CN114910094A - Method, device and storage medium for determining false head offset in automobile crash test - Google Patents
Method, device and storage medium for determining false head offset in automobile crash test Download PDFInfo
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Abstract
The invention relates to the field of automobile crash test dummy, and discloses a method, equipment and a storage medium for determining the head offset of an automobile crash test dummy. The method comprises the following steps: acquiring the linear acceleration of a test vehicle relative to the ground, the linear acceleration of the head of the test dummy relative to the ground and the angular velocity of the head of the test dummy under a head local coordinate system; determining a time-displacement curve of the head of the dummy to be tested in a head local coordinate system; and determining the time-offset curve of the head of the dummy in the vehicle coordinate system according to the time-displacement curve of the head of the dummy in the head local coordinate system and a preset rotation transformation matrix. The system can improve the accuracy of determining the head deviation track of the dummy in the automobile crash test.
Description
Technical Field
The invention relates to the field of automobile crash test dummy, in particular to a method, equipment and a storage medium for determining the head offset of an automobile crash test dummy.
Background
With the increasing automobile holding amount in China, the incidence rate of traffic accidents is higher and higher, so the safety of automobiles gradually becomes the focus of attention of consumers. The safety of automobiles is an important property concerning the life safety of personnel, and it can be evaluated by an automobile crash test.
In the automobile collision test, the offset track of the head of a dummy is an important reference for determining the injury risk of drivers and passengers in a real collision accident. For example, in a frontal crash test, if the second row occupant displaces the head by an amount that is too great, the head will impact the front seat and the vehicle B-pillar, adding additional risk of injury. Thus, the amount of offset of the occupant's head during a collision event determines the extent to which the occupant is injured. Obtaining the head movement time history curve of the crash test dummy is necessary information to help analyze the safety performance of the vehicle.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
In order to solve the technical problem, the invention provides a method, equipment and a storage medium for determining the head offset of a dummy in an automobile crash test, which can improve the determination precision of the head offset track of the dummy in the automobile crash test.
The embodiment of the invention provides a method for determining the head offset of a dummy in an automobile crash test, which comprises the following steps: acquiring linear acceleration of a target position of a test vehicle relative to the ground, linear acceleration of a head of a test dummy relative to the ground and angular velocity of the head of the test dummy under a head local coordinate system in an automobile crash test;
determining a time-displacement curve of the target position of the test vehicle relative to the ground according to the linear acceleration of the target position of the test vehicle relative to the ground;
determining a time-displacement curve of the head of the trial dummy relative to the ground from the linear acceleration of the head of the trial dummy relative to the ground;
determining a time-displacement curve of the head of the test dummy in a head local coordinate system according to the time-displacement curve of the target position of the test vehicle relative to the ground and the time-displacement curve of the head of the test dummy relative to the ground;
and determining the time-offset curve of the head of the test dummy in the vehicle coordinate system according to the time-displacement curve of the head of the test dummy in the head local coordinate system, the angular speed of the head of the test dummy in the head local coordinate system and the reference rotation sequence of the head of the test dummy in the three-dimensional space.
An embodiment of the present invention provides an electronic device, including:
a processor and a memory;
the processor is used for executing the steps of the automobile crash test dummy head offset determination method according to any embodiment by calling the program or the instructions stored in the memory.
The embodiment of the invention provides a computer-readable storage medium, which stores a program or instructions, wherein the program or instructions enable a computer to execute the steps of the method for determining the head offset of the dummy in the automobile crash test.
The embodiment of the invention has the following technical effects:
according to the rotation sequence of the rotation angles in the three-dimensional space, the rotation angular velocity after the head of the test dummy is converted in the head local coordinate system is obtained according to the angular velocity of the head of the test dummy in the head local coordinate system, so that the unique rotation angle corresponding to each moment is obtained, and further the time-offset curve of the head of the test dummy relative to the test vehicle is obtained by combining the time-offset linear curve of the head of the test dummy relative to the test vehicle, so that the determination accuracy of the head offset track of the automobile collision test dummy is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram illustrating a comparison of head rotation trajectories during collision of a test dummy under remote test conditions according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for determining the head offset of a dummy in an automobile crash test according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a reference rotation sequence according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a test dummy head without x-direction deviation during a collision according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a comparison between an offset curve of a trial dummy head determined by a method provided in an embodiment of the present invention and an actual offset curve of the trial dummy head;
fig. 6 is a schematic flow chart of a method for determining an offset of a dummy head in an automobile crash test according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a method for determining an offset of a dummy head in an automobile crash test according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The measurement mode commonly used at present for the head displacement of the dummy in the automobile crash test is to obtain the offset of the head of the dummy in the automobile crash test by installing a high-speed camera, and the defect of the measurement mode is that the installation of the camera at certain positions is limited by space and is difficult to implement. Moreover, for example, in a front 64 km 25% overlap offset crash condition, the head of the dummy may move towards the a-pillar direction of the vehicle during the crash, and the camera may not be able to accurately record due to the angle problem.
In another measurement mode, a linear acceleration curve and an angular velocity curve of the head of the dummy are output through a linear acceleration sensor and an angular velocity sensor which are installed on the center of mass of the head of the dummy, and a head offset curve is obtained through secondary integral conversion on the curve, however, when the collision speed is high or the deflection angle of the head of the dummy is large, the error of the motion offset obtained through the secondary integral becomes large, the result is inaccurate, as shown in fig. 1, the head of the dummy under the far-end test working condition can rotate greatly in the collision process, and the difference is found to be large by comparing a head offset curve 210 measured through video recording of a high-speed camera with an offset curve 220 obtained through the secondary integral.
Therefore, whether the offset trajectory of the head of the dummy is obtained by the high-speed camera in the automobile crash test or the offset trajectory of the head of the dummy is obtained by the quadratic integration method, the method has certain limitations.
Aiming at the problems in the prior art, the embodiment of the invention provides a method for determining the head offset of a dummy in an automobile crash test, which not only improves the determination precision of the head offset track of the dummy in the test, but also has strong feasibility and does not worry about the problem that a high-speed camera cannot be installed due to limited space. Specifically, according to the rotation sequence of the rotation angles in the three-dimensional space, the rotation angular velocity converted under the head local coordinate system is obtained according to the angular velocity of the head of the test dummy under the head local coordinate system, so that the unique rotation angle corresponding to each moment is obtained, and further, the time-offset curve of the head of the test dummy relative to the test vehicle is obtained by combining the time-displacement linear curve of the head of the test dummy relative to the test vehicle, so that the accuracy of determining the offset track of the head of the dummy in the automobile crash test is improved.
Illustratively, referring to a schematic flow chart of a method for determining the false head offset in an automobile crash test as shown in fig. 2, the method includes the following steps:
and 310, acquiring the linear acceleration of the target position of the test vehicle relative to the ground, the linear acceleration of the head of the test dummy relative to the ground and the angular velocity of the head of the test dummy under a head local coordinate system in the automobile crash test.
Optionally, the linear acceleration of the target position relative to the ground is obtained based on an acceleration sensor installed at the target position.
Acquiring the linear acceleration of the head of the test dummy relative to the ground based on an acceleration sensor installed at the center of mass of the head of the test dummy.
Acquiring the angular velocity of the head of the test dummy under a local head coordinate system based on an angular velocity sensor installed at the center of mass of the head of the test dummy.
And 320, determining a time-displacement curve of the target position of the test vehicle relative to the ground according to the linear acceleration of the target position of the test vehicle relative to the ground.
From the linear acceleration at each time outputted from the acceleration sensor installed at the target position, a linear acceleration curve of the target position of the test vehicle with respect to the ground can be obtained. A time-displacement curve of the target position of the test vehicle with respect to the ground can be obtained by performing second-order integration based on the linear acceleration curve.
According to the linear acceleration output by the acceleration sensor installed at the head mass center of the test dummy at each moment, a linear acceleration curve of the head of the test dummy relative to the ground can be obtained, and a time-displacement curve of the head of the test dummy relative to the ground can be obtained by performing secondary integration based on the linear acceleration curve.
In summary, the determining a time-displacement curve of the target position of the test vehicle relative to the ground from the linear acceleration of the target position of the test vehicle relative to the ground includes:
performing quadratic integration on the linear acceleration of the target position relative to the ground to obtain a time-displacement curve of the target position relative to the ground;
the determining a time-displacement curve of the trial dummy's head relative to the ground from the linear acceleration of the trial dummy's head relative to the ground includes:
and performing quadratic integration on the linear acceleration of the head of the test dummy relative to the ground to obtain a time-displacement curve of the head of the test dummy relative to the ground.
And 340, determining the time-displacement curve of the head of the test dummy in the head local coordinate system according to the time-displacement curve of the target position of the test vehicle relative to the ground and the time-displacement curve of the head of the test dummy relative to the ground.
Optionally, the time-displacement curve of the head of the dummy is obtained in the head local coordinate system by subtracting the time-displacement curve of the target position of the test vehicle relative to the ground from the time-displacement curve of the head of the dummy relative to the ground.
For example, in a vehicle coordinate system in which a component of a time-displacement curve of the head of the test dummy in the x-axis direction with respect to the ground is assumed to be D, specifically, a vehicle coordinate system is generated in accordance with the right-hand rectangular coordinate system rule with the target position of the test vehicle as the origin hx The component of the time-displacement curve of the target position of the test vehicle relative to the ground on the x-axis is D cx The component of the time-displacement curve of the head of the test dummy with respect to the ground in the y-axis is D hy The component of the time-displacement curve of the target position of the test vehicle relative to the ground in the y-axis is D cy The component of the time-displacement curve of the head of the test dummy with respect to the ground in the z-axis is D hz Fraction of the time-displacement curve of the target position of the test vehicle relative to the ground on the z-axisAmount is D cz The components of the time-displacement curve of the head of the test dummy relative to the target position of the test vehicle in the x-axis, y-axis and z-axis are then: dx = D hx -D cx 、Dy=D hy -D cy 、Dz=D hz -D cz . In other words, Dx, Dy, and Dz are the offset amounts of the head of the dummy under the head local coordinate system when the head reaches the target position of the test vehicle, and the final solution objective is to obtain the offset trajectory of the head of the dummy under the vehicle coordinate system, so as to determine whether the dummy will collide with other positions in the vehicle and the degree of injury due to the collision based on the offset trajectory.
And 350, determining the time-offset curve of the head of the test dummy in the vehicle coordinate system according to the time-displacement curve of the head of the test dummy in the head local coordinate system, the angular speed of the head of the test dummy in the head local coordinate system and the reference rotation sequence of the head of the test dummy in the three-dimensional space.
The head local coordinate system may be generated according to a right-hand rule by using a head centroid of the dummy as a coordinate origin. The vehicle coordinate system may be generated according to a right-hand rule with a position in the vehicle as an origin of coordinates.
Illustratively, the determining a time-offset curve of the trial dummy head in the vehicle coordinate system from a time-displacement curve of the trial dummy head in the head local coordinate system, an angular velocity of the trial dummy head in the head local coordinate system, and a reference rotation order of the trial dummy head in the three-dimensional space includes:
determining the angular velocity of the head of the trial dummy after transformation in the head local coordinate system according to the angular velocity of the head of the trial dummy in the head local coordinate system and the reference rotation sequence of the head of the trial dummy in the three-dimensional space;
determining a transformed rotation angle from the transformed angular velocity;
determining a target rotation transformation matrix according to the transformed rotation angle;
and determining the time-offset curve of the head of the dummy in the vehicle coordinate system according to the time-displacement curve of the head of the dummy in the head local coordinate system and the target rotation transformation matrix.
It can be understood that three degrees of freedom are required for the fixed-point rotation of a rigid body (or coordinate system) in three-dimensional space, but the rotation angle representation is not unique due to the order problem of the rotation. There are a number of situations depending on the order of rotation of the coordinate system about its axis: first, there are 3 cases of rotation about any of the three coordinate axes, then, there are 2 cases of rotation about any of the axes other than the first rotation axis, and finally, there are 2 cases of rotation about any of the axes other than the second rotation axis, so there are 3x2x2=12 possible cases in total. Therefore, when defining the rotation parameters of the three-dimensional space, it is necessary to specify the definition mode of the rotation angle, for example, in a collision test, the head of the test dummy swings in the three-dimensional space due to collision impact, and if the motion trajectory is to be determined, the rotation sequence of the rotation angles of the head of the test dummy in the collision test and the corresponding rotation transformation matrix need to be agreed in advance, so as to finally determine the unique motion trajectory of the head of the test dummy according to the agreed reference rotation sequence.
Illustratively, in the embodiment of the present invention, the reference rotation sequence is defined as z-y-x, and referring to fig. 3, the center of mass of the head is taken as the origin O of the local coordinate system, and Ox is established according to the right-hand rectangular reference coordinate system 0 y 0 z 0 A coordinate system defining a rotation angle rotation order as: (z, y, x), i.e. first with Ox 0 y 0 z 0 Is wound around Oz 0 Obtaining Ox after the shaft rotates forwards by a psi angle 1 y 1 z 1 (i.e. first rotating the z-axis), followed by Ox 1 y 1 z 1 Is tied around Oy 1 Ox is obtained after the shaft rotates forwards by theta angle 2 y 2 z 2 (i.e. re-rotation of the y-axis), finally Ox 2 y 2 z 2 Is wound around Ox 2 The shaft rotates in the positive direction by a phi angle to obtain Ox 3 y 3 z 3 (i.e., the final x-axis rotation), wherein positive is defined as the direction of clockwise rotation according to the right-hand rule, and wherein the angle of rotation according to the x, y, z-axis is defined as (phi, theta,ψ). Summarizing, the head mass center of the test dummy is taken as the origin O of the head local coordinate system, and a primary coordinate system Ox is established according to a right-hand rectangular coordinate system 0 y 0 z 0 The reference rotation sequence is: firstly, the original coordinate system Ox 0 y 0 z 0 Around Oz 0 Obtaining a first coordinate system Ox after the positive rotation of the axis by a phi angle 1 y 1 z 1 Then, a first coordinate system Ox 1 y 1 z 1 Around Oy 1 Obtaining a second coordinate system Ox after the shaft rotates forwards by an angle theta 2 y 2 z 2 And finally a second coordinate system Ox 2 y 2 z 2 Is wound around Ox 2 Obtaining a third coordinate system Ox after the shaft rotates forwards by a phi angle 3 y 3 z 3 Wherein the forward direction is a clockwise rotation direction according to the right-hand rule, and wherein the rotation angles around the x, y, z axes are (phi, theta, psi), respectively.
Due to the universal lock problem, the rotation angle range is agreed: the range of the rotation angle ψ about the z-axis direction is: 180 ° to 180 ° (note that the z axis is downward and the ψ angle is positive to the right); the range of the rotation angle θ about the y-axis direction is defined as: -90 ° to 90 °, and not equal to 90 ° and-90 °; the rotation angle phi around the x-axis direction is: -180 ° to 180 °.
If there is a rotation angle exceeding the corresponding range among the finally obtained rotation angles, it is considered that the collision test has a problem.
According to the coordinate system and the reference rotation sequence, an initial rotation transformation matrix R can be obtained, and the calculation matrix is as follows:
the rotational transformation matrix around the z-axis is:
the rotation transformation matrix around the y-axis is:
the rotational transformation matrix around the x-axis is:
in conclusion, an overall initial rotation transformation matrix can be obtained, namely the initial rotation transformation matrix R determined according to the reference rotation sequence of the head of the test dummy in the three-dimensional space:
R=
the initial rotation transformation matrix R is a 3 × 3 matrix in which a 3 × 1 vector composed of elements of the first column is [, [ 2 ]
]The vector of 3X 1 consisting of the elements of the second row is [ 2 ]
]The vector of 3X 1 consisting of the elements of the second column is [ 2 ], [
]
Based on the initial rotation transformation matrix R, an analytical calculation formula of the angles phi, theta, psi can be obtained:
based on the above equation, the rotation angles φ, θ, ψ can be obtained. Wherein, Atan2(y, x) represents the angle between the ray pointing to the point (x, y) and the positive direction of the x-axis on the coordinate plane with the origin of the coordinate as the starting point, the range of the value is (-pi, pi), when y is larger than 0, the included angle between the ray and the positive direction of the x-axis refers to the angle rotated by the positive direction of the x-axis reaching the ray around the counterclockwise direction; and when y <0, the angle of the ray with the positive x-axis direction refers to the angle by which the positive x-axis direction rotates clockwise to reach the ray. In a geometric sense, Atan2(y, x) is equivalent to Atan (y/x), but the advantage of Atan2 is that x =0 and y ≠ 0 can be handled correctly.
In summary, a transformation formula of the angular velocity w can be obtained through conversion, wherein w1, w2 and w3 are set as angular velocity components along the directions of the x axis, the y axis and the z axis in the local coordinate system of the head of the dummy to be tested, respectively, and the angular velocity w can be obtained through the automobile crash test. Based on the reference rotation sequence, the angular velocity under the local coordinate system of the head after transformation can be obtained
：
Namely:
in summary, the transformed angular velocity is determined based on equation (2) above,
the rotational angular velocities of the head of the test dummy after transformation around the z-axis, around the y-axis, and around the x-axis in the head local coordinate system are respectively represented. The transformed rotation angle is:
，
，
. Wherein the content of the first and second substances,
representing the positive rotation angle of the head of the test dummy around the z-axis under the local coordinate system of the head after transformation,
represents the positive rotation angle of the head of the test dummy around the y axis under the local coordinate system of the head after transformation,
the positive rotation angle of the head of the test dummy around the x-axis under the local coordinate system of the head after transformation is shown.
Specifically, the determining a time-offset curve of the dummy head under the vehicle coordinate system according to the time-displacement curve of the dummy head under the head local coordinate system and the target rotation transformation matrix includes:
wherein the content of the first and second substances,DXa time-offset curve calibration post component representing the X-axis direction of the head of the trial dummy relative to the target position of the trial vehicle under the vehicle coordinate system,DYa time-offset curve calibration post component representing a Y-axis direction of a head of the trial dummy relative to a target position of the trial vehicle under a vehicle coordinate system,DZrepresenting the calibrated component of a time-offset curve of the head of the test dummy relative to the target position of the test vehicle in the Z-axis direction under a vehicle coordinate system, wherein the vehicle coordinate system takes the target position as an origin and is generated according to a right-hand rectangular coordinate system, R' is the target rotation transformation matrix,Dxa time-displacement curve uncalibrated component in an X-axis direction under the head local coordinate system representing a target position of a head of a test dummy relative to the test vehicle,Dya time-displacement curve uncalibrated component in a Y-axis direction under the head local coordinate system representing a target position of a head of a test dummy relative to the test vehicle,Dza time-displacement curve uncalibrated component representing a target position of a head of a test dummy relative to the test vehicle in a Z-axis direction under the head local coordinate system;
R'=
r' is a 3X 3 matrix in which the vector of 3X 1 composed of the elements of the first column is [ 2 ]
]The vector of 3X 1 consisting of the elements of the second row is [ 2 ]
]The vector of 3X 1 consisting of the elements of the second row is [ 2 ]
]
I.e. only need to solve
、
And
the time-offset curve of the trial dummy head in the vehicle coordinate system can be obtained, and
、
and
and the angular velocity in the local coordinate system after transformation
Related, but angular velocity
The method can be obtained by jointly solving the formula (1) and the formula (2), a ternary quadratic equation system about phi, theta and psi can be obtained after the formula (1) and the formula (2) are jointly solved, and a unique solution can be obtained by solving and the value range corresponding to each angle.
Assuming that the test dummy's head has not shifted in the x-direction during the collision, i.e. D x =0，θ’=0，
=0, as shown in fig. 4, only linear acceleration and 1 angular velocity (w) of the head and the vehicle need to be considered in the DY direction and DZ direction coordinate system x = w 1 Rad/second), taking the head mass center as a local coordinate system origin O, establishing an Ox0y0z0 coordinate system according to a right-hand rectangular reference coordinate system, and defining a rotation angle rotation sequence as follows: (z, y, x). Dy0 and Dz0 are the (relative head centroid) positions of the local coordinate system at the initial 0 time point
=0，
And = 0. A time-offset curve for testing the dummy head in the vehicle coordinate system can be obtained based on the above equation (3). As shown in fig. 5, reference numeral 610 represents an actual offset curve of the trial dummy head (the offset curve can be obtained by video recording with a high-speed camera), and reference numeral 620 represents an offset curve of the trial dummy head determined by the method provided by the embodiment of the present invention, which shows that the two curves have higher similarity.
On the basis of the foregoing embodiment, referring to a schematic flow chart of a method for determining a false head offset in an automobile crash test as shown in fig. 6, the method specifically includes: and finishing an automobile crash test based on a crash safety regulation, extracting linear acceleration of the test dummy and the test vehicle and angular velocity data of the test dummy, and determining the offset of the head of the test dummy based on an agreed reference rotation sequence.
On the basis of the foregoing embodiment, referring to a schematic flow chart of a method for determining a false head offset in an automobile crash test as shown in fig. 7, the method specifically includes: determining a coordinate system of the vehicle relative to the ground, a coordinate system of the head relative to the vehicle and a reference rotation sequence, finishing an automobile crash test based on a crash safety regulation, extracting the output of a sensor to obtain the linear acceleration of the test dummy and the test vehicle and the angular velocity data of the test dummy, performing secondary integration on the linear acceleration, calculating a difference value of an integration result to obtain the displacement of the head of the test dummy relative to the vehicle, and calculating a converted rotation angle to obtain the offset of the head of the test dummy relative to the vehicle.
In one embodiment, the method comprises the steps of:
step 1, completing a basic tackle collision test according to a 60AEMDB side collision working condition regulation, equipping a wordsid50 test dummy specified by the regulation in the test according to a conventional standard, and outputting linear accelerations a of a vehicle in an X direction, a Y direction and a Z direction to a left B column by the test dummy after the collision test is finished cx 、a cy And a cz Testing the linear acceleration a of the center of mass of the head of the dummy in the X, Y and Z directions hx 、a hy And a hz Testing the X-direction, Y-direction and Z-direction angular velocity curve w of the center of mass of the head of the dummy hx (i.e., w above) 1 ）、w hy (i.e., w above) 2 ) And w hz (i.e., w above) 3 ）；
Step 2, based on the linear acceleration curve a obtained in step 1 hx 、a hy 、a hz 、a cx 、a cy 、a cz Obtaining a curve D of time and displacement through secondary integration hx 、D hy 、D hz 、D cx 、D cy 、D cz 。
Step 3, obtaining the converted angular velocity through the formula (2) based on the angular velocity curve of the head of the dummy in the test obtained in the step 1, and further obtaining the converted angular velocity through the formula
，
And
the transformed rotation angle is obtained.
Step 4, the curve of time and displacement obtained based on the step 2 is the displacement of the head of the test dummy and the test vehicle relative to the ground, and the displacement (i.e. the uncalibrated displacement or the offset) of the head of the test dummy relative to the test vehicle is as follows: dx = D hx -D cx 、Dy=D hy -D cy 、Dz=D hz -D cz 。
And 5, determining the displacement of the head of the transformed test dummy relative to the test vehicle through the formula (3) based on the results of the steps 3 and 4, wherein DX, DY and DZ are offset values under a vehicle coordinate system (namely offset values after calibration), and Dx, Dy and Dz are offset values under a head local coordinate system (namely offset values before calibration or not).
Further, an embodiment of the present invention further provides a system for measuring a head deviation of a dummy in a test for an automobile crash test, including: the calling module is used for calling a matched measuring algorithm according to the test type and the characteristics, the measuring algorithm is used for determining the head offset track of the test dummy, and the measuring algorithm comprises the method for determining the head offset of the dummy in the automobile crash test according to the embodiment; the calculation module is used for determining the offset track of the head of the dummy under test by adopting the matching algorithm called by the calling module; the camera shooting analysis module is used for determining the head offset of the dummy to be tested based on the video recorded by the high-speed camera in the test; and the result comparison module is used for carrying out comparison analysis on the head offset of the trial dummy obtained in different modes.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 8, the electronic device 400 includes one or more processors 401 and memory 402.
The processor 401 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.
In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 403 may include, for example, a keyboard, a mouse, and the like. The output device 404 can output various information to the outside, including warning prompt information, braking force, etc. The output devices 404 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 400 relevant to the present invention are shown in fig. 8, omitting components such as buses, input/output interfaces, and the like. In addition, electronic device 400 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the method for determining a false head offset for a crash test of a vehicle provided by any of the embodiments of the present invention.
The computer program product may write program code for carrying out operations for embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps of the method for determining a false head offset for a car crash test provided by any of the embodiments of the present invention.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present application. As used in the specification and claims of this application, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element.
It is further noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for determining the head offset of a dummy in an automobile crash test is characterized by comprising the following steps:
acquiring linear acceleration of a target position of a test vehicle relative to the ground, linear acceleration of a head of a test dummy relative to the ground and angular velocity of the head of the test dummy under a head local coordinate system in an automobile crash test;
determining a time-displacement curve of the target position of the test vehicle relative to the ground according to the linear acceleration of the target position of the test vehicle relative to the ground;
determining a time-displacement curve of the head of the trial dummy relative to the ground from the linear acceleration of the head of the trial dummy relative to the ground;
determining a time-displacement curve of the head of the dummy in a head local coordinate system according to the time-displacement curve of the target position of the test vehicle relative to the ground and the time-displacement curve of the head of the dummy relative to the ground;
and determining the time-offset curve of the head of the test dummy in the vehicle coordinate system according to the time-displacement curve of the head of the test dummy in the head local coordinate system, the angular speed of the head of the test dummy in the head local coordinate system and the reference rotation sequence of the head of the test dummy in the three-dimensional space.
2. The method for determining the offset of the head of the automobile crash test dummy according to claim 1, wherein the determining the time-offset curve of the head of the test dummy in the vehicle coordinate system based on the time-displacement curve of the head of the test dummy in the head local coordinate system, the angular velocity of the head of the test dummy in the head local coordinate system, and the reference rotation order of the head of the test dummy in the three-dimensional space comprises:
determining the angular velocity of the head of the trial dummy after transformation in the head local coordinate system according to the angular velocity of the head of the trial dummy in the head local coordinate system and the reference rotation sequence of the head of the trial dummy in the three-dimensional space;
determining a transformed rotation angle from the transformed angular velocity;
determining a target rotation transformation matrix according to the transformed rotation angle;
and determining the time-offset curve of the head of the dummy in the vehicle coordinate system according to the time-displacement curve of the head of the dummy in the head local coordinate system and the target rotation transformation matrix.
3. The method for determining the offset of the head of the automobile crash test dummy according to claim 2, wherein the determining of the angular velocity of the head of the test dummy after the transformation of the head of the test dummy in the head local coordinate system based on the angular velocity of the head of the test dummy in the head local coordinate system and the reference rotation order of the head of the test dummy in the three-dimensional space comprises:
determining the transformed angular velocity based on:
R=
wherein w1 represents a component of the angular velocity of the trial dummy's head in the head local coordinate system in the x-axis, w2 represents a component of the angular velocity of the trial dummy's head in the head local coordinate system in the y-axis, w3 represents a component of the angular velocity of the trial dummy's head in the head local coordinate system in the z-axis,
respectively representing the positive direction around the z axis, the positive direction around the y axis and the positive direction around the x axis of the head of the test dummy after transformation under a local head coordinate system, R is an initial rotation transformation matrix determined according to a reference rotation sequence of the head of the test dummy in a three-dimensional space, Atan2(y, x) represents the angle between the ray pointing to a point (x, y) and the positive direction of the x axis on a coordinate plane by taking a coordinate origin as a starting point; theta denotes a reference rotation angle in the positive direction about the y-axis, psi denotes a reference rotation angle in the positive direction about the z-axis, and phi denotes a reference rotation angle in the positive direction about the x-axis.
4. The method for determining the offset of the head of the dummy for the car crash test according to claim 2, wherein the determining the time-offset curve of the head of the dummy under the vehicle coordinate system according to the time-displacement curve of the head of the dummy in the head local coordinate system and the target rotation transformation matrix comprises:
wherein the content of the first and second substances,DXa time-offset curve calibration post component representing the X-axis direction of the head of the trial dummy relative to the target position of the trial vehicle under the vehicle coordinate system,DYa time-offset curve calibration post component representing a Y-axis direction of a head of the trial dummy relative to a target position of the trial vehicle under a vehicle coordinate system,DZrepresenting the calibrated component of a time-offset curve of the head of the test dummy relative to the target position of the test vehicle in the Z-axis direction under a vehicle coordinate system, wherein the vehicle coordinate system takes the target position as an origin and is generated according to a right-hand rectangular coordinate system, R' is the target rotation transformation matrix,Dxa time-displacement curve uncalibrated component in an X-axis direction under the head local coordinate system representing a target position of a head of a test dummy relative to the test vehicle,Dya time-displacement curve uncalibrated component in a Y-axis direction under the head local coordinate system representing a target position of a head of a test dummy relative to the test vehicle,Dzrepresenting an uncalibrated position of a time-displacement curve of the head of the test dummy relative to a target position of the test vehicle in the Z-axis direction under the head local coordinate system;
R'=
wherein the content of the first and second substances,
representing the positive rotation angle of the head of the test dummy around the z-axis under the local coordinate system of the head after transformation,
represents the positive rotation angle of the head of the test dummy around the y axis under the local coordinate system of the head after transformation,
the positive rotation angle of the head of the test dummy around the x-axis under the local coordinate system of the head after transformation is shown.
5. The method for determining the offset of the head of the dummy for the car crash test according to claim 1, wherein the obtaining of the linear acceleration of the target position of the test vehicle relative to the ground, the linear acceleration of the head of the test dummy relative to the ground, and the angular velocity of the head of the test dummy in the local head coordinate system in the car crash test comprises:
acquiring linear acceleration of the target position relative to the ground based on an acceleration sensor installed at the target position;
acquiring linear acceleration of the head of the test dummy relative to the ground based on an acceleration sensor installed at the center of mass of the head of the test dummy;
acquiring the angular velocity of the head of the test dummy under a local head coordinate system based on an angular velocity sensor installed at the center of mass of the head of the test dummy.
6. The method for determining the false head offset in the automobile crash test according to claim 1, wherein the determining the time-displacement curve of the target position of the test vehicle relative to the ground according to the linear acceleration of the target position of the test vehicle relative to the ground comprises:
performing quadratic integration on the linear acceleration of the target position relative to the ground to obtain a time-displacement curve of the target position relative to the ground;
the determining a time-displacement curve of the head of the trial dummy relative to the ground from the linear acceleration of the head of the trial dummy relative to the ground comprises:
and performing quadratic integration on the linear acceleration of the head of the test dummy relative to the ground to obtain a time-displacement curve of the head of the test dummy relative to the ground.
7. The method for determining the offset of the head of the automobile crash test dummy according to claim 1, wherein the determining the time-displacement curve of the head of the test dummy in the local head coordinate system according to the time-displacement curve of the target position of the test vehicle relative to the ground and the time-displacement curve of the head of the test dummy relative to the ground comprises:
and subtracting the time-displacement curve of the target position of the test vehicle relative to the ground by using the time-displacement curve of the head of the test dummy relative to the ground to obtain the time-displacement curve of the head of the test dummy in the head local coordinate system.
8. An electronic device, characterized in that the electronic device comprises:
a processor and a memory;
the processor is adapted to perform the method steps of any of claims 1-7 by calling a program or instructions stored by the memory.
9. A computer-readable storage medium, characterized in that it stores a program or instructions that cause a computer to perform the method steps according to any one of claims 1-7.
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