CN116052504B - Method and device for processing brake data of automobile simulated driver and electronic equipment - Google Patents
Method and device for processing brake data of automobile simulated driver and electronic equipment Download PDFInfo
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- CN116052504B CN116052504B CN202310195659.6A CN202310195659A CN116052504B CN 116052504 B CN116052504 B CN 116052504B CN 202310195659 A CN202310195659 A CN 202310195659A CN 116052504 B CN116052504 B CN 116052504B
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Abstract
The application relates to the technical field of data processing, and provides a method and a device for processing brake data of an automobile simulated driver and electronic equipment. The method comprises the following steps: according to the braking operation of a user on an automobile simulated driver, obtaining simulated braking data at the current moment in real time, and converting the simulated braking data into braking torque; according to the set parameters and the braking moment, calculating to obtain first wheel braking data; braking the simulated vehicle by adopting the first wheel braking data, and determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time; judging whether to start the ABS according to the motion state of the moment for each moment; if the ABS is determined not to be started, continuing to brake the simulated vehicle by adopting the first wheel brake data; and if the ABS is determined to be started, regulating the first wheel braking data according to the set pressure ratio to obtain second wheel braking data, and adopting the second wheel braking data to continuously brake the simulated vehicle.
Description
Technical Field
The application relates to the technical field of data processing, in particular to a method and a device for processing brake data of an automobile simulated driver and electronic equipment.
Background
The automobile simulation driver creates a virtual driving environment, a user inputs corresponding operation data through an operation part of the simulation driver, the processor of the simulation driver processes the data and displays the data in the virtual environment, and interaction with a simulation vehicle in the virtual environment is realized, so that simulation driving is performed. In general, the components of the operating components of the automobile simulation driver include a carriage return system, a seat adjusting system, a gear system, a braking system, a clutch accelerator system, a light adjusting system and the like, and may also only include part of the components. Correspondingly, the processor of the simulated driver comprises a processing module corresponding to the operation part so as to realize the processing of the corresponding operation data.
Currently, in the process of performing simulated braking on a simulated vehicle, an automobile simulated driver often directly applies braking force to wheels of the simulated vehicle by using acquired braking data. Based on the braking principle of the simulated automobile, under the condition of larger braking force, the situation that wheels are directly locked during braking possibly occurs, so that the situation that the tail of the automobile is thrown or the automobile is laterally deviated possibly occurs in a simulated environment, the braking situation of a real automobile cannot be completely simulated, the reality of the simulated driving of the automobile is low, and the effect of training or simulating driving experience by using an automobile simulated driver is poor.
Disclosure of Invention
The application provides a method, a device and electronic equipment for processing braking data of an automobile simulated driver, corresponding braking data are determined according to the motion state of a simulated vehicle, and the real braking effect is restored to a large extent.
In a first aspect, the present application provides a method for processing brake data of an automobile simulated driver, including:
acquiring simulation braking data at the current moment according to the braking operation of a user on an automobile simulation driver in real time, and converting the simulation braking data into braking torque;
according to the set parameters and the braking moment, calculating to obtain first wheel braking data;
braking the simulated vehicle by adopting the first wheel braking data, and determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time;
judging whether to start the ABS according to the motion state of each moment;
if the ABS is determined not to be started, continuing to brake the simulated vehicle by adopting the first wheel brake data;
and if the ABS is determined to be started, regulating the first wheel braking data according to the set pressure ratio to obtain second wheel braking data, and adopting the second wheel braking data to continuously brake the simulated vehicle.
According to the scheme, the braking data of the user can be converted into the braking torque required by the braking system through processing the simulated braking data, the braking operation of the user is converted into the braking data of the simulator, whether the ABS system needs to be started or not is dynamically judged according to the current state of the simulated vehicle, if the ABS system is started, the motion condition of the simulated vehicle under the ABS system is continuously calculated, the braking condition in the driving of the real vehicle is simulated to the greatest extent through a data processing mode, and the simulated vehicle driver is assisted to simulate the real driving state of the vehicle more accurately.
Optionally, the converting the simulated braking data into braking torque includes:
and multiplying the simulated braking data by the maximum braking moment of the simulated vehicle to obtain the braking moment.
According to the scheme, the analog operation signal of the user is converted into the digital signal of the automobile analog driver, so that the braking operation of the user on the automobile analog driver can be converted into the braking operation on the analog vehicle in real time, and the effect that the automobile analog driver can simulate the braking process of the real vehicle through processing the braking data is achieved.
Optionally, the simulated braking data includes: manual brake simulated braking data and foot brake simulated braking data;
The converting the simulated braking data into braking torque comprises the following steps:
converting the hand brake simulation braking data into hand brake moment;
converting the foot brake simulation braking data into foot brake moment;
the calculating to obtain the first wheel braking data according to the set parameters and the braking moment comprises the following steps:
calculating to obtain brake data of the foot brake wheel according to the set parameters and the foot brake moment;
calculating to obtain hand brake wheel braking data according to the set parameters, the hand brake simulated braking data and the hand brake moment;
judging the magnitude of the brake data of the foot brake wheel and the magnitude of the brake data of the hand brake wheel at each moment in real time;
and determining a larger value as the first wheel brake data according to the result.
According to the scheme, the brake data of the foot brake wheel and the brake data of the hand brake wheel, which are generated by the brake operation of a user, are obtained in real time, the brake data of the foot brake wheel and the brake data of the hand brake wheel at each moment are dynamically selected to be the first brake data, the first brake data at each moment is guaranteed to be the wheel brake data with the best brake effect at the current moment, and the brake effect of a real vehicle is restored by the data to the greatest extent.
Optionally, the setting parameters include: the forward offset of the foot brake wheel and the ratio of the wheel positions;
The step of calculating the braking data of the foot brake wheel according to the set parameters and the foot brake moment comprises the following steps:
calculating the backward offset of the foot brake wheel according to the forward offset of the foot brake wheel;
calculating the offset ratio of the foot brake wheel according to the forward offset of the foot brake wheel, the backward offset of the foot brake wheel and the wheel position ratio;
calculating to obtain brake data of the foot brake wheel according to the offset proportion of the foot brake wheel and the foot brake moment;
the hand brake wheel braking data is calculated according to the set parameters, the hand brake simulation braking data and the hand brake moment, and the hand brake wheel braking data comprises the following components:
calculating forward offset of the hand brake wheel and backward offset of the hand brake wheel according to the hand brake simulated braking data;
calculating the hand brake wheel offset ratio according to the hand brake wheel forward offset, the hand brake wheel backward offset and the wheel position ratio;
and calculating the hand brake wheel braking data according to the hand brake wheel deviation proportion and the hand brake moment.
Through this scheme, can calculate the foot brake wheel braking data, the manual brake wheel braking data of each wheel respectively according to the specific parameter of every wheel, more accurate braking to every wheel has improved the braking effect of simulation driver.
Optionally, obtaining the model of the simulated vehicle, and determining initial setting parameters according to the model of the simulated vehicle;
judging whether the adjustment parameter has a value or not;
if the adjustment parameter is determined to have a value, adjusting the initial setting parameter according to the adjustment parameter, and determining the adjusted initial setting parameter as the setting parameter;
and if the adjustment parameter is determined to have no value, determining the initial setting parameter as the setting parameter.
According to the scheme, different initial setting parameters are set for each simulated vehicle, the subsequent braking effect can be influenced by different parameters, and a user can modify corresponding initial setting parameters according to different requirements, so that the user can feel different braking effects of different vehicles, different data of braking performance differences of different vehicles are reflected, and the braking effect of a real vehicle is restored to a greater extent.
Optionally, the motion state includes: travel speed, wheel slip ratio;
the determining, in real time, a motion state of the simulated vehicle at each moment under the influence of the first wheel brake data includes:
determining the travelling speed at each moment according to the travelling speed at the moment of starting braking and the wheel braking data;
And determining the wheel slip rate of the simulated vehicle at each moment according to the travelling speed at each moment.
Through the scheme, the running speed and the wheel slip rate of the simulated vehicle are determined in real time, and judgment conditions are provided for subsequently starting the ABS according to the wheel slip rate.
Optionally, for each moment, determining whether to turn on the ABS according to the motion state of the moment includes:
judging whether the wheel slip rate at the moment is larger than a set wheel slip rate or not;
and if the wheel slip rate at the moment is larger than the set wheel slip rate, determining to start the ABS.
By the scheme, whether the ABS needs to be started or not is judged in real time, and the braking effect of the real vehicle is restored to a large extent.
In a second aspect, the present application provides an automotive simulated driver brake data processing apparatus comprising:
the conversion module is used for acquiring simulation braking data at the current moment according to the braking operation of a user on the automobile simulation driver in real time and converting the simulation braking data into braking moment;
the calculation module is used for calculating and obtaining first wheel braking data according to the set parameters and the braking moment;
the braking module is used for braking the simulated vehicle by adopting the first wheel braking data and determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time;
The judging module is used for judging whether the ABS is started or not according to the motion state of each moment;
the brake module is further used for continuing to adopt the first wheel brake data when the ABS system is not started, so that the simulated vehicle brakes according to the first wheel brake data; when the ABS is determined to be started, regulating the first wheel braking data according to the set pressure ratio to obtain second wheel braking data so that the simulated vehicle brakes according to the second wheel braking data
Optionally, when the conversion module converts the simulated braking data into braking torque, the conversion module is specifically configured to:
and multiplying the simulated braking data by the maximum braking moment of the simulated vehicle to obtain the braking moment.
Optionally, the simulated braking data includes: manual brake simulated braking data and foot brake simulated braking data;
the conversion module is specifically configured to, when converting the simulated braking data into braking torque:
converting the hand brake simulation braking data into hand brake moment;
converting the foot brake simulation braking data into foot brake moment;
the calculation module is specifically used for calculating first wheel braking data according to the set parameters and the braking moment:
Calculating to obtain brake data of the foot brake wheel according to the set parameters and the foot brake moment;
calculating to obtain hand brake wheel braking data according to the set parameters, the hand brake simulated braking data and the hand brake moment;
judging the magnitude of the brake data of the foot brake wheel and the magnitude of the brake data of the hand brake wheel at each moment in real time;
and determining a larger value as the first wheel brake data according to the result.
Optionally, the setting parameters include: the forward offset of the foot brake wheel and the ratio of the wheel positions;
the calculation module is specifically used for calculating the braking data of the foot brake wheel according to the set parameters and the foot brake moment:
calculating the backward offset of the foot brake wheel according to the forward offset of the foot brake wheel;
calculating the offset ratio of the foot brake wheel according to the forward offset of the foot brake wheel, the backward offset of the foot brake wheel and the wheel position ratio;
calculating to obtain brake data of the foot brake wheel according to the offset proportion of the foot brake wheel and the foot brake moment;
the calculation module is specifically used for calculating hand brake wheel braking data according to the set parameters, the hand brake simulation braking data and the hand brake moment:
Calculating forward offset of the hand brake wheel and backward offset of the hand brake wheel according to the hand brake simulated braking data;
calculating the hand brake wheel offset ratio according to the hand brake wheel forward offset, the hand brake wheel backward offset and the wheel position ratio;
and calculating the hand brake wheel braking data according to the hand brake wheel deviation proportion and the hand brake moment.
Optionally, the device for processing brake data of the automobile simulated driver further comprises: the parameter setting module is used for:
obtaining the model of the simulated vehicle, and determining initial setting parameters according to the model of the simulated vehicle;
judging whether the adjustment parameter has a value or not;
if the adjustment parameter is determined to have a value, adjusting the initial setting parameter according to the adjustment parameter, and determining the adjusted initial setting parameter as the setting parameter;
and if the adjustment parameter is determined to have no value, determining the initial setting parameter as the setting parameter.
Optionally, the motion state includes: travel speed, wheel slip ratio;
the braking module is used for determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time, and is specifically used for:
Determining the travelling speed at each moment according to the travelling speed at the moment of starting braking and the wheel braking data;
and determining the wheel slip rate of the simulated vehicle at each moment according to the travelling speed at each moment.
Optionally, the judging module is configured to judge, for each moment, whether to turn on the ABS according to the motion state of the moment, specifically:
judging whether the wheel slip rate at the moment is larger than a set wheel slip rate or not;
and if the wheel slip rate at the moment is larger than the set wheel slip rate, determining to start the ABS.
In a third aspect, the present application provides an electronic device, comprising: a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and executing the vehicle simulated driver brake data processing method of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program capable of being loaded by a processor and executing the vehicle simulated driver brake data processing method of the first aspect.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a flowchart of a method for processing brake data of an automobile simulated driver according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a brake data processing device for an automobile simulated driver according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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. It will be apparent that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.
At present, a brake system of an automobile simulated driver cannot completely simulate the braking condition of a real vehicle in the process of simulated braking of the simulated vehicle. For example, in the process of braking a simulated vehicle, when the braking force is large, the wheels may be directly locked, so that the vehicle may drift out of the tail or the vehicle may drift sideways in the simulated environment.
Based on this, the application aims to provide a method and a device for processing brake data of an automobile simulated driver and electronic equipment, and specific implementation modes can refer to the following embodiments.
With the improvement of living standard, private cars are becoming more and more popular, and driving license becomes almost a necessary certificate for people. The automobile simulation driver introduced in the application can be applied to driving schools, provides a real immersive learning environment for students, is favorable for reducing driving school bus loss and training cost, and can ensure the safety of drivers and students. In some specific scenarios, a simulated driver 10 as shown in fig. 1 may be provided as a training appliance. The automobile simulated driver braking data processing method is mounted in the processor of the automobile simulated driver braking data processing method, so that the braking control experience of a real vehicle is simulated as much as possible.
And along with the development of VR technique, the automobile simulation driver that introduces in this application can also combine together with the VR technique, provides a true simulation for the user and drives and experience, carries out actual operation to operating element, cooperates the VR glasses to present true driving field of vision simultaneously and changes.
Fig. 2 is a flowchart of a method for processing brake data of an automobile simulated driver according to an embodiment of the present application, where the method of the present embodiment may be applied to the above different scenarios. As shown in fig. 2, the method includes:
s201, acquiring simulation braking data at the current moment according to braking operation of a user on a vehicle simulation driver in real time, and converting the simulation braking data into braking torque.
Wherein, the braking operation is various operations of a parking pedal and/or a parking brake of an automobile simulation driver by a user; the simulated braking data includes: according to the foot brake simulation braking data obtained by the user operating the parking pedal of the automobile simulation driver, according to the hand brake simulation braking data obtained by the user operating the parking brake of the automobile simulation driver, the foot brake simulation braking data and the hand brake simulation braking data are in decimal from 0 to 1; the braking moment comprises: and simulating the foot brake moment converted by the brake data according to the foot brake, and simulating the hand brake moment converted by the brake data according to the hand brake.
S202, calculating to obtain first wheel braking data according to the set parameters and the braking moment.
Wherein the set parameter is a value which is initially set in the calculation of the braking system, and the first wheel braking data is data for generating braking effect on the wheels irrespective of user operation. And calculating according to the set parameters and the hand brake moment to obtain hand brake wheel braking data, and determining first wheel braking data according to the hand brake wheel braking data and the hand brake wheel braking data.
S203, braking the simulated vehicle by adopting the first wheel braking data, and determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time.
Specifically, according to the determined first wheel braking data, the first wheel braking data is input to a wheel control module, the wheel control module is an algorithm code for realizing control of the simulated wheel state, the wheel control module outputs corresponding data according to different data input at each moment, the different movement states of the wheels are represented by the numerical values of the data, and the different movement states of the wheels are represented as movement states of the simulated vehicle at each moment under the influence of the first wheel braking data.
S204, judging whether to start the ABS according to the motion state of each moment.
According to the working principle of the ABS, a standard for starting the ABS is preset, and whether the ABS is started or not is determined by comparing whether the motion state of the simulated vehicle reaches the standard for starting the ABS or not in the process of braking by using a braking system.
Specifically, according to the motion state at each moment, whether the standard for setting to start the ABS is reached or not is judged, and if the standard is reached, the ABS is started.
And S205, if the ABS is determined not to be started, continuing to brake the simulated vehicle by adopting the first wheel braking data, and if the ABS is determined to be started, regulating the first wheel braking data according to the set pressure ratio to obtain second wheel braking data, and continuing to brake the simulated vehicle by adopting the second wheel braking data.
The set pressure ratio is set to 25% of the ratio of the wheel brake data to the input wheel brake data, and the input wheel brake data is ensured not to lock the wheel.
Specifically, if the ABS is not turned on, the first wheel braking data is still input to the wheel control module, and the wheel control module displays different movement states of the wheels according to different data input at each moment.
If the ABS is started, the first wheel braking data is adjusted to 25% of the original value according to the set pressure ratio and is input into a wheel control module, and the wheel control module displays different movement states of the wheels according to different data input at each moment.
According to the scheme, the braking data of the user can be converted into the braking torque required by the braking system through processing the simulated braking data, the braking operation of the user is converted into the braking data of the simulator, whether the ABS system needs to be started or not is dynamically judged according to the current state of the simulated vehicle, if the ABS system is started, the motion condition of the simulated vehicle under the ABS system is continuously calculated, the braking condition in the driving of the real vehicle is simulated to the greatest extent through a data processing mode, and the simulated vehicle driver is assisted to simulate the real driving state of the vehicle more accurately.
One possible implementation manner of the embodiment of the present application, the converting the analog braking data into braking torque includes: and multiplying the simulated braking data by the maximum braking moment of the simulated vehicle to obtain the braking moment.
According to the description of the step S201, the simulated braking data is divided into the simulated braking data of the foot brake and the simulated braking data of the hand brake, the braking moment is divided into the braking moment of the foot brake and the braking moment of the hand brake, and the corresponding maximum braking moment of the simulated vehicle is the maximum braking moment which can be achieved by the simulated vehicle, and the maximum braking moment of the simulated vehicle comprises: maximum foot brake torque and maximum hand brake torque.
Specifically, the multiplying the simulated braking data by the maximum braking moment of the simulated vehicle to obtain the braking moment includes:
foot brake moment = maximum foot brake moment foot brake simulated brake data
Hand brake moment = maximum hand brake moment hand brake simulated brake data
The algorithm of the formula is implemented as
float Tb = Mathf.Clamp01(brakeInput) * maxBrakeTorque;
((Wheel)m_output.input).AddBrakeTorque(Tb);
It should be noted that, brakeirput is simulated braking data, maxBrakeTorque is maximum braking torque, tb is braking torque, (Wheel) m_output.input is a Wheel module, and when it is detected that the parking pedal and/or the parking brake are operated, the program of the method starts to run, and the braking operation of the user on the simulated driver is converted into the braking torque of the simulated vehicle.
According to the scheme, the analog operation signal of the user is converted into the digital signal of the automobile analog driver, so that the braking operation of the user on the automobile analog driver can be converted into the braking operation on the analog vehicle in real time, and the braking control efficiency of the automobile analog driver is improved.
In one possible implementation manner of the embodiment of the present application, the simulated braking data includes: hand brake simulated braking data and foot brake simulated braking data, wherein the step of converting the simulated braking data into braking torque comprises the following steps: and converting the hand brake simulation braking data into hand brake moment and converting the foot brake simulation braking data into foot brake moment. The calculating to obtain the first wheel braking data according to the set parameters and the braking moment comprises the following steps: and calculating the foot brake wheel braking data according to the set parameters and the foot brake moment, calculating the hand brake wheel braking data according to the set parameters, the hand brake simulated braking data and the hand brake moment, judging the magnitude of the foot brake wheel braking data and the hand brake wheel braking data at each moment in real time, and determining a larger value as the first wheel braking data according to the result.
Specifically, according to the braking operation of a user on the automobile simulated driver at each moment, hand brake simulated braking data and foot brake simulated braking data in the automobile simulated driver are obtained at each moment, then the hand brake simulated braking data and the hand brake maximum braking moment are multiplied by the hand brake braking moment at the current moment, and the foot brake simulated braking data and the foot brake maximum braking moment are multiplied by the foot brake braking moment at the current moment.
After obtaining the hand braking moment and the foot braking moment at the moment, the moment can not act on the wheel module of the simulated vehicle, and the wheel braking data can be obtained by combining the attribute of the simulated vehicle, comprising: and calculating the braking data of the foot brake wheel according to the set parameters and the foot brake moment, and calculating the braking data of the hand brake wheel according to the set parameters, the hand brake simulated braking data and the hand brake moment.
Because the wheel module of the simulated vehicle can only adopt one wheel braking data to brake at each moment, when the brake data of the foot braking wheel and the brake data of the hand braking wheel exist at the same moment, one wheel braking data needs to be selected to brake, and the selection process comprises the following steps: judging whether only one wheel braking data exists at each moment, if so, selecting the wheel braking data to brake the wheel module. If not, judging the magnitude of the brake data of the foot brake wheel and the brake data of the hand brake wheel at the current moment, and selecting the wheel brake data with larger magnitude as the first wheel brake data at the current moment, namely the wheel brake data for braking the wheel module at the current moment.
The specific implementation algorithm is as follows: wd.w.heel.addbraketorque (mathf.max (brakeTorque. BrakeRatio, handbrakeTorque. HandbrakeRatio)).
Wherein, brakeTorque is brake data, handbrakeTorque is brake data, and mathf.max () function can automatically determine and select a larger value.
According to the scheme, the brake data of the foot brake wheel and the brake data of the hand brake wheel generated by the brake operation of a user are obtained in real time, the brake data of the foot brake wheel and the brake data of the hand brake wheel at each moment are dynamically selected to be the first wheel brake data, the first brake data at each moment is guaranteed to be the wheel brake data with the best brake effect at the current moment, and the brake effect of a real vehicle is restored to a greater extent.
In one possible implementation manner of the embodiment of the present application, the setting parameters include: the foot brake wheel forward offset, wheel position proportion, according to setting parameters the foot brake moment calculates foot brake wheel braking data, includes: and calculating a backward offset of the foot brake wheel according to the forward offset of the foot brake wheel, calculating a foot brake wheel offset ratio according to the forward offset of the foot brake wheel, the backward offset of the foot brake wheel and the wheel position ratio, and calculating foot brake wheel braking data according to the foot brake wheel offset ratio and the foot brake moment. The hand brake wheel braking data is calculated according to the set parameters, the hand brake simulation braking data and the hand brake moment, and the hand brake wheel braking data comprises the following components: and calculating forward offset and backward offset of the hand brake wheels according to the hand brake simulated braking data, calculating the hand brake wheel offset according to the forward offset and backward offset of the hand brake wheels and the wheel position proportion, and calculating hand brake wheel braking data according to the hand brake wheel offset and the hand brake moment.
The forward offset of the foot brake wheel is the forward offset of the wheel when the foot brake is used, and the proportion of the wheel position is the proportion of the wheel position to the simulated automobile body.
Specifically, the implementation code is:
float brakeFrontRatio = Mathf.Clamp01(settings.brakeBias);
float brakeRearRatio = 1.0f - brakeFrontRatio;
wherein, setting, brakebias is the forward offset of the foot brake wheel in the set parameters, mathf, clamp01 is a function for limiting the numerical value, if the numerical value is greater than 1, 1 is returned, if the numerical value is less than 0,0-1 is returned, the normal return is carried out, brakef rontRatio is the forward offset of the foot brake wheel, brakeRearRatio is the backward offset of the foot brake wheel, the backward offset of the foot brake wheel is obtained by subtracting the forward offset of the foot brake wheel from 1.0f, and the forward offset of the foot brake wheel and the backward offset of the foot brake wheel are floating points between 0 and 1.
float handbrakeFrontRatio = Mathf.Clamp01(2.0f * settings.handbrakeAxle); float handbrakeRearRatio = Mathf.Clamp01(2.0f * (1.0f - settings.handbrakeAxle));
Wherein, settings.handbrakeaxle is hand brake simulated brake data, handbrakeefrontRatio is hand brake wheel forward offset, and handbrakeRearRatio is hand brake wheel backward offset.
for (int i=0, c=m_wheelData.Count; i<c; i++)
{ WheelData wd = m_wheelData[i];
float brakeRatio = wd.positionRatio * brakeFrontRatio + (1.0f-wd.positionRatio) * brakeRearRatio;
float handbrakeRatio = wd.positionRatio * handbrakeFrontRatio + (1.0f-wd.positionRatio) * handbrakeRearRatio; }
Where m_linedata is a wheel data set, wd is a data set of a single wheel, positioning ratio is a wheel position ratio of the wheel, brakeRatio is a foot brake wheel offset ratio, and handbrakeRatio is a hand brake wheel offset ratio.
brakeTorque * brakeRatio
handbrakeTorque * handbrakeRatio
Wherein, brakeTorque is the foot brake moment, handbrakeTorque is the hand brake moment, brakeTorque is the foot brake wheel brake data obtained by brakeRatio, and handbrakeRatio is the hand brake wheel brake data.
And calculating the foot brake wheel braking data and the hand brake wheel braking data of each wheel through circulation.
Through this scheme, can calculate the foot brake wheel braking data, the manual brake wheel braking data of each wheel respectively according to the specific parameter of every wheel, more accurate braking to every wheel has improved the braking effect of simulation driver.
According to one possible implementation manner of the embodiment of the application, before the foot brake simulation braking data are started, whether the foot brake simulation braking data are larger than an external braking proportion or not needs to be judged, wherein the external braking proportion is data which influence vehicle braking due to external factors when a simulated vehicle runs, such as wind resistance, friction force and the like.
If the foot brake simulated braking data converted by the user operating the parking pedal is smaller than the external braking proportion, the foot brake simulated braking data which participates in acquiring the foot brake moment is changed into the external braking proportion.
In one possible implementation manner of the embodiment of the present application, a model of the simulated vehicle is obtained, an initial setting parameter is determined according to the model of the simulated vehicle, whether the adjustment parameter has a value is determined, if the adjustment parameter has a value, the initial setting parameter is adjusted according to the adjustment parameter, the adjusted initial setting parameter is determined as the setting parameter, and if the adjustment parameter has no value, the initial setting parameter is determined as the setting parameter.
The initial setting parameters are parameters of the preset simulated vehicles of various models, and the adjustment parameters are modification values of the user adjustment initial setting parameters.
Specifically, when the simulated driver leaves the factory, parameters of each model of the simulated vehicle are preset, and when a user selects the model of the current simulated vehicle, the initial setting parameters are automatically switched to corresponding parameters of the model of the current simulated vehicle. For example: the parameters of the simulated vehicle 1 are A, the parameters of the simulated vehicle 2 are B, and the parameters of the simulated vehicle 3 are C, and when the user selects the model of the current simulated vehicle to be the simulated vehicle 2, the current initial setting parameter is B.
After the user selects to adjust the initial setting parameters, the user inputs the adjustment parameters, modifies the initial setting parameters according to the adjustment parameters, and the modified initial setting parameters are the setting parameters. For example, after the user selects to adjust the initial setting parameter, the user inputs the adjustment parameter as C, and the initial setting parameter is B at this time, and after the initial setting parameter is modified according to the adjustment parameter, the initial setting parameter is c+b, where c+b is the setting parameter.
If the user chooses not to adjust the initial setting parameters, the initial setting parameters are the setting parameters.
According to the scheme, different initial setting parameters are set for each simulated vehicle, the subsequent braking effect can be influenced by different parameters, and a user can modify corresponding initial setting parameters according to different requirements, so that the user can feel different braking effects of different vehicles, and the braking effect of the real vehicle is restored to a greater extent.
One possible implementation manner of the embodiment of the present application, the motion state includes: the running speed and the wheel slip rate, the real-time determination of the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data comprises the following steps: and determining the running speed at each moment according to the running speed at the moment of starting braking and the wheel braking data, and determining the wheel slip rate at each moment of the simulated vehicle according to the running speed at each moment.
The wheel slip ratio is the proportion of the middle component, and 0 slip indicates that the travel distance of the vehicle is equal to the rotation distance of the tire tread. 100% slip means that any tire rotation does not cause movement of the vehicle body.
Specifically, the rotation angular speed of the wheels of the simulated vehicle and the travelling speed of the simulated vehicle under the influence of the first wheel braking data are determined in real time, and the determining process is that the first wheel braking data are input into a rigid body, and the rigid body outputs corresponding data.
The calculation formula of the wheel slip ratio is as follows:
S= (UW-rro*ωW)/UW *100%
where S is the wheel slip ratio, UW is the forward speed of the simulated vehicle, rro is the wheel radius of the simulated vehicle, ωw is the rotational angular speed of the wheel of the simulated vehicle.
Through the scheme, the running speed and the wheel slip rate of the simulated vehicle are determined in real time, and judgment conditions are provided for subsequently starting the ABS according to the wheel slip rate.
In one possible implementation manner of the embodiment of the present application, for each moment, determining whether to turn on the ABS according to the motion state of the moment includes: judging whether the wheel slip rate at the moment is larger than the set wheel slip rate, and if the wheel slip rate at the moment is larger than the set wheel slip rate, determining to start the ABS.
Specifically, the wheel slip ratio is compared with the set wheel slip ratio, and if the wheel slip ratio at the moment is larger than the set wheel slip ratio, the wheels are judged to be locked, and the ABS is started.
By the scheme, whether the ABS needs to be started or not is judged in real time, and the braking effect of the real vehicle is restored to a large extent.
One possible implementation of an embodiment of the present application,
1. brake analog signal conversion
Analog conversion parameters:
brakelnput brakes analog input data
maxBrakeTorque maximum braking moment
Tb current braking moment
Analog conversion principle:
when the user steps on the brake, current brake analog input data brakelnput is obtained, and the current brake moment Tb is obtained by using brakelnput.
And then transmitting the current braking torque Tb to the wheel module, obtaining the current wheel torque by using the wheel torque plus the current braking torque, and converting the input analog signal into output data for calculation. For performing subsequent braking power calculations. The following is an analog converted signal implementation code.
Transmitting a drive torque from the input to the output:
public override void EvaluateTorqueDownstream ()
{
if (m_input != null)
{
m_output.outTd = m_input.outTd;
float Tb = Mathf.Clamp01(brakeInput) * maxBrakeTorque;
((Wheel)m_output.input).AddBrakeTorque(Tb);
}
}
2. hand brake and ABS module
The ABS may be calibrated at each particular vehicle setting to provide optimal performance.
The minimum pressure ratio is the proportion of brake torque allowed to pass, when the ABS can reduce the brake pressure.
The optimum value of the pressure ratio is a higher value that does not lock the wheels in severe cases while braking and steering.
In peak slip offset mode, the trigger and slip offset define the amount of slip applied (m/s) to the slip point of maximum grip in the tire friction curve. If the tire slip forward exceeds this point (slip + offset of maximum grip) and then activates the ABS, the brake torque is multiplied by the minimum pressure ratio.
A good value of the offset is the tire slip point before the grip drops significantly. This allows the tire to remain in the slip range for the maximum time when ABS braking is used, with good grip.
Once the ABS is triggered, the brake pressure will drop to 25% of the normal pressure and when slip is below the trigger point, the brake will return to full torque.
Hand brake and ABS parameter calculation principle:
according to the hand brake analog input signal of the analog machine, hand brake analog data are obtained, and then the current hand brake torque is calculated by the following formula:
hand brake analog input data of current hand brake torque = maximum hand brake torque
And according to the configuration parameters of the vehicle, acquiring the front-rear ratio of the wheel deflection during braking and the front-rear ratio of the wheel deflection during hand braking.
And then, according to the number of the wheels, sequentially calculating the hand brake offset proportion and the brake offset proportion of each wheel.
If the ABS switch is turned on when the vehicle moves, the wheel module can be called to calculate the braking proportion of the current wheel, and the opening time of the current ABS is obtained.
When braking, if the braking torque of the hand brake is larger than the braking torque of the brake, the current wheel braking torque is the hand brake braking torque;
if the braking torque of the hand brake is smaller than the braking torque of the brake, the current wheel braking torque is the braking torque.
And finally, transmitting parameters such as hand brake torque, wheel front-back offset, wheel brake torque and the like obtained through real-time calculation to a vehicle power module.
Hand brake and ABS calculation related parameters:
public float maxBrakeTorque =2000.0f;// maximum braking torque
[Range(0, 1)]
public float brakeBias =0.7f;// brake offset (value 0-1). When the value is large, the wheels can shift forwards when braking, and conversely, the wheels can shift backwards.
public float handbrakeTorque =1500.0f;// maximum hand brake torque
When using ABS, the minimum pressure ratio allowed by the brake
[Range(0, 1)]
public float minPressureRatio = 0.25f;
Wheel pressure ratio
[Range(2, 8)]
public int valvePositions = 2;
Hand brake moment
[Range(0, 1)]
public float handbrakeAxle = 0.0f;
ABS real-time calculation algorithm
public void DoUpdate ()
{
Hand brake analog input data of current hand brake torque = maximum hand brake torque
float handbrakeTorque = settings.handbrakeTorque * handbrakeInput;
Brake forward offset ratio (value of 0-1 interval)
float brakeFrontRatio = Mathf.Clamp01(settings.brakeBias);
Brake backward offset ratio (value in 0-1 interval) =1-brake forward offset ratio
float brakeRearRatio = 1.0f - brakeFrontRatio;
Hand brake forward offset ratio (value of 0-1 interval)
float handbrakeFrontRatio = Mathf.Clamp01(2.0f * settings.handbrakeAxle);
Hand brake backward offset ratio (value of 0-1 interval)
float handbrakeRearRatio = Mathf.Clamp01(2.0f * (1.0f - settings.handbrakeAxle));
Transmitting wheel offset to wheel module for assignment according to the number of current wheels
for (int i=0, c=m_wheelData.Count; i<c; i++)
{
WheelData wd = m_wheelData[i];
Brake offset ratio= (wheel position ratio brake forward offset ratio) + (1-wheel position ratio) brake backward offset ratio
float brakeRatio = wd.positionRatio * brakeFrontRatio + (1.0f-wd.positionRatio) * brakeRearRatio;
Hand brake offset ratio= (wheel position ratio. Hand brake forward offset ratio) + (1-wheel position ratio). Hand brake backward offset ratio
float handbrakeRatio = wd.positionRatio * handbrakeFrontRatio + (1.0f-wd.positionRatio) * handbrakeRearRatio;
Brake input data for current wheel = maximum value of current brake analog input data and external brake ratio
float wheelBrakeInput = Mathf.Max(brakeInput, wd.externalBrakeRatio);
Brake input data for a wheel with current brake torque = maximum brake torque
float brakeTorque = settings.maxBrakeTorque * wheelBrakeInput2
The external brake ratio is set to 0
wd.externalBrakeRatio = 0.0f;
If the switch of the ABS is open and the wheel brake torque >0.1
if ((absSettings.enabled&&absOverride != AbsOverride.ForceDisabled || absOverride == AbsOverride.ForceEnabled)&&wheelBrakeInput> 0.1f)
{
Calculating the relief valve pressure ratio of a wheel
float valvePressureRatio = GetValvePressureRatio(wd);
If the pressure ratio of the relief valve is less than 1
if (valvePressureRatio< 1.0f)
{
Braking ratio = wheel pressure ratio wheel grip
brakeRatio *= valvePressureRatio * wd.wheel.grip;
ABS activation time = current time
m_absActivationTime = Time.time; }}
If the braking torque of the hand brake is larger than the braking torque of the brake, the current wheel braking torque is the hand brake braking torque
If the braking torque of the hand brake is smaller than the braking torque of the brake, the current wheel braking torque is the braking torque
wd.wheel.AddBrakeTorque(Mathf.Max(brakeTorque * brakeRatio, handbrakeTorque * handbrakeRatio));}}
As shown in fig. 3, the present application provides an apparatus 300 for processing brake data of an automobile driver simulator, including:
the conversion module 301 is configured to obtain simulated braking data at a current moment according to a braking operation of a user on a simulated driver of an automobile in real time, and convert the simulated braking data into braking torque;
the calculating module 302 is configured to calculate first wheel braking data according to the set parameter and the braking moment;
A braking module 303, configured to brake the analog vehicle using the first wheel braking data, and determine a motion state of the analog vehicle at each moment under the influence of the first wheel braking data in real time;
a judging module 304, configured to judge, according to the motion state at each moment, whether to turn on ABS according to the motion state;
the braking module 303 is further configured to, when it is determined that the ABS system is not turned on, continue to use the first wheel braking data, so that the simulated vehicle brakes according to the first wheel braking data; and when the ABS is determined to be started, regulating the first wheel braking data according to the set pressure ratio to obtain second wheel braking data so that the simulated vehicle brakes according to the second wheel braking data.
In one possible implementation manner of this embodiment of the present application, when the conversion module 301 converts the simulated braking data into a braking torque, the conversion module is specifically configured to:
and multiplying the simulated braking data by the maximum braking moment of the simulated vehicle to obtain the braking moment.
In one possible implementation manner of the embodiment of the present application, the simulation braking data includes: manual brake simulated braking data and foot brake simulated braking data;
The conversion module 301 is specifically configured to, when converting the simulated braking data into braking torque:
converting the hand brake simulation braking data into hand brake moment;
converting the foot brake simulation braking data into foot brake moment;
the calculation module 302 is specifically configured to, when calculating the first wheel braking data according to the set parameter and the braking torque:
calculating to obtain brake data of the foot brake wheel according to the set parameters and the foot brake moment;
calculating to obtain hand brake wheel braking data according to the set parameters, the hand brake simulated braking data and the hand brake moment;
judging the magnitude of the brake data of the foot brake wheel and the magnitude of the brake data of the hand brake wheel at each moment in real time;
and determining a larger value as the first wheel brake data according to the result.
In one possible implementation manner of the embodiment of the present application, the setting parameters include: the forward offset of the foot brake wheel and the ratio of the wheel positions;
the calculation module 302 is specifically configured to:
calculating the backward offset of the foot brake wheel according to the forward offset of the foot brake wheel;
calculating the offset ratio of the foot brake wheel according to the forward offset of the foot brake wheel, the backward offset of the foot brake wheel and the wheel position ratio;
Calculating to obtain brake data of the foot brake wheel according to the offset proportion of the foot brake wheel and the foot brake moment;
the calculation module 302 is specifically configured to:
calculating forward offset of the hand brake wheel and backward offset of the hand brake wheel according to the hand brake simulated braking data;
calculating the hand brake wheel offset ratio according to the hand brake wheel forward offset, the hand brake wheel backward offset and the wheel position ratio;
and calculating the hand brake wheel braking data according to the hand brake wheel deviation proportion and the hand brake moment.
In one possible implementation manner of the embodiment of the present application, the device for processing brake data of an automobile simulated driver further includes: a parameter setting module 305, configured to:
obtaining the model of the simulated vehicle, and determining initial setting parameters according to the model of the simulated vehicle;
judging whether the adjustment parameter has a value or not;
if the adjustment parameter is determined to have a value, adjusting the initial setting parameter according to the adjustment parameter, and determining the adjusted initial setting parameter as the setting parameter;
and if the adjustment parameter is determined to have no value, determining the initial setting parameter as the setting parameter.
In one possible implementation manner of the embodiment of the present application, the motion state includes: travel speed, wheel slip ratio;
the braking module 303 determines, in real time, a motion state of the simulated vehicle at each moment under the influence of the first wheel braking data, specifically:
determining the travelling speed at each moment according to the travelling speed at the moment of starting braking and the wheel braking data;
and determining the wheel slip rate of the simulated vehicle at each moment according to the travelling speed at each moment.
In one possible implementation manner of this embodiment of the present application, the determining module 304 is specifically configured to, for each moment, determine, according to a motion state of the moment, whether to turn on ABS:
judging whether the wheel slip rate at the moment is larger than a set wheel slip rate or not;
and if the wheel slip rate at the moment is larger than the set wheel slip rate, determining to start the ABS.
The device of this embodiment may be a processor of an automobile simulated driver, and is configured to execute the method of any one of the foregoing embodiments, and its implementation principle and technical effects are similar, and will not be described herein again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 4, an electronic device 400 according to the present embodiment may include: a memory 401 and a processor 402.
The memory 401 has stored thereon a computer program that can be loaded by the processor 402 and that performs the methods of the above-described embodiments.
Wherein the processor 402 is coupled to the memory 401, e.g. via a bus.
Optionally, the electronic device 400 may also include a transceiver. It should be noted that, in practical applications, the transceiver is not limited to one, and the structure of the electronic device 400 is not limited to the embodiments of the present application.
The processor 402 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 402 may also be a combination that implements computing functionality, e.g., comprising one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.
A bus may include a path that communicates information between the components. The bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The memory 401 is used for storing application program codes for executing the present application and is controlled to be executed by the processor 402. The processor 402 is configured to execute the application code stored in the memory 401 to implement what is shown in the foregoing method embodiment.
Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments herein.
The electronic device of the present embodiment may be used to execute the method of any of the foregoing embodiments, and its implementation principle and technical effects are similar, and will not be described herein.
The present application also provides a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing the method in the above embodiments.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Claims (8)
1. A method for processing brake data of an automobile simulated driver, comprising the steps of:
acquiring simulation braking data at the current moment according to the braking operation of a user on an automobile simulation driver in real time, and converting the simulation braking data into braking torque;
according to the set parameters and the braking moment, calculating to obtain first wheel braking data;
braking the simulated vehicle by adopting the first wheel braking data, and determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time;
Judging whether to start the ABS according to the motion state of each moment;
if the ABS is determined not to be started, continuing to brake the simulated vehicle by adopting the first wheel brake data;
if the ABS is determined to be started, regulating the first wheel braking data according to the set pressure ratio to obtain second wheel braking data, and adopting the second wheel braking data to continuously brake the simulated vehicle;
the simulated braking data comprise hand brake simulated braking data and foot brake simulated braking data; the set parameters comprise the forward offset of the foot brake wheel and the wheel position proportion;
correspondingly, the converting the simulated braking data into braking torque comprises the following steps: converting the hand brake simulation braking data into hand brake moment; converting the foot brake simulation braking data into foot brake moment;
correspondingly, the calculating to obtain the first wheel braking data according to the set parameters and the braking moment includes: calculating the backward offset of the foot brake wheel according to the forward offset of the foot brake wheel; calculating the offset ratio of the foot brake wheel according to the forward offset of the foot brake wheel, the backward offset of the foot brake wheel and the wheel position ratio; calculating to obtain brake data of the foot brake wheel according to the offset proportion of the foot brake wheel and the foot brake moment; calculating forward offset of the hand brake wheel and backward offset of the hand brake wheel according to the hand brake simulated braking data; calculating the hand brake wheel offset ratio according to the hand brake wheel forward offset, the hand brake wheel backward offset and the wheel position ratio; calculating to obtain hand brake wheel braking data according to the hand brake wheel deviation proportion and the hand brake moment; judging the magnitude of the brake data of the foot brake wheel and the magnitude of the brake data of the hand brake wheel at each moment in real time; and determining a larger value as the first wheel brake data according to the result.
2. The method of claim 1, wherein said converting said simulated braking data into braking torque comprises:
and multiplying the simulated braking data by the maximum braking moment of the simulated vehicle to obtain the braking moment.
3. The method as recited in claim 1, further comprising:
obtaining the model of the simulated vehicle, and determining initial setting parameters according to the model of the simulated vehicle;
judging whether the adjustment parameter has a value or not;
if the adjustment parameter is determined to have a value, adjusting the initial setting parameter according to the adjustment parameter, and determining the adjusted initial setting parameter as the setting parameter;
and if the adjustment parameter is determined to have no value, determining the initial setting parameter as the setting parameter.
4. The method of claim 1, wherein the motion state comprises: travel speed, wheel slip ratio;
the determining, in real time, a motion state of the simulated vehicle at each moment under the influence of the first wheel brake data includes:
determining the travelling speed at each moment according to the travelling speed at the moment of starting braking and the wheel braking data;
and determining the wheel slip rate of the simulated vehicle at each moment according to the travelling speed at each moment.
5. The method of claim 4, wherein for each moment, determining whether to turn on ABS based on the motion state of the moment comprises:
judging whether the wheel slip rate at the moment is larger than a set wheel slip rate or not;
and if the wheel slip rate at the moment is larger than the set wheel slip rate, determining to start the ABS.
6. An automobile simulated driver braking data processing device, comprising:
the conversion module is used for acquiring simulation braking data at the current moment according to the braking operation of a user on the automobile simulation driver in real time and converting the simulation braking data into braking moment;
the calculation module is used for calculating and obtaining first wheel braking data according to the set parameters and the braking moment;
the braking module is used for braking the simulated vehicle by adopting the first wheel braking data and determining the motion state of the simulated vehicle at each moment under the influence of the first wheel braking data in real time;
the judging module is used for judging whether the ABS is started or not according to the motion state of each moment;
the brake module is further used for continuing to adopt the first wheel brake data when the ABS system is not started, so that the simulated vehicle brakes according to the first wheel brake data; when the ABS is determined to be started, regulating the first wheel braking data according to a set pressure ratio to obtain second wheel braking data so that the simulated vehicle brakes according to the second wheel braking data;
The simulated braking data comprise hand brake simulated braking data and foot brake simulated braking data; the set parameters comprise the forward offset of the foot brake wheel and the wheel position proportion;
correspondingly, the conversion module is specifically used for converting the simulated braking data into braking torque when the simulated braking data are converted into braking torque: converting the hand brake simulation braking data into hand brake moment; converting the foot brake simulation braking data into foot brake moment;
correspondingly, the computing module is specifically configured to: calculating the backward offset of the foot brake wheel according to the forward offset of the foot brake wheel; calculating the offset ratio of the foot brake wheel according to the forward offset of the foot brake wheel, the backward offset of the foot brake wheel and the wheel position ratio; calculating to obtain brake data of the foot brake wheel according to the offset proportion of the foot brake wheel and the foot brake moment; calculating forward offset of the hand brake wheel and backward offset of the hand brake wheel according to the hand brake simulated braking data; calculating the hand brake wheel offset ratio according to the hand brake wheel forward offset, the hand brake wheel backward offset and the wheel position ratio; calculating to obtain hand brake wheel braking data according to the hand brake wheel deviation proportion and the hand brake moment; judging the magnitude of the brake data of the foot brake wheel and the magnitude of the brake data of the hand brake wheel at each moment in real time; and determining a larger value as the first wheel brake data according to the result.
7. An electronic device, comprising: a memory and a processor;
the memory is used for storing program instructions;
the processor is used for calling and executing the program instructions in the memory and executing the automobile simulated driver braking data processing method according to any one of claims 1-5.
8. A computer-readable storage medium, wherein the computer-readable storage medium has a computer program stored therein; the computer program, when executed by a processor, implements the vehicle simulated driver brake data processing method according to any one of claims 1-5.
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