CN113588290B - Method for determining human body mass center in vehicle axle load design - Google Patents
Method for determining human body mass center in vehicle axle load design Download PDFInfo
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Abstract
The invention discloses a method for determining a human body mass center in vehicle axle load design, which relates to the technical field of automobile control, and comprises the steps of parameterizing a body mass center of a three-dimensional H-point model device, and assigning a mass center of a body part of the three-dimensional H-point model device to obtain a human body mass center position which varies with the height of sitting posture; performing joint angle parameterization on the three-dimensional H point model device to obtain a sitting posture height parameterization model; and establishing a matching relation between the parameterized centroid position and the sitting posture height, and establishing a matching relation between the three-dimensional H point transposition and the SGRP point of the whole vehicle. And matching the three-dimensional H point device model with the human sitting posture of the R point of the whole vehicle design, so as to obtain the loaded human centroid position under the whole vehicle coordinate system. The method can be applied to axle load design in the automobile development stage, and design accuracy and design efficiency are improved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a method for calculating the mass center and axle load of a whole automobile.
Background
Along with the improvement of the performance design capability of the whole automobile, the requirement on the axle load design precision is gradually improved, and each automobile factory is in the stage of improving the axle load design precision of the electronic virtual sample automobile development. Because no unified industry specification exists at present, the method for determining the mass center of the human body when the axle load design is carried out by all automobile factories is different. And the position of the mass center of the human body changes along with the sitting postures, and different sitting postures of the human body influence the position of the mass center of the whole vehicle, so that the design of the axle load of the vehicle is influenced. Therefore, finding a human body mass center determining method which accords with sitting posture change becomes an important subject of each large host factory.
The existing human body mass center determining method mainly comprises two methods, one is to determine the position of the human body mass center by referring to the standard of 'GB/T5910-1998 car mass distribution', the human body mass center determined by the method is irrelevant to sitting postures, and the human body mass center is a fixed coordinate relative to a R point of a seat. The other is to use a two-dimensional human body template to calculate the geometric center as the human body mass center, and the method does not consider the difference of the trunk weights, so that the calculated geometric center is not the real mass center of the human body. The human body mass center error determined by the existing method is larger, so that the mass center and axle load design error of the vehicle is larger, accurate axle load distribution cannot be provided for performance design, larger redundancy is reserved for part design, and development cost is increased.
The Chinese patent application publication No. CN104833519A provides a vehicle axle load determining method and device. Acquiring the total mass of the vehicle, the whole vehicle preparation mass, the full-load mass in the vehicle, the distance from the center of mass of a driver to the center line of a front wheel, the distance from the front wheel to the center of a container, the wheelbase and the unloaded rear axle load; and determining the rear axle load, namely determining the rear axle load when the vehicle is fully loaded according to the total mass of the vehicle, the whole vehicle preparation mass, the full-load mass in the vehicle, the distance from the center of mass of a driver to the center line of a front wheel, the distance from the front wheel to the center of a container, the wheelbase and the empty rear axle load. The rear axle load when the vehicle is fully loaded can be determined from the measurable parameters of the vehicle, and the rear suspension, rear axle and tires that meet the design requirements can be more accurately selected.
The Chinese patent application publication No. CN111071260A discloses an articulated three-axle passenger car axle load calculation method, which comprises the steps of obtaining the mass and the mass center of each component part of a front carriage and the horizontal distance between the corresponding mass center position and a front carriage support shaft; calculating the axle load of each supporting axle of the front carriage by using a preset algorithm according to the mass of each component and the horizontal distance between the corresponding mass center position and the supporting axle of the front carriage; the method comprises the steps of obtaining the mass and the mass center of each component part of a rear carriage and the horizontal distance between the corresponding mass center position and a rear carriage support shaft; calculating the axle load of each supporting axle of the rear carriage by using a preset algorithm according to the mass of each component and the horizontal distance between the corresponding mass center position and the supporting axle of the rear carriage; and finally, acquiring the total axle load of each supporting axle according to the axle load of each supporting axle. The axle load distribution can be checked without waiting for the completion of the development of the actual sample car, so that the design variation in the development process of the sample car is reduced, and the product development period is shortened; and the scheme can be timely adjusted in the design process, so that the axle load distribution is optimized.
The Chinese patent publication No. CN112649151A discloses a measuring device and a measuring method for the mass center of a human body, which is used for measuring the mass of a test dummy, wherein two cross beams are positioned on a horizontal plane by replacing supporting blocks with different heights, the angle of a seat back is adjusted by an angle adjusting mechanism, the position of a pedal relative to the center point of a rear wheel is adjusted, the reading of a weighing device at the moment is recorded as the fact that the test dummy is attached to the seat, the reading of the weighing device at the moment is recorded as the reading of the weighing device at the moment, the supporting blocks with different heights are replaced, the vertical heights of the supporting blocks are increased, and the reading of the weighing device at the moment is recorded as the reading of the weighing device at the moment; and (3) removing the test dummy from the dummy centroid measuring device, recording the reading of the weighing device at the moment, placing the test dummy on a seat supporting surface, taking the axis of a rear wheel as a Y axis, taking the central connecting line of the front wheel and the rear wheel as an X axis, taking the midpoint of the axis of the rear wheel as an origin, establishing a Cartesian coordinate system, and calculating the centroid coordinate of the dummy. The technical problem that a measuring device for the centroid position of a dummy in a specified sitting posture is lacking in the prior art is solved.
In summary, in the development stage of the electronic virtual sample car, the prior art cannot provide a general centroid determining method which accords with the human sitting posture change, and only human centroid measurement of different sitting postures can be carried out by actually placing and testing a dummy. Therefore, the axle load design work needs to carry out the electronic virtual sample car design, the real object dummy measurement and the electronic virtual sample car verification work, and has low efficiency and long period.
Disclosure of Invention
Aiming at the problems of large error, low efficiency, long period and the like caused by a common centroid determining method conforming to the human sitting posture change in axle load design in the electronic virtual model stage of vehicle design in the prior art, the invention provides the human centroid determining method, which is used for determining the human centroid position according to the R point coordinates of the seat reference point under the whole vehicle coordinate system, wherein the centroid can truly reflect the centroid distribution of the human design sitting posture, thereby improving the design precision of the whole vehicle centroid and the axle load, improving the development efficiency and shortening the period.
The technical scheme for solving the technical problems is that the method is a whole flow diagram, and is used for loading the mass of a three-dimensional H point model device on a design R point of a whole vehicle coordinate system, carrying out trunk centroid parameterization on the three-dimensional H point model device, and carrying out mass centroid assignment on the trunk part of the three-dimensional H point model device so as to obtain the position of the mass centroid of a human body changing along with sitting postures; performing joint angle parameterization on the three-dimensional H point model device to obtain a sitting posture parameterized model; and establishing a matching relation between the parameterized centroid position and the sitting posture, and establishing a matching relation between the three-dimensional H point transposition and the SGRP point of the whole vehicle. And matching the three-dimensional H point device model with the human sitting posture of the R point of the whole vehicle design, so as to obtain the loaded human centroid position under the whole vehicle coordinate system.
Further, establishing a matching relationship between any sitting posture and the mass center of the human body comprises: the three-dimensional H point device model is matched with the mass center of each trunk according to the sitting postures, the angles of each trunk are matched with each other according to the sitting postures, the mass center of the human body is matched with the corresponding sitting postures at a plurality of different sitting postures, and the matching relationship between the mass center position and the sitting postures is a variable functional relationship.
Simplifying the HPM centroid position into a two-dimensional coordinate relation, carrying out two-dimensional graphic modeling on the datum point and the datum line of each joint of the three-dimensional H point device, forming a two-dimensional template of each joint, and establishing a joint coordinate system of each two-dimensional joint template of the three-dimensional H point device; the barycenter of each joint is subjected to a coordinate conversion method, and barycenter coordinates under a joint coordinate system are determined in a two-dimensional template; and taking the point H as a coordinate origin, taking a plumb line passing through the point H as a Z axis, taking a direction shoulder as positive, and setting the coordinate axis parallel to the coordinate axis of the whole vehicle coordinate system to establish a human body coordinate system of the two-dimensional human body template.
Establishing a joint coordinate system of each two-dimensional joint template of the three-dimensional H point (the intersection point of the thigh central line and the trunk central line of the device) device further comprises: establishing a foot coordinate system by taking an ankle joint hinge point as a coordinate origin, wherein the foot coordinate system is parallel to a sole line as an X axis, and a BOF (sole center point) point is positive; establishing a shank coordinate system by taking an ankle joint hinge point as a coordinate origin, wherein a shank line is an X axis, and a knee joint hinge point facing direction is positive; establishing a thigh coordinate system by taking the point H as a coordinate origin, wherein a thigh line is an X axis, and a hinging point towards a knee joint is positive; and (3) establishing a trunk coordinate system by taking the point H as a coordinate origin, wherein a trunk line is an X axis, and the direction towards the shoulder is positive. Determining centroid coordinates in the joint coordinate system in the two-dimensional template further comprises: constraining each joint two-dimensional template according to the joint hinge points of the human body to form a two-dimensional human body template, wherein the ankle joint hinge points of the foot two-dimensional template and the shank two-dimensional template are constrained together, and the included angle between the foot bottom line and the shank line is an ankle joint angle; the knee joint hinge points of the two-dimensional lower leg template and the two-dimensional thigh template are combined and restrained, and the included angle between the lower leg line and the thigh line is the knee joint angle; the H-point hinge points of the thigh two-dimensional template and the trunk two-dimensional template are combined and restrained, and the thigh line and trunk line clamp angle is a hip joint angle; the included angle between the trunk line and the plumb line passing through the hinge point of the H point is the backrest angle.
And (3) calculating the coordinates of the HPM centroid relative to the H point according to the following moment formula:
according to the R point coordinate (X) R ,Y R ,Z R ) The obtained human body mass center coordinates (X, Y, Z) are as follows:
X＝X R +X HPM， Y＝Y R ，Z＝Z R +Z HPM。
the invention solves the problems of large error, low efficiency, long period and the like caused by no common centroid determining method conforming to the human sitting posture change in axle load design, and provides the human centroid determining method.
Drawings
The technical scheme of the invention is further described by the following specific embodiments with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of a matching flow of a three-dimensional H-point device and the mass center of the whole vehicle;
FIG. 2 is a schematic representation of the mass centroid parameterization of the present invention;
FIG. 3 is a schematic view of a sitting height parameterized two-dimensional human template;
FIG. 4 is a schematic diagram of a centroid parameterized two-dimensional human template;
fig. 5 is a schematic distribution diagram of HPM centroids and loading vehicle centroids.
Detailed Description
As shown in fig. 1, fig. 1 is a schematic diagram of a matching flow between a three-dimensional H-point device and a whole vehicle centroid. And carrying out body centroid parameterization on the three-dimensional H-point model device, carrying out joint angle parameterization on the three-dimensional H-point model device, establishing a matching relationship between the parameterized centroid position and the sitting posture height, and establishing a matching relationship between the three-dimensional H-point device and an R point of the whole vehicle.
Loading the mass of the three-dimensional H point model device on a design R point (a seat reference point) of a whole vehicle coordinate system, parameterizing the mass center of the trunk of the three-dimensional H point model device, and assigning the mass center of the trunk of the three-dimensional H point (the intersection point of the thigh center line and the trunk center line) model device so as to obtain the mass center of mass position of the human body changing along with sitting postures; performing joint angle parameterization on the three-dimensional H point model device to obtain a sitting posture parameterized model; and establishing a matching relation between the parameterized centroid position and the sitting posture height, and establishing a matching relation between the three-dimensional H point transposition and a whole vehicle SGRP point (a seat reference point under a whole vehicle coordinate system). And matching the three-dimensional H point device model with the human sitting posture of the R point of the whole vehicle design, so as to obtain the loaded human centroid position under the whole vehicle coordinate system.
Fig. 2 is a schematic diagram of mass centroid parameterization, wherein the mass of a three-dimensional H-point device is loaded on a design R point of a whole vehicle coordinate system, and a centroid parameterization model is used for establishing a relation between a centroid and the H point along with the change of sitting posture so as to obtain an accurate parameterization centroid position; the joint angle parameterized model is used for matching the human sitting posture of the whole vehicle so as to obtain the mass center distribution of the human trunk which accords with the reality; the centroid position and sitting posture height matching model is used for establishing a matching relation between any sitting posture and the centroid of a human body; the whole vehicle R point is provided with a human body model, and the human body model is used for establishing an R point position under a whole vehicle coordinate system and designing a three-dimensional H point device model of sitting postures, so that a human body mass center loading position under the whole vehicle coordinate system is obtained.
The establishment of the matching relation between any sitting posture and the mass center of the human body comprises the following steps: the method comprises the steps of matching the mass centers of all the trunk of the three-dimensional H-point device model according to sitting postures, and matching all the trunk angles of the three-dimensional H-point device model according to the sitting postures, so that the mass centers of human bodies are matched with corresponding sitting postures at each of a plurality of different sitting postures. The parameterized centroid position and sitting height matching relationship is a variable functional relationship. Therefore, the mass centroids of all parts of the trunk can be reasonably distributed to various human riding postures, and the mass centroid positions of the real human riding postures are reflected.
Fig. 3 is a schematic view of a sitting-height parameterized two-dimensional human template for establishing a geometric constraint relationship between each joint component and the H-point. Establishing a joint two-dimensional template, and a datum point and a datum line thereof; establishing a rotation constraint relation between joints; a geometric relationship between sitting height and joint angle and datum point is established.
Because HPM is bilateral symmetry about the plane that crosses H point and perpendicular to H point articulated shaft, human centroid offset each other in H point articulated shaft direction (controlling), therefore only there is two-dimensional relation, the centroid lies in the plane of symmetry, therefore simplify HPM centroid position into two-dimensional coordinate relation. And carrying out two-dimensional graphic modeling on the datum points (including BOF points, heel points, ankle joint hinge points, knee joint hinge points and H points) and datum lines (including sole lines, shank lines, thigh lines and trunk lines) of each joint of the three-dimensional H-point device to form a two-dimensional template of each joint. Two-dimensional modeling may be accomplished using CATIA (interactive CAD/CAE/CAM system) software.
According to the right hand rule, establishing a joint coordinate system of each two-dimensional joint template of the three-dimensional H point device:
foot coordinate system-taking ankle joint hinge point as origin of coordinates; the X axis is parallel to the sole line, and the BOF (sole center point) point is positive; shank coordinate system-taking ankle joint hinge point as origin of coordinates; the shank line is an X axis and faces towards the knee joint hinge point to be positive;
thigh coordinate system-taking the point H as the origin of coordinates, thigh line as X axis, and the hinging point towards knee joint is positive; trunk coordinate system-with the point H as the origin of coordinates, trunk line as the X axis, and the direction toward the shoulder is positive.
And determining the barycenter coordinates of each joint under the joint coordinate system in the two-dimensional template by adopting a coordinate conversion method.
Constraining the two-dimensional templates of each joint according to the joint hinge points of the human body to form a two-dimensional human body template, which can specifically comprise: ankle angle-the ankle joint hinge point of the two-dimensional template of the foot and the two-dimensional template of the lower leg are combined and restrained, and the included angle between the bottom line of the foot and the lower leg line is the ankle angle; knee joint angle-the knee joint hinge points of the two-dimensional lower leg template and the two-dimensional thigh template are combined and restrained, and the included angle between the lower leg line and the thigh line is the knee joint angle; hip joint angle-the joint constraint of the H point hinge points of the thigh two-dimensional template and the trunk two-dimensional template, and the thigh line and the trunk line clamp angle are hip joint angles; the back angle-the included angle of the vertical line passing through the hinge point of the H point and the trunk line is the back angle.
According to the right hand rule, a human body coordinate system of a two-dimensional human body template is established: the point H is taken as the origin of coordinates, the plumb line passing through the point H is taken as the Z axis, and the direction of the plumb line towards the shoulder is positive. The coordinate axis of the coordinate system is parallel to the coordinate axis of the whole vehicle coordinate system.
The measuring unit (CATIA software can be adopted) measures X, Z coordinate foot joint templates of the mass center of each joint template relative to the human body coordinate system, and obtains the mass center (X) of HPM (three-dimensional H point device model) according to the following moment formula HPM、 Z HPM ) Coordinates relative to the H point:
wherein X is HPM 、Z HPM X, Z coordinates of the centroid of HPM relative to the H point, M i For the mass of the two-dimensional template of each joint, i=foot, leg, thigh, torso represent the foot, calf, thigh, trunk mass, X of the two-dimensional template, respectively i 、Z i For each jointCentroid X, Z coordinates of the two-dimensional template, i=foot, leg, thigh, torso represent the foot, calf, thigh, torso centroid of the two-dimensional template, respectively.
The positions of front-row passengers and rear-row passengers are distinguished, the ankle joint angle and the backrest angle of the two-dimensional human body template are fixed according to the design angles of different riding positions, and in the sitting height comfort range, the sitting height constraint size is adjusted by taking a preset size (for example, 5 mm) as a gradient, for example:
the position of the front passenger, namely the ankle joint angle is 87 degrees, the backrest angle is fixed according to 25 degrees, and the sitting height is adjusted in a gradient of 5mm within a range of 200 mm-350 mm; the position of the rear passenger, namely the ankle joint angle is 120 degrees, the backrest angle is fixed at 28 degrees, and the sitting height is adjusted in a gradient of 5mm within a range of 260 mm-400 mm; recording sitting height H30 parameter and HPM centroid position X of corresponding sitting posture HPM And Z HPM Fitting out X HPM And Z HPM Quadratic relation to H30. And (3) performing geometric dimension constraint on the ankle joint angle, the backrest angle and the sitting height (the plumb distance from the heel point to the H point is represented by H30) of the two-dimensional human body template to form the sitting height parameterized two-dimensional human body template.
As shown in fig. 4, which is a schematic diagram of a centroid parameterized two-dimensional human body template, each component of a three-dimensional H-point device (HPM) (the three-dimensional H-point device and the component thereof are defined by terms and structural dimensions in the same manner as those in GB/T29120-2012) is divided into a left foot, a right foot, a left calf (including a calf bar and a calf weight), a left thigh (including a thigh bar, a thigh weight and a seat plate), a trunk (including a backboard and a trunk weight) according to articulation points, and mass and centroid parameters of the left foot, the right foot, the left calf, the left thigh, the right thigh and the trunk are measured respectively, and a coordinate relation of the centroid relative to the articulation points is obtained.
Establishing a coordinate relation between the mass centers of HPM and H points under different sitting postures, and establishing mass center coordinate positions of all joints in a two-dimensional human body template; establishing a coordinate relation between an HPM centroid and an H point; establishing centroid coordinate X of HPM in front-back row human body sitting height comfort range HPM And Z HPM Quadratic function with H30; the relation between the mass center of the whole vehicle and the HPM mass center is established, namely, the functional relation between the mass center of the whole vehicle and the sitting height (H30); illustrating the axle loadAnd the relation with the mass center of the loaded vehicle to obtain the change relation between the axle load and the sitting height of the human body.
Fig. 5 is a schematic diagram of the distribution of HPM centroids and loaded vehicle centroids, where R-point coordinates and ride height are key hard-point parameters during the electronic virtual vehicle development phase. The sitting height relation of the mass center of the HPM relative to the H point (same as the R point) is obtained, namely the X-direction distance X of the mass center of the human body relative to the front wheel center can be obtained according to the R point and the sitting height parameter G . So as to calculate the front and rear axle loads of the designed vehicle according to the moment balance principle.
According to GB/T29120-2012, the H point of the HPM is the R point. In the whole vehicle coordinate system, the R point coordinate is (X R ,Y R ,Z R ) According to the coordinate conversion relation, the coordinates (X, Y, Z) of the mass center of the human body are as follows:
X＝X R +X HPM
Y＝Y R
Z＝Z R +Z HPM
carry over X HPM 、Z HPM The parameter relation with the sitting height H30 of the passenger can obtain the mass center (X) G ,Y G ,Z G ) Is parameterized by sitting height (H30).
Front row position:
X G ＝X R +0.004*(H30) 2 +0.1056*(H30)-53.057
Y G -1＝Y R
Z G ＝Z R +0.004*(H30) 2 -0.5221*(H30)+168.94
rear row position:
X G ＝X R +0.0028*(H30) 2 -0.0949*(H30)-9.0984
Y G ＝Y R
Z G ＝Z R -0.0034*(H30) 2 -0.9629*(H30)+174.86
according to the definition of GB/T5910-1998, 68 kg/person for the passenger, 7 kg/person for the baggage, the centroid position of the loading vehicle is calculated using the moment balance formula. Taking the design state (2 people in front row and 1 person in middle position in rear row) as an example:
wherein M is c Mass for vehicle preparation, X C ，Y C ，Z C Providing the vehicle with X, Y, Z coordinates, X of a centroid b ，Y b ，Z b The luggage is loaded with the X, Y, Z coordinates of the centroid.
If the length of the wheelbase of the vehicle is L and the number of passengers is n, loading the front axle load F of the vehicle f The method comprises the following steps:
rear axle load F r The method comprises the following steps:
for a designed specific vehicle, its preparation mass M c Wheelbase L, number of occupants n, trunk loading position X b The human body sitting posture height H30 changes to influence the position X of the human body centroid under the whole vehicle coordinate as a constant value G Thereby influencing the mass center position X of the loaded vehicle and finally influencing the calculation result F of the whole axle load f And F r 。
According to the invention, the mass centroid of each trunk part of the HPM is parameterized in the development stage of the electronic virtual sample car, the distribution precision of the mass centroid of the human body relative to the H point is improved, the angle of each joint of the HPM is parameterized, the distribution precision of the mass centroid of the human body relative to the H point along with the change of sitting postures is improved, and the mass centroid of the human body is enabled to be as close to the actual mass centroid loading position when the automobile takes passengers as possible, so that the physical behavior of the human body can be truly reflected.
According to the invention, the mass centroid of each trunk part of the HPM is parameterized in the development stage of the electronic virtual sample car, the distribution precision of the mass centroid of the human body relative to the H point is improved, the angle of each joint of the HPM is parameterized, the distribution precision of the mass centroid of the human body relative to the H point along with the change of sitting postures is improved, and the mass centroid of the human body is enabled to be as close to the actual mass centroid loading position when the automobile takes passengers as possible, so that the physical behavior of the human body can be truly reflected.
It is to be understood that the above-described embodiments of the present invention are provided by way of illustration only and not limitation. Any modifications, equivalent substitutions and improvements made by those skilled in the art, which are within the spirit and principles of the present invention, are intended to be included within the scope of the present invention as set forth in the appended claims.
Claims (6)
1. A method for determining the mass center of a human body in the axle load design of a vehicle is characterized in that a three-dimensional H-point model device is parameterized in the mass center of the trunk, and the mass center of the trunk of the three-dimensional H-point model device is assigned to obtain the position of the mass center of the human body which changes along with the sitting posture; performing joint angle parameterization on the three-dimensional H point model device to obtain a sitting posture parameterized model; establishing a matching relation between the human body centroid position and the sitting posture, establishing a matching relation between the three-dimensional H point transposition and the whole vehicle SGRP point, loading the mass of the three-dimensional H point model device on a design R point of a whole vehicle coordinate system, and obtaining a loaded human body centroid position under the whole vehicle coordinate system;
specifically, simplifying the HPM centroid position into a two-dimensional coordinate relation, carrying out two-dimensional graphic modeling on the datum point and the datum line of each joint of the three-dimensional H point device, forming a two-dimensional template of each joint, and establishing a joint coordinate system of each two-dimensional joint template of the three-dimensional H point device; the barycenter of each joint is subjected to a coordinate conversion method, and barycenter coordinates under a joint coordinate system are determined in a two-dimensional template; taking the point H as a coordinate origin, taking a plumb line passing through the point H as a Z axis, taking a direction shoulder as positive, and setting up a human body coordinate system of a two-dimensional human body template by the coordinate axis being parallel to the coordinate axis of the whole vehicle coordinate system;
the building of the joint coordinate system of each two-dimensional joint template of the three-dimensional H point device further comprises the following steps: establishing a foot coordinate system by taking an ankle joint hinge point as a coordinate origin, wherein the foot coordinate system is parallel to a sole line and is positive towards a BOF point; establishing a shank coordinate system by taking an ankle joint hinge point as a coordinate origin, wherein a shank line is an X axis, and a knee joint hinge point facing direction is positive; establishing a thigh coordinate system by taking the point H as a coordinate origin, wherein a thigh line is an X axis, and a hinging point towards a knee joint is positive; and (3) establishing a trunk coordinate system by taking the point H as a coordinate origin, wherein a trunk line is an X axis, and the direction towards the shoulder is positive.
2. The method of claim 1, wherein establishing a matching relationship of any sitting posture to a centroid of the human body comprises: the three-dimensional H point device model is matched with the mass center of each trunk according to the sitting postures, the angles of each trunk are matched with each other according to the sitting postures, the mass center of the human body is matched with the corresponding sitting postures at a plurality of different sitting postures, and the matching relationship between the mass center position and the sitting postures is a variable functional relationship.
3. The method of claim 1, wherein determining centroid coordinates in a joint coordinate system in a two-dimensional template further comprises: constraining each joint two-dimensional template according to the joint hinge points of the human body to form a two-dimensional human body template, wherein the ankle joint hinge points of the foot two-dimensional template and the shank two-dimensional template are constrained together, and the included angle between the foot bottom line and the shank line is an ankle joint angle; the knee joint hinge points of the two-dimensional lower leg template and the two-dimensional thigh template are combined and restrained, and the included angle between the lower leg line and the thigh line is the knee joint angle; the H-point hinge points of the thigh two-dimensional template and the trunk two-dimensional template are combined and restrained, and the thigh line and trunk line clamp angle is a hip joint angle; the included angle between the trunk line and the plumb line passing through the hinge point of the H point is the backrest angle.
4. The method according to claim 1, wherein the measuring unit measures X, Z coordinate values of the centroid of each joint template relative to the human body coordinate system, and the coordinates of the HPM centroid relative to the H point are obtained according to the following moment formula:
wherein X is HPM 、Z HPM X, Z coordinates of the centroid of HPM relative to the H point, M i For the mass of the two-dimensional template of each joint, i=foot, leg, thigh, torso represent the foot, calf, thigh, trunk mass, X of the two-dimensional template, respectively i 、Z i Centroid X, Z coordinates of the two-dimensional template for each joint, i=foot, leg, thigh, torso represent the foot, calf, thigh, torso centroid of the two-dimensional template, respectively.
5. The method of claim 1, wherein the front passenger and the rear passenger are distinguished from each other, wherein the ankle angle and the back angle of the two-dimensional body form are fixed according to the design angles of different seating positions, and wherein the sitting height restraining size is adjusted in a gradient of a predetermined size in the sitting height comfort range.
6. The method according to claim 4, wherein the R point coordinates (X R ,Y R ,Z R ) The obtained human body mass center coordinates (X, Y, Z) are as follows: x=x R +X HPM， Y＝Y R， Z＝Z R +Z HPM， Obtaining X-direction distance X of human body mass center relative to front wheel center according to R point and sitting height parameters G， Thereby solving the front and rear axle loads of the designed vehicle according to the moment balance principle 。
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