CN117951879A - Simulation method, verification method and device for collision working condition data - Google Patents
Simulation method, verification method and device for collision working condition data Download PDFInfo
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Abstract
The application provides a simulation method, a verification method and a device for collision working condition data. After preprocessing the obtained original acceleration data, the application replaces a signal processor of hardware with a target mathematical simulation model, and frequency-reduces the preprocessed first acceleration data to obtain simulation acceleration data with preset simulation frequency. The simulation acceleration data can meet the requirements of an airbag controller, and the simulation acceleration data for collision algorithm calibration is obtained. The problem of signal processor's shortage is solved, the acceleration sensor that has guaranteed that whole car factory can be nimble uses, has guaranteed whole car factory's production progress.
Description
Technical Field
The application relates to the field of collision test, in particular to a simulation method, a verification method, a device, a medium and electronic equipment of collision working condition data.
Background
The airbag controller is used as a passive safety protection device when an automobile collides, and is a controller with forced requirements, wherein one of main technical difficulties is as follows: and calibrating a collision ignition algorithm for collision acceleration values generated by various collision working conditions based on various collision working conditions in a collision matrix provided by a whole vehicle factory.
As shown in fig. 1, the airbag controller includes: the device comprises a collision acceleration sensor, a signal processor and a microprocessor. The collision acceleration sensor collects original acceleration data, the original acceleration data is transmitted to the signal processor, the signal processor generates specific acceleration data, and the specific acceleration data is transmitted to the microprocessor for calibration.
Because the sampling frequency and the filtering level of the collision acceleration sensor are not matched with the specific acceleration data used for calibration, a signal processor is required to convert the original acceleration data (such as 20 kHz) acquired by the collision acceleration sensor into the frequency consistent with the specific acceleration data before calibration, so that the calibration of the collision ignition algorithm can be performed on the specific acceleration data.
However, the current international factory integrates the signal processor in the airbag controller through hardware, and limits the selection range of the signal processor. When the signal processor is in shortage, the production progress of the whole vehicle factory is seriously affected.
Therefore, the application provides a simulation method of collision working condition data, so as to solve the technical problems.
Disclosure of Invention
The application aims to provide a simulation method, a verification method, a device, a medium and electronic equipment for collision working condition data, which can solve at least one technical problem. The specific scheme is as follows:
according to a specific embodiment of the present application, the present application provides a simulation method for collision condition data, including:
Preprocessing the obtained original acceleration data to obtain a current processing result representing the first acceleration data, wherein the original acceleration data is acquired by a collision acceleration sensor under a collision working condition based on a preset acquisition frequency;
And performing frequency reduction on the current processing result based on a target mathematical simulation model to obtain simulation acceleration data of a preset simulation frequency, wherein the target mathematical simulation model is a computer simulation model of a signal processor.
Optionally, the step of performing frequency reduction on the current processing result based on the target mathematical simulation model to obtain simulation acceleration data of a preset simulation frequency includes:
Determining a plurality of preset first parameter values in a first mathematical simulation sub-model, wherein the target mathematical simulation model comprises a first mathematical simulation sub-model, the first mathematical simulation sub-model refers to a computer simulation model of a data extraction filter in the signal processor, and the plurality of preset first parameter values are associated with the data extraction filter;
Performing frequency reduction processing on the current processing result based on the first mathematical simulation sub-model set by the plurality of preset first parameter values to obtain the current processing result representing the second acceleration data;
And extracting data from the current processing result to obtain simulation acceleration data of a preset simulation frequency.
Optionally, the first mathematical simulation sub-model includes the following formula of a filter transfer function:
Wherein Hs represents second acceleration data after the down-conversion process, m represents a preset data extraction factor in the first mathematical simulation sub-model, n represents a preset order value in the first mathematical simulation sub-model, and z represents discrete transformation of the acceleration data before the down-conversion process, wherein the plurality of preset first parameter values include a preset data extraction factor and a preset order value.
Optionally, before the extracting the data from the current processing result to obtain the simulation acceleration data with the preset simulation frequency, the method further includes:
determining a corresponding second mathematical simulation sub-model and a plurality of preset second parameter values of the second mathematical simulation sub-model according to preset type information of the signal processor, wherein the target mathematical simulation model further comprises the second mathematical simulation sub-model, the second mathematical simulation sub-model is a computer simulation model of a low-pass filter in the signal processor, and the plurality of preset second parameter values are associated with the low-pass filter;
And performing low-pass filtering processing on the current processing result based on the second mathematical simulation sub-model set by the plurality of preset second parameter values to obtain the current processing result representing the third acceleration data.
Optionally, the second mathematical simulation sub-model includes the following formula of a non-recursive filter function:
Wherein Hf represents acceleration data after low-pass filtering processing, M represents a preset first positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are constant values, and z represents discrete transformation of the acceleration data before low-pass filtering processing, wherein the plurality of preset second parameter values comprise the preset first positive integer value and the plurality of preset first design sub-values.
Optionally, the second mathematical simulation sub-model includes the following formula of a recursive filter function:
Wherein Hi represents acceleration data after the low-pass filtering process, M represents a preset first positive integer value, N represents a preset second positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are all constant values, a 0～aN represents a plurality of preset second design sub-values of the simulated low-pass filter and are all constant values, and z represents discrete transformation of the acceleration data before the low-pass filtering process, wherein the plurality of preset second parameter values include: a preset first positive integer value, a preset second positive integer value, a plurality of preset first design sub-values, and a plurality of preset second design sub-values.
Optionally, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes:
And intercepting first acceleration data of preset collision time from the original acceleration data.
Optionally, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes:
when the collision working condition corresponding to the original acceleration data belongs to a preset forward working condition, setting the original acceleration data as positive acceleration data for representing the first acceleration data.
Optionally, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes:
When the collision working condition corresponding to the original acceleration data belongs to a preset negative working condition, setting the original acceleration data as negative acceleration data for representing the first acceleration data.
Optionally, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes:
And carrying out bias compensation on the original acceleration data to obtain the compensated first acceleration data.
According to a specific embodiment of the present application, the present application provides a verification method of simulation data, including:
acquiring comparative acceleration data, and
Obtaining simulated acceleration data based on the simulation method of any one of the above;
Generating a first contrast curve of a preset coordinate system based on the simulated acceleration data, and generating a second contrast curve of the preset coordinate system based on the contrast acceleration data;
obtaining a matching degree result under a preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system;
And when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is effective.
Optionally, the obtaining the matching degree result under the preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system includes:
obtaining a first error accumulation curve under the preset coordinate system based on the first contrast curve under the preset coordinate system, and
Obtaining a second error accumulation curve under the preset coordinate system based on the second comparison curve under the preset coordinate system;
And obtaining an average error value representing a matching degree result based on the first error accumulation curve and the second error accumulation curve.
Optionally, the preset coordinate system includes a preset time domain coordinate system;
Correspondingly, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid comprises the following steps:
and when the matching degree result under the preset time domain coordinate system is smaller than or equal to a preset time domain threshold value, determining that the simulation acceleration data is effective.
Optionally, the preset coordinate system includes a preset frequency domain coordinate system;
Correspondingly, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid comprises the following steps:
And when the matching degree result under the preset frequency domain coordinate system is smaller than or equal to a preset frequency domain threshold value, determining that the simulation acceleration data is effective.
Optionally, the acquiring the comparative acceleration data includes:
and acquiring the comparative acceleration data stored in the air bag controller.
According to an embodiment of the present application, there is provided a simulation apparatus for collision condition data, including:
The preprocessing unit is used for preprocessing the acquired original acceleration data to obtain a current processing result representing the first acceleration data, wherein the original acceleration data is acquired by a collision acceleration sensor under a collision working condition based on a preset acquisition frequency;
The simulation unit is used for carrying out frequency reduction on the current processing result based on a target mathematical simulation model to obtain simulation acceleration data of preset simulation frequency, wherein the target mathematical simulation model is a computer simulation model of the signal processor.
Optionally, the simulation unit includes:
A first determining subunit configured to determine a plurality of preset first parameter values in a first mathematical simulation sub-model, where the target mathematical simulation model includes a first mathematical simulation sub-model, the first mathematical simulation sub-model being a computer simulation model of a data extraction filter in the signal processor, the plurality of preset first parameter values being associated with the data extraction filter;
The frequency-reducing subunit is used for performing frequency-reducing processing on the current processing result based on the first mathematical simulation sub-model set by the plurality of preset first parameter values to obtain the current processing result representing the second acceleration data;
And the extraction subunit is used for extracting the data of the current processing result to obtain simulation acceleration data of a preset simulation frequency.
Optionally, the first mathematical simulation sub-model includes the following formula of a filter transfer function:
Wherein Hs represents second acceleration data after the down-conversion process, m represents a preset data extraction factor in the first mathematical simulation sub-model, n represents a preset order value in the first mathematical simulation sub-model, and z represents discrete transformation of the acceleration data before the down-conversion process, wherein the plurality of preset first parameter values include a preset data extraction factor and a preset order value.
Optionally, the simulation unit further includes:
The second determining subunit is configured to perform data extraction on a current processing result, and determine a corresponding second mathematical simulation sub-model and a plurality of preset second parameter values of the second mathematical simulation sub-model according to preset type information of the signal processor before obtaining simulation acceleration data of a preset simulation frequency, where the target mathematical simulation model further includes the second mathematical simulation sub-model, the second mathematical simulation sub-model is a computer simulation model of a low-pass filter in the signal processor, and the plurality of preset second parameter values are associated with the low-pass filter;
And the filtering subunit is used for performing low-pass filtering processing on the current processing result based on the second mathematical simulation sub-model set by the plurality of preset second parameter values to obtain the current processing result representing the third acceleration data.
Optionally, the second mathematical simulation sub-model includes the following formula of a non-recursive filter function:
Wherein Hf represents acceleration data after low-pass filtering processing, M represents a preset first positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are constant values, and z represents discrete transformation of the acceleration data before low-pass filtering processing, wherein the plurality of preset second parameter values comprise the preset first positive integer value and the plurality of preset first design sub-values.
Optionally, the second mathematical simulation sub-model includes the following formula of a recursive filter function:
Wherein Hi represents acceleration data after the low-pass filtering process, M represents a preset first positive integer value, N represents a preset second positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are all constant values, a 0～aN represents a plurality of preset second design sub-values of the simulated low-pass filter and are all constant values, and z represents discrete transformation of the acceleration data before the low-pass filtering process, wherein the plurality of preset second parameter values include: a preset first positive integer value, a preset second positive integer value, a plurality of preset first design sub-values, and a plurality of preset second design sub-values.
Optionally, the preprocessing unit includes:
and the intercepting subunit is used for intercepting first acceleration data of a preset collision duration from the original acceleration data.
Optionally, the preprocessing unit includes:
and the first setting subunit is used for setting the original acceleration data to be positive acceleration data when the collision working condition corresponding to the original acceleration data belongs to a preset forward working condition, and is used for representing the first acceleration data.
Optionally, the preprocessing unit includes:
And the second setting subunit is used for setting the original acceleration data to be negative acceleration data when the collision working condition corresponding to the original acceleration data belongs to a preset negative working condition, and is used for representing the first acceleration data.
Optionally, the preprocessing unit includes:
and the compensation subunit is used for carrying out bias compensation on the original acceleration data to obtain the compensated first acceleration data.
According to an embodiment of the present application, there is provided a verification apparatus of simulation data, including:
An acquisition unit for acquiring the comparative acceleration data and obtaining the simulated acceleration data based on the simulation device as described in the above embodiment;
The generation unit is used for generating a first comparison curve of a preset coordinate system based on the simulation acceleration data and generating a second comparison curve of the preset coordinate system based on the comparison acceleration data;
the matching unit is used for obtaining a matching degree result under the preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system;
And the determining unit is used for determining that the simulation method is correct for the simulation acceleration data when the matching degree result under the preset coordinate system meets the preset matching degree range.
Optionally, the matching unit includes:
a first obtaining subunit for obtaining a first error accumulation curve under the preset coordinate system based on the first contrast curve under the preset coordinate system, and
A second obtaining subunit, configured to obtain a second error accumulation curve in the preset coordinate system based on a second comparison curve in the preset coordinate system;
And a third obtaining subunit, configured to obtain an average error value representing a matching degree result based on the first error accumulation curve and the second error accumulation curve.
Optionally, the preset coordinate system includes a preset time domain coordinate system;
Accordingly, the determining unit includes:
And the third determination subunit is used for determining that the simulation acceleration data is valid when the matching degree result under the preset time domain coordinate system is smaller than or equal to a preset time domain threshold value.
Optionally, the preset coordinate system includes a preset frequency domain coordinate system;
Accordingly, the determining unit includes:
And the fourth determination subunit is used for determining that the simulated acceleration data is valid when the matching degree result under the preset frequency domain coordinate system is smaller than or equal to a preset frequency domain threshold value.
Optionally, the acquiring unit includes:
and acquiring the comparative acceleration data stored in the air bag controller.
According to a specific embodiment of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of simulating crash condition data as set forth in any one of the above.
According to an embodiment of the present application, there is provided an electronic apparatus including: one or more processors; and a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of simulating collision condition data as claimed in any one of the preceding claims.
Compared with the prior art, the scheme provided by the embodiment of the application has at least the following beneficial effects:
The application provides a simulation method and device of collision working condition data, a medium and electronic equipment. After preprocessing the obtained original acceleration data, the application replaces a signal processor of hardware with a target mathematical simulation model, and frequency-reduces the preprocessed first acceleration data to obtain simulation acceleration data with preset simulation frequency. The simulation acceleration data can meet the requirements of an airbag controller, and the simulation acceleration data for collision algorithm calibration is obtained. The problem of signal processor's shortage is solved, the acceleration sensor that has guaranteed that whole car factory can be nimble uses, has guaranteed whole car factory's production progress.
The application provides a verification method and device of simulation data, a medium and electronic equipment. According to the application, the simulation acceleration data is compared with the comparison acceleration data generated by hardware through a curve under a preset coordinate system, and when the matching degree result under the preset coordinate system meets the preset matching degree range, the simulation acceleration data is determined to be effective. And the simulation acceleration data is determined to be effective, so that the simulation method of the collision working condition data is verified to be effective. The real vehicle is avoided to be used for verification, and the verification cost is reduced.
Drawings
FIG. 1 shows a schematic diagram of a simulation of a signal processor according to an embodiment of the application;
FIG. 2 illustrates a flow chart of a method of simulating crash condition data in accordance with an embodiment of the application;
FIG. 3 shows a simulation schematic of a mathematical simulation model of a target in accordance with an embodiment of the application;
FIG. 4 is a flow chart of a method of verification of simulation data in accordance with an embodiment of the present application;
FIG. 5 illustrates a time domain diagram of a verification method of simulation data in accordance with an embodiment of the present application;
FIG. 6 shows a frequency domain diagram of a verification method of simulation data in accordance with an embodiment of the present application;
FIG. 7 illustrates a block diagram of a unit of a simulation apparatus of collision condition data in accordance with an embodiment of the present application;
Fig. 8 shows a block diagram of a unit of a verification apparatus of simulation data according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the application.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product 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 product or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or device comprising such elements.
In particular, the symbols and/or numerals present in the description, if not marked in the description of the figures, are not numbered.
Alternative embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The embodiment provided by the application is an embodiment of a simulation method of collision working condition data.
An embodiment of the present application will be described in detail with reference to fig. 2.
Step S201, preprocessing the acquired original acceleration data to obtain a current processing result representing the first acceleration data.
The raw acceleration data are acquired by a collision acceleration sensor under a collision working condition based on a preset acquisition frequency (such as 20 kHz).
The acceleration data includes a plurality of acceleration values.
The original acceleration data comprise collision acceleration data collected by a collision test and error action acceleration data collected by an error action test.
For example, the sampling frequency of the collision acceleration data collected by the collision acceleration sensor is 20kHz, the data recording time is 0.7 seconds, and 0.2 seconds is the collision starting point; the sampling frequency of the error action acceleration sensor for collecting error action acceleration data is 10kHz, and the data recording time is 5 seconds.
Pretreatment refers to a preparatory step performed before finishing is completed. And preprocessing the original acceleration data to obtain first acceleration data.
In some specific embodiments, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes the following steps:
Step S201a, intercepting first acceleration data of a preset collision duration from the original acceleration data.
The embodiment intercepts first acceleration data of a preset collision duration from the beginning of collision in the original acceleration data. For example, the preset collision time period is set between 150ms and 250 ms. Because the acquired original acceleration data are far longer than the preset collision time, the simulation efficiency can be effectively improved by removing redundant data in the original acceleration data.
In some specific embodiments, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes the following steps:
Step S201b, when the collision condition corresponding to the original acceleration data belongs to a preset forward condition, setting the original acceleration data as positive acceleration data, so as to characterize the first acceleration data.
In this embodiment, the direction of the raw acceleration data is verified.
Since the crash acceleration sensor of the original acceleration data is attached by a crash laboratory worker, the situation that the x and y directions are reversed is unavoidable. For example, if the collision ignition algorithm determines that the frontal collision working condition and the left collision working condition are both preset forward working conditions, the original acceleration data collected by the frontal collision working condition are all set to be positive values, and the original acceleration data collected by the left collision working condition are all set to be positive values.
In some specific embodiments, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes the following steps:
Step S201c, when the collision condition corresponding to the original acceleration data belongs to a preset negative condition, setting the original acceleration data as negative acceleration data, so as to characterize the first acceleration data.
In this embodiment, the direction of the raw acceleration data is verified. For example, if the collision ignition algorithm determines that the rear collision working condition and the right collision working condition are both preset negative working conditions, the original acceleration data collected by the rear collision working condition are all set to be negative, and the original acceleration data collected by the right collision working condition are all set to be negative.
In some specific embodiments, the preprocessing the obtained raw acceleration data to obtain a current processing result representing the first acceleration data includes the following steps:
And step S201d, performing bias compensation on the original acceleration data to obtain the compensated first acceleration data.
Because the collision acceleration sensor inevitably has zero drift, the original acceleration data needs to be subjected to offset compensation, and the accuracy of the numerical value is ensured.
One or more of the above embodiments of the preprocessing may be employed, and the present application is not limited.
Step S202, frequency-reducing is carried out on the current processing result based on the target mathematical simulation model, and simulation acceleration data of preset simulation frequency is obtained.
The target mathematical simulation model refers to a computer simulation model of a signal processor.
The mathematical simulation model is a simulation method based on the similarity of mathematical equations, and the mathematical equations are used for representing the simulated objects.
The computer simulation model is a program of an electronic computer to simulate a mathematical equation.
As shown in fig. 3, the target mathematical simulation model simulates a signal processor by a computer program, and realizes the same function as the signal processor for generating simulated acceleration data.
After preprocessing the obtained original acceleration data, the signal processor of hardware is replaced by the target mathematical simulation model, and the first acceleration data after preprocessing is subjected to frequency reduction to obtain simulation acceleration data with preset simulation frequency (such as 2 kHz). The simulation acceleration data can meet the requirements of an airbag controller, and the simulation acceleration data for collision algorithm calibration is obtained. The problem of signal processor's shortage is solved, the acceleration sensor that has guaranteed that whole car factory can be nimble uses, has guaranteed whole car factory's production progress.
In some embodiments, the step of performing frequency reduction on the current processing result based on the target mathematical simulation model to obtain simulation acceleration data of a preset simulation frequency includes the following steps:
step S202-3, determining a plurality of preset first parameter values in the first mathematical simulation sub-model.
The target mathematical simulation model comprises a first mathematical simulation sub-model, wherein the first mathematical simulation sub-model refers to a computer simulation model of a data extraction filter in the signal processor, and a plurality of preset first parameter values are associated with the data extraction filter.
The embodiment of the application provides different preset first parameter values for different signal processors so as to carry out targeted frequency reduction processing. Therefore, the applicability and compatibility of the first mathematical simulation sub-model are improved, and the simulation effect is ensured.
Step S202-6, performing frequency reduction processing on the current processing result based on the first mathematical simulation sub-model set by the plurality of preset first parameter values, and obtaining the current processing result representing the second acceleration data.
In some embodiments, the first mathematical simulation sub-model includes the following formula for a filter transfer function:
Wherein Hs represents second acceleration data after the down-conversion process, m represents a preset data extraction factor in the first mathematical simulation sub-model, n represents a preset order value in the first mathematical simulation sub-model, and z represents discrete transformation of the acceleration data before the down-conversion process, wherein the plurality of preset first parameter values include a preset data extraction factor and a preset order value.
The predetermined data extraction factor and the predetermined order value are provided by the manufacturer of the signal processor.
Step S202-9, extracting data from the current processing result to obtain simulation acceleration data of a preset simulation frequency.
Data extraction is the process of extracting data from a data source, including full extraction.
The full extraction is to extract the acceleration value from the current processing result as it is. The acceleration values may be periodically extracted according to the time point, for example, there are 1000 acceleration values in total in the current processing result, which takes 200ms, and if the acceleration values are extracted every 2ms, 100 acceleration values can be extracted. The acceleration values may be extracted according to the data amount of the interval, for example, there are 1000 acceleration values in total in the current processing result, and if the acceleration value is extracted every 5 acceleration values, 200 acceleration values can be extracted. The acceleration value may also be randomly extracted from the current processing result, and embodiments of the present application are not limited thereto.
According to the method and the device, the frequency of acceleration data is reduced to the preset simulation frequency through data extraction, so that the frequency of the simulation acceleration data is consistent with the receiving frequency of the air bag controller, and the purpose of computer software simulation is achieved.
In some embodiments, before the data extraction is performed on the current processing result to obtain the simulated acceleration data with the preset simulated frequency, the method further includes the following steps:
step S202-7, determining a corresponding second mathematical simulation sub-model and a plurality of preset second parameter values of the second mathematical simulation sub-model according to the preset type information of the signal processor.
The target mathematical simulation model further comprises a second mathematical simulation sub-model, wherein the second mathematical simulation sub-model refers to a computer simulation model of a low-pass filter in the signal processor, and the plurality of preset second parameter values are associated with the low-pass filter.
The preset type information of the signal processor is provided by the manufacturer of the signal processor.
The embodiment provides a corresponding second mathematical simulation sub-model for the preset type information of the signal processor so as to be capable of carrying out targeted low-pass filtering processing on the acceleration data. The processing amount of acceleration data is reduced, and the accuracy of data processing is ensured.
And step S202-8, performing low-pass filtering processing on the current processing result based on the second mathematical simulation sub-model set by the plurality of preset second parameter values to obtain the current processing result representing the third acceleration data.
In some embodiments, the second mathematical simulation sub-model includes the following formula for a non-recursive filter function:
Wherein Hf represents acceleration data after low-pass filtering processing, M represents a preset first positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are constant values, and z represents discrete transformation of the acceleration data before low-pass filtering processing, wherein the plurality of preset second parameter values comprise the preset first positive integer value and the plurality of preset first design sub-values.
The plurality of preset second parameter values in this embodiment are provided by the manufacturer of the signal processor.
In some embodiments, the second mathematical simulation sub-model includes the following formula for a recursive filter function:
Wherein Hi represents acceleration data after the low-pass filtering process, M represents a preset first positive integer value, N represents a preset second positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are all constant values, a 0～aN represents a plurality of preset second design sub-values of the simulated low-pass filter and are all constant values, and z represents discrete transformation of the acceleration data before the low-pass filtering process, wherein the plurality of preset second parameter values include: the first positive integer value, the second positive integer value, a plurality of preset first design sub-values, and a plurality of preset second design sub-values.
The plurality of preset second parameter values in this embodiment are provided by the manufacturer of the signal processor.
The low frequency filtering tasks of step S202-7 and step S202-8 may also be performed between step S202-3 and step S202-6, or the low frequency filtering tasks of step S202-7 and step S202-8 may be performed before step S202-3, and the embodiment is not limited thereto.
The embodiment provided by the application is an embodiment of a verification method of simulation data.
An embodiment of the present application will be described in detail with reference to fig. 4.
Step S401, obtaining comparative acceleration data, and obtaining simulated acceleration data based on the simulation method as described in any of the embodiments above.
In order to verify the effectiveness of simulation acceleration data and reduce the cost of a real vehicle test, the embodiment of the application provides a pulley verification method.
The pulley verification requires that the airbag controller be mounted on the pulley and a crash acceleration sensor be attached. The model and specification of the collision acceleration sensor are required to be completely consistent with those of the original data acquisition, and only the acceleration data of 150 ms-300 ms are required to be stored, so that a collision algorithm is not required to be carried. The collision vehicle was simulated by a sled.
The contrast acceleration data is specific acceleration data obtained after the original acceleration data is processed by an airbag controller formed by a signal processor of hardware. The embodiment of the application uses the comparison acceleration data as a reference to verify whether the obtained simulation acceleration data is effective.
In some embodiments, the acquiring the comparative acceleration data includes:
In step S401a, the comparative acceleration data stored in the airbag controller is acquired.
In this particular embodiment, the comparative acceleration data is stored within the airbag controller.
Step S402, generating a first contrast curve of a preset coordinate system based on the simulated acceleration data, and generating a second contrast curve of the preset coordinate system based on the contrast acceleration data.
The preset coordinate system comprises a time domain coordinate system or a frequency domain coordinate system. Fig. 5 is a time domain diagram of the first contrast curve and the second contrast curve in the time domain coordinate system, and fig. 6 is a frequency domain diagram of the first contrast curve and the second contrast curve in the frequency domain coordinate system.
Step S403, obtaining a matching degree result under the preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system.
In some specific embodiments, the obtaining the matching degree result under the preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system includes:
Step S403-1, obtaining a first error accumulation curve under the preset coordinate system based on the first comparison curve under the preset coordinate system, and obtaining a second error accumulation curve under the preset coordinate system based on the second comparison curve under the preset coordinate system.
The current error accumulation values in the error accumulation curves are the sum of the previous error accumulation value and the current error value. The current error value is the difference between the current acceleration value and the previous acceleration value in the preset coordinate system. For example, as shown in fig. 5, the simulated acceleration data and the comparative acceleration data are each a value of 0.1ms, the first acceleration value is 5g when 21ms, the error integrated value is 10, the second acceleration value is 5.6g when 21.1ms, the difference between the second acceleration value and the first acceleration value is 0.6g, and the error integrated value=10+0.6=10.6 when 21.1 ms.
The error accumulation curve can amplify the difference between the two curves, so that the difference between the two curves can be conveniently distinguished.
Step S403-2, obtaining an average error value representing the matching degree result based on the first error accumulation curve and the second error accumulation curve.
In the embodiment of the application, the error value of the corresponding time point is obtained based on the difference value between the error accumulation value of each time point in the first error accumulation curve and the error accumulation value of the corresponding time point in the second error accumulation curve, and the average error value is obtained based on the error values of the used time points.
In addition, the average error value can also be calculated by using the first contrast curve and the second contrast curve in the time domain diagram or the frequency domain diagram.
And step S404, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid.
If the simulation acceleration data is determined to be effective, the simulation method of the collision working condition data is verified to be effective.
In some embodiments, the predetermined coordinate system comprises a predetermined time domain coordinate system.
Correspondingly, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid comprises the following steps:
in step S404a, when the matching degree result in the preset time domain coordinate system is less than or equal to the preset time domain threshold, it is determined that the simulated acceleration data is valid.
For example, in a preset time domain coordinate system, the preset time domain threshold value for obtaining the average error value based on the error accumulation curve is 5%.
In some embodiments, the predetermined coordinate system comprises a predetermined frequency domain coordinate system.
Correspondingly, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid comprises the following steps:
And step S404b, when the matching degree result under the preset frequency domain coordinate system is smaller than or equal to a preset frequency domain threshold value, determining that the simulated acceleration data is valid.
For example, in a preset frequency domain coordinate system, the preset frequency domain threshold value for obtaining the average error value based on the error accumulation curve is 3%.
According to the embodiment of the application, the simulation acceleration data is compared with the comparison acceleration data generated by hardware through a curve under a preset coordinate system, and when the matching degree result under the preset coordinate system meets the preset matching degree range, the simulation acceleration data is determined to be effective. And the simulation acceleration data is determined to be effective, so that the simulation method of the collision working condition data is verified to be effective. The real vehicle is avoided to be used for verification, and the verification cost is reduced.
The present application also provides an embodiment of a device for carrying out the method steps described in the above embodiment, and the explanation based on the meaning of the same names is the same as that of the above embodiment, which has the same technical effects as those of the above embodiment, and is not repeated here.
As shown in fig. 7, the present application provides a simulation apparatus 700 for collision condition data, including:
The preprocessing unit 701 is configured to preprocess the obtained raw acceleration data, and obtain a current processing result representing the first acceleration data, where the raw acceleration data is acquired by a collision acceleration sensor under a collision condition based on a preset acquisition frequency;
The simulation unit 702 is configured to perform frequency reduction on a current processing result based on a target mathematical simulation model, and obtain simulation acceleration data of a preset simulation frequency, where the target mathematical simulation model is a computer simulation model of the signal processor.
Optionally, the simulation unit 702 includes:
A first determining subunit configured to determine a plurality of preset first parameter values in a first mathematical simulation sub-model, where the target mathematical simulation model includes a first mathematical simulation sub-model, the first mathematical simulation sub-model being a computer simulation model of a data extraction filter in the signal processor, the plurality of preset first parameter values being associated with the data extraction filter;
The frequency-reducing subunit is used for performing frequency-reducing processing on the current processing result based on the first mathematical simulation sub-model set by the plurality of preset first parameter values to obtain the current processing result representing the second acceleration data;
And the extraction subunit is used for extracting the data of the current processing result to obtain simulation acceleration data of a preset simulation frequency.
Optionally, the first mathematical simulation sub-model includes the following formula of a filter transfer function:
Wherein Hs represents second acceleration data after the down-conversion process, m represents a preset data extraction factor in the first mathematical simulation sub-model, n represents a preset order value in the first mathematical simulation sub-model, and z represents discrete transformation of the acceleration data before the down-conversion process, wherein the plurality of preset first parameter values include a preset data extraction factor and a preset order value.
Optionally, the simulation unit 702 further includes:
The second determining subunit is configured to perform data extraction on a current processing result, and determine a corresponding second mathematical simulation sub-model and a plurality of preset second parameter values of the second mathematical simulation sub-model according to preset type information of the signal processor before obtaining simulation acceleration data of a preset simulation frequency, where the target mathematical simulation model further includes the second mathematical simulation sub-model, the second mathematical simulation sub-model is a computer simulation model of a low-pass filter in the signal processor, and the plurality of preset second parameter values are associated with the low-pass filter;
And the filtering subunit is used for performing low-pass filtering processing on the current processing result based on the second mathematical simulation sub-model set by the plurality of preset second parameter values to obtain the current processing result representing the third acceleration data.
Optionally, the second mathematical simulation sub-model includes the following formula of a non-recursive filter function:
Wherein Hf represents acceleration data after low-pass filtering processing, M represents a preset first positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are constant values, and z represents discrete transformation of the acceleration data before low-pass filtering processing, wherein the plurality of preset second parameter values comprise the preset first positive integer value and the plurality of preset first design sub-values.
Optionally, the second mathematical simulation sub-model includes the following formula of a recursive filter function:
Wherein Hi represents acceleration data after the low-pass filtering process, M represents a preset first positive integer value, N represents a preset second positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are all constant values, a 0～aN represents a plurality of preset second design sub-values of the simulated low-pass filter and are all constant values, and z represents discrete transformation of the acceleration data before the low-pass filtering process, wherein the plurality of preset second parameter values include: a preset first positive integer value, a preset second positive integer value, a plurality of preset first design sub-values, and a plurality of preset second design sub-values.
Optionally, the preprocessing unit 701 includes:
and the intercepting subunit is used for intercepting first acceleration data of a preset collision duration from the original acceleration data.
Optionally, the preprocessing unit 701 includes:
and the first setting subunit is used for setting the original acceleration data to be positive acceleration data when the collision working condition corresponding to the original acceleration data belongs to a preset forward working condition, and is used for representing the first acceleration data.
Optionally, the preprocessing unit 701 includes:
And the second setting subunit is used for setting the original acceleration data to be negative acceleration data when the collision working condition corresponding to the original acceleration data belongs to a preset negative working condition, and is used for representing the first acceleration data.
Optionally, the preprocessing unit 701 includes:
and the compensation subunit is used for carrying out bias compensation on the original acceleration data to obtain the compensated first acceleration data.
After preprocessing the obtained original acceleration data, the signal processor of hardware is replaced by the target mathematical simulation model, and the first acceleration data after preprocessing is subjected to frequency reduction to obtain simulation acceleration data with preset simulation frequency (such as 2 kHz). The simulation acceleration data can meet the requirements of an airbag controller, and the simulation acceleration data for collision algorithm calibration is obtained. The problem of signal processor's shortage is solved, the acceleration sensor that has guaranteed that whole car factory can be nimble uses, has guaranteed whole car factory's production progress.
As shown in fig. 8, the present application provides a verification apparatus 800 for simulation data, comprising:
an obtaining unit 801 for obtaining comparative acceleration data and obtaining simulated acceleration data based on the simulation device as described in the above embodiment;
A generating unit 802, configured to generate a first contrast curve of a preset coordinate system based on the simulated acceleration data, and generate a second contrast curve of the preset coordinate system based on the contrast acceleration data;
A matching unit 803, configured to obtain a matching degree result in the preset coordinate system based on the first contrast curve and the second contrast curve in the preset coordinate system;
And the determining unit 804 is configured to determine that the simulation method is correct for the simulated acceleration data when the matching degree result under the preset coordinate system meets the preset matching degree range.
Optionally, the matching unit 803 includes:
a first obtaining subunit for obtaining a first error accumulation curve under the preset coordinate system based on the first contrast curve under the preset coordinate system, and
A second obtaining subunit, configured to obtain a second error accumulation curve in the preset coordinate system based on a second comparison curve in the preset coordinate system;
And a third obtaining subunit, configured to obtain an average error value representing a matching degree result based on the first error accumulation curve and the second error accumulation curve.
Optionally, the preset coordinate system includes a preset time domain coordinate system;
accordingly, the determining unit 804 includes:
And the third determination subunit is used for determining that the simulation acceleration data is valid when the matching degree result under the preset time domain coordinate system is smaller than or equal to a preset time domain threshold value.
Optionally, the preset coordinate system includes a preset frequency domain coordinate system;
accordingly, the determining unit 804 includes:
And the fourth determination subunit is used for determining that the simulated acceleration data is valid when the matching degree result under the preset frequency domain coordinate system is smaller than or equal to a preset frequency domain threshold value.
Optionally, the acquiring unit 801 includes:
and acquiring the comparative acceleration data stored in the air bag controller.
According to the embodiment of the application, the simulation acceleration data is compared with the comparison acceleration data generated by hardware through a curve under a preset coordinate system, and when the matching degree result under the preset coordinate system meets the preset matching degree range, the simulation acceleration data is determined to be effective. And the simulation acceleration data is determined to be effective, so that the simulation method of the collision working condition data is verified to be effective. The real vehicle is avoided to be used for verification, and the verification cost is reduced.
The present embodiment provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the one processor to enable the at least one processor to perform the method steps described in the embodiments above.
Embodiments of the present application provide a non-transitory computer storage medium storing computer executable instructions that perform the method steps described in the embodiments above.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application 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 technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (19)
1. The simulation method of the collision condition data is characterized by comprising the following steps of:
Preprocessing the obtained original acceleration data to obtain a current processing result representing the first acceleration data, wherein the original acceleration data is acquired by a collision acceleration sensor under a collision working condition based on a preset acquisition frequency;
And performing frequency reduction on the current processing result based on a target mathematical simulation model to obtain simulation acceleration data of a preset simulation frequency, wherein the target mathematical simulation model is a computer simulation model of a signal processor.
2. The method according to claim 1, wherein the step of performing frequency-down on the current processing result based on the target mathematical simulation model to obtain simulation acceleration data of a preset simulation frequency includes:
Determining a plurality of preset first parameter values in a first mathematical simulation sub-model, wherein the target mathematical simulation model comprises a first mathematical simulation sub-model, the first mathematical simulation sub-model refers to a computer simulation model of a data extraction filter in the signal processor, and the plurality of preset first parameter values are associated with the data extraction filter;
Performing frequency reduction processing on the current processing result based on the first mathematical simulation sub-model set by the plurality of preset first parameter values to obtain the current processing result representing the second acceleration data;
And extracting data from the current processing result to obtain simulation acceleration data of a preset simulation frequency.
3. The method of claim 2, wherein the first mathematical simulation sub-model comprises the following formula for a filter transfer function:
Wherein Hs represents second acceleration data after the down-conversion process, m represents a preset data extraction factor in the first mathematical simulation sub-model, n represents a preset order value in the first mathematical simulation sub-model, and z represents discrete transformation of the acceleration data before the down-conversion process, wherein the plurality of preset first parameter values include a preset data extraction factor and a preset order value.
4. The method according to claim 2, wherein before the step of extracting the data from the current processing result to obtain the simulated acceleration data with the preset simulated frequency, the method further comprises:
determining a corresponding second mathematical simulation sub-model and a plurality of preset second parameter values of the second mathematical simulation sub-model according to preset type information of the signal processor, wherein the target mathematical simulation model further comprises the second mathematical simulation sub-model, the second mathematical simulation sub-model is a computer simulation model of a low-pass filter in the signal processor, and the plurality of preset second parameter values are associated with the low-pass filter;
And performing low-pass filtering processing on the current processing result based on the second mathematical simulation sub-model set by the plurality of preset second parameter values to obtain the current processing result representing the third acceleration data.
5. The method of claim 4, wherein the second mathematical simulation sub-model comprises the following formula for a non-recursive filter function:
Wherein Hf represents acceleration data after low-pass filtering processing, M represents a preset first positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are constant values, and z represents discrete transformation of the acceleration data before low-pass filtering processing, wherein the plurality of preset second parameter values comprise the preset first positive integer value and the plurality of preset first design sub-values.
6. The method of claim 4, wherein the second mathematical simulation sub-model comprises the following formula for a recursive filter function:
Wherein Hi represents acceleration data after the low-pass filtering process, M represents a preset first positive integer value, N represents a preset second positive integer value, b 0～bM represents a plurality of preset first design sub-values of the simulated low-pass filter and are all constant values, a 0～aN represents a plurality of preset second design sub-values of the simulated low-pass filter and are all constant values, and z represents discrete transformation of the acceleration data before the low-pass filtering process, wherein the plurality of preset second parameter values include: a preset first positive integer value, a preset second positive integer value, a plurality of preset first design sub-values, and a plurality of preset second design sub-values.
7. The method of claim 1, wherein preprocessing the raw acceleration data obtained to obtain a current processing result characterizing the first acceleration data comprises:
And intercepting first acceleration data of preset collision time from the original acceleration data.
8. The method of claim 1, wherein preprocessing the raw acceleration data obtained to obtain a current processing result characterizing the first acceleration data comprises:
when the collision working condition corresponding to the original acceleration data belongs to a preset forward working condition, setting the original acceleration data as positive acceleration data for representing the first acceleration data.
9. The method of claim 1, wherein preprocessing the raw acceleration data obtained to obtain a current processing result characterizing the first acceleration data comprises:
When the collision working condition corresponding to the original acceleration data belongs to a preset negative working condition, setting the original acceleration data as negative acceleration data for representing the first acceleration data.
10. The method of claim 1, wherein preprocessing the raw acceleration data obtained to obtain a current processing result characterizing the first acceleration data comprises:
And carrying out bias compensation on the original acceleration data to obtain the compensated first acceleration data.
11. A method of verifying simulation data, comprising:
acquiring comparative acceleration data, and
Obtaining simulated acceleration data based on the simulation method of any one of claims 1-10;
Generating a first contrast curve of a preset coordinate system based on the simulation acceleration data, and
Generating a second comparison curve of a preset coordinate system based on the comparison acceleration data;
obtaining a matching degree result under a preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system;
And when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is effective.
12. The method of claim 11, wherein the obtaining the match-level result in the preset coordinate system based on the first contrast curve and the second contrast curve in the preset coordinate system comprises:
obtaining a first error accumulation curve under the preset coordinate system based on the first contrast curve under the preset coordinate system, and
Obtaining a second error accumulation curve under the preset coordinate system based on the second comparison curve under the preset coordinate system;
And obtaining an average error value representing a matching degree result based on the first error accumulation curve and the second error accumulation curve.
13. The method of claim 11, wherein the predetermined coordinate system comprises a predetermined time domain coordinate system;
Correspondingly, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid comprises the following steps:
and when the matching degree result under the preset time domain coordinate system is smaller than or equal to a preset time domain threshold value, determining that the simulation acceleration data is effective.
14. The method of claim 11, wherein the predetermined coordinate system comprises a predetermined frequency domain coordinate system;
Correspondingly, when the matching degree result under the preset coordinate system meets the preset matching degree range, determining that the simulation acceleration data is valid comprises the following steps:
And when the matching degree result under the preset frequency domain coordinate system is smaller than or equal to a preset frequency domain threshold value, determining that the simulation acceleration data is effective.
15. The method of claim 11, wherein the acquiring the comparative acceleration data comprises:
and acquiring the comparative acceleration data stored in the air bag controller.
16. A simulation device for collision condition data, comprising:
The preprocessing unit is used for preprocessing the acquired original acceleration data to obtain a current processing result representing the first acceleration data, wherein the original acceleration data is acquired by a collision acceleration sensor under a collision working condition based on a preset acquisition frequency;
The simulation unit is used for carrying out frequency reduction on the current processing result based on a target mathematical simulation model to obtain simulation acceleration data of preset simulation frequency, wherein the target mathematical simulation model is a computer simulation model of the signal processor.
17. A simulation data verifying apparatus, comprising:
An acquisition unit for acquiring the comparative acceleration data and acquiring the simulated acceleration data based on the simulation device of claim 16;
The generation unit is used for generating a first comparison curve of a preset coordinate system based on the simulation acceleration data and generating a second comparison curve of the preset coordinate system based on the comparison acceleration data;
the matching unit is used for obtaining a matching degree result under the preset coordinate system based on the first contrast curve and the second contrast curve under the preset coordinate system;
And the determining unit is used for determining that the simulation method is correct for the simulation acceleration data when the matching degree result under the preset coordinate system meets the preset matching degree range.
18. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of any one of claims 1 to 15.
19. An electronic device, comprising:
one or more processors;
Storage means for storing one or more programs,
Wherein the one or more processors implement the method of any of claims 1 to 15 when the one or more programs are executed by the one or more processors.
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| CN118011996A (en) | 2024-05-10 |
| CN117755232A (en) | 2024-03-26 |
| CN117389167A (en) | 2024-01-12 |
| CN117970175A (en) | 2024-05-03 |
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