Automobile real-time dynamics modular modeling method and device and storage medium

Abstract

The invention discloses an automobile real-time dynamics modular modeling method which comprises the following steps: acquiring mechanism part characteristics of each element in a to-be-processed system, and generating different modules according to different mechanism part characteristics; an elastic characteristic element and a rigid body element are modeled through an elastic constraint block and a rigid body block, and other elements are modeled through a configuration block and a force-moment block. The elastic constraint block and the rigid body block realize isolation and decoupling ofthe whole vehicle dynamics system; generation of an algebraic differential equation is effectively avoided; the established models are ordinary differential equations, the requirement for simulation real-time performance is met, the configuration blocks and the force-moment blocks help to construct hierarchical modular model modules, corresponding modules in the models can be conveniently replacedby real objects of different levels, real object in-loop simulation of various levels of an automobile is achieved, and the requirement for simulation accuracy is met. The problem that an existing automobile dynamics simulation model cannot accurately achieve verification of an intelligent driving motion control algorithm in real time is solved.

Description

technical field [0001] The invention relates to the field of vehicle dynamics simulation modeling, in particular to a vehicle dynamics modeling method for virtual verification of intelligent vehicle motion control. Background technique [0002] Vehicle motion control is one of the core technologies of intelligent driving, and major OEMs have been insisting on independent development. To independently develop motion control algorithms, it is first necessary to establish a realistic real-time vehicle dynamics modular model, and to test and verify the control algorithms in the stages of model-in-the-loop, hardware-in-the-loop, and driving simulator-in-the-loop simulations. [0003] Since it is necessary to establish a real-time dynamic model of the vehicle in the verification of the intelligent driving motion control algorithm, there are some systems, assemblies, and components that are difficult to model in the vehicle, and it is difficult to meet the needs of hardware-in-the-...

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a modular modeling method, device, storage medium and terminal equipment for automobile real-time dynamics, aiming to solve the problem that the current automobile dynamics model is difficult to meet the real-time accuracy requirements of simulation

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