage unit.Bump fixture accident track location and graphics driver module behind the described take charge, bumping fixture accident track state after utilizing X-Y scheme to take charge carries out Two-Dimensional Reconstruction again again.
Bump again fixture accident process 3-d reproduction subsystem behind the described take charge, comprise two functional modules: based on errant vehicle and the fixture collision accident set of data (vehicle, site road and environment) bottom 3 dimension perspective figure MBM and errant vehicle and the driving of fixture collision accident animation and the trace display module of OpenGL graph technology.Described errant vehicle and the fixture collision accident set of data (vehicle, site road and environment) bottom 3 dimension perspective figure MBM based on the OpenGL graph technology, check the scene of the accident basic data (comprising vehicle parameter, road structural parameter, fixture parameter etc.) of processing according to normalization, adopt OpenGL three-dimensional picture development technique to realize the bottom modeling of the three-dimensional perspective figures such as accident vehicle, road structure.Described errant vehicle and fixture collision accident animation drive and the trace display module, realize utilizing 3 dimension perspective figures that the three dimensional process of errant vehicle and fixture collision accident panorama overall process is reproduced.
Bump again fixture co simulate result of calculation output descriptor system behind the described take charge, comprise the three functions module: bump again behind the take charge and bump again fixture accident case data memory module after bumping again fixture accident generating process summary output module and take charge behind fixture Accident Characteristic computational data table output module, the take charge.Bump again fixture Accident Characteristic computational data table output module behind the described take charge, be used for position of collision on time that the output accident occurs, place, weather, road structure, pavement behavior, vehicle body collision trace, front the tracing point of collision, position angle, the vehicle body, bump front braking distance, speed of operation, impact velocity etc. and can summarize and show the general data of bumping again the fixture Accident Characteristic behind the take charge.Bump again fixture accident generating process summary output module behind the described take charge, for the time of bumping again the fixture generation behind the output take charge, weather, place, accident vehicle transport condition, the text description of calculating speed of operation and accident process and 2 dimension tracks descriptions.Bump again fixture accident case data memory module behind the described take charge, bump again fixture accident case data behind the take charge for storage analog computation generation.
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, the characteristics such as the sense of reality and transparency height, the Effective Raise traffic hazard is identified and the technology content of processing, make its Analysis and Identification result easily be subject to vehicle supervision department, 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, promote the evaluation of China's road traffic accident to have more science, accuracy and authority.
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.The present invention one group accurately full scale vehicle collision experimental data and the test findings under the controlled condition simulation reconstruction system has been carried out comparison.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%.Simulation reconstruction result and the test findings of vehicle movement track and stop position are substantially identical after the collision.
Description of drawings
Fig. 1 is system flow block diagram of the present invention.
Fig. 2 bumps the data typing of the fixture scene of the accident and storage subsystem logical flow chart again behind the take charge of the present invention.
Fig. 3 is to lose control of one's vehicle rear driving trace of the present invention and collision indication character parameter detecting subsystem logical flow chart.
Fig. 4 is errant vehicle of the present invention and fixture collision amount of exercise computing subsystem logical flow chart of rear moment.
Fig. 5 is errant vehicle of the present invention and fixture collision effect computing subsystem logical flow chart.
Fig. 6 is to lose control of one's vehicle state description of the present invention and critical speed computing subsystem logical flow chart out of control.
Fig. 7 bumps fixture accident speed of operation computing subsystem logical flow chart again behind the take charge of the present invention.
Fig. 8 bumps fixture accident track Two-Dimensional Reconstruction subsystem logical flow chart again behind the take charge of the present invention.
Fig. 9 bumps fixture accident process three-dimensional simulation playback subsystem logical flow chart again behind the take charge of the present invention.
Figure 10 bumps fixture co simulate result of calculation output descriptor system logic FB(flow block) again behind the take charge.
Figure 11 is embodiments of the invention accident essential information data input dialogue window.
Figure 12 is that the main structure parameters of embodiments of the invention accident vehicle arranges dialog box.
Figure 13 is that embodiments of the invention scene of the accident road structure arranges dialog box.
Figure 14 is embodiments of the invention take charge scene of the accident position data dialog box.
Figure 15 is embodiments of the invention take charge accident vehicle in front driving trace point dialog box.
Figure 16 is embodiments of the invention automotive wheel state dialog box.
Figure 17 is that embodiments of the invention first car collides fixture state dialog box again.
Figure 18 is that embodiments of the invention accident three dimensional process is reproduced.
Figure 19 is embodiments of the invention accident two dimension trajectory reconstruction.
Figure 20 is embodiments of the invention speed of a motor vehicle computational data table.
Figure 21 is that the embodiments of the invention accident process is described.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided concrete operating process and detailed embodiment, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present invention includes nine sub-systems: bump again the master data typing of the fixture scene of the accident and storage subsystem behind (1) take charge, (2) to lose control of one's vehicle after driving trace and collision indication character parameter detecting subsystem, (3) errant vehicle and fixture collision amount of exercise computing subsystem of rear moment, (4) errant vehicle and fixture collision effect computing subsystem, (5) to lose control of one's vehicle state description and critical speed computing subsystem out of control, (6) bump again fixture accident speed of operation computing subsystem behind the take charge, (7) bump again fixture accident track Two-Dimensional Reconstruction subsystem behind the take charge, (8) bump again fixture accident process three-dimensional simulation playback subsystem behind the take charge, bump again fixture co simulate result of calculation output descriptor system behind (9) take charge.Utilize human-computer interaction interface of the present invention, can realize bumping again the data typing of fixture Accident scene survey behind the take charge and the functions such as storage, accident process analytical calculation, two-dimentional track are described, three dimensional process is reproduced, accident case files, main computational data table output and accident generating process summary output.
The realization design proposal of subsystems of the present invention:
(1) referring to Fig. 2, bump again the master data typing of the fixture scene of the accident and storage subsystem behind the take charge, be used for realizing the typing of Accident scene survey data, pre-service, demonstration, modification and memory function.This subsystem comprises two functional modules: bump fixture accident metadata management module after bumping the data typing of fixture Accident scene survey and pretreatment module, take charge behind the take charge again again.
A) bump again the data typing of fixture Accident scene survey and pretreatment module behind the take charge, the scene of the accident is investigated on the spot the vehicle structure parameter of acquisition according to the traffic police, the site road structure, hit the fixture structure, to lose control of one's vehicle position and form, the accident vehicle type, accident vehicle and fixture injury mark, the scene of the accident data such as ground, scene of the accident vestige, finish fast the typing of scene of the accident master data, the parameter check and correction, data loading and the pre-service of track characteristic point etc. are for follow-up co simulate calculates, accident two dimension track is described and the three dimensional process reproduction provides Data support.
B) bump again fixture accident metadata management module behind the take charge, be used for storing pretreated scene of the accident master data.This module adopts the Access database technology, utilizes the VC++6.0 development platform to set up Accident scene survey data storage repository.The effect of scene of the accident prospecting data storage repository is to deposit data warehouse in by the dialog box typing and through normalization and pretreated scene of the accident data.
(2) referring to Fig. 3, to lose control of one's vehicle after driving trace and collision indication character parameter detecting subsystem, be used for determining the coordinate position of moment out of control vehicle and the coordinate position of impact moment vehicle.According to the pretreated scene of the accident trace data such as fixture structure, accident vehicle type, accident vehicle and fixture injury mark, ground, scene of the accident vestige of being hit, use collision indication character parameter detecting that this subsystem bumps fixture accident form after for take charge again and check module, calculate the computational datas such as definite vehicle collision position, to lose control of one's vehicle position, and loading vehicles structure and mechanics parameter.
Collision indication character parameter detecting and check module, can according to the pretreated errant vehicle coordinate position of machine as calculated, vehicle and fixture collision coordinate position and vehicle structure parameter (parameters such as vehicle front overhang length, centre of gravity place, axletree, wheelspan), detect and obtain out of control centre of gravity instantly position and the position of collision of errant vehicle in the computing machine coordinate system.
(3) participate in Fig. 4, errant vehicle and fixture collision amount of exercise computing subsystem of rear moment, according to scene of the accident basic datas such as pretreated vehicle and fixture position of collision, the final stop position of vehicle and attitude, ground vestiges, try to achieve 6DOF linear velocity and the magnitude of angular velocity of moment after errant vehicle and the fixture collision effect.This subsystem comprises three modules: tracing point iterative fitting computing module after the large lateral deviation sport dynamics of vehicle describing module, the collision after mechanics of tire computing module, the collision effect.
A) mechanics of tire computing module according to the track of vehicle and ground fixture center of impact point, calculates ground in the face of the acting force of tire.When accident vehicle under the effect of collision impact power and motional inertia, from the collision effect finishes moment " free movement " until vehicle stops at last, collision vehicle only is subjected to the effect of gravity and tire force during this, and ignores the air resistance effect.Tire force calculating is relevant with tyre slip angle, tire characteristics and vertical load, and this module adopts the G.Gim tire theoretical mechanics model with large side drift angle motion fitness to calculate ground in the face of 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 Vehicle Dynamics System Simulation. and Xian Road Communication Univ.'s journal, 1999.2 (1))
B) the large lateral deviation sport dynamics of vehicle describing module after the collision effect, according to the track of vehicle and ground fixture center of impact, in the face of the acting force of tire, calculate 6DOF linear velocity and the magnitude of angular velocity of moment after errant vehicle and the fixture collision effect.Suffered longitudinal force, side force and the aligning torque of vehicle tyre plays decisive action to automobile transient motion state and track route.This module is utilized vehicle 11 degree of freedom sport dynamics computation models and is had the G.Gim tire theoretical mechanics model of large side drift angle motion fitness, 6DOF linear velocity and the magnitude of angular velocity of moment after calculating errant vehicle and the fixture collision effect.
C) tracing point iterative fitting computing module after the collision, according to pretreated scene of the accident master data, using iterative-convergence judgment models calculates 6DOF linear velocity and the angular velocity of moment after errant vehicle and the fixture collision effect.The final stop position of vehicle that obtains take Accident scene survey is as calculating target, take computational datas such as the vehicle structure of vehicle movement track, vehicle collision position and the loading determined according to accident field ground vestige after the collision of errant vehicle and fixture and mechanics parameters as design conditions, the large lateral deviation sport dynamics of vehicle describing module after the employing collision effect, use the golden section principle and automatically change iteration step length, after the search collision effect moment vehicle 6DOF linear velocity and magnitude of angular velocity.For improving computational accuracy, after first calculating stops, utilize state of motion of vehicle iteration-convergence judgment models that the final stop position of vehicle that the final stop position of the vehicle that calculates and Accident scene survey obtain is compared, check its approximation ratio whether to reach predefined error requirements.If error is also large, then use the motion value of the vehicle of moment after one group of new collision effect of golden section principle iteration, repeat above-mentioned calculating, until till calculated location value converges on the absolute fix value in the permissible error scope of setting.
Iteration-convergence judgment models:
In the formula:
Be the permissible error value of setting;
,
,
For from the moment after the collision of vehicle and fixture 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 value of rear moment; S is calculated value (or setting value).
(4) participate in Fig. 5, errant vehicle and fixture collision effect computing subsystem are used for calculating vehicle and fixture collision effect systemic velocity, thrust into angle and the yaw velocity of front moment.According to after pretreated scene of the accident basic data, errant vehicle and the fixture collision effect moment vehicle 6DOF linear velocity and magnitude of angular velocity, reverse systemic velocity and yaw velocity of trying to achieve moment before errant vehicle and the fixture collision effect.This subsystem comprises three modules: car body plastic yield equivalent impact velocity computing module, ground fixture distortion and shearing equivalent impact velocity computing module, car body and fixture collision effect exercise parameter computing module of front moment.
A) car body plastic yield equivalent impact velocity computing module, at first according to finite element grid division principle rounding accident vehicle large tracts of land complex deformation (territory) for equivalent regular distortion (territory) and calculate vehicle and produce the energy value that absorbs after the plastic yield at colliding surface fixture under the runaway condition, then according to conservation of energy principle, conversion obtains the equivalent impact velocity with the body distortion energy equivalence.
B) ground fixture is out of shape and is sheared equivalent impact velocity computing module, is used for calculating ground fixture and is subjected to Vehicular impact generation plastic yield and the equivalent impact velocity that fractures and absorb occurs to shear.At first ground fixture under the accident vehicle bump produces the energy value that absorbs after the plastic yield for equivalent regular distortion (territory) and calculating according to finite element grid division principle rounding ground fixture distortion complex deformation (territory), and calculate the ground fixture generation according to theory of mechanics of materials and shear the energy value that fractures, then according to conservation of energy principle, conversion obtains the equivalent impact velocity with ground fixture distortion and the energy equivalence that fractures.
C) before car body and the fixture collision effect moment exercise parameter computing module, be used for calculating errant vehicle and ground fixture impact moment systemic velocity, bang into the exercise parameters such as angle and yaw velocity.The 6DOF linear velocity of moment and magnitude of angular velocity are as calculating target after errant vehicle and the fixture collision effect, take pretreated scene of the accident basic data, the car body plastic yield equivalent impact velocity that calculates, ground fixture distortion and shearing equivalent impact velocity etc. as design conditions, adopt vehicle 11 degree of freedom sport dynamics computation models, use the golden section principle and automatically change iteration step length, search for errant vehicle and ground fixture impact moment vehicle systemic velocity, bang into angle and yaw velocity.For improving computational accuracy, after first calculating stops, utilize the 6DOF linear velocity of moment after the errant vehicle of iteration-more current calculating of convergence judgment models and the fixture collision effect and magnitude of angular velocity and prosthomere to calculate 6DOF linear velocity and the magnitude of angular velocity final value of moment after errant vehicle and the fixture collision effect, whether the approximation ratio of check reaches predefined error requirements.If error is larger, then use one group of new impact moment vehicle systemic velocity of golden section principle iteration, bang into angle and yaw velocity value, repeat above-mentioned calculating, calculate till the final value until current target value converges on prosthomere, then calculate errant vehicle and ground fixture impact moment systemic velocity, bang into the exercise parameters such as angle and yaw velocity.
(5) participate in Fig. 6, state description and critical speed computing subsystem out of control are used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of moment to lose control of one's vehicle.The errant vehicle that calculates according to pretreated scene of the accident basic data, accident vehicle instantaneous position out of control and form, prosthomere and ground fixture impact moment vehicle systemic velocity, thrust into angle and yaw velocity are tried to achieve accident vehicle systemic velocity and the yaw velocity of moment out of control.This subsystem comprises three modules: calculating sub module is judged in wheel ground mechanics module, the critical riding stability calculating sub module of vehicle, motion vestige iteration-convergence.
A) wheel ground mechanics module is used for calculating ground in the face of the acting force of errant vehicle tire.According to errant vehicle and ground fixture impact moment vehicle systemic velocity and the yaw velocity that the scene of the accident basic data of normalized (to lose control of one's vehicle position, to lose control of one's vehicle movement locus etc.) and prosthomere calculate, adopt the G.Gim tire theoretical mechanics model with large side drift angle motion fitness calculate in the process to lose control of one's vehicle in the face of the acting force of tire.
B) the critical riding stability calculating sub module of vehicle is used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of front moment.According to the scene of the accident basic data (the to lose control of one's vehicle instantaneous position that Accident scene survey obtains is position, imprinting wheel flex point place) of normalized and the ground that the calculates acting force in the face of tire, employing has G.Gim tire theoretical mechanics model and the vehicle 11 degree of freedom sport dynamics computation models of large side drift angle motion fitness, calculates to lose control of one's vehicle systemic velocity and the yaw velocity of front moment.
C) calculating sub module is judged in motion vestige iteration-convergence, is used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of front moment.In order to improve computational accuracy, the errant vehicle that calculates take prosthomere and ground fixture impact moment vehicle systemic velocity and yaw velocity are as calculating target, face the acting force of tire as design conditions take the scene of the accident basic data of normalized, the ground that calculates, adopt the critical riding stability calculating sub module of vehicle, use the golden section principle and automatically change iteration step length, calculate to lose control of one's vehicle systemic velocity and the yaw velocity of front moment.
(6) participate in Fig. 7, bump again fixture accident speed of operation computing subsystem behind the take charge, be used for calculating normally the travel vehicle speed value of automobile before accident occurs, be i.e. road speed during normal vehicle operation.This subsystem according to the vehicle collision of normalized before the scene of the accident basic datas such as braking track value or the vestige that breaks away to lose control of one's vehicle, to lose control of one's vehicle before systemic velocity and the yaw velocity of moment, bump again the reverse echelon combination of fixture computing module after adopting vehicle 11 degree of freedom sport dynamics computing modules and take charge, calculate the proper motion state value (speed of operation) of accident vehicle before precarious position occurs.
Bump again the reverse echelon combination of fixture computing module behind the take charge, be used for calculating normally the travel vehicle speed value of automobile before accident occurs.Concrete scheme is: the exercise parameters such as the position of moment, systemic velocity, yaw velocity are as calculating target before the take charge that calculates take prosthomere; braking track or the vestige that breaks away to lose control of one's vehicle are as design conditions before the vehicle collision of determining take the scene of the accident basic data of normalized, according to ground, scene of the accident vestige situation; use vehicle 11 degree of freedom sport dynamics computing modules; adopt the golden section principle automatically to change iteration step length; carry out reverse echelon combination and calculate, try to achieve normally the travel vehicle speed value of vehicle before accident occurs.After first calculating stops, utilize state of motion of vehicle iteration-convergence judgment models to position and the attitude of errant vehicle and fixture impact moment, compare with the collision vehicle that obtains of on-the-spot actual survey and position and the attitude of fixture impact moment, check its approximation ratio whether to reach predefined permissible error requirement.If error is also large, then use one group of new normal vehicle operation vehicle speed value of golden section principle iteration, repeat above-mentioned calculating, until till calculated value converges on measured value in the permissible error scope of setting.When calculating final position value was in the permissible error scope, the normal vehicle operation vehicle speed value that up-to-date one group of iteration obtains was exactly desired value.
(7) participate in Fig. 8, bump again fixture accident track Two-Dimensional Reconstruction subsystem behind the take charge, scene of the accident basic data according to normalized, the Vehicle Driving Cycle speed of a motor vehicle that prosthomere is tried to achieve is read in automatically in system, to lose control of one's vehicle spot speed and yaw velocity, the systemic velocity of moment before errant vehicle and the fixture collision effect, bang into the angle, yaw velocity, the final stop position of vehicle and other relevant vehicle parameters, utilize vehicle 11 degree of freedom sport dynamics computation models and wheel-ground mechanics model to calculate, calculate each transient motion amount and position quantity in the errant vehicle accident process, show in real time in the two-dimensional coordinate system on screen simultaneously in the errant vehicle accident process that each the instantaneous form two dimension on the preset time step-length overlooks vehicle figure and centroid trajectory point, obtain 2 D animation continuously after the performance to lose control of one's vehicle again with the visual effect of fixture collision accident overall process and show errant vehicle motion process track.This subsystem comprises two functional modules: bump fixture track location and graphics driver module after bumping fixture accident set of data X-Y scheme library module and take charge behind the take charge of CDC figure rule again again.
A) based on bumping again the fixture collision accident set of data behind the take charge of CDC figure rule, be the X-Y scheme library modules such as vehicle, site road and environment, check the scene of the accident basic data of disposing according to normalization, call the accident storage unit of the CDC figure rules such as vehicle, road structure, fixture in the X-Y scheme storehouse.
B) bump fixture accident track location and graphics driver module behind the take charge, bumping fixture accident track state after utilizing X-Y scheme to take charge carries out Two-Dimensional Reconstruction again again.The scene of the accident basic data that this module is read in after the normalized automatically (comprises initial travel route, position to lose control of one's vehicle, the final stop position of position of collision vehicle etc.), systemic velocity and the yaw velocity of moment before the errant vehicle collision effect that calculates, road speed, using vehicle 11 degree of freedom sport dynamics computation models and wheel-ground mechanics model calculates, by begin and whole order computation vehicle in transient posture (the vehicle center-of-mass coordinate value of links and each period, impingement angle, the position angle) with transient motion amount (planar line speed and yaw velocity), under the prerequisite that takes fully enough little calculation step (in order to improve precision, be taken as 0.0002s in the book system-computed), showing on the computer screen that accident vehicle (comprises the vehicle driving trace position in each instantaneous form and unique point on the preset time calculation step in good time, the vehicle collision point coordinate, automobile center-of-mass coordinate position), thus obtaining animation shows the Two-Dimensional Reconstruction effect of bumping again fixture accident track state behind the take charge continuously.
(8) referring to Fig. 9, bump again fixture accident process 3-d reproduction subsystem behind the take charge, scene of the accident basic data according to normalized, on screen, draw the three-dimensional scenic view that comprises road structure and relevant fixture in the three-dimensional system of coordinate, the Vehicle Driving Cycle speed of a motor vehicle that prosthomere is tried to achieve is read in automatically in system, to lose control of one's vehicle spot speed and yaw velocity, the systemic velocity of moment before errant vehicle and the fixture collision effect, bang into angle and yaw velocity, the final stop position of vehicle, and other relevant vehicle parameters, utilize vehicle 11 degree of freedom sport dynamics computation models and wheel-ground mechanics model, calculate each transient motion amount and position quantity in the errant vehicle accident process, on screen, show in real time in the errant vehicle accident process each the instantaneous form three-dimensional perspective vehicle figure on the preset time step-length in the three-dimensional system of coordinate, obtain three-dimensional animation continuously after the performance to lose control of one's vehicle again with the visual effect of fixture collision accident overall process and show the accident vehicle tire print.This subsystem comprises two functional modules: based on errant vehicle and the fixture collision accident set of data (vehicle, site road and environment) bottom 3 dimension perspective figure MBM and errant vehicle and the driving of fixture collision accident animation and the trace display module of OpenGL graph technology.
A) tie up the perspective figure MBM based on errant vehicle and the fixture collision accident set of data (vehicle, site road and the environment) bottom 3 of OpenGL graph technology, check the scene of the accident basic data (comprising vehicle parameter, road structural parameter, fixture parameter etc.) of processing according to normalization, adopt OpenGL three-dimensional picture development technique to realize the bottom modeling of the relevant fixture three-dimensional perspective figures such as accident vehicle, road structure.
B) errant vehicle and fixture collision accident animation drive and the trace display module, realize utilizing 3 dimension perspective figures that the three dimensional process of errant vehicle and fixture collision accident panorama overall process is reproduced.The scene of the accident basic data that this module is read in after the normalized automatically (comprises initial travel route, position to lose control of one's vehicle, position of collision, the final stop position of vehicle, road structural parameter etc.), the Vehicle Driving Cycle speed of a motor vehicle that calculates, to lose control of one's vehicle spot speed and yaw velocity, the systemic velocity of moment before errant vehicle and the fixture collision effect, bang into angle and yaw velocity, the final stop position of vehicle and other relevant vehicle structure parameters, on the basis of the bottom modeling of three-dimensional perspective figure, realization utilize the large lateral deviation sport dynamics of vehicle describing module after the collision effect etc. by begin and whole order computation vehicle at transient posture (vehicle center-of-mass coordinate value and the vehicle body yaw of accident process links and each period, pitching, inclination waits the 3DOF angle value) and transient motion amount (6DOF linear velocity and magnitude of angular velocity), and on screen, show in real time simultaneously each instantaneous form and the wheel ground trace (comprise vehicle collision center reference point position) of vehicle on the preset time step-length in the field scene space coordinates, obtain the 3-d reproduction effect that animation shows errant vehicle and fixture collision accident panorama overall process state continuously.
The present invention's and travelling speed when improving animation simulation succinct for programming adopts the function of OpenGL own, and drawing by program statement needs the accident vehicle rendering graphical that uses in the accident process 3-d reproduction.Vehicle 3-d reproduction graphic plotting mainly comprises: the conversion of vehicle 3-d reproduction descriptive geometry, projective transformation principle and graphics cache and cartoon technique.
1. vehicle 3-d reproduction descriptive geometry shift theory:
The geometric transformation of vehicle collision process 3-d reproduction figure comprises translation, Rotation and Zoom.Its essence is transformed coordinate system, each conversion is benchmark with current coordinate all, with on request translation of the same coordinate system, Rotation and Zoom, then with new coordinate system mapping.Translation in the geometric transformation, Rotation and Zoom be respectively by the function glTranslate () among the OpenGL, glRotate (), and glScale () finishes.
2. vehicle 3-d reproduction graphic projection shift theory
The conversion of vehicle 3-d reproduction graphic projection is divided into orthogonal projection and perspective projection, and by function glOrtho () and glFrustum (), gluPerspective () finishes respectively.
3. graphics cache and cartoon technique
The vehicle 3-d reproduction figure of drawing on the screen all is comprised of pixel, and each pixel has a fixing color or with other information of respective point.At graphing be, be necessary for each pixel save data in the internal memory, all these class buffer memorys are referred to as frame buffer in the system.Vehicle 3-d reproduction graphic frame buffer memory is comprised of following four kinds of buffer memorys: color buffer memory, depth buffer, template buffer memory and accumulation buffer memory.OpenGL realizes animation by two buffer memorys, OpenGL distributes first two color buffer areas before drawing vehicle 3-d reproduction figure, in drawing process, a buffer area is carried out drawing command, another buffer area carries out the figure demonstration simultaneously, so just can be that all display graphics have good animation effect.
The present invention has the 3-d reproduction graphical model of 19 kinds of vehicles such as three railway carriage or compartment cars, motor bus, wing-rooms on either side of a one-story house car, minicar, middle bus, medium truck, high capacity waggon, semi-mounted truck, agricultural tricycle, mini van, jeep.
(9) participate in Figure 10, bump again fixture co simulate result of calculation output descriptor system behind the take charge, the scene of the accident master data of check processing according to normalization, the Vehicle Driving Cycle speed of a motor vehicle that calculates, to lose control of one's vehicle the systemic velocity of moment before spot speed and yaw velocity, errant vehicle and the fixture collision effect, bang into angle and yaw velocity, the exportable errant vehicle of this subsystem and fixture collision accident feature calculation tables of data and accident generating process summary text, and realize the storage of accident case data.This subsystem comprises the three functions module: bump behind the take charge again and bump fixture accident case data memory module after bumping fixture accident generating process summary output module and take charge behind fixture Accident Characteristic computational data table output module, the take charge again again.
A) bump again fixture Accident Characteristic computational data table output module behind the take charge, be used for position of collision on time that the output accident occurs, place, weather, road structure, pavement behavior, vehicle body collision trace, front the tracing point of collision, position angle, the vehicle body, bump front braking distance, speed of operation, impact velocity etc. and can summarize and show the general data of bumping again the fixture Accident Characteristic behind the take charge.
B) bump again fixture accident generating process summary output module behind the take charge, describe analog image for the time of bumping again the fixture generation behind the output take charge, weather, place, accident vehicle transport condition, the text description of calculating speed of operation and accident process and 2 dimension tracks.
C) bump again fixture accident case data memory module behind the take charge, bump again fixture accident case data behind the take charge for storage analog computation generation.Adopt the Access database technology, bump again fixture accident case data warehouse after utilizing the VC++6.0 development platform to set up take charge.
Use system of the present invention through analytical calculation and simulation reconstruction to errant vehicle and fixture collision traffic hazard, its result will explain out with the form of three-dimensional animation course replay, two-dimentional trajectory reconstruction, main characteristic parameters computational data table and accident generating process summary text, can be used as public security deparment and traffic police department and carry out bumping behind the take charge evidence material that fixture traffic hazard technical appraisement and accident responsibility are assert again.
Following inventor provides the true case that reality occurs, the overall process of identifying by the whole traffic hazard that utilizes this analysis simulation reconstruction system to finish.
About 2006 03 month 1: 10 on the 11st, at highway eastern section, North 3rd Ring Road, Xi'an place, by the general mulberry car that travels from west to east rollover accident out of control occurs, and with roadside barrier generation secondary collision.The scene of the accident is highway, and east-west direction is two-way 6 tracks, and the road surface beam overall is 26m.Accident becomes a fine day dried asphalt road when occuring.
Co simulate result of calculation: the speed of operation of automobile before accident occurs is 91.7km/h; Automobile is 84.0km/h in the speed of moment out of control.
1. operating software is clicked [automobile single vehicle accident class] order in menu bar, carries out [to lose control of one's vehicle accident].Eject [vehicle side turning accident basic condition out of control dialog box] dialog box.The scene of the accident is investigated on the spot the accident essential information data of acquisition according to the traffic police, the basic condition when in each text box, requiring input or setting accident to occur according to field, and select [automobile bumps fixture again] option.
2. referring to Figure 12, click [next step] button, eject [accident vehicle vehicle dialog box] dialog box.The scene of the accident is investigated on the spot the vehicle structure supplemental characteristic of acquisition according to the traffic police, the data such as type of vehicle when the setting accident occurs.The type code of the collision vehicle when foundation " type of vehicle code setting regulation " setting accident occurs in [type code] text box.
3. referring to Figure 13, click [next step] button, eject [scene of the accident road structure dialog box] dialog box.The scene of the accident is investigated on the spot the road structural parameter data of acquisition according to the traffic police, input channel line structure information in dialog box.
4. referring to Figure 14, click [next step] button, eject [take charge scene of the accident position data dialog box] dialog box.The scene of the accident is investigated on the spot position of collision parameter and the ground trace detection data of acquisition according to the traffic police, the data such as input take charge location point and last halt.
5. referring to Figure 15, click [next step] button, eject [take charge accident vehicle in front driving trace point dialog box] dialog box.The scene of the accident is investigated on the spot location parameter and the ground trace detection data of acquisition according to the traffic police, the input automobile is in data such as the centroid position of moment out of control and motion vestige center of mass point in dialog box.
6. referring to Figure 16, click [next step] button, eject [automotive wheel state dialog box] dialog box.The scene of the accident is investigated on the spot the accident vehicle supplemental characteristic of acquisition according to the traffic police, input wheel of vehicle state in dialog box.
7. referring to Figure 17, click [next step (determining)] button, eject [the first car collides fixture state dialog box again] dialog box.The scene of the accident is investigated on the spot position of collision parameter, fixture type and the ground trace detection data of acquisition according to the traffic police, the data such as input automobile and fixture collision coordinate position of front moment, axial angle, ground fixture size, center of impact position in dialog box.
8. the input of above-mentioned dialog box content complete after, click [next step (determining)] button.The data input of the screen display scene of the accident is complete.So far, bump again the EO of fixture accident dialog box data input behind the take charge, data storage and the accident computing function of executable system.
Below be that native system specifically uses operation steps:
1. as shown in figure 18, click toolbar [3-d reproduction] button, realization accident three dimensional process is reproduced.
2. as shown in figure 19, click toolbar [Two-Dimensional Reconstruction] button, realization accident two dimension trajectory reconstruction.
3. as shown in figure 20, click toolbar [tables of data output] button, realize the output of speed of a motor vehicle computational data table.
4. as shown in figure 21, click toolbar [process prescription] button, realize the accident process description.
Claims (9)
1. bump fixture crash analysis calculating and simulation reconstruction computer system behind a take charge, it is characterized in that: described computer system comprises at least again:
Bump again the master data typing of the fixture scene of the accident and storage subsystem behind the take charge, be used for according to pretreated scene of the accident master data, realize scene of the accident master data road typing, parameter check and correction, data loading, the pre-service of track characteristic point and demonstration and storage;
Driving trace and collision indication character parameter detecting subsystem are used for according to pretreated scene of the accident master data to lose control of one's vehicle, determine the coordinate position of moment out of control vehicle and the coordinate position of impact moment vehicle;
Errant vehicle and fixture collision amount of exercise computing subsystem of rear moment, be used for the coordinate position according to pretreated scene of the accident master data and impact moment vehicle, 6DOF linear velocity and the magnitude of angular velocity of moment after calculating errant vehicle and the fixture collision effect;
Errant vehicle and fixture collision effect computing subsystem are used for calculating vehicle and fixture collision effect systemic velocity, thrust into angle and the yaw velocity of front moment;
State description and critical speed computing subsystem out of control are used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of moment to lose control of one's vehicle;
Bump again fixture accident speed of operation computing subsystem behind the take charge, the road speed when normally travelling for the calculating accident vehicle;
Described to lose control of one's vehicle state description and critical speed computing subsystem out of control comprise wheel ground mechanics module, the critical riding stability calculating sub module of vehicle and motion vestige iteration-convergence judgement calculating sub module;
Described wheel ground mechanics module is used for calculating ground in the face of the acting force of errant vehicle tire;
The critical riding stability calculating sub module of described vehicle is used for calculating to lose control of one's vehicle systemic velocity and the yaw velocity of front moment;
Calculating sub module is judged in described motion vestige iteration-convergence, be used on the critical riding stability calculating sub module of vehicle basis accurate Calculation to lose control of one's vehicle before systemic velocity and the yaw velocity of moment, the errant vehicle that this module calculates and ground fixture impact moment vehicle systemic velocity and yaw velocity are for calculating target, scene of the accident basic data with normalized, the ground that calculates is design conditions in the face of the acting force of tire, adopt the critical riding stability calculating sub module of vehicle, use the golden section principle and automatically change iteration step length, calculate to lose control of one's vehicle systemic velocity and the yaw velocity of front moment;
Bump again fixture accident track Two-Dimensional Reconstruction subsystem behind the take charge, be used for to realize that on screen two-dimensional coordinate system shows in real time in the errant vehicle accident process that each the instantaneous form two dimension on the preset time step-length overlooks vehicle figure and centroid trajectory point, obtain 2 D animation continuously after the performance to lose control of one's vehicle again with the visual effect of fixture collision accident overall process and show errant vehicle motion process track;
Bump again fixture accident process 3-d reproduction subsystem behind the take charge, be used for to realize showing in real time in the errant vehicle accident process each instantaneous form three-dimensional perspective vehicle figure on the preset time step-length at the screen three-dimensional system of coordinate, obtain three-dimensional animation continuously after the performance to lose control of one's vehicle again with the visual effect of fixture collision accident overall process and show the accident vehicle tire print;
Bump again fixture co simulate result of calculation output descriptor system behind the take charge, be used for output errant vehicle and fixture collision accident feature calculation tables of data and accident generating process summary text, and realize the storage of accident case data;
Bump again the master data typing of the fixture scene of the accident and storage subsystem behind the take charge, driving trace and collision indication character parameter detecting subsystem to lose control of one's vehicle, errant vehicle and fixture collision amount of exercise computing subsystem of rear moment, errant vehicle and fixture collision effect computing subsystem, to lose control of one's vehicle state description and critical speed computing subsystem out of control, bumping fixture accident speed of operation computing subsystem behind the take charge links to each other successively again, bump again fixture accident speed of operation computing subsystem behind the take charge and bump again fixture accident track Two-Dimensional Reconstruction subsystem respectively with behind the take charge, bump again fixture accident process three-dimensional simulation playback subsystem behind the take charge, bump again behind the take charge simultaneously and bump again fixture accident process three-dimensional simulation playback subsystem behind fixture accident track Two-Dimensional Reconstruction subsystem and the take charge and bump again and bump again the master data typing of the fixture scene of the accident behind fixture co simulate result of calculation output descriptor system and the take charge and link to each other with storage subsystem again with behind the take charge.
2. bump again fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1, it is characterized in that: bump again the master data typing of the fixture scene of the accident and storage subsystem behind the described take charge and comprise two functional modules: bump again fixture accident metadata management module after bumping again the data typing of fixture Accident scene survey and pretreatment module, take charge behind the take charge; Wherein bump again the data typing of fixture Accident scene survey and pretreatment module behind the take charge, the scene of the accident is investigated on the spot the vehicle structure parameter of acquisition according to the traffic police, the site road structure, hit the fixture structure, to lose control of one's vehicle position and form, the accident vehicle type, accident vehicle and fixture injury mark, the vestige scene of the accident, ground, scene of the accident data, finish fast the typing of scene of the accident master data, the parameter check and correction, data loading and the pre-service of track characteristic point are for follow-up co simulate calculates, accident two dimension track is described and the three dimensional process reproduction provides Data support; Bump again fixture accident metadata management module behind the take charge, adopt the Access data base method, utilize the VC++6.0 development platform to set up accident inspection of the scene of a crime data warehouse, be used for storing pretreated scene of the accident master data.
3. bump again fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1, it is characterized in that: described to lose control of one's vehicle after driving trace comprise collision indication character parameter detecting and check module with collision indication character parameter detecting subsystem, collision indication character parameter detecting with check module can be according to the pretreated errant vehicle coordinate position of machine as calculated, vehicle collides coordinate position with fixture and the vehicle structure parameter detecting obtains out of control centre of gravity instantly position and the position of collision of errant vehicle in the computing machine coordinate system.
4. bump fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1 again, it is characterized in that: described errant vehicle and fixture collision amount of exercise computing subsystem of rear moment comprise three modules: tracing point iterative fitting computing module after the large lateral deviation sport dynamics of vehicle describing module, the collision after mechanics of tire computing module, the collision effect; Described mechanics of tire computing module calculates ground in the face of the acting force of tire according to the track of vehicle and ground fixture center of impact point; The large lateral deviation sport dynamics of vehicle describing module after the collision effect, according to the track of vehicle and ground fixture center of impact, in the face of the acting force of tire, calculate 6DOF linear velocity and the magnitude of angular velocity of moment after errant vehicle and the fixture collision effect; Tracing point iterative fitting computing module after the collision, according to pretreated scene of the accident master data, using iterative-convergence judgment models calculates 6DOF linear velocity and the angular velocity of moment after errant vehicle and the fixture collision effect;
Its concrete iterative calculation method of tracing point iterative fitting computing module is after the described collision: according to the definite vehicle movement track of accident field ground vestige after errant vehicle and the fixture collision, the vehicle structure of vehicle collision position and loading and mechanics parameter computational data are design conditions, the large lateral deviation sport dynamics of vehicle describing module after the employing collision effect, use the golden section principle and automatically change iteration step length, after the search collision effect moment vehicle 6DOF linear velocity and magnitude of angular velocity, after first calculating stops, utilize state of motion of vehicle iteration-convergence judgment models that the final stop position of vehicle that the final stop position of the vehicle that calculates and Accident scene survey obtain is compared, check its approximation ratio whether to reach predefined error requirements, when error during greater than the permissible error scope set, then use the motion value of the vehicle of moment after one group of new collision effect of golden section principle iteration, repeat above-mentioned calculating, until till calculated location value converges on the absolute fix value in the permissible error scope of setting.
5. bump fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1 again, it is characterized in that: described errant vehicle and fixture collision effect computing subsystem comprise car body plastic yield equivalent impact velocity computing module, ground fixture distortion and shear equivalent impact velocity computing module and car body and fixture collision effect exercise parameter computing module of front moment;
Described car body plastic yield equivalent impact velocity computing module, at first produce the energy value that absorbs after the plastic yield according to finite element grid division principle rounding accident vehicle large tracts of land complex deformation zone at colliding surface fixture under the runaway condition for imitating regular deformed region and calculating vehicle, then according to conservation of energy principle, conversion obtains the equivalent impact velocity with the body distortion energy equivalence;
Described ground fixture distortion and shearing equivalent impact velocity computing module, being used for calculating ground fixture is subjected to Vehicular impact generation plastic yield and the equivalent impact velocity that fractures and absorb occurs to shear, at first ground fixture produces the energy value that absorbs after the plastic yield to this module under the accident vehicle bump for the regular deformed region of effect also calculates according to finite element grid division principle rounding ground fixture distortion complex deformation zone, and calculate the ground fixture generation according to theory of mechanics of materials and shear the energy value that fractures, then according to conservation of energy principle, conversion obtains the equivalent impact velocity with ground fixture distortion and the energy equivalence that fractures;
Described car body and fixture collision effect exercise parameter computing module of front moment, be used for calculating the systemic velocity of errant vehicle and ground fixture impact moment, bang into angle and yaw velocity exercise parameter, the 6DOF linear velocity of this module moment after errant vehicle and the fixture collision effect and magnitude of angular velocity are as calculating target, with pretreated scene of the accident basic data, the car body plastic yield equivalent impact velocity that calculates, the ground fixture distortion is design conditions with shearing the equivalent impact velocity, adopt vehicle 11 degree of freedom sport dynamics computation models, use the golden section principle and automatically change iteration step length, search errant vehicle and ground fixture impact moment vehicle systemic velocity, bang into angle and yaw velocity; For improving computational accuracy, after first calculating stops, utilize the 6DOF linear velocity of moment after the errant vehicle of iteration-more current calculating of convergence judgment models and the fixture collision effect and magnitude of angular velocity and prosthomere to calculate 6DOF linear velocity and the magnitude of angular velocity final value of moment after errant vehicle and the fixture collision effect, whether the approximation ratio of check reaches predefined error requirements; If error is larger, then use one group of new impact moment vehicle systemic velocity of golden section principle iteration, bang into angle and yaw velocity value, repeat above-mentioned calculating, calculate till the final value until current target value converges on prosthomere, then calculate errant vehicle and ground fixture impact moment systemic velocity, bang into angle and yaw velocity exercise parameter.
6. bump again fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1, it is characterized in that:
Bump again fixture accident speed of operation computing subsystem behind the described take charge; be used for calculating normally the travel vehicle speed value of automobile before accident occurs; this module is according to the take charge that the calculates position of front moment; systemic velocity; the yaw velocity exercise parameter is for calculating target; scene of the accident basic data with normalized; braking track or the vestige that breaks away to lose control of one's vehicle are design conditions before the vehicle collision of determining according to ground, scene of the accident vestige situation; use vehicle 11 degree of freedom sport dynamics computing modules; adopt the golden section principle automatically to change iteration step length; carrying out reverse echelon combination calculates; try to achieve normally the travel vehicle speed value of vehicle before accident occurs; after first calculating stops; recycling state of motion of vehicle iteration-convergence judgment models is to position and the attitude of errant vehicle and fixture impact moment; compare with the collision vehicle that obtains of on-the-spot actual survey and position and the attitude of fixture impact moment, check its approximation ratio whether to reach the numerical value of predefined permissible error requirement.
7. bump again fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1, it is characterized in that: bump again fixture accident track Two-Dimensional Reconstruction subsystem behind the described take charge and comprise based on bumping again behind the take charge of CDC figure rule and bump again fixture track location and graphics driver module behind fixture accident set of data X-Y scheme library module and the take charge;
Described based on bumping again the fixture collision accident set of data behind the take charge of CDC figure rule, check the scene of the accident basic data of disposing according to normalization, call the accident storage unit of vehicle in the X-Y scheme storehouse, road structure, fixture CDC figure rule;
Bump again fixture accident track location and graphics driver module behind the described take charge, bump again fixture accident track state after utilizing X-Y scheme to take charge and carry out Two-Dimensional Reconstruction, this module is read in the scene of the accident basic data after the normalized automatically, systemic velocity and the yaw velocity of moment before the errant vehicle collision effect that calculates, road speed, and using vehicle 11 degree of freedom sport dynamics computation models and wheel-ground mechanics model calculates, by begin and whole order computation vehicle at the transient posture of links and each period, comprise vehicle center-of-mass coordinate value, impingement angle, position angle and transient motion amount, comprise planar line speed and yaw velocity, under the prerequisite that takes fully enough little calculation step, showing accident vehicle each instantaneous form and unique point on the preset time calculation step on the computer screen in good time, comprise the vehicle driving trace position, the vehicle collision point coordinate, automobile center-of-mass coordinate position shows the Two-Dimensional Reconstruction effect of bumping again fixture accident track state behind the take charge continuously thereby obtain animation.
8. bump again fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1, it is characterized in that: bump again fixture accident process 3-d reproduction subsystem behind the described take charge and comprise based on the errant vehicle of OpenGL graph technology and fixture collision accident set of data bottom three-dimensional perspective figure MBM and errant vehicle and fixture collision accident animation and driving and the trace display module;
Described errant vehicle and fixture collision accident set of data bottom three-dimensional perspective figure MBM based on the OpenGL graph technology, check the scene of the accident basic data of processing according to normalization, adopt OpenGL three-dimensional picture development technique to realize the bottom modeling of accident vehicle, the relevant fixture three-dimensional perspective figure of road structure;
Described errant vehicle and fixture collision accident animation drive and the trace display module, realize utilizing the three-dimensional perspective figure that the three dimensional process of errant vehicle and fixture collision accident panorama overall process is reproduced; This module is read in the scene of the accident basic data after the normalized automatically, with the Vehicle Driving Cycle speed of a motor vehicle that calculates, to lose control of one's vehicle spot speed and yaw velocity, the systemic velocity of moment before errant vehicle and the fixture collision effect, bang into angle and yaw velocity, the final stop position of vehicle and other relevant vehicle structure parameters, on the basis of the bottom modeling of three-dimensional perspective figure, realization utilizes the large lateral deviation sport dynamics of vehicle describing module after the collision effect, the critical riding stability calculating sub module of described vehicle, bump again fixture accident speed of operation computing subsystem behind the take charge, by begin and whole order computation vehicle at the transient posture of accident process links and each period, comprise vehicle center-of-mass coordinate value and vehicle body yaw, pitching, roll 3DOF angle value and transient motion amount, comprise 6DOF linear velocity and magnitude of angular velocity, and on screen, show in real time simultaneously each instantaneous form and the wheel ground trace of vehicle on the preset time step-length in the field scene space coordinates, comprise vehicle collision center reference point position, obtain the 3-d reproduction effect that animation shows errant vehicle and fixture collision accident panorama overall process state continuously.
9. bump again fixture crash analysis calculating and simulation reconstruction computer system behind the take charge as claimed in claim 1, it is characterized in that: bump again fixture co simulate result of calculation output descriptor system behind the described take charge and comprise bumping again behind the take charge and bump again fixture accident case data memory module after bumping again fixture accident generating process summary output module and take charge behind fixture Accident Characteristic computational data table output module, the take charge;
Bump again fixture Accident Characteristic computational data table output module behind the described take charge, the time, place, weather, road structure, pavement behavior, the vehicle body that are used for the generation of output accident collide position of collision on trace, the front tracing point of collision, position angle, the vehicle body, bump front braking distance, speed of operation or impact velocity, can summarize the general data of bumping again the fixture Accident Characteristic behind the performance take charge;
Bump again fixture accident generating process summary output module behind the described take charge, describe analog image for text description and the two-dimentional track of the time, weather, place, accident vehicle transport condition, calculating speed of operation and the accident process that bump again the fixture generation behind the output take charge;
Bump again fixture accident case data memory module behind the described take charge, adopt the Access database technology, utilize the VC++6.0 development platform to set up and bump again the accident case data that fixture accident case data warehouse realizes that the storage analog computation generates behind the take charge.
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