CN113282073A - Vehicle driving track simulation method, vehicle and computer readable storage medium - Google Patents
Vehicle driving track simulation method, vehicle and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle driving track simulation method, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: the driving track picture is integrated according to the vehicle environment information and the driving track line. The user can directly learn whether the vehicle can safely pass through under the current road conditions through the driving track picture, and can judge current wheel position according to the driving track picture, directly rotates the steering wheel to the direction that needs to advance, need not to carry out the judgement of vehicle steering wheel position at the in-process of advancing through driving experience in the past again, reduces the risk that the accident appears among the driving process, effectively improves vehicle intelligence and security at the driving in-process.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a vehicle driving track simulation method, a vehicle and a computer readable storage medium.
Background
With the continuous development of automobile technology and the great increase of automobile holding capacity, people put forward higher and higher requirements on the intelligence and safety of automobiles. In the prior art, in order to help a driver to judge the road condition, an automobile data recorder is usually installed, but the automobile data recorder can see a front image but cannot acquire the rotating position of the current wheel, and still needs to judge by rotating the steering wheel by the driver in the advancing process, and particularly for a novice driver, the scratch and collision accidents easily occur under the condition of insufficient experience.
Disclosure of Invention
The invention mainly aims to provide a vehicle driving track simulation method. The method aims to solve the problem of how to improve the safety of the vehicle in the process of running.
In order to achieve the above object, the present invention provides a vehicle driving track simulation method, comprising the following steps:
acquiring steering wheel angle data and vehicle parameter information of a vehicle to be detected;
calculating a driving track line of the vehicle to be tested according to the steering wheel corner data and the vehicle parameter information;
and acquiring vehicle environment information corresponding to the vehicle to be tested, and integrating a driving track picture according to the vehicle environment information and the driving track line.
Optionally, the step of calculating the driving trajectory of the vehicle to be tested according to the steering wheel angle data and the vehicle parameter information includes:
calculating according to the steering wheel corner data and a steering system angular transmission ratio corresponding to the vehicle inner wheel of the vehicle to be tested to obtain vehicle inner wheel corner data;
calculating according to the steering wheel corner data and the steering system angular transmission ratio corresponding to the outer wheel of the vehicle to be tested to obtain outer wheel corner data of the vehicle;
and calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel corner data, the vehicle outer wheel corner data and the vehicle parameter information.
Optionally, the vehicle parameter information includes a vehicle width, a vehicle front wheel track, a vehicle front overhang, and a vehicle wheel base.
Optionally, the driving trajectory lines include a vehicle outside contour driving trajectory line and a vehicle inside contour driving trajectory line; the step of calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information comprises the following steps:
calculating the outer wheel corner data, the vehicle width, the vehicle front wheel track, the vehicle front overhang and the vehicle wheel base through a preset outer contour trajectory line algorithm to obtain a vehicle outer contour driving trajectory line;
and calculating the outer wheel corner data, the vehicle width, the vehicle front wheel track and the vehicle wheel base through a preset inner profile track line algorithm to obtain a vehicle inner profile driving track line.
Optionally, the driving trajectory line includes a driving trajectory line of a front inner side wheel of the vehicle and a driving trajectory line of a front outer side wheel of the vehicle; the step of calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information comprises the following steps:
calculating a first tangent value of the vehicle inner wheel rotation angle data, and calculating a first proportional value of the vehicle wheelbase and the first tangent value, wherein the first proportional value is used as a vehicle front inner wheel traffic track line;
and calculating a second tangent value of the vehicle outer wheel rotation angle data, and calculating a second proportional value of the vehicle wheelbase and the second tangent value, wherein the second proportional value is used as a vehicle front outer side wheel driving track line.
Optionally, the step of acquiring vehicle environment information corresponding to the vehicle to be tested and integrating a driving track picture according to the vehicle environment information and the driving track line includes:
controlling a vehicle event data recorder of the vehicle to be tested to acquire vehicle environment information corresponding to the vehicle to be tested, and intercepting effective environment information in the vehicle environment information according to the steering wheel corner data;
and integrating a driving track picture according to the effective environment information and the driving track line.
Optionally, the step of integrating the driving trace picture according to the effective environment information and the driving trace line includes:
judging whether an obstacle exists in the advancing direction of the vehicle according to the effective environment information;
if the obstacle exists, determining obstacle image information according to the obstacle;
and integrating a driving track picture according to the obstacle image information and the driving track line.
Optionally, the driving track picture includes track curved surfaces on two sides of the vehicle, a track plane on the upper side of the vehicle, a track line of a front wheel of the vehicle, and an obstacle image.
In addition, to achieve the above object, the present invention further provides a vehicle including a memory, a processor, and a vehicle trajectory simulation program stored in the memory and executable on the processor, wherein: the vehicle trajectory simulation program, when executed by the processor, implements the steps of the vehicle trajectory simulation method as described above.
In addition, to achieve the above object, the present invention further provides a computer readable storage medium having a vehicle trajectory simulation program stored thereon, which when executed by a processor implements the steps of the vehicle trajectory simulation method as described above.
According to the vehicle driving track simulation method, the vehicle and the computer readable storage medium, the driving track line of the vehicle is calculated according to the steering wheel angle data and the vehicle parameter information by obtaining the steering wheel angle data and the vehicle parameter information, the vehicle environment information corresponding to the vehicle is obtained, and the driving track picture is integrated according to the vehicle environment information and the driving track line. The user can directly learn whether the vehicle can safely pass through under the current road conditions through the driving track picture, and can judge current wheel position according to the driving track picture, directly rotates the steering wheel to the direction that needs to advance, need not to carry out the judgement of vehicle steering wheel position at the in-process of advancing through driving experience in the past again, reduces the risk that the accident appears among the driving process, effectively improves vehicle intelligence and security at the driving in-process.
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FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a vehicle trajectory simulation method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a vehicle driving trace simulation method according to the present invention;
FIG. 4 is a schematic gear ratio diagram of a second embodiment of the vehicle trajectory simulation method of the present invention;
FIG. 5 is a schematic diagram of a second embodiment of a vehicle trajectory simulation method according to the present invention;
FIG. 6 is a flowchart illustrating a vehicle driving trace simulation method according to a third embodiment of the present invention;
FIG. 7 is a flowchart illustrating a fourth embodiment of a vehicle driving trace simulation method according to the present invention;
FIG. 8 is a schematic algorithm diagram of a third, a fourth and a fifth embodiment of the vehicle driving track simulation method according to the present invention;
FIG. 9 is a flowchart illustrating a fifth embodiment of a vehicle driving trace simulation method according to the present invention;
FIG. 10 is a flowchart illustrating a vehicle driving trace simulation method according to a sixth embodiment of the present invention;
FIG. 11 is a schematic diagram of a human-computer interaction display of a vehicle trajectory simulation method according to a sixth embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a vehicle. As shown in fig. 1, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the vehicle may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, WiFi modules, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen based on the ambient light level and a proximity sensor that turns off the display screen and/or backlight when the hardware device is moved to the ear. Of course, the hardware device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and so on, which are not described herein again.
Those skilled in the art will appreciate that the configuration of the vehicle shown in FIG. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle trajectory simulation program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the vehicle driving trace simulation program stored in the memory 1005, and perform the following operations:
acquiring steering wheel angle data and vehicle parameter information of a vehicle to be detected;
calculating a driving track line of the vehicle to be tested according to the steering wheel corner data and the vehicle parameter information;
and acquiring vehicle environment information corresponding to the vehicle to be tested, and integrating a driving track picture according to the vehicle environment information and the driving track line.
Further, the processor 1001 may call the vehicle trajectory simulation program stored in the memory 1005, and further perform the following operations:
calculating according to the steering wheel corner data and a steering system angular transmission ratio corresponding to the vehicle inner wheel of the vehicle to be tested to obtain vehicle inner wheel corner data;
calculating according to the steering wheel corner data and the steering system angular transmission ratio corresponding to the outer wheel of the vehicle to be tested to obtain outer wheel corner data of the vehicle;
and calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel corner data, the vehicle outer wheel corner data and the vehicle parameter information.
Further, the processor 1001 may call the vehicle trajectory simulation program stored in the memory 1005, and further perform the following operations:
calculating the outer wheel corner data, the vehicle width, the vehicle front wheel track, the vehicle front overhang and the vehicle wheel base through a preset outer contour trajectory line algorithm to obtain a vehicle outer contour driving trajectory line;
and calculating the outer wheel corner data, the vehicle width, the vehicle front wheel track and the vehicle wheel base through a preset inner profile track line algorithm to obtain a vehicle inner profile driving track line.
Further, the processor 1001 may call the vehicle trajectory simulation program stored in the memory 1005, and further perform the following operations:
calculating a first tangent value of the vehicle inner wheel rotation angle data, and calculating a first proportional value of the vehicle wheelbase and the first tangent value, wherein the first proportional value is used as a vehicle front inner wheel traffic track line;
and calculating a second tangent value of the vehicle outer wheel rotation angle data, and calculating a second proportional value of the vehicle wheelbase and the second tangent value, wherein the second proportional value is used as a vehicle front outer side wheel driving track line.
Further, the processor 1001 may call the vehicle trajectory simulation program stored in the memory 1005, and further perform the following operations:
controlling a vehicle event data recorder of the vehicle to be tested to acquire vehicle environment information corresponding to the vehicle to be tested, and intercepting effective environment information in the vehicle environment information according to the steering wheel corner data;
and integrating a driving track picture according to the effective environment information and the driving track line.
Further, the processor 1001 may call the vehicle trajectory simulation program stored in the memory 1005, and further perform the following operations:
judging whether an obstacle exists in the advancing direction of the vehicle according to the effective environment information;
if the obstacle exists, determining obstacle image information according to the obstacle;
and integrating a driving track picture according to the obstacle image information and the driving track line.
The specific embodiment of the present invention applied to the vehicle is substantially the same as the following embodiments of the vehicle trajectory simulation method, and is not described herein again.
Referring to fig. 2, fig. 2 is a schematic flow chart of a vehicle trajectory simulation method according to a first embodiment of the present invention, wherein the vehicle trajectory simulation method includes the following steps:
step S100, steering wheel angle data and vehicle parameter information of a vehicle to be tested are obtained;
in this embodiment, the vehicle to be tested may be a vehicle to be tested, or may also be a vehicle driven by an actual vehicle, the vehicle to be tested may be a car, an automobile, a passenger car, or another different type of vehicle, the vehicle to be tested may also be a multi-front-axle steering automobile, a rear-axle steering automobile, an automobile in which front and rear axles simultaneously participate in steering, or may also be a dual-front-axle truck that steers by using two front axles, or a trailer that rotates by using a towing tray of a towing vehicle. The method for simulating the driving track of the vehicle is applied to the vehicle to be tested. The steering wheel angle data is data of the rotation of the steering wheel at the current time point, namely the rotation angle of the steering wheel, and can be vehicle steering wheel angle data at the starting moment of the vehicle or real-time vehicle steering wheel angle data in the vehicle running process. The vehicle parameter information is fixed size parameter information of the vehicle itself, and is parameter information that has been determined when the vehicle is shipped from a factory. Such as wheel base, wheel track, overall length, overall width, front overhang, rear overhang, approach angle, departure angle, minimum ground clearance, drive ratio of the front axle steering system, drive ratio of the rear axle steering system, etc.
The vehicle driving track simulation system acquires the current steering wheel angle information of the vehicle and the parameter information of the vehicle. It is understood that the steering wheel angle information may be obtained by an electric steering control module of the vehicle, or may be obtained directly by installing a steering wheel angle sensor, such as an analog steering wheel sensor and a digital steering wheel sensor, in a steering column under the steering wheel in advance.
Step S200, calculating a driving trajectory line of the vehicle to be tested according to the steering wheel corner data and the vehicle parameter information;
the driving trajectory can simulate the advancing direction and route of the vehicle, can be presented in the form of lines, can also be presented in the form of planes, and can be a simulated route which can be referred to by the vehicle in the advancing process, such as a vehicle tire trajectory, a vehicle contour trajectory and the like. After the vehicle driving track simulation system obtains the steering wheel angle data and the vehicle parameter information, the obtained steering wheel angle data and the steering system angular transmission ratio of the vehicle are used for calculating the wheel angle data of the vehicle, and therefore the driving track line of the vehicle is calculated according to the wheel angle data and the vehicle parameter information. The steering system angular gear ratio is not a fixed value, and is large when the steering wheel is in the middle position, and is small when the steering wheel is in the two end positions.
And step S300, acquiring vehicle environment information corresponding to the vehicle to be tested, and integrating a driving track picture according to the vehicle environment information and the driving track line.
The vehicle driving track simulation system acquires vehicle environment information corresponding to a vehicle, wherein the environment information can be acquired through a camera in a driving recorder and comprises surrounding information acquired through the camera, such as road conditions in front of the vehicle, whether obstacles exist, road position information and the like. The vehicle driving track simulation system integrates a driving track picture according to the vehicle environment information and the driving track line, and the driving track picture obtained by integrating the calculated driving track line and the obtained vehicle environment information directly displays the results of whether the simulated track of the vehicle crosses an obstacle or not in the current environment, whether the simulated track exceeds a road surface and the like in the current environment.
In the embodiment of the invention, the driving track line of the vehicle is calculated according to the steering wheel angle data and the vehicle parameter information by acquiring the steering wheel angle data and the vehicle parameter information, the vehicle environment information corresponding to the vehicle is acquired, and the driving track picture is integrated according to the vehicle environment information and the driving track line. The user can directly learn whether the vehicle can safely pass through under the current road conditions through the driving track picture, and can judge current wheel position according to the driving track picture, directly rotates the steering wheel to the direction that needs to advance, need not to carry out the judgement of vehicle steering wheel position at the in-process of advancing through driving experience in the past again, reduces the risk that the accident appears among the driving process, effectively improves vehicle intelligence and security at the driving in-process.
Further, referring to fig. 3, fig. 3 is a schematic flow chart of a vehicle trajectory simulation method according to a second embodiment of the present invention, based on the embodiment shown in fig. 2, in step S200, the step of calculating the trajectory of the vehicle to be tested according to the steering wheel angle data and the vehicle parameter information includes:
step S211, calculating according to the steering wheel corner data and the steering system corner transmission ratio corresponding to the vehicle inner wheel of the vehicle to be tested to obtain vehicle inner wheel corner data;
step S212, calculating according to the steering wheel corner data and the steering system corner transmission ratio corresponding to the outer wheel of the vehicle to be tested to obtain outer wheel corner data of the vehicle;
step S213, calculating a driving trajectory of the vehicle to be tested according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information.
In this embodiment, the Electric Power Steering control module is a control module of an Electric Power Steering (EPS) system, and obtains Steering wheel angle data of a vehicle through the Electric Power Steering control module of the vehicle, and calculates according to the obtained Steering wheel angle data and a Steering system angular transmission ratio corresponding to a vehicle inner wheel of the vehicle to be tested, so as to obtain vehicle inner wheel angle data; and calculating according to the steering wheel angle data and a steering system angular transmission ratio corresponding to the outer wheel of the vehicle to be tested, so as to obtain the outer wheel angle data of the vehicle, wherein for example, the steering wheel angle is a, the actual wheel angle is b, and b is a, wherein i is the steering system angular transmission ratio. The steering system angular transmission ratio is not a fixed value, and when the steering wheel is in the middle position, the transmission ratio is large, and when the steering wheel is in the extreme positions at both ends, the transmission ratio is small. The vehicle inner wheel rotation angle data and the vehicle outer wheel rotation angle data refer to inner wheel rotation angle data and outer wheel rotation angle data of a front wheel of the vehicle, and a driving track line of the vehicle is calculated according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and parameter information of the vehicle.
The internal and external wheel turning angles of the vehicle are different, when the vehicle turns, the two wheels rotate around a certain center, the internal wheel is equivalent to a small turn, the external wheel is equivalent to a large turn, and the size relationship exists in a geometric relationship, which is called an Ackerman relationship. The change of the inner wheel turning angle and the outer wheel turning angle is based on the turning angle of a steering wheel, the turning angle of the steering wheel is the only parameter which causes the change of the inner wheel turning angle and the outer wheel turning angle for a designed vehicle, one turning angle of the steering wheel corresponds to the fixed inner wheel turning angle and the fixed outer wheel turning angle, but the inner wheel turning angle and the outer wheel turning angle are not simple linear corresponding relations and cannot be expressed by simple linear functions or quadratic functions. The vehicle steering gear is not a fixed gear ratio, the gear ratio can be referred to fig. 4, the abscissa of fig. 4 represents the steering wheel angle, the ordinate represents the gear ratio, and it can be seen from fig. 4 that the rotation ratio at the intermediate position is small and the rotation ratio at the left and right near the extreme positions is large. In an embodiment, the wheel turning angle algorithm for obtaining the inner wheel turning angle and the outer wheel turning angle is to perform motion simulation in a three-dimensional model according to data such as the size and the transmission ratio of a vehicle steering system and a suspension system to obtain a corresponding relation curve of the steering wheel turning angle and the inner wheel turning angle, for a designed vehicle, the corresponding relation between the steering wheel turning angle and the wheel turning angle is a fixed curve, the curve can refer to fig. 5, in fig. 5, the abscissa represents the steering wheel turning angle, the ordinate represents the wheel turning angle, and when the steering wheel turning angle is 0, the inner wheel turning angle and the outer wheel turning angle are also 0, and the inner wheel turning angle and the outer wheel turning angle change along with the change of the steering wheel turning angle. The data of the inner wheel rotation angle and the outer wheel rotation angle under a certain steering wheel rotation angle can be obtained by searching a curve. The relationship is fit to a function using mathematical or statistical means, which can approximate the steering wheel angle and the inner and outer wheel angles. By placing this function in the vehicle's controller software program, the controller can use the steering wheel angle to calculate the output inner and outer wheel angles. In another embodiment, the wheel angle algorithm for obtaining the inside and outside wheel angles is based on real vehicle measurements, measuring the inside and outside wheel angles at as many steering wheel angles as possible to form a series of points, and outputting the points to the vehicle controller, which interpolates the inside and outside wheel angles at the specific steering wheel angles through its own software.
The driving trajectory line is calculated according to the corners of the inner wheel and the outer wheel of the vehicle, whether the vehicle can pass through the front road section or not can be directly judged without knowing the rotation angle of the steering wheel or the position of the wheel, and the real-time performance and the practicability of the trajectory line can be improved by calculating according to the corners of the current steering wheel.
Further, referring to fig. 6, fig. 6 is a flowchart illustrating a vehicle trajectory simulation method according to a third embodiment of the present invention, based on the embodiment shown in fig. 3, in step S213, the step of calculating a trajectory of the vehicle to be tested according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information includes:
step S220, calculating the outer wheel corner data, the vehicle width information, the vehicle front wheel track information, the vehicle front overhang information and the vehicle wheel track information through a preset outer contour track line algorithm to obtain a vehicle outer contour driving track line;
step S221, calculating the vehicle outer wheel corner data, the vehicle width information, the vehicle front wheel track information and the vehicle wheel base information through a preset inner profile track line algorithm to obtain a vehicle inner profile driving track line.
In the present embodiment, the vehicle parameter information includes the vehicle width, the vehicle front wheel base, the vehicle front overhang, and the vehicle wheel base, and referring to fig. 8, the left and right broken lines in fig. 8 indicate the left and right side boundaries, and fig. 8 also includes reference examples of the vehicle forward direction angle θ, the vehicle contour, the vehicle width W, the inner wheel turning angle β, the outer wheel turning angle α, the left front wheel center line, the right front wheel center line, the front wheel base L3, the front overhang L2, the turning tunnel width D, and the wheel base L1. Obtaining outer wheel corner data of a vehicle, calculating outer wheel corner data, vehicle width, vehicle front wheel track, vehicle front overhang and vehicle wheel base of the vehicle through an outer contour line track algorithm to obtain a vehicle outer contour driving track line, wherein the outer contour line track algorithm is as follows: [ L1/tan alpha + (W-L3)/2] ^2+ (L1+ L2) ^2- [ L1/tan alpha-L3- (W-L3)/2], wherein L1 is the vehicle wheelbase, L2 is the vehicle front suspension, L3 is the vehicle front wheelbase, alpha is the vehicle outer wheel corner, and W is the vehicle width. Obtaining vehicle outer wheel corner data, calculating the vehicle outer wheel corner data, the vehicle width, the vehicle front wheel track and the vehicle wheel base through an inner contour track line algorithm to obtain a vehicle inner contour driving track line, wherein the inner contour track line algorithm comprises the following steps: l1/tan alpha-L3- (W-L3)/2, wherein L1 is a vehicle wheel base, L3 is a vehicle front wheel base, alpha is a vehicle outer wheel corner, and W is a vehicle width. The vehicle outside profile driving trajectory line and the vehicle inside profile driving trajectory line form a part of the driving trajectory line of the vehicle to be tested.
The driving trajectory line of the vehicle outer side contour and the driving trajectory line of the vehicle inner side contour are calculated through the outer side contour trajectory line algorithm and the inner side contour trajectory line algorithm, so that the referential property of a driving trajectory picture can be improved, the vehicle contour picture can help judge whether the current road condition meets the traffic condition in real time according to the vehicle contour in the driving process, and the driving intelligence and the driving safety are improved.
Further, referring to fig. 7, fig. 7 is a flowchart illustrating a fourth embodiment of the vehicle trajectory simulation method according to the present invention, based on the embodiment illustrated in fig. 3, in step S213, the step of calculating the trajectory of the vehicle according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information includes:
step S222, calculating a first tangent value of the data of the inner wheel rotation angle of the vehicle, calculating a first proportional value of the wheel base of the vehicle and the first tangent value, and taking the first proportional value as a driving track line of a front inner wheel of the vehicle;
and step S223, calculating a second tangent value of the vehicle outer wheel rotation angle data, calculating a second proportional value of the vehicle wheelbase and the second tangent value, and taking the second proportional value as a vehicle front outer side wheel driving track line.
In the present embodiment, the vehicle parameter information includes vehicle width information, vehicle front wheel tread information, vehicle front overhang information, and vehicle wheel base information, referring to fig. 8. Acquiring vehicle inner wheel rotation angle data, calculating a first tangent value of the vehicle inner wheel rotation angle data according to the vehicle inner wheel rotation angle data, then calculating a ratio of a vehicle wheelbase to the first tangent value, and taking the ratio as a driving track line of a front inner wheel of a vehicle, wherein the algorithm comprises the following steps: l1/tan beta, wherein L1 is the wheel base of the vehicle, and beta is the inner wheel rotation angle of the vehicle. Acquiring vehicle outer wheel corner data, calculating a second tangent value of the vehicle outer wheel corner data according to the vehicle outer wheel corner data, then calculating a ratio of a vehicle wheelbase to the second tangent value, and taking the ratio as a driving trajectory line of a front outer wheel of a vehicle, wherein the algorithm is as follows: l1/tan alpha, wherein L1 is the wheel base of the vehicle, and alpha is the outer wheel turning angle of the vehicle. The driving track line of the front inner side wheel and the driving track line of the front outer side wheel of the vehicle form one part of the driving track line of the vehicle to be tested.
The driving track lines of the front inner side wheels and the front outer side wheels are obtained through calculation, so that the reference property of the driving track picture can be improved, the wheel track picture can help to judge the condition of the wheels in real time according to the road condition in the driving process, and the driving safety is improved.
Further, referring to fig. 9, fig. 9 is a schematic flow chart of a fifth embodiment of the vehicle trajectory simulation method according to the present invention, based on the embodiment shown in fig. 2, the step S300 is to acquire vehicle environment information corresponding to the vehicle to be tested, and the step of integrating the trajectory picture according to the vehicle environment information and the trajectory line includes:
step S310, controlling a vehicle traveling data recorder of the vehicle to be tested to acquire vehicle environment information corresponding to the vehicle to be tested, and intercepting effective environment information in the vehicle environment information according to the steering wheel corner data;
and step S311, integrating a driving track picture according to the effective environment information and the driving track line.
In this embodiment, the vehicle driving track simulation system obtains the vehicle environment information corresponding to the vehicle through the shooting angle of the automobile data recorder, and the shooting angle of the automobile data recorder is adjustable along with the angle of the camera, for example, 90 degrees, 100 degrees, 120 degrees, 140 degrees, 150 degrees, 170 degrees, and the like. After the vehicle environment information is obtained, the vehicle driving track simulation system intercepts effective environment information in the vehicle environment information according to the steering wheel turning angle. The rotation of the steering wheel of the vehicle ensures that the direction opposite to the wheels of the vehicle is not always consistent with the direction of the head of the vehicle, and the direction opposite to the wheels is determined according to the rotation angle of the steering wheel, so that the advancing direction of the vehicle can be determined. The vehicle advancing direction is defined as the rotation angle of a line between the longitudinal central plane of the vehicle and the outer surface rubber of the vehicle head. And a collection camera of the default automobile data recorder is also arranged on the longitudinal center plane of the vehicle, and if the picture of the default automobile data recorder is not calibrated on the longitudinal center plane, the final aim is that the picture recorded by the automobile data recorder is the driving direction of the vehicle instead of the fixed front direction of the vehicle head. The vehicle advancing direction angle is calculated in a manner of tan θ ═ L1+ L2)/(L1/tan α -L3/2, where θ is a vehicle advancing direction angle, α is an outer wheel rotation angle, L1 is a vehicle wheel base, L2 is a vehicle front overhang, L3 is a vehicle front wheel base, the environment information acquired by referring to the vehicle recorder in fig. 8 is environment information within a certain angle range acquired according to a vehicle head direction, an effective environment information portion in the environment information is intercepted according to the vehicle advancing direction, and a vehicle trajectory picture is integrated according to the effective environment information and a vehicle trajectory line. For example, the shooting angle of the automobile data recorder is 170 degrees, the steering wheel is dead to the left relative to the direction of the vehicle head, at this time, the wheel position rotates to the left, the direction of the vehicle head is over against the front, the automobile data recorder acquires a picture in the range of 170 degrees in the direction of the vehicle head, and according to the rotation angle signal of the steering wheel, a picture in the range of 90 degrees close to the left range boundary in the range of 170 degrees is captured as an effective picture. And integrating the driving track picture according to the picture of the 90-degree range and the driving track line.
The driving track picture is integrated according to the intercepted effective picture and the driving track line, the road condition information in the direction where the vehicle is going to travel is accurately judged, the real-time performance and the effectiveness of the driving track picture are improved, and the intercepted partial picture is processed, so that the working pressure of a processor can be reduced, and the processing speed is accelerated.
Further, referring to fig. 10, fig. 10 is a flowchart illustrating a sixth embodiment of the vehicle trajectory simulation method according to the present invention, based on the embodiment illustrated in fig. 9, in step S311, the step of integrating the trajectory picture according to the effective environment information and the trajectory line includes:
step S320, judging whether an obstacle exists in the advancing direction of the vehicle according to the effective environment information;
step S321, if an obstacle exists, determining obstacle image information according to the obstacle;
and step S322, integrating a driving track picture according to the obstacle image information and the driving track line.
In this embodiment, after the effective environment information is obtained, the vehicle driving track simulation system determines whether an obstacle exists in the direction in which the vehicle is going to travel according to the effective environment information, generates an obstacle image according to the obstacle when the obstacle is identified, and integrates a driving track image according to the obstacle image and the driving track line. The driving track picture comprises track curved surfaces on two sides of the vehicle, a track plane on the upper side of the vehicle, a track line of a front wheel of the vehicle and an obstacle image. Human-computer interaction display referring to fig. 11, fig. 11 includes reference examples of a vehicle left side boundary, a vehicle right side boundary, a vehicle traveling direction, a vehicle height boundary, a left front wheel rail, and a right front wheel rail.
The method comprises the following steps that the ranges of two sides of a vehicle and the height of the vehicle can be clearly reflected by three-dimensional presentation of track curved surfaces on two sides and a track plane on the upper side in a driving track picture, wherein a base line of the curved surfaces represents the advancing direction of the vehicle, the curved surfaces represent the ranges of two sides of the vehicle and represent the width required by the minimum turning channel of the vehicle, if the curved surface on one side is crossed with an obstacle image, the risk of scratching is caused according to the current driving direction, and if curves on two sides are crossed with the obstacle image at the same advancing position, the front part is a narrow road section which cannot normally pass; the upper plane represents the height of the vehicle and represents the limit height required by the normal passing of the vehicle, the intersection of the upper plane and the barrier represents that the front road section may be a low road section and cannot pass normally, and the upper plane can be used for judging whether the front road section meets the normal passing condition of the vehicle or not on the road section with uncertain height, such as the upper span section of the urban road viaduct or the culvert and the like. The vehicle front wheel trajectory in the trajectory picture is a front inner side wheel trajectory and a front outer side wheel trajectory of the vehicle, and the reference can be provided for a driver in a complex road condition area where the vehicle needs to pay attention to a single-side tire through a single-side bridge and the like.
And predicting the road passing condition ahead in real time according to the rotation of a steering wheel during the traveling of the vehicle, and outputting a driving track picture to a user through a target component. The target component can be a Display device such as a driving recorder and a vehicle central control screen, if a vehicle is provided with a HUD (Head Up Display), a driving track picture can be projected onto a front windshield of the vehicle through the HUD, the driving track information is always kept right opposite to a picture in the driving direction of the vehicle along with the steering of the vehicle, and the projection position calibration is carried out through man-machine engineering so as to obtain a more visual effect.
Through the driving track picture integrated with the obstacle image, whether the vehicle can normally pass through the road ahead according to the current angle of steering of prediction vehicle in real time can be directly promoted, and whether the vehicle can directly pass through the current highway section at the current angle of steering according to the track picture under the condition that the steering wheel turned angle and the wheel turned to can not be known through the display of the track picture, the driving assistance function is provided under the complicated road conditions, and the intelligence of vehicle driving is promoted.
In addition, the invention also provides a computer readable storage medium, on which a vehicle driving track simulation program is stored. The computer-readable storage medium may be the Memory 20 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several instructions for causing a vehicle with a processor to execute the vehicle trajectory simulation method according to the embodiments of the present invention.
It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle driving track simulation method is characterized by comprising the following steps:
acquiring steering wheel angle data and vehicle parameter information of a vehicle to be detected;
calculating a driving track line of the vehicle to be tested according to the steering wheel corner data and the vehicle parameter information;
and acquiring vehicle environment information corresponding to the vehicle to be tested, and integrating a driving track picture according to the vehicle environment information and the driving track line.
2. The vehicle trajectory simulation method according to claim 1, wherein the step of calculating the trajectory line of the vehicle under test from the steering wheel angle data and the vehicle parameter information includes:
calculating according to the steering wheel corner data and a steering system angular transmission ratio corresponding to the vehicle inner wheel of the vehicle to be tested to obtain vehicle inner wheel corner data;
calculating according to the steering wheel corner data and the steering system angular transmission ratio corresponding to the outer wheel of the vehicle to be tested to obtain outer wheel corner data of the vehicle;
and calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel corner data, the vehicle outer wheel corner data and the vehicle parameter information.
3. The vehicle trajectory simulation method according to claim 2, wherein the vehicle parameter information includes a vehicle width, a vehicle front wheel base, a vehicle front overhang, and a vehicle wheel base.
4. The vehicle trajectory simulation method according to claim 3, wherein the trajectory lines include a vehicle outside contour trajectory line and a vehicle inside contour trajectory line; the step of calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information comprises the following steps:
calculating the outer wheel corner data, the vehicle width, the vehicle front wheel track, the vehicle front overhang and the vehicle wheel base through a preset outer contour trajectory line algorithm to obtain a vehicle outer contour driving trajectory line;
and calculating the outer wheel corner data, the vehicle width, the vehicle front wheel track and the vehicle wheel base through a preset inner profile track line algorithm to obtain a vehicle inner profile driving track line.
5. The vehicle trajectory simulation method according to claim 3, wherein the trajectory lines include a vehicle front inner wheel trajectory line and the vehicle front outer wheel trajectory line; the step of calculating the driving trajectory of the vehicle to be tested according to the vehicle inner wheel rotation angle data, the vehicle outer wheel rotation angle data and the vehicle parameter information comprises the following steps:
calculating a first tangent value of the vehicle inner wheel rotation angle data, and calculating a first proportional value of the vehicle wheelbase and the first tangent value, wherein the first proportional value is used as a vehicle front inner wheel traffic track line;
and calculating a second tangent value of the vehicle outer wheel rotation angle data, and calculating a second proportional value of the vehicle wheelbase and the second tangent value, wherein the second proportional value is used as a vehicle front outer side wheel driving track line.
6. The vehicle driving track simulation method according to claim 1, wherein the step of acquiring vehicle environment information corresponding to the vehicle to be tested and integrating a driving track picture according to the vehicle environment information and the driving track line comprises:
controlling a vehicle event data recorder of the vehicle to be tested to acquire vehicle environment information corresponding to the vehicle to be tested, and intercepting effective environment information in the vehicle environment information according to the steering wheel corner data;
and integrating a driving track picture according to the effective environment information and the driving track line.
7. The vehicle trajectory simulation method according to claim 6, wherein the step of integrating a trajectory screen based on the effective environment information and the trajectory line comprises:
judging whether an obstacle exists in the advancing direction of the vehicle according to the effective environment information;
if the obstacle exists, determining obstacle image information according to the obstacle;
and integrating a driving track picture according to the obstacle image information and the driving track line.
8. The vehicle driving track simulation method according to any one of claims 1 to 7, wherein the driving track picture comprises a curved surface of a track on both sides of the vehicle, a plane of a track on an upper side of the vehicle, a track of a front wheel of the vehicle, and an image of an obstacle.
9. A vehicle comprising a memory, a processor, and a vehicle trajectory simulation program stored on the memory and executable on the processor, wherein: the vehicle trajectory simulation program, when executed by the processor, implements the steps of the vehicle trajectory simulation method of any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a vehicle trajectory simulation program is stored on the computer-readable storage medium, which when executed by a processor implements the steps of the vehicle trajectory simulation method according to any one of claims 1 to 8.
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