CN116644522B - Method, device and medium for determining automobile modeling parameters for pneumatic development - Google Patents
Method, device and medium for determining automobile modeling parameters for pneumatic development Download PDFInfo
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Abstract
The invention discloses a method, equipment and medium for determining automobile modeling parameters for pneumatic development, wherein the method comprises the following steps: constructing an automobile model in a reference coordinate system based on the point cloud information of the automobile to be measured; determining a relevant point cloud point set according to a component identifier corresponding to the parameter to be measured, a known parameter of the automobile to be measured and an automobile model; determining a two-dimensional contour point set according to the association point cloud point set and the preset section; if the component identifier belongs to a non-A column component, determining a component edge point set according to the two-dimensional contour point set, and determining a parameter to be measured by combining the parameter type of the parameter to be measured; if the component mark belongs to the A-column component, determining an A-column point cloud point set according to the two-dimensional contour point set, and determining parameters to be measured according to the rounded corner radius data fitted by each adjacent three point cloud points in the A-column point cloud point set. The embodiment can improve the measurement efficiency of structural parameters related to modeling, reduce time cost and improve the accuracy of measurement results.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automobile modeling parameter determining method, equipment and medium for pneumatic development.
Background
The aerodynamic performance of an automobile is closely related to the overall size and the design of the model, so that structural parameters related to the model in the automobile need to be fully considered in the development and design process of the automobile.
In the pneumatic development process, the traditional way to obtain the structural parameters related to the modeling is to make manual measurements by means of geometrical modeling software such as CATIA (interactive modeling system). However, the traditional method has low parameter measurement efficiency, high time cost and poor consistency of measurement results, which is not beneficial to timely feedback communication between pneumatic development engineers and modeling engineers, and results in blocked development and design processes of automobiles.
In view of this, the present invention has been made.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automobile modeling parameter determination method, equipment and medium for pneumatic development, so as to achieve the effects of improving the measurement efficiency of structural parameters related to modeling, reducing the time cost and improving the accuracy of measurement results.
The embodiment of the invention provides an automobile modeling parameter determining method for pneumatic development, which comprises the following steps:
Based on pre-acquired point cloud information of an automobile to be measured, constructing an automobile model corresponding to the automobile to be measured in a reference coordinate system;
determining a relevant point cloud point set corresponding to the parameter to be measured according to a component identifier corresponding to the parameter to be measured, the known parameter of the automobile to be measured and the automobile model;
determining a two-dimensional contour point set according to the association point cloud point set and a preset section;
under the condition that the component identifier belongs to a non-A column component, determining a component edge point set according to the two-dimensional contour point set, and determining the parameter to be measured according to a parameter type corresponding to the parameter to be measured and the component edge point set;
and under the condition that the component identifier belongs to an A column component, determining an A column point cloud point set in an A column region according to the two-dimensional contour point set, and determining the parameter to be measured according to rounded radius data fitted by each adjacent three point cloud points in the A column point cloud point set.
The embodiment of the invention provides electronic equipment, which comprises:
a processor and a memory;
the processor is configured to execute the steps of the method for determining the modeling parameters of the automobile for pneumatic development according to any embodiment by calling the program or the instructions stored in the memory.
Embodiments of the present invention provide a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of the method for determining vehicle styling parameters for pneumatic development of any of the embodiments.
The embodiment of the invention has the following technical effects:
and constructing an automobile model in a reference coordinate system through pre-acquired point cloud information of the automobile to be measured, further determining a relevant point cloud point set corresponding to the parameter to be measured according to a component identifier corresponding to the parameter to be measured, a known parameter of the automobile to be measured and the automobile model, so as to approximately determine a point cloud point corresponding to the parameter to be measured, and determining a two-dimensional contour point set according to the relevant point cloud point set and a preset section, so that the parameter to be measured can be calculated through the contour point later. Under the condition that the component identifier belongs to a non-A-column component, a parameter calculation mode corresponding to the non-A-column component is used, a component edge point set is determined according to the two-dimensional contour point set, and parameters to be measured are determined according to the parameter type corresponding to the parameters to be measured and the component edge point set. Under the condition that the component mark belongs to the A column component, a parameter calculation mode corresponding to the A column component is used, an A column point cloud point set in an A column region is determined according to a two-dimensional contour point set, parameters to be measured are determined according to rounded corner radius data fitted by three adjacent point cloud points in the A column point cloud point set, and the effects of improving the measurement efficiency of structural parameters related to modeling, reducing time cost and improving the accuracy of measurement results are achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for determining vehicle modeling parameters for pneumatic development according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a component area provided by an embodiment of the present invention;
FIG. 3 is a schematic view of another component area provided by an embodiment of the present invention;
FIG. 4 is a schematic illustration of an A-column provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are within the scope of the invention.
The embodiment of the invention provides an automobile modeling parameter determination method for pneumatic development. To illustrate the method, preference is given to vehicle modeling parameters which relate to the aerodynamic properties of the vehicle. The aerodynamic performance of the automobile, that is, the aerodynamic performance of the automobile, has a great influence on the automobile modeling parameters including a cover ground clearance height, a front protection lower edge ground clearance height, a front and rear wheel choke plate height, a cover inclination angle, a front windshield inclination angle, a rear windshield inclination angle, a cover fillet radius, a roof front fillet radius, a roof rear fillet radius, a cover tail end-to-front windshield length, a tail fin length, an A column windward fillet (A column small fillet radius and A column large fillet radius) and the like. It can be seen that these parameters are all external modeling parameters of the automobile, and are all geometric features of a certain large-area continuous smooth component (such as a cover, a bumper, a wheel resistor, an A column and the like) of the automobile, including height, length, inclination angle and fillet radius, and these geometric features influence the air flow direction outside the automobile and are important parameters in pneumatic development of the automobile.
Taking the modeling parameters as objects, the embodiment of the invention provides an automobile modeling parameter determining method for pneumatic development, which is mainly applicable to the situation of determining automobile modeling parameters by using point cloud data acquired for the external modeling of an automobile and does not relate to the point cloud data acquired by the internal structure of the automobile. The method for determining the automobile modeling parameters for pneumatic development provided by the embodiment of the invention can be executed by electronic equipment.
FIG. 1 is a flow chart of a method for determining vehicle modeling parameters for pneumatic development according to an embodiment of the present invention. Referring to fig. 1, the method specifically includes:
s110, building an automobile model corresponding to the automobile to be measured in a reference coordinate system based on the pre-acquired point cloud information of the automobile to be measured.
The automobile to be measured is an automobile to be measured for modeling parameters. The point cloud information can be external point cloud data of the automobile to be measured, namely, point cloud data of an automobile shell, which are acquired by the point cloud acquisition device. The reference coordinate system is a three-dimensional coordinate system used when constructing the automobile model. The automobile model is a model constructed by point cloud information of an automobile to be measured in a reference coordinate system. Alternatively, the point cloud information may also be CAD (Computer Aided Design ) information.
Specifically, the point cloud information of the automobile to be measured can be acquired in advance, and then the acquired point cloud information of the automobile to be measured is imported into a reference coordinate system to obtain an automobile model corresponding to the automobile to be measured.
Illustratively, the line between the head and tail of the automobile model is parallel to the transverse axis of the reference coordinate system, the line between the roof and the bottom of the automobile model is parallel to the vertical axis of the reference coordinate system, and the line between the doors of the two sides is parallel to the longitudinal axis of the reference coordinate system.
Optionally, after the point cloud information of the automobile to be measured is imported into the reference coordinate system, the position of the automobile model can be moved and/or rotated according to the requirement, so that the center of the automobile model is consistent with the origin of the reference coordinate system.
S120, determining a relevant point cloud point set corresponding to the parameter to be measured according to the component identifier corresponding to the parameter to be measured, the known parameter of the automobile to be measured and the automobile model.
The component identifier is an identifier for indicating the component to which the parameter to be measured belongs, and is used to distinguish different automobile components. The known parameters may be overall dimensional parameters of the vehicle, etc., such as: vehicle length, vehicle width, vehicle height, vehicle wheelbase, tire width, tire diameter, and the like. The associated point cloud point set is a set of point cloud points of a part to which the parameter to be measured belongs, and it can be understood that the associated point cloud point set also contains point cloud points of other parts except the part to which the parameter to be measured belongs, and is all point cloud points in a general area of the part to which the parameter to be measured belongs.
Specifically, the component identifier corresponding to the parameter to be measured is determined, and according to the component identifier corresponding to the parameter to be measured and the known parameter of the automobile to be measured, a partial area associated with the parameter to be measured can be determined in the automobile model, and then, the point cloud point in the partial area is used as an associated point cloud point set corresponding to the parameter to be measured.
On the basis of the above example, the set of associated points cloud points corresponding to the parameter to be measured can be determined according to the component identifier corresponding to the parameter to be measured, the known parameter of the automobile to be measured and the automobile model in the following manner:
determining each part area according to known parameters of the automobile to be measured and an automobile model;
and selecting a region to be measured corresponding to the parameter to be measured from the component regions according to the component identifier corresponding to the parameter to be measured, and taking the point cloud points in the region to be measured in the automobile model as a correlated point cloud point set corresponding to the parameter to be measured.
The component area is an area in which the components of the vehicle to be measured are concerned, which area does not need to be very precise, but should cover the corresponding component, possibly also a part of the other components. The region to be measured is a component region to which the component identifier corresponding to the parameter to be measured belongs.
Specifically, according to known parameters of the automobile to be measured, the automobile model can be roughly divided into areas according to the parts, and the part areas corresponding to the parts are obtained. And then, searching the corresponding part area from the part areas according to the part identification corresponding to the parameter to be measured, and taking the part area as the area to be measured. And constructing a correlated point cloud point set corresponding to the parameters to be measured by using each point cloud point in the region to be measured in the automobile model for subsequent analysis of the parameters to be measured.
Exemplary schematic diagrams of the component area are shown in fig. 2 and 3, wherein the area within the dashed box is the component area. Based on the vehicle length and the vehicle wheelbase, the front, middle and rear component areas of the vehicle to be measured in the plane formed by the vertical axis and the horizontal axis of the reference coordinate system can be calculated and obtained on the automobile model. Based on the vehicle height and the tire diameter, the respective component areas of the lower part, the middle part and the upper part of the vehicle to be measured in the plane formed by the vertical axis and the longitudinal axis of the reference coordinate system can be calculated and obtained on the automobile model. Based on the vehicle width, the vehicle track width and the tire width, the respective component areas of the vehicle to be measured in the middle and both sides in the plane formed by the vertical axis and the longitudinal axis of the reference coordinate system can be calculated and obtained on the automobile model. Wheel center coordinates of front wheels and rear wheels of a vehicle body of a vehicle to be measured can be calculated and obtained on an automobile model based on the vehicle wheel base, the tire width and the tire diameter. Fig. 2 and 3 show a part of the final defined component area, wherein the component area 1 represents the area where the cover is located, the component area 2 represents the area where the front lower part and the front wheel choke plate are located, the component area 3 represents the area where the rear window of the component is located, the component area 4 represents the area where the rear lower part of the component is located, and the component area 5 represents the area where the front side part of the component is located. By means of these component areas, the position of the component in which each molding parameter is located can be approximately locked.
S130, determining a two-dimensional contour point set according to the association point cloud point set and the preset section.
The preset section is a section which is acquired in advance and is favorable for parameter measurement, and can be a section parallel to a plane formed by a vehicle head center, a vehicle tail center, a vehicle roof center and a vehicle bottom center, or a section with a longitudinal axis coordinate being a preset value or a section perpendicular to an A column, and parameters such as height, length, inclination angle and fillet radius can be conveniently measured in the sections. And the two-dimensional contour point set is associated with a point cloud point set positioned on a preset section.
Specifically, the relevant point cloud point set is processed according to the preset section, the point cloud points located on the preset section in the relevant point cloud point set are built into a two-dimensional contour point set, the two-dimensional contour points of the component to which the parameter to be measured belongs and possibly part of two-dimensional contour points of other components are included in the set, the latter is interference, and the latter is removed in subsequent processing.
And S140, determining a component edge point set according to the two-dimensional contour point set under the condition that the component identifier belongs to the non-A-column component, and determining the parameter to be measured according to the parameter type corresponding to the parameter to be measured and the component edge point set.
The a-pillar member is a connecting pillar connecting a roof and a front cabin in the left and right front of the automobile, and is a member above the left and right rearview mirrors between the engine compartment and the cockpit. The non-a-pillar part is a part other than the a-pillar part. The set of part edge points is a set of point cloud points on the edge of the part corresponding to the part identity. The parameter type is the type to which the parameter to be measured belongs, for example: fillet radius, ground clearance, dip angle, length, etc.
Because the type of the parameter of interest of the A column is different from other components, the embodiment divides all components into two types of A column components and non-A column components, and different parameter determination modes are adopted respectively. This step describes the manner in which the parameters of the non-a-pillar component are determined.
Specifically, if the component identifier belongs to a non-A column component, firstly, eliminating the interference of point cloud points brought by other components from the two-dimensional contour point set, and reserving the point cloud points corresponding to the component identifier, namely the component edge point set. And further, processing and calculating the component edge point set according to the parameter type corresponding to the parameter to be measured to obtain the parameter to be measured.
On the basis of the above example, the component edge point set may be determined from the two-dimensional contour point set by:
Taking the contour point with the minimum first coordinate value in the two-dimensional contour point set as an initial breakpoint and taking the contour point with the maximum first coordinate value as a final breakpoint;
determining an intermediate breakpoint according to an included angle between vectors formed by two adjacent contour points in the two-dimensional contour point set, a first coordinate difference value of the two adjacent contour points, a preset included angle threshold value and a preset coordinate difference value;
determining each initial profile curve according to the starting break point, the stopping break point and each intermediate break point;
determining at least one part profile curve from the initial profile curves according to the length of each initial profile curve and a preset length threshold value, and determining a target profile curve according to the at least one part profile curve;
the starting edge point and the ending edge point of the target contour curve are used as a component edge point set.
The first coordinate value is a coordinate value on a first coordinate axis in the reference coordinate system, for example, a coordinate value on a horizontal axis. The breakpoint refers to a point where a continuous curve in the two-dimensional profile of the automobile is interrupted, and the points are usually corresponding to demarcation points of different components on a physical structure, and the embodiment uses the demarcation points to further screen point cloud points of the components where the parameters to be measured are located. The initial break point is a profile point with the minimum first coordinate value in the two-dimensional profile point set and is used for representing the initial point in the two-dimensional profile point set. The ending break point is a profile point with the largest first coordinate value in the two-dimensional profile point set, and is used for representing the ending point in the two-dimensional profile point set, and the two break points may be the starting point or the ending point of a component or may be break points caused by region division. The first coordinate difference is a difference of the first coordinate values of the two contour points, for example, 5mm or the like. The preset included angle is an angle value for distinguishing the break points. The preset coordinate difference value is a difference value of a first coordinate value for distinguishing the break point. The break point refers to other break points except the initial break point and the termination break point, and is a part demarcation point which can be preliminarily determined. The initial profile curve is a fitted curve between each adjacent break point. The preset length threshold is a line segment length value for dividing the curve profile of the plurality of components in the initial profile curve. The target contour curve is a contour curve of a component corresponding to a component identifier corresponding to a parameter to be measured in each component contour curve. The component edge point set is a set formed by a starting edge point and a terminating edge point of the target contour curve.
Specifically, first, a contour point with the smallest first coordinate value in the two-dimensional contour point set is used as an initial breakpoint, and a contour point with the largest first coordinate value is used as a final breakpoint. Further, an intermediate breakpoint is determined: and forming each two adjacent contour points in the two-dimensional contour point set into vectors, and determining the included angles of continuous vectors, namely the included angles between vectors formed by each two adjacent contour points in the two-dimensional contour point set. And taking the difference value of the first coordinate values of each two adjacent contour points in the two-dimensional contour point set as the first coordinate difference value of each two adjacent contour points in the two-dimensional contour point set. If the included angle is larger than a preset included angle threshold value and/or the first coordinate difference value is larger than a preset coordinate difference value, determining the corresponding adjacent two contour points as the middle break points. The included angle is larger than a preset included angle threshold value, so that the parts of the two adjacent contour points are indicated to have larger angle change; the first coordinate difference value is larger than the preset coordinate difference value, and an obvious interval exists between two adjacent contour points; in both cases, two adjacent contour points are considered to belong to two independent components, or to components with very tortuous shapes (such as logos, etc.), and not to components with aerodynamic performance concerns. Because aerodynamic performance concerns are typically smooth and continuous for automotive parts (hoods, bumpers, wheel blocks, a-pillars, etc.), no drastic angular changes occur. It should be noted that there may be a case where the break point is empty. Determining adjacent break points (which can be intermediate break points or stop break points) from the initial break points, determining the curve formed by the two break points and the profile points between the two break points as an initial profile curve, and further, if the break point does not reach the stop break points, continuing to construct the initial profile curve from the next adjacent break point of the adjacent break points until the stop break points are reached, so as to obtain at least one initial profile curve, wherein each initial profile curve is a two-dimensional profile curve of an automobile part on a preset section. And determining the length of each initial profile curve, if the length is smaller than a preset length threshold value, eliminating the corresponding initial profile curve, taking the rest initial profile curve as a component profile curve, and further determining a target profile curve in the component profile curve according to the approximate position of the component mark corresponding to the parameter to be measured. And taking the starting edge point and the ending edge point of the target contour curve as a part edge point set for subsequent calculation of parameters to be measured.
Illustratively, the first point (the point with the smallest X-coordinate, i.e., the contour point with the smallest first coordinate value) and the last point (the point with the largest X-coordinate, i.e., the contour point with the largest first coordinate value) of the two-dimensional contour point set are defaults to break points (start break point and end break point). And sequentially calculating the included angles of two line segments formed by every three adjacent contour points for other contour points, and if the included angles are larger than a preset included angle threshold value, identifying the first and the last contour points in the three contour points as intermediate break points and deleting the intermediate contour points. If the X coordinate difference (first coordinate difference) between two adjacent contour points is larger than 5mm (gap is larger than 5 mm), namely the preset coordinate difference, the two contour points are also identified as the intermediate break points. After identification, all break points (an initial break point, an end break point and each intermediate break point) are sequentially arranged in sequence from small to large according to X coordinates (first coordinate values), and the two-dimensional profile is divided into a plurality of sections according to the arranged break point sequences, wherein point cloud points between each section are regarded as points on the same continuous curve. For example, the ordered breakpoint sequence is: breakpoint 1, breakpoint 2, breakpoint 3, breakpoint 4, …, breakpoint N-1, breakpoint N, the point cloud point between breakpoint 1, breakpoint 2 is considered as the point on the same continuous curve, the point cloud point between breakpoint 3, endpoint 4 is considered as the point on the same continuous curve, …, and the point cloud point between breakpoint N-1 and breakpoint N is considered as the point on the same continuous curve. Whereby each initial profile curve can be obtained. And eliminating curves with the length smaller than a preset length threshold value from the initial profile curves. Because the parameters to be measured are modeling parameters related to aerodynamic performance, the parameters belong to continuous components with larger areas, and for an initial profile curve with too small length, the parameters are possibly partial components which are divided and cut off by regions and do not belong to the region where the parameters to be measured are located. The set of points remaining after the rejection is therefore the profile of at least one aerodynamic performance-related component, including the profile of the component in which the parameter to be measured is located, and possibly the profile of other aerodynamic performance-related components (called interference components), from which the profile of the interference component is rejected, resulting in the target profile. The two break points of the target profile curve are the head end and tail end (starting edge point and ending edge point) of the component corresponding to the component identifier corresponding to the parameter to be measured.
Based on the above example, the target profile may be determined from at least one component profile by:
if the part contour curve is one, determining the part contour curve as a target contour curve;
if the number of the component contour curves is at least two, determining a component position range according to the component identifications corresponding to the parameters to be measured; and determining the position of the part to be matched of each part profile curve according to each part profile curve, and determining the target profile curve according to the position of each part to be matched and the position range of the part.
The component position range is the approximate range of the component corresponding to the component identifier corresponding to the parameter to be measured and is used for screening the target profile curve. The part position to be matched is the position of the part contour curve.
Specifically, if the component profile is one, it is considered that there is no component profile interfering with the component, and the component profile may be determined as the target profile directly. If the number of the component contour curves is at least two, determining one from the at least two component contour curves as a target contour curve, specifically: first, a component position range corresponding to a component identifier corresponding to a parameter to be measured is determined. Further, the position of the part to be matched of each part profile curve is determined. And matching the positions of the parts to be matched with the position range of the parts, and determining one part contour curve with the best matching effect as a target contour curve. Taking fig. 2 as an example, in the area component 2, by the foregoing process, a section of the profile curve of the front bumper and a section of the profile curve of the front wheel choke plate are finally screened, and according to the component positions of the front bumper and the front wheel choke plate, it can be determined that the profile curve of the front bumper is near the vehicle head position, and the profile curve of the front wheel choke plate is far from the vehicle head position. On the basis of the above example, the parameter to be measured may be determined according to the parameter type corresponding to the parameter to be measured and the starting edge point in the component edge point set in the following manner:
If the parameter type corresponding to the parameter to be measured is the radius of the round angle, fitting to obtain a reference circle according to the initial edge point in the component edge point set, the first edge point with the first distance from the initial edge point and the second edge point with the second distance from the initial edge point, and determining that the parameter to be measured is the radius of the reference circle.
The starting edge point is a starting point in the component edge point set, and can be regarded as a starting point cloud point of the component. The first distance and the second distance are distances for determining the first edge point and the second edge point, for example: the first distance is 100mm, the second distance is 200mm, etc. The first edge point and the second edge point are auxiliary points for constructing a reference circle and obtaining the radius of the reference circle. The reference circle is a circle obtained by fitting the initial edge point, the first edge point and the second edge point.
Specifically, if the parameter type corresponding to the parameter to be measured is the fillet radius, determining a first edge point with a first distance from the initial edge point and a second edge point with a second distance from the initial edge point on the target contour curve, and fitting the initial edge point, the first edge point and the second edge point to obtain a reference circle, wherein the radius of the reference circle is the fillet radius, namely the parameter to be measured.
Illustratively, starting from the initial edge point of the component edge point set corresponding to the component identifier corresponding to the parameter to be measured, taking one point from each of the X-axis intervals of 100mm and 200mm, and fitting a reference circle through the three points, wherein the radius of the reference circle is the fillet radius, namely the parameter to be measured.
If the parameter type corresponding to the parameter to be measured is the ground clearance, determining that the parameter to be measured is the starting point height between the starting edge point in the component edge point set and the preset ground and the ending point height between the ending edge point in the component edge point set and the preset ground.
The preset ground is a ground model constructed according to the automobile model. The starting point height is the height of the starting point (starting edge point) of the component corresponding to the parameter to be measured from the ground, and the ending point height is the height of the ending point (ending edge point) of the component corresponding to the parameter to be measured from the ground.
Specifically, if the parameter type corresponding to the parameter to be measured is the ground clearance height, the starting point height and the end point height are respectively determined. And taking the distance between the starting edge point in the component edge point set and the preset ground as a starting point height, taking the distance between the ending edge point in the component edge point set and the preset ground as an ending point height, and further determining the starting point height and the ending point height as parameters to be measured.
And if the parameter type corresponding to the parameter to be measured is the inclination angle, determining the parameter to be measured as an included angle between a connecting line between the starting edge point and the ending edge point and the first coordinate axis.
Specifically, if the parameter type corresponding to the parameter to be measured is an inclination angle, connecting the initial edge point and the final edge point, and determining the included angle between the obtained line segment and the first coordinate axis as the inclination angle, namely the parameter to be measured.
If the parameter type corresponding to the parameter to be measured is the length, determining the parameter to be measured as the difference between the first coordinate value of the starting edge point and the first coordinate value of the ending edge point.
Specifically, if the parameter type corresponding to the parameter to be measured is the length, the first coordinate value of the start edge point and the first coordinate value of the end edge point are determined first, and then the difference value of the two first coordinate values is used as the parameter to be measured. If the difference is negative, the absolute value is taken as the parameter to be measured.
On the basis of the above example, the preset floor may be constructed based on the following manner:
determining at least two reference tires from the automobile model, and determining tire point cloud points corresponding to the reference tires;
for each reference tire, determining the lowest point of the tire corresponding to each preset tire section according to at least one preset tire section and the cloud point of the tire corresponding to the reference tire;
The plane formed by the lowest points of the tires is determined as a preset ground.
Wherein the reference tire is a tire model in an automobile model. The tire point cloud point is the point cloud point included in the reference tire. The lowest point of the tire is the cloud point of the tire point with the smallest third coordinate axis. The tire profile is preset to be parallel to a plane formed by a first coordinate axis and a third coordinate axis of a reference coordinate system, for example: the first coordinate axis is a horizontal axis, the third coordinate axis is a vertical axis, and the preset tire section is a plane parallel to the round side surface of the tire. Each reference tire corresponds to a total number of tire nadir points of at least three to define a plane through the three points.
Specifically, since the automobile model generally includes at least four tires, at least two of the tires are selected as reference tires, and tire point cloud points corresponding to each reference tire are obtained from the point cloud points of the automobile model. Further, each reference tire is sectioned according to at least one preset tire section to obtain tire point cloud points on each preset tire section, and a point with the minimum third coordinate value in the tire point cloud points on each preset tire section is taken as a tire lowest point. Accordingly, at least three tire lowest points are obtained, and since the tire lowest points are points that contact the preset ground, the plane formed by the tire lowest points is determined as the preset ground.
It should be noted that the purpose of selecting at least two reference tires is to construct a more accurate preset ground surface than determining at least three tire nadir on the same reference tire due to a certain distance between the reference tires. The reason for constructing the preset ground is that: the ground is not necessarily completely parallel to the plane formed by the first coordinate axis and the second coordinate axis in the reference coordinate system, so that a more accurate ground is constructed.
By way of example, the front left tire and the rear left tire in the automobile model are taken as reference tires, 1 section (preset tire section) is cut in the middle of the front left tire and the rear left tire and on the left and the right, namely, 3 sections are made for one reference tire to be discretized, then the lowest point of Z coordinates in the 6 sections of the front left tire and the rear left tire is determined, and a ground plane tangent to the four tires, namely, the preset ground is constructed.
And S150, under the condition that the component identifier belongs to the A column component, determining an A column point cloud point set in the A column region according to the two-dimensional contour point set, and determining parameters to be measured according to fillet radius data fitted by three adjacent point cloud points in the A column point cloud point set.
The step introduces a method for determining parameters to be measured of the A column region. The a-pillar region is a region corresponding to the a-pillar part in the automobile model, and a section perpendicular to the a-pillar is taken along the section direction shown in fig. 2, and the result is shown in fig. 4. The A column point cloud point set is a set of point cloud points corresponding to the A column region in the two-dimensional contour point set.
Specifically, if the component identifier belongs to the a-pillar component, the parameters to be measured are a-pillar small fillet radius and/or a-pillar large fillet radius, and the positions of the two fillet radii are shown in fig. 4. First, a set of cloud points of a-pillar points in an a-pillar region is determined from a set of two-dimensional contour points. And determining the small A-column fillet radius and/or the large A-column fillet radius from the fillet radius data obtained by fitting through the fillet radius data respectively fitted by three adjacent point cloud points in the A-column point cloud point set, and taking the small A-column fillet radius and/or the large A-column fillet radius as parameters to be measured.
Based on the above example, the a-pillar point cloud point set in the a-pillar region may be determined from the two-dimensional contour point set by:
constructing contour vectors between every two adjacent contour points according to the two-dimensional contour point set;
determining an A column starting point and an A column ending point in the A column region according to the included angle between every two adjacent contour vectors and the included angle of the preset region;
and determining the starting point, the end point and the middle point of the A column as an A column point cloud point set in the A column region.
The contour vector is a vector formed by connecting two adjacent contour points. The included angle of the preset area is a preset angle value for distinguishing the starting point of the A column from the ending point of the A column. The middle point of the A column is a contour point which is positioned between the starting point and the end point of the A column in the two-dimensional contour point set. The A column starting point is the starting point of the A column region in the two-dimensional contour point set, and the A column ending point is the ending point of the A column region in the two-dimensional contour point set.
Specifically, a plurality of contour vectors are constructed by connecting each two adjacent contour points of the two-dimensional contour point set. Furthermore, the included angle between every two adjacent contour vectors can be determined, and the included angle is compared with the included angle of the preset area from two sides respectively. If the included angle is larger than the included angle of the preset area, determining to enter the A column area. Accordingly, an A-pillar starting point and an A-pillar ending point in the A-pillar region are determined, a contour point between the A-pillar starting point and the A-pillar ending point in the two-dimensional contour point set is determined to be an A-pillar middle point, and the A-pillar starting point, the A-pillar ending point and the A-pillar middle point are determined to be an A-pillar point cloud point set.
The maximum included angle of 2 vectors formed by the adjacent 3 points is calculated on the two-dimensional contour point set according to the two-dimensional geometric characteristics of the cross section corresponding to the A column region, and when the included angle is larger than 2.5 degrees, the A column region is judged. Two sides can respectively determine a contour point entering the A column region, the two points are respectively used as an A column starting point and an A column ending point, and the A column starting point, the A column ending point and contour points in the A column starting point and the A column ending point are used as a A column point cloud point set.
Based on the above example, the parameters to be measured can be determined according to the fillet radius data fitted by each adjacent three point cloud points in the a-pillar point cloud point set by the following ways:
Sequentially determining round angle radius data fitted by each adjacent three point cloud points in the A column point cloud point set from the starting point of the A column;
if the parameter to be measured is the small fillet radius of the A column, determining the first fillet radius data larger than the preset fillet radius as the small fillet radius of the A column;
and if the parameter to be measured is the A column large fillet radius, determining the last fillet radius in the data of each fillet radius as the A column large fillet radius.
The method comprises the steps of presetting a radius value for determining the small radius of the A column when presetting the radius of the round corner. The small fillet radius of the A column is the fillet radius of the A column close to the front windshield. The large fillet radius of the A column is the fillet radius of the A column close to the side window glass.
Specifically, from the starting point of the A column, constructing a fitting circle for every adjacent three point cloud points in the A column point cloud point set, and taking the radius of the circle as fillet radius data corresponding to the adjacent three point cloud points. If the parameter to be measured is the A-pillar small fillet radius, comparing fillet radius data with a preset fillet radius in sequence from the starting point of the A-pillar, and taking the first fillet radius data smaller than the preset fillet radius as the A-pillar small fillet radius. As can be seen from fig. 4, the small corner radius is very small, which is clearly different from the corner radius at other locations, and can be determined by setting a suitable threshold value. If the parameter to be measured is the A-pillar large fillet radius, the last fillet radius data in the fillet radius data, namely the fillet radius data comprising the end point of the A-pillar, is used as the A-pillar large fillet radius. Accordingly, the parameter to be measured can be obtained.
Alternatively, when the parameter to be measured is measured, multiple measurements may be performed, and when the result of the multiple measurements meets a preset error condition (for example, the variance is within a preset range, etc.), the parameter to be measured is determined.
Optionally, when the preset sections corresponding to different parts are obtained, different section interval thresholds may be set.
The embodiment has the following technical effects: and constructing an automobile model in a reference coordinate system through pre-acquired point cloud information of the automobile to be measured, further determining a relevant point cloud point set corresponding to the parameter to be measured according to a component identifier corresponding to the parameter to be measured, a known parameter of the automobile to be measured and the automobile model, so as to approximately determine a point cloud point corresponding to the parameter to be measured, and determining a two-dimensional contour point set according to the relevant point cloud point set and a preset section, so that the parameter to be measured can be calculated through the contour point later. Under the condition that the component identifier belongs to a non-A-column component, a parameter calculation mode corresponding to the non-A-column component is used, a component edge point set is determined according to the two-dimensional contour point set, and parameters to be measured are determined according to the parameter type corresponding to the parameters to be measured and the component edge point set. Under the condition that the component mark belongs to the A column component, a parameter calculation mode corresponding to the A column component is used, an A column point cloud point set in an A column region is determined according to a two-dimensional contour point set, parameters to be measured are determined according to rounded corner radius data fitted by three adjacent point cloud points in the A column point cloud point set, and the effects of improving the measurement efficiency of structural parameters related to modeling, reducing time cost and improving the accuracy of measurement results are achieved.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 5, electronic device 500 includes one or more processors 501 and memory 502.
The processor 501 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities and may control other components in the electronic device 500 to perform desired functions.
Memory 502 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 501 to implement the method of calibrating an on-board BSD camera and/or other desired functions of any of the embodiments of the present invention described above. Various content such as initial arguments, thresholds, etc. may also be stored in the computer readable storage medium.
In one example, the electronic device 500 may further include: an input device 503 and an output device 504, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 503 may include, for example, a keyboard, a mouse, and the like. The output device 504 may output various information to the outside, including early warning prompt information, braking force, etc. The output device 504 may include, for example, a display, speakers, a printer, and a communication network and remote output apparatus connected thereto, etc.
Of course, only some of the components of the electronic device 500 that are relevant to the present invention are shown in fig. 5 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 500 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the present invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the method for calibrating a vehicle-mounted BSD camera provided by any of the embodiments of the present invention.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer readable storage medium, on which computer program instructions are stored, which when executed by a processor, cause the processor to perform the steps of the calibration method for a vehicle-mounted BSD camera provided by any embodiment of the present invention.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in this specification, the terms "a," "an," "the," and/or "the" are not intended to be limiting, but rather are to be construed as covering the singular and the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.
It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for determining vehicle modeling parameters for pneumatic development, comprising:
based on pre-acquired point cloud information of an automobile to be measured, constructing an automobile model corresponding to the automobile to be measured in a reference coordinate system;
determining a relevant point cloud point set corresponding to the parameter to be measured according to a component identifier corresponding to the parameter to be measured, the known parameter of the automobile to be measured and the automobile model;
determining a two-dimensional contour point set according to the association point cloud point set and a preset section;
under the condition that the component identifier belongs to a non-A column component, determining a component edge point set according to the two-dimensional contour point set, and determining the parameter to be measured according to a parameter type corresponding to the parameter to be measured and the component edge point set;
Under the condition that the component identifier belongs to an A column component, determining an A column point cloud point set in an A column region according to the two-dimensional contour point set, and determining the parameter to be measured according to rounded radius data fitted by each adjacent three point cloud points in the A column point cloud point set;
said determining a set of component edge points from said set of two-dimensional contour points, comprising:
taking the contour point with the minimum first coordinate value in the two-dimensional contour point set as an initial breakpoint and taking the contour point with the maximum first coordinate value as a final breakpoint;
determining an intermediate breakpoint according to an included angle between vectors formed by two adjacent contour points in the two-dimensional contour point set, a first coordinate difference value of the two adjacent contour points, a preset included angle threshold value and a preset coordinate difference value;
determining each initial profile curve according to the starting breakpoint, the ending breakpoint and each intermediate breakpoint;
determining at least one part profile curve from the initial profile curves according to the length of each initial profile curve and a preset length threshold value, and determining a target profile curve according to the at least one part profile curve;
and taking the starting edge point and the ending edge point of the target contour curve as a part edge point set.
2. The method according to claim 1, wherein the determining the set of associated points cloud points corresponding to the parameter to be measured according to the component identifier corresponding to the parameter to be measured, the known parameter of the automobile to be measured, and the automobile model includes:
determining each part area according to the known parameters of the automobile to be measured and the automobile model;
and determining a region to be measured corresponding to the parameter to be measured from each component region according to the component identifier corresponding to the parameter to be measured, and taking the point cloud points in the automobile model, which are positioned in the region to be measured, as a correlated point cloud point set corresponding to the parameter to be measured.
3. The method of claim 1, wherein determining a target profile from at least one component profile comprises:
if the part contour curve is one, determining the part contour curve as a target contour curve;
if the number of the component contour curves is at least two, determining a component position range according to the component identifications corresponding to the parameters to be measured; and determining the position of the part to be matched of each part profile curve according to each part profile curve, and determining the target profile curve according to each part position to be matched and the part position range.
4. The method according to claim 1, wherein the determining the parameter to be measured according to the parameter type corresponding to the parameter to be measured and the component edge point set includes:
if the parameter type corresponding to the parameter to be measured is a fillet radius, fitting to obtain a reference circle according to a starting edge point in the component edge point set, a first edge point with a first distance from the starting edge point and a second edge point with a second distance from the starting edge point, and determining that the parameter to be measured is the radius of the reference circle;
if the parameter type corresponding to the parameter to be measured is the ground clearance, determining that the parameter to be measured is the starting point height between the starting edge point in the component edge point set and the preset ground and the ending point height between the ending edge point in the component edge point set and the preset ground;
if the parameter type corresponding to the parameter to be measured is an inclination angle, determining that the parameter to be measured is an included angle between a connecting line between the initial edge point and the end edge point and a first coordinate axis;
and if the parameter type corresponding to the parameter to be measured is the length, determining that the parameter to be measured is the difference between the first coordinate value of the starting edge point and the first coordinate value of the ending edge point.
5. The method of claim 4, wherein the predetermined ground is constructed based on:
determining at least two reference tires from the automobile model, and determining tire point cloud points corresponding to the reference tires;
for each reference tire, determining the lowest point of the tire corresponding to each preset tire section according to at least one preset tire section and the cloud point of the tire point corresponding to the reference tire; wherein the preset tire section is parallel to a plane formed by a first coordinate axis and a third coordinate axis of the reference coordinate system;
and determining a plane formed by the lowest points of the tires as a preset ground, wherein the total number of the lowest points of the tires corresponding to the reference tires is at least three.
6. The method of claim 1, wherein the determining a-pillar point cloud point sets in a-pillar regions from the two-dimensional contour point sets comprises:
constructing contour vectors between every two adjacent contour points according to the two-dimensional contour point set;
determining an A column starting point and an A column ending point in the A column region according to the included angle between every two adjacent contour vectors and the included angle of the preset region;
determining the starting point of the A column, the end point of the A column and the middle point of the A column as an A column point cloud point set in an A column region;
And the A column middle point is a contour point which is positioned between the A column starting point and the A column ending point in the two-dimensional contour point set.
7. The method of claim 6, wherein determining the parameter to be measured from the corner radius data of each adjacent three point cloud point fits in the a-pillar point cloud point set comprises:
sequentially determining the rounded radius data fitted by each adjacent three point cloud points in the A column point cloud point set from the starting point of the A column;
if the parameter to be measured is the small A-column fillet radius, determining first fillet radius data larger than a preset fillet radius as the small A-column fillet radius;
and if the parameter to be measured is the A column large fillet radius, determining the last fillet radius in the data of each fillet radius as the A column large fillet radius.
8. An electronic device, the electronic device comprising:
a processor and a memory;
the processor is configured to execute the steps of the method for determining the modeling parameters of the automobile for pneumatic development according to any one of claims 1 to 7 by calling a program or instructions stored in the memory.
9. A computer-readable storage medium storing a program or instructions that cause a computer to execute the steps of the automobile model parameter determination method for pneumatic development according to any one of claims 1 to 7.
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