CN115355865A - Vehicle channel circle rapid detection method and system based on CAD (computer-aided design) parametric modeling - Google Patents

Abstract

The invention discloses a vehicle channel circle rapid detection method and a system based on CAD (computer-aided design) parametric modeling, relating to the field of vehicle detection, wherein the method comprises the steps of establishing a vehicle channel circle detection model based on CAD parametric modeling, and carrying out constraint setting on the established vehicle channel circle detection model; adjusting vehicle size parameters based on the established vehicle channel circle detection model, and driving the vehicle under the condition of fixed steering angle to obtain a corresponding detection value; and realizing the judgment of the detection of the vehicle passage circle based on the acquired detection values, wherein the detection values comprise the steering angle of the steering wheel and the radius of the motion trail of the innermost point of the vehicle. The invention can effectively improve the testing precision and effectively ensure the passing property of the vehicle.

Description

Vehicle channel circle rapid detection method and system based on CAD (computer-aided design) parametric modeling

Technical Field

The invention relates to the field of vehicle detection, in particular to a method and a system for rapidly detecting a vehicle channel circle based on CAD (computer-aided design) parametric modeling.

Background

According to the passing detection requirement of the vehicle passage circle, an automobile passes through the passage circle, the diameter of the outer circle of the vehicle passage circle is 25000mm, the diameter of the inner circle is 10600mm, any part on the outermost side of the automobile does not exceed the vertical space of the outer circle of the vehicle passage circle, and any part on the innermost side of the automobile does not exceed the vertical space of the inner circle of the vehicle passage circle.

At present, the vehicle channel circle is usually detected by adopting a track method, an inner circle track and an outer circle track in the vehicle running process are found out in a field by a marking method, a water drop method and the like, and the result is judged by judging whether the vehicle channel circle is contained in a specified channel circle space. However, the method of detecting a vehicle by performing a dynamic test on the vehicle through a test site and obtaining a maximum inscribed circle through a driving track has the following problems: the track measurement has errors, the measurement precision and the test repeatability of the inscribed circle are low, a test field needs to be used for dynamic test, the resource of the test field meeting the requirements is short, the time consumed by the field test is long, and the test efficiency is low.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a method and a system for rapidly detecting a vehicle channel circle based on CAD (computer-aided design) parametric modeling, which can effectively improve the testing precision and effectively ensure the vehicle trafficability.

In order to achieve the above purpose, the invention provides a vehicle passage circle rapid detection method based on CAD parametric modeling, which specifically comprises the following steps:

establishing a vehicle channel circle detection model based on CAD parametric modeling, and performing constraint setting on the established vehicle channel circle detection model;

adjusting vehicle size parameters based on the established vehicle channel circle detection model, and driving the vehicle under the condition of fixed steering angle to obtain a corresponding detection value;

and realizing the judgment of the detection of the vehicle passage circle based on the acquired detection values, wherein the detection values comprise the steering angle of the steering wheel and the radius of the motion trail of the innermost point of the vehicle.

On the basis of the technical scheme, the vehicle size parameters comprise vehicle length, vehicle front overhang length, vehicle rear overhang length, vehicle width, vehicle front wheel track and vehicle rear wheel track.

On the basis of the technical scheme, the vehicle channel circle detection model is established based on CAD (computer-aided design) parametric modeling, and the specific steps are as follows:

drawing a rectangular vehicle body, a vehicle body central line, front and rear shafts, tires and a steering center of the vehicle;

connecting the steering center with the left end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

connecting the steering center with the right end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

and taking the steering center as the circle center, making a circle taking the distance between the outermost point of the vehicle and the steering center as the radius, taking the distance between the innermost point of the vehicle and the steering center as the radius, and taking the set value of the radius of the inner circle detected by the vehicle passage circle as the radius.

On the basis of the technical scheme, the vehicle passage circle detection model is subjected to constraint setting, and the method specifically comprises the following steps:

keeping the position of the center line of the vehicle body and the position of the rear shaft unchanged, keeping the vehicle body symmetrical along the center line of the vehicle body, and keeping the front shaft and the rear shaft of the vehicle symmetrical along the center line of the vehicle body;

keeping the center point of the front tire to coincide with the end point of the front shaft, keeping the center point of the rear tire to coincide with the end point of the rear shaft, enabling the left front tire to be vertical to a connecting line from the left end point of the front shaft to the steering center, enabling the right front tire to be vertical to a connecting line from the right end point of the front shaft to the steering center, and enabling the rear tire to be vertical to the rear shaft;

keeping the end point of the rear axle extension line and the steering center in the same point, the center of the excircle detected by the vehicle channel circle and the steering center in the same point, and the center of the excircle detected by the vehicle channel circle and the steering center in the same point, setting the radius of the excircle detected by the vehicle channel circle as a set value, and setting the radius of the inner circle detected by the vehicle channel circle as a set value.

On the basis of the technical scheme, the vehicle runs under the condition of fixed steering angle, and the method specifically comprises the following steps:

and the track of the outermost point of the vehicle runs on the outer circle detected by the vehicle channel circle, so that the vehicle fixes a steering angle and runs for a circle around the steering center.

On the basis of the technical scheme, the steering angle of the steering wheel comprises an included angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle, and an included angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle.

On the basis of the above technical solution, the determination of the vehicle passage circle detection is realized based on the acquired detection value, wherein the specific determination process is as follows:

when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle, the included angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle is smaller than or equal to the limit angle of the outer steering wheel, and when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle, the included angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle is smaller than or equal to the limit angle of the inner steering wheel, and the radius of the motion track of the innermost point of the vehicle is larger than or equal to the set value of the radius of the inner circle detected by the vehicle channel circle, the detection is passed, otherwise, the detection is not passed.

The invention provides a vehicle channel circle rapid detection system based on CAD (computer-aided design) parametric modeling, which comprises:

the building module is used for building a vehicle channel circle detection model based on CAD (computer-aided design) parametric modeling and carrying out constraint setting on the built vehicle channel circle detection model;

the adjusting module is used for adjusting the size parameters of the vehicle based on the established vehicle channel circle detection model, and the vehicle runs under the condition of fixed steering angle to obtain a corresponding detection value;

and the judging module is used for realizing the judgment of the detection of the vehicle passage circle based on the acquired detection values, and the detection values comprise the steering angle of the steering wheel and the radius of the motion trail of the innermost point of the vehicle.

On the basis of the technical scheme, the vehicle size parameters comprise vehicle length, vehicle front overhang length, vehicle rear overhang length, vehicle width, vehicle front wheel track and vehicle rear wheel track.

On the basis of the technical scheme, a vehicle passage circle detection model is established based on CAD (computer-aided design) parametric modeling, and the specific process comprises the following steps:

drawing a rectangular vehicle body, a vehicle body center line, front and rear shafts, tires and a steering center of the vehicle;

connecting the steering center with the left end point of the front axle of the vehicle, and making a perpendicular line perpendicular to the connecting line at the connecting position;

connecting the steering center with the right end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

and taking the steering center as the circle center, making a circle taking the distance between the outermost point of the vehicle and the steering center as the radius, taking the distance between the innermost point of the vehicle and the steering center as the radius, and taking the set value of the radius of the inner circle detected by the vehicle passage circle as the radius.

Compared with the prior art, the invention has the advantages that: the method is characterized in that a vehicle channel circle detection model is established based on CAD parametric modeling, so that vehicle dimension parameters are active parameters, detection values required to be obtained are follow-up parameters, and the corresponding follow-up parameters can be obtained by changing the active parameters based on a graph modeling function of the CAD, so that the method is suitable for vehicles of different types and meets the channel circle detection of the vehicles of different sizes.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a diagram of a vehicle fixed point travel trajectory;

FIG. 2 is a flowchart of a method for rapidly detecting a vehicle passage circle based on CAD parametric modeling in an embodiment of the present invention;

fig. 3 is a schematic view of vehicle lane circle detection.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.

According to the kinematics principle of the vehicle, under the condition that the steering angle of the vehicle is fixed, the track traveled by each point on the vehicle body is a circle, as shown in fig. 1, the rectangular frame in fig. 1 represents the vehicle, and the tracks traveled by all the points on the vehicle body are a group of concentric circles. Because drawing software such as CAD (a drawing tool software) and the like has the advantages of being unique in graphic modeling, the motion of a fixed steering angle of a vehicle is easy to draw in the CAD, and the difficulty is that the efficiency is greatly reduced by modeling the CAD graph for different times aiming at vehicle models with different sizes, therefore, based on a CAD parametric modeling mode, certain specific geometric constraints are given in the parametric modeling process, the vehicle size parameter is taken as an active parameter, the parameter needing to be obtained, namely a detection value is taken as a follow-up parameter, the operation track graph of the vehicle in a channel circle test can be graphically displayed only by modifying the vehicle size parameter, and further the inner diameter and the outer diameter of a vehicle operation channel circle, the steering angle of a steering wheel and other parameters are obtained, so that whether the vehicle can pass the channel circle is judged.

The invention relates to a vehicle passage circle rapid detection method, which is based on the principle that: under the condition that the steering angle of the vehicle is fixed, the motion track of the vehicle is a group of concentric circles, the detection mode of the vehicle channel circle is that the steering angle of the vehicle is fixed, the vehicle runs for a circle, whether the vehicle running track is in a circular ring formed by the radius of an outer circle of 12.5m and the radius of an inner circle of 5.3m is observed through a top view, and therefore whether the vehicle running track is qualified or not is judged, the radius of the outer circle of 12.5m is the set value of the radius of the outer circle detected by the vehicle channel circle, and the radius of the inner circle of 5.3m is the set value of the radius of the inner circle detected by the vehicle channel circle.

Referring to fig. 2, a vehicle passage circle rapid detection method based on CAD parametric modeling provided by an embodiment of the present invention specifically includes the following steps:

s1: establishing a vehicle channel circle detection model based on CAD (computer-aided design) parametric modeling, and performing constraint setting on the established vehicle channel circle detection model;

in the embodiment of the invention, the vehicle dimension parameters comprise vehicle length, vehicle front overhang length, vehicle rear overhang length, vehicle width, vehicle front wheel track and vehicle rear wheel track. Specifically, as shown in fig. 3, a rectangular frame represents a vehicle, a transverse line in the rectangular frame represents a front axle and a rear axle, tires are arranged at two ends of the transverse line, a reference numeral a represents a vehicle length, a reference numeral B represents a vehicle front overhang length, a reference numeral C represents a vehicle rear overhang length, a reference numeral D represents a vehicle width, a reference numeral E represents a vehicle front wheel track, a reference numeral F represents a vehicle rear wheel track, and O represents a steering center.

In the embodiment of the invention, a vehicle channel circle detection model is established based on CAD (computer-aided design) parametric modeling, and the concrete steps are as follows:

s101: drawing a rectangular vehicle body, a vehicle body center line, front and rear shafts, tires and a steering center of the vehicle; and intersecting a line segment led out from the outermost point of the vehicle with the extension line of the rear axle to obtain the steering center. In the present invention, the outermost point of the vehicle at the forefront of the vehicle and the innermost point of the vehicle at the rearmost of the vehicle are not equal to each other, depending on the vehicle.

S102: connecting the steering center with the left end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

s103: connecting the steering center with the right end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

s104: and with the steering center as the circle center, making a circle with the distance from the outermost point of the vehicle to the steering center as the radius, a circle with the distance from the innermost point of the vehicle to the steering center as the radius, and a circle with the radius set value of the inner circle detected by the vehicle passage circle as the radius. The established vehicle passage circle detection model is shown in fig. 3.

In the invention, the established vehicle passage circle detection model is subjected to constraint setting, and the method specifically comprises the following steps:

s105: keeping the position of the center line of the vehicle body and the position of the rear shaft unchanged, keeping the vehicle body symmetrical along the center line of the vehicle body, and keeping the front shaft and the rear shaft of the vehicle symmetrical along the center line of the vehicle body; after a vehicle channel circle detection model is established and the established vehicle channel circle detection model is subjected to constraint setting, the model after constraint can be refreshed only by adjusting vehicle size parameters.

S106: keeping the center point of the front tire coincident with the end point of the front shaft, the center point of the rear tire coincident with the end point of the rear shaft, the left front tire is vertical to a connecting line from the left end point of the front shaft to the steering center, the right front tire is vertical to a connecting line from the right end point of the front shaft to the steering center, and the rear tire is vertical to the rear shaft;

s107: keeping the end point of the rear axle extension line and the steering center in the same point, the center of the excircle detected by the vehicle channel circle and the steering center in the same point, and the center of the excircle detected by the vehicle channel circle and the steering center in the same point, setting the radius of the excircle detected by the vehicle channel circle as a set value, and setting the radius of the inner circle detected by the vehicle channel circle as a set value. In the practical application process, the set value of the radius of the outer circle detected by the vehicle channel circle is 12.5m, and the set value of the radius of the inner circle detected by the vehicle channel circle is 5.3m.

S2: adjusting vehicle size parameters based on the established vehicle channel circle detection model, and driving the vehicle under the condition of fixed steering angle to obtain a corresponding detection value;

in the invention, the vehicle runs under the condition of fixed steering angle, which specifically comprises the following steps: and the track of the outermost point of the vehicle runs on the outer circle detected by the vehicle channel circle, so that the vehicle fixes a steering angle and runs for a circle around the steering center.

S3: based on the acquired detection values including the steering angle of the steering wheel and the radius of the movement locus of the innermost point of the vehicle, determination of vehicle passage circle detection is achieved.

In the embodiment of the invention, the steering angle of the steering wheel comprises an included angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle runs along the outer circle detected by the vehicle passage circle, and an included angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle runs along the outer circle detected by the vehicle passage circle. Referring to fig. 3, α represents an angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle travels along the detected outer circle of the vehicle passage circle, that is, an angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle travels along the detected outer circle of the vehicle passage circle, β represents an angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle travels along the detected outer circle of the vehicle passage circle, that is, an angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle travels along the detected outer circle of the vehicle passage circle, and G represents a radius of a moving trajectory of the innermost point of the vehicle when the outermost point of the vehicle travels along the detected outer circle of the vehicle passage circle, that is, a radius of a moving trajectory of the innermost point of the vehicle when the outermost point of the vehicle travels along the detected outer circle of the radius 12.5 m.

It can be seen from fig. 3 that the movement trajectories of the outermost point and the innermost point of the vehicle are important bases for judgment, the movement trajectory of the innermost point of the vehicle can be obtained by making the outermost point trajectory move on an excircle with a radius of 12.5m in a drawing manner, fixing a steering angle of the vehicle at the moment and moving the vehicle around the circle center for a circle, and whether the detection of the vehicle passage circle passes or not can be judged by comparing G with 5.3m, comparing alpha with the limit angle of an outer steering wheel and comparing beta with the limit angle of an inner steering wheel.

In the embodiment of the invention, the judgment of the vehicle channel circle detection is realized based on the acquired detection value, wherein the specific judgment process comprises the following steps:

when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle, the included angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle is smaller than or equal to the limit angle of the outer steering wheel, and when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle, the included angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle is smaller than or equal to the limit angle of the inner steering wheel, and the radius of the motion track of the innermost point of the vehicle is larger than or equal to the set value of the radius of the inner circle detected by the vehicle channel circle, the detection is passed, otherwise, the detection is not passed.

It should be noted that, in the CAD, the vehicle is parameterized and modeled by a parameterized and modeled tool box, a virtual scene of the channel circle test is established by constraints in the parameterized and modeled tool box, and after modeling, the vehicle with different sizes can be obtained by modifying basic parameters of the vehicle, and the steering center is found, and the values of α, β and G are found.

The vehicle channel circle rapid detection method based on CAD parametric modeling of the embodiment of the invention is based on CAD parametric modeling to establish a vehicle channel circle detection model, so that the vehicle dimension parameter is an active parameter, the detection value to be obtained is a follow-up parameter, and the corresponding follow-up parameter can be obtained by changing the active parameter based on the graph modeling function of CAD, thereby being suitable for vehicles of different types and meeting the detection of the channel circles of the vehicles of different dimensions.

The embodiment of the invention provides a vehicle channel circle rapid detection system based on CAD (computer-aided design) parametric modeling, which comprises an establishing module, an adjusting module and a judging module.

The establishing module is used for establishing a vehicle channel circle detection model based on CAD (computer-aided design) parametric modeling and performing constraint setting on the established vehicle channel circle detection model; the adjusting module is used for adjusting vehicle size parameters based on the established vehicle passage circle detection model, and the vehicle runs under the condition of fixed steering angle to obtain a corresponding detection value; the judging module is used for realizing the judgment of the detection of the vehicle passage circle based on the acquired detection values, and the detection values comprise the steering angle of the steering wheel and the radius of the motion trail of the innermost point of the vehicle.

In the invention, the vehicle dimension parameters comprise vehicle length, vehicle front overhang length, vehicle rear overhang length, vehicle width, vehicle front wheel track and vehicle rear wheel track.

In the invention, a vehicle passage circle detection model is established based on CAD (computer-aided design) parametric modeling, and the specific process comprises the following steps:

drawing a rectangular vehicle body, a vehicle body center line, front and rear shafts, tires and a steering center of the vehicle;

connecting the steering center with the left end point of the front axle of the vehicle, and making a perpendicular line perpendicular to the connecting line at the connecting position;

connecting the steering center with the right end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

and taking the steering center as the circle center, making a circle taking the distance between the outermost point of the vehicle and the steering center as the radius, taking the distance between the innermost point of the vehicle and the steering center as the radius, and taking the set value of the radius of the inner circle detected by the vehicle passage circle as the radius.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

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

Claims (10)

1. A vehicle channel circle rapid detection method based on CAD parametric modeling is characterized by comprising the following steps:

establishing a vehicle channel circle detection model based on CAD parametric modeling, and performing constraint setting on the established vehicle channel circle detection model;

adjusting vehicle size parameters based on the established vehicle passage circle detection model, and driving the vehicle under the condition of fixed steering angle to obtain a corresponding detection value;

based on the acquired detection values including the steering angle of the steering wheel and the radius of the movement locus of the innermost point of the vehicle, determination of vehicle passage circle detection is achieved.

2. The method for rapidly detecting the vehicle passage circle based on CAD parametric modeling as recited in claim 1, wherein: the vehicle dimension parameters comprise vehicle length, vehicle front overhang length, vehicle rear overhang length, vehicle width, vehicle front track and vehicle rear track.

3. The method for rapidly detecting the vehicle passage circle based on the CAD parametric modeling as claimed in claim 2, wherein the method for establishing the vehicle passage circle detection model based on the CAD parametric modeling comprises the following specific steps:

drawing a rectangular vehicle body, a vehicle body central line, front and rear shafts, tires and a steering center of the vehicle;

connecting the steering center with the left end point of the front axle of the vehicle, and making a perpendicular line perpendicular to the connecting line at the connecting position;

connecting the steering center with the right end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

and taking the steering center as the circle center, making a circle taking the distance between the outermost point of the vehicle and the steering center as the radius, taking the distance between the innermost point of the vehicle and the steering center as the radius, and taking the set value of the radius of the inner circle detected by the vehicle passage circle as the radius.

4. The method for rapidly detecting the vehicle passage circle based on the CAD parametric modeling as recited in claim 3, wherein the constraint setting is performed on the established vehicle passage circle detection model, and specifically:

keeping the position of the center line of the vehicle body and the position of the rear shaft unchanged, keeping the vehicle body symmetrical along the center line of the vehicle body, and keeping the front shaft and the rear shaft of the vehicle symmetrical along the center line of the vehicle body;

keeping the center point of the front tire coincident with the end point of the front shaft, the center point of the rear tire coincident with the end point of the rear shaft, the left front tire is vertical to a connecting line from the left end point of the front shaft to the steering center, the right front tire is vertical to a connecting line from the right end point of the front shaft to the steering center, and the rear tire is vertical to the rear shaft;

keeping the end point of the rear axle extension line and the steering center in the same point, the center of the excircle detected by the vehicle channel circle and the steering center in the same point, and the center of the excircle detected by the vehicle channel circle and the steering center in the same point, setting the radius of the excircle detected by the vehicle channel circle as a set value, and setting the radius of the inner circle detected by the vehicle channel circle as a set value.

5. The method for rapidly detecting the vehicle passage circle based on CAD parametric modeling as recited in claim 4, wherein the vehicle runs under a fixed steering angle condition, specifically:

and the track of the outermost point of the vehicle runs on the outer circle detected by the vehicle channel circle, so that the vehicle fixes a steering angle and runs for a circle around the steering center.

6. The CAD parameterized modeling-based vehicle passage circle rapid detection method as recited in claim 5, wherein: the steering angle of the steering wheel comprises an included angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle, and an included angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle when the outermost point of the vehicle runs along the excircle detected by the vehicle channel circle.

7. The method as claimed in claim 6, wherein the determination of the vehicle passage circle detection is implemented based on the obtained detection values, wherein the specific determination process is as follows:

when the outermost point of the vehicle runs along the excircle detected by the vehicle passage circle, the included angle between the outer steering wheel of the vehicle and the advancing direction of the vehicle is smaller than or equal to the limit angle of the outer steering wheel, and when the outermost point of the vehicle runs along the excircle detected by the vehicle passage circle, the included angle between the inner steering wheel of the vehicle and the advancing direction of the vehicle is smaller than or equal to the limit angle of the inner steering wheel, and the radius of the motion track of the innermost point of the vehicle is larger than or equal to the set value of the radius of the inner circle detected by the vehicle passage circle, the detection is passed, otherwise, the detection is not passed.

8. A vehicle passage circle rapid detection system based on CAD parametric modeling is characterized by comprising:

the building module is used for building a vehicle channel circle detection model based on CAD (computer-aided design) parametric modeling and carrying out constraint setting on the built vehicle channel circle detection model;

the adjusting module is used for adjusting the size parameters of the vehicle based on the established vehicle channel circle detection model, and the vehicle runs under the condition of fixed steering angle to obtain a corresponding detection value;

and the judging module is used for realizing the judgment of the detection of the vehicle passage circle based on the acquired detection values, wherein the detection values comprise the steering angle of the steering wheel and the radius of the motion trail of the innermost point of the vehicle.

9. The CAD parametric modeling-based vehicle passage circle rapid detection system of claim 8, wherein: the vehicle size parameters comprise vehicle length, vehicle front overhang length, vehicle rear overhang length, vehicle width, vehicle front track and vehicle rear track.

10. The CAD parametric modeling based vehicle channel circle rapid detection system of claim 9, wherein the CAD parametric modeling based vehicle channel circle detection model is established by the following specific processes:

drawing a rectangular vehicle body, a vehicle body center line, front and rear shafts, tires and a steering center of the vehicle;

connecting the steering center with the left end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

connecting the steering center with the right end point of the front axle of the vehicle, and making a vertical line perpendicular to the connecting line at the connecting position;

and taking the steering center as the circle center, making a circle taking the distance between the outermost point of the vehicle and the steering center as the radius, taking the distance between the innermost point of the vehicle and the steering center as the radius, and taking the set value of the radius of the inner circle detected by the vehicle passage circle as the radius.

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