WO2024077808A1 - Mirror image digital twinning device and method for dynamic behavior of intelligent and connected vehicle - Google Patents
Mirror image digital twinning device and method for dynamic behavior of intelligent and connected vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- the present invention belongs to the technical field of intelligent connected vehicles, and in particular relates to a mirror digital twin device and method for the dynamic behavior of an intelligent connected vehicle.
- the application of digital twin technology in the field of intelligent connected vehicles can ensure the safety of intelligent connected vehicles, while improving the digitization and intelligence of vehicle design, manufacturing and debugging.
- digital twin technology With the help of digital twin technology, the state and dynamic behavior model of the intelligent connected vehicle entity can be twinned in the virtual space, and the dynamic behavior of the whole vehicle can be fed back in the virtual world, thereby realizing remote monitoring and state analysis of the intelligent connected vehicle, improving its safety factor, assisting the design and debugging of the intelligent connected vehicle, and reducing maintenance costs.
- the present invention is made to solve the above-mentioned problems, and its purpose is to provide a mirror digital twin device and method for the dynamic behavior of an intelligent connected vehicle, which can twin the physical dynamic behavior of the intelligent connected vehicle in a virtual space, thereby realizing situational awareness of the intelligent connected vehicle to assist in the design, evaluation and operation status monitoring of the vehicle.
- the present invention adopts the following scheme:
- the present invention provides a mirror digital twin device for the dynamic behavior of an intelligent connected vehicle, which is used for mirroring the dynamic behavior of the intelligent connected vehicle with a digital twin, and has the following characteristics: a data acquisition module, a data interface, and a mirror digital twin module, wherein the data acquisition module is arranged in the intelligent connected vehicle, and collects in real time the vehicle network data of the intelligent connected vehicle including a vehicle motion control signal, the data interface processes the vehicle network data to obtain a vehicle motion control signal, and transmits the vehicle motion control signal to the mirror digital twin module, the mirror digital twin module is provided with a virtual vehicle model built with digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, displays the virtual vehicle model, and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle.
- the data acquisition module is arranged in the intelligent connected vehicle, and collects in real time the vehicle network data of the intelligent connected vehicle including a vehicle motion control signal
- the data interface processes the vehicle
- the data interface is also used to store the vehicle motion control signal obtained from the on-board network data as a historical vehicle motion control signal.
- the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle may also have the following features: the data interface transmits the stored historical vehicle motion control signal to the mirror digital twin module, the mirror digital twin module displays the virtual vehicle model, and updates the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing the mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle.
- the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle may also have the following feature: wherein the data acquisition module collects vehicle network data from the on-board bus of the intelligent connected vehicle.
- the vehicle motion control signal includes a longitudinal motion control signal and a lateral motion control signal
- the longitudinal motion control signal includes a driving control signal and a braking control signal
- the lateral motion control signal includes a steering control signal
- the drive control signal includes a throttle opening control signal
- the braking control signal includes a brake pedal travel control signal
- the steering control signal includes a steering wheel angle control signal
- the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: wherein, the virtual vehicle model is built based on the basic vehicle data of the intelligent connected vehicle, and the basic vehicle data includes the mechanical parameters of the whole vehicle, drive system information, braking system information and steering system information.
- the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: it also includes: a vehicle status monitoring module, which is used to monitor the flow of the on-board network data collected by the data acquisition module in real time, and generate a warning message containing content indicating that the vehicle is in an abnormal state when the real-time flow value exceeds the preset floating value.
- a vehicle status monitoring module which is used to monitor the flow of the on-board network data collected by the data acquisition module in real time, and generate a warning message containing content indicating that the vehicle is in an abnormal state when the real-time flow value exceeds the preset floating value.
- the present invention also provides a mirror digital twin method for the dynamic behavior of an intelligent networked vehicle, which is used to perform a mirror digital twin on the dynamic behavior of an intelligent networked vehicle, and has the following characteristics, including the following steps:
- Step S1 collecting in-vehicle network data including vehicle motion control signals of the intelligent network-connected vehicle in real time;
- Step S2 processing the vehicle network data to obtain a vehicle motion control signal, and transmitting the vehicle motion control signal to the mirror digital twin module;
- Step S3 displaying a virtual vehicle model built using digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updating the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing a mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle.
- the data acquisition module collects the on-board network data of the intelligent connected vehicle including the vehicle motion control signal in real time
- the data interface processes the on-board network data to obtain the vehicle motion control signal and transmits the vehicle motion control signal to the mirror digital twin module
- the mirror digital twin module displays a virtual vehicle model built with digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle. Therefore, the present invention can twin the physical dynamic behavior of the intelligent connected vehicle in the virtual space, thereby realizing real-time situational awareness of the intelligent connected vehicle to assist the design, evaluation and operation status monitoring of the vehicle.
- FIG1 is a structural block diagram of a mirror digital twin device of the dynamic behavior of an intelligent connected vehicle in an embodiment of the present invention.
- FIG. 2 is a schematic diagram of a process of performing a mirror digital twin of the dynamic behavior of an intelligent connected vehicle by a mirror digital twin device of the dynamic behavior of an intelligent connected vehicle in an embodiment of the present invention.
- the mirror digital twin device 100 of the dynamic behavior of an intelligent networked vehicle is used to perform a mirror digital twin on the dynamic behavior of an intelligent networked vehicle 200.
- the mirror digital twin device 100 of the dynamic behavior of an intelligent networked vehicle includes: a data acquisition module 10, a data interface 20, and a mirror digital twin module 30.
- the data acquisition module 10 is arranged in the intelligent connected vehicle 200 and is used to collect the vehicle network data of the intelligent connected vehicle 200 from the vehicle bus of the intelligent connected vehicle 200 in real time.
- the vehicle network data at least includes a vehicle motion control signal.
- the vehicle motion control signal includes a longitudinal motion control signal and a lateral motion control signal.
- the longitudinal motion control signal includes a driving control signal and a braking control signal.
- the lateral motion control signal includes a steering control signal.
- the drive control signal includes but is not limited to a throttle opening control signal
- the brake control signal includes but is not limited to a brake pedal travel control signal
- the steering control signal includes but is not limited to a steering wheel angle control signal.
- the data interface 20 is used to process the on-board network data collected by the data acquisition module 10 to obtain a vehicle motion control signal, and transmit the vehicle motion control signal to the mirror digital twin module 30; it is also used to store the vehicle motion control signal obtained from the on-board network data as a historical vehicle motion control signal, and transmit the stored historical vehicle motion control signal to the mirror digital twin module 30.
- the mirror digital twin module 30 is provided with a virtual vehicle model that matches the intelligent connected vehicle 200 and its dynamic behavior. It is used to display the virtual vehicle model and update the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle 200; it is also used to display the virtual vehicle model and update the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing the mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle 200.
- the virtual vehicle model is built using digital twin technology and based on the basic vehicle data of the intelligent connected vehicle 200, wherein the basic physical vehicle data includes vehicle mechanical parameters, drive system information, brake system information, and steering system information.
- the present invention also provides a mirror digital twin method of the dynamic behavior of an intelligent connected vehicle corresponding to the mirror digital twin device 100 of the dynamic behavior of an intelligent connected vehicle.
- the mirror digital twin method of the dynamic behavior of an intelligent connected vehicle performs a mirror digital twin action flow on the dynamic behavior of an intelligent connected vehicle 200, including the following steps:
- Step S1 using the data acquisition module 10 to collect in-vehicle network data of the intelligent network-connected vehicle 200 including vehicle motion control signals in real time.
- the data acquisition module 10 collects the above-mentioned vehicle network data from the vehicle bus of the intelligent connected vehicle 200 in real time.
- Step S2 the data interface 20 processes the vehicle network data to obtain a vehicle motion control signal, and transmits the vehicle motion control signal to the mirror digital twin module 30.
- Step S3 the mirror digital twin module 30 displays the virtual vehicle model and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle 200.
- the data acquisition module collects the on-board network data of the intelligent connected vehicle including the vehicle motion control signal in real time
- the data interface processes the on-board network data to obtain the vehicle motion control signal and transmits the vehicle motion control signal to the mirror digital twin module
- the mirror digital twin module displays a virtual vehicle model built with digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle. Therefore, this embodiment can twin the physical dynamic behavior of the intelligent connected vehicle in the virtual space, thereby realizing real-time situational awareness of the intelligent connected vehicle to assist the design, evaluation and operation status monitoring of the vehicle.
- the data interface can also store the vehicle motion control signal obtained from the on-board network data as a historical vehicle motion control signal, and transmit the stored historical vehicle motion control signal to the mirror digital twin module, the mirror digital twin module displays the virtual vehicle model, and updates the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing the mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle, and then realizing the historical situation awareness of the intelligent connected vehicle, so as to analyze the historical status of the intelligent connected vehicle and provide more comprehensive support for the design, evaluation and operation status monitoring of auxiliary vehicles.
- the mirror digital twin device 100 of the dynamic behavior of the intelligent networked vehicle also includes a vehicle state monitoring module.
- the vehicle state monitoring module can monitor the flow of the vehicle network data collected by the data acquisition module 10 in real time, and generate a warning message containing a prompt content that the vehicle is in an abnormal state when the real-time flow value exceeds the preset floating value.
- the intelligent connected vehicle because it also has a vehicle status monitoring module, it can detect whether the intelligent connected vehicle is in an abnormal state or a normal state where it is under attack, so as to debug or verify the abnormality detection strategy and assist in the design and development of the intrusion detection and defense system.
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Abstract
A mirror image digital twinning device and method for the dynamic behavior of an intelligent and connected vehicle. The mirror image digital twinning device comprises a data acquisition module (10), a data interface (20) and a mirror image digital twinning module (30). The data acquisition module acquires in real time vehicle network data which comprises vehicle motion control signals. The data interface processes the vehicle network data to obtain the vehicle motion control signals, and transmits the vehicle motion control signals to the mirror image twinning module. The mirror image digital twinning module is provided with a virtual vehicle model which is built by using a digital twinning technology and matched with the intelligent and connected vehicle and the dynamic behavior thereof, and update the virtual vehicle model in real time according to the received vehicle motion control signals.
Description
本申请要求申请日为2022年10月10日的中国专利申请2022112373765的优先权。本申请引用上述中国专利申请的全文。This application claims the priority of Chinese patent application No. 2022112373765, filed on October 10, 2022. This application cites the entire text of the above Chinese patent application.
本发明属于智能网联汽车技术领域，特别涉及一种智能网联汽车动力学行为的镜像数字孪生装置及方法。The present invention belongs to the technical field of intelligent connected vehicles, and in particular relates to a mirror digital twin device and method for the dynamic behavior of an intelligent connected vehicle.
随着智能网联汽车领域的快速发展，汽车为用户提供了更方便、更舒适的驾车体验。但在汽车迈向智能化、网联化之后，尤其是众多的网联接口，也给智能网联汽车带来了巨大的安全挑战。With the rapid development of the field of intelligent connected vehicles, cars provide users with a more convenient and comfortable driving experience. However, as cars move towards intelligence and networking, especially the numerous networking interfaces, they also bring huge security challenges to intelligent connected vehicles.
数字孪生技术在智能网联汽车领域的应用，可以保障智能网联汽车的安全性，同时提高汽车设计、制造与调试的数字化和智能化。借助数字孪生技术，可以在虚拟空间中孪生出智能网联汽车实体的状态和动力学行为模型，实现整车的动力学行为在虚拟世界中的反馈，进而实现对智能网联汽车的远程监控、状态分析等，提高其安全系数，辅助智能网联汽车的设计、调试，并降低维护成本。The application of digital twin technology in the field of intelligent connected vehicles can ensure the safety of intelligent connected vehicles, while improving the digitization and intelligence of vehicle design, manufacturing and debugging. With the help of digital twin technology, the state and dynamic behavior model of the intelligent connected vehicle entity can be twinned in the virtual space, and the dynamic behavior of the whole vehicle can be fed back in the virtual world, thereby realizing remote monitoring and state analysis of the intelligent connected vehicle, improving its safety factor, assisting the design and debugging of the intelligent connected vehicle, and reducing maintenance costs.
发明内容Summary of the invention
本发明是为了解决上述问题而进行的，目的在于提供一种智能网联汽车动力学行为的镜像数字孪生装置及方法，能够在虚拟空间中孪生出智能网联汽车的物理动力学行为，从而实现对智能网联汽车的态势感知，以辅助车辆的设计、评估及运营状态监控。The present invention is made to solve the above-mentioned problems, and its purpose is to provide a mirror digital twin device and method for the dynamic behavior of an intelligent connected vehicle, which can twin the physical dynamic behavior of the intelligent connected vehicle in a virtual space, thereby realizing situational awareness of the intelligent connected vehicle to assist in the design, evaluation and operation status monitoring of the vehicle.
本发明为了实现上述目的，采用了以下方案：In order to achieve the above object, the present invention adopts the following scheme:
<方案一><Option 1>
本发明提供一种智能网联汽车动力学行为的镜像数字孪生装置，用于对智能网联汽车的动力学行为进行镜像数字孪生，具有这样的特征，包括：数据采集模块、数据接口以及镜像数字孪生模块，其中，数据采集模块设置在智能网联汽车中，实时采集该智能网联汽车的包括车辆运动控制信号的车载网络数据，数据接口对车载网络数据进行处理得到车辆运动控制信号，并将该车辆运动控制信号传输给镜像数字孪生模块，镜像数字孪生模块设有采用数字孪生技术搭建的并且与智能网联汽车及其动力学行为相匹配的虚拟车辆模型，显示虚拟车辆模型，并根据接收到的车辆运动控制信号实时更新虚拟车辆模型，从而实现对智能网联车辆的实时动力学行为的镜像数字孪生。The present invention provides a mirror digital twin device for the dynamic behavior of an intelligent connected vehicle, which is used for mirroring the dynamic behavior of the intelligent connected vehicle with a digital twin, and has the following characteristics: a data acquisition module, a data interface, and a mirror digital twin module, wherein the data acquisition module is arranged in the intelligent connected vehicle, and collects in real time the vehicle network data of the intelligent connected vehicle including a vehicle motion control signal, the data interface processes the vehicle network data to obtain a vehicle motion control signal, and transmits the vehicle motion control signal to the mirror digital twin module, the mirror digital twin module is provided with a virtual vehicle model built with digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, displays the virtual vehicle model, and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：其中，数据接口还用于将从车载网络数据中得到的车辆运动控制信号作为历史车辆运动控制信号进行存储。In the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: wherein, the data interface is also used to store the vehicle motion control signal obtained from the on-board network data as a historical vehicle motion control signal.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：其中，数据接口将存储的历史车辆运动控制信号传输给镜像数字孪生模块，镜像数字孪生模块显示虚拟车辆模型，并根据接收到的历史车辆运动控制信号更新虚拟车辆模型，从而实现对智能网联车辆的历史动力学行为的镜像数字孪生。The mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention may also have the following features: the data interface transmits the stored historical vehicle motion control signal to the mirror digital twin module, the mirror digital twin module displays the virtual vehicle model, and updates the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing the mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：其中，数据采集模块从智能网联汽车的车载总线上采集车辆网络数据。The mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention may also have the following feature: wherein the data acquisition module collects vehicle network data from the on-board bus of the intelligent connected vehicle.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：其中，车辆运动控制信号包括纵向运动控制信号和横向运动控制信号，纵向运动控制信号包括驱动控制信号和制动控制信号，横向运动控制信号包括转向控制信号。In the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: wherein, the vehicle motion control signal includes a longitudinal motion control signal and a lateral motion control signal, the longitudinal motion control signal includes a driving control signal and a braking control signal, and the lateral motion control signal includes a steering control signal.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：其中，驱动控制信号包括节气门开度控制信号，制动控制信号包括刹车踏板行程控制信号，转向控制信号包括转向轮转角控制信号。In the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: wherein, the drive control signal includes a throttle opening control signal, the braking control signal includes a brake pedal travel control signal, and the steering control signal includes a steering wheel angle control signal.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：其中，虚拟车辆模型是根据智能网联汽车的车辆基础数据搭建而成的，车辆基础数据包括整车机械参数、驱动***信息、制动***信息以及转向***信息。In the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: wherein, the virtual vehicle model is built based on the basic vehicle data of the intelligent connected vehicle, and the basic vehicle data includes the mechanical parameters of the whole vehicle, drive system information, braking system information and steering system information.
在本发明提供的智能网联汽车动力学行为的镜像数字孪生装置中，还可以具有这样的特征：还包括：车辆状态监控模块，用于对数据采集模块采集到的车载网络数据的流量进行实时监测，并在实时流量值超过预设浮动值生成包含车辆处于异常状态提示内容的警示信息。In the mirror digital twin device of the dynamic behavior of the intelligent connected vehicle provided by the present invention, it can also have the following characteristics: it also includes: a vehicle status monitoring module, which is used to monitor the flow of the on-board network data collected by the data acquisition module in real time, and generate a warning message containing content indicating that the vehicle is in an abnormal state when the real-time flow value exceeds the preset floating value.
<方案二><Option 2>
本发明还提供了一种智能网联汽车动力学行为的镜像数字孪生方法，用于对智能网联汽车的动力学行为进行镜像数字孪生，具有这样的特征，包括以下步骤：The present invention also provides a mirror digital twin method for the dynamic behavior of an intelligent networked vehicle, which is used to perform a mirror digital twin on the dynamic behavior of an intelligent networked vehicle, and has the following characteristics, including the following steps:
步骤S1，实时采集智能网联汽车的包括车辆运动控制信号的车载网络数据；Step S1, collecting in-vehicle network data including vehicle motion control signals of the intelligent network-connected vehicle in real time;
步骤S2，对车载网络数据进行处理得到车辆运动控制信号，并将该车辆运动控制信号传输给镜像数字孪生模块；Step S2, processing the vehicle network data to obtain a vehicle motion control signal, and transmitting the vehicle motion control signal to the mirror digital twin module;
步骤S3，显示采用数字孪生技术搭建的并且与智能网联汽车及其动力学行为相匹配的虚拟车辆模型，并根据接收到的车辆运动控制信号实时更新虚拟车辆模型，从而实现对智能网联车辆的实时动力学行为的镜像数字孪生。Step S3, displaying a virtual vehicle model built using digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updating the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing a mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle.
发明的作用与效果Functions and Effects of the Invention
根据本发明所涉及的智能网联汽车动力学行为的镜像数字孪生装置及方法，因为数据采集模块实时采集该智能网联汽车的包括车辆运动控制信号的车载网络数据，数据接口对车载网络数据进行处理得到车辆运动控制信号并将该车辆运动控制信号传输给镜像数字孪生模块，镜像数字孪生模块显示采用数字孪生技术搭建的并且与智能网联汽车及其动力学行为相匹配的虚拟车辆模型，并根据接收到的车辆运动控制信号实时更新虚拟车辆模型，从而实现对智能网联车辆的实时动力学行为的镜像数字孪生，所以，本发明能够在虚拟空间中孪生出智能网联汽车的物理动力学行为，从而实现对智能网联汽车的实时态势感知，以辅助车辆的设计、评估及运营状态监控。According to the mirror digital twin device and method of the dynamic behavior of the intelligent connected vehicle involved in the present invention, because the data acquisition module collects the on-board network data of the intelligent connected vehicle including the vehicle motion control signal in real time, the data interface processes the on-board network data to obtain the vehicle motion control signal and transmits the vehicle motion control signal to the mirror digital twin module, the mirror digital twin module displays a virtual vehicle model built with digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle. Therefore, the present invention can twin the physical dynamic behavior of the intelligent connected vehicle in the virtual space, thereby realizing real-time situational awareness of the intelligent connected vehicle to assist the design, evaluation and operation status monitoring of the vehicle.
图1是本发明的实施例中智能网联汽车动力学行为的镜像数字孪生装置的结构框图；以及FIG1 is a structural block diagram of a mirror digital twin device of the dynamic behavior of an intelligent connected vehicle in an embodiment of the present invention; and
图2是本发明的实施例中智能网联汽车动力学行为的镜像数字孪生装置对智能网联汽车的动力学行为进行镜像数字孪生的流程示意图。2 is a schematic diagram of a process of performing a mirror digital twin of the dynamic behavior of an intelligent connected vehicle by a mirror digital twin device of the dynamic behavior of an intelligent connected vehicle in an embodiment of the present invention.
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，以下结合实施例及附图对本发明作具体阐述。In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is described in detail below in conjunction with embodiments and drawings.
<实施例><Example>
参考图1，本实施例提供的智能网联汽车动力学行为的镜像数字孪生装置100，用于对智能网联汽车200的动力学行为进行镜像数字孪生。该智能网联汽车动力学行为的镜像数字孪生装置100包括：数 据采集模块10、数据接口20以及镜像数字孪生模块30。1 , the mirror digital twin device 100 of the dynamic behavior of an intelligent networked vehicle provided in this embodiment is used to perform a mirror digital twin on the dynamic behavior of an intelligent networked vehicle 200. The mirror digital twin device 100 of the dynamic behavior of an intelligent networked vehicle includes: a data acquisition module 10, a data interface 20, and a mirror digital twin module 30.
数据采集模块10设置在智能网联汽车200中，用于从智能网联汽车200的车载总线上实时采集该智能网联汽车200的车载网络数据，该车载网络数据至少包括车辆运动控制信号。The data acquisition module 10 is arranged in the intelligent connected vehicle 200 and is used to collect the vehicle network data of the intelligent connected vehicle 200 from the vehicle bus of the intelligent connected vehicle 200 in real time. The vehicle network data at least includes a vehicle motion control signal.
车辆运动控制信号包括纵向运动控制信号和横向运动控制信号，纵向运动控制信号包括驱动控制信号和制动控制信号，横向运动控制信号包括转向控制信号。The vehicle motion control signal includes a longitudinal motion control signal and a lateral motion control signal. The longitudinal motion control signal includes a driving control signal and a braking control signal. The lateral motion control signal includes a steering control signal.
在本实施例中，驱动控制信号包括但不限于节气门开度控制信号，制动控制信号包括但不限于刹车踏板行程控制信号，转向控制信号包括但不限于转向轮转角控制信号。In this embodiment, the drive control signal includes but is not limited to a throttle opening control signal, the brake control signal includes but is not limited to a brake pedal travel control signal, and the steering control signal includes but is not limited to a steering wheel angle control signal.
数据接口20用于对数据采集模块10采集到的车载网络数据进行处理得到车辆运动控制信号，并将该车辆运动控制信号传输给镜像数字孪生模块30；还用于将从车载网络数据中得到的车辆运动控制信号作为历史车辆运动控制信号进行存储，并将存储的历史车辆运动控制信号传输给镜像数字孪生模块30。The data interface 20 is used to process the on-board network data collected by the data acquisition module 10 to obtain a vehicle motion control signal, and transmit the vehicle motion control signal to the mirror digital twin module 30; it is also used to store the vehicle motion control signal obtained from the on-board network data as a historical vehicle motion control signal, and transmit the stored historical vehicle motion control signal to the mirror digital twin module 30.
镜像数字孪生模块30设有与智能网联汽车200及其动力学行为相匹配的虚拟车辆模型，用于显示虚拟车辆模型，并根据接收到的车辆运动控制信号实时更新虚拟车辆模型，从而实现对智能网联车辆200的实时动力学行为的镜像数字孪生；还用于显示虚拟车辆模型，并根据接收到的历史车辆运动控制信号更新虚拟车辆模型，从而实现对智能网联车辆200的历史动力学行为的镜像数字孪生。The mirror digital twin module 30 is provided with a virtual vehicle model that matches the intelligent connected vehicle 200 and its dynamic behavior. It is used to display the virtual vehicle model and update the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle 200; it is also used to display the virtual vehicle model and update the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing the mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle 200.
具体地，虚拟车辆模型是采用数字孪生技术并根据智能网联汽车200的车辆基础数据搭建而成的，其中，物理车辆基础数据包括整车机械参数、驱动***信息、制动***信息以及转向***信息。Specifically, the virtual vehicle model is built using digital twin technology and based on the basic vehicle data of the intelligent connected vehicle 200, wherein the basic physical vehicle data includes vehicle mechanical parameters, drive system information, brake system information, and steering system information.
相对应地，本发明还提供了与上述的智能网联汽车动力学行为的镜像数字孪生装置100相对应的智能网联汽车动力学行为的镜像数 字孪生方法。如图2所示，该智能网联汽车动力学行为的镜像数字孪生方法对智能网联汽车200的动力学行为进行镜像数字孪生的动作流程，包括以下步骤：Correspondingly, the present invention also provides a mirror digital twin method of the dynamic behavior of an intelligent connected vehicle corresponding to the mirror digital twin device 100 of the dynamic behavior of an intelligent connected vehicle. As shown in FIG2 , the mirror digital twin method of the dynamic behavior of an intelligent connected vehicle performs a mirror digital twin action flow on the dynamic behavior of an intelligent connected vehicle 200, including the following steps:
步骤S1，使用数据采集模块10实时采集智能网联汽车200的包括车辆运动控制信号的车载网络数据。Step S1, using the data acquisition module 10 to collect in-vehicle network data of the intelligent network-connected vehicle 200 including vehicle motion control signals in real time.
具体地，数据采集模块10从智能网联汽车200的车载总线上实时采集上述的车载网络数据。Specifically, the data acquisition module 10 collects the above-mentioned vehicle network data from the vehicle bus of the intelligent connected vehicle 200 in real time.
步骤S2，数据接口20对车载网络数据进行处理得到车辆运动控制信号，并将该车辆运动控制信号传输给镜像数字孪生模块30。Step S2: the data interface 20 processes the vehicle network data to obtain a vehicle motion control signal, and transmits the vehicle motion control signal to the mirror digital twin module 30.
步骤S3，镜像数字孪生模块30显示虚拟车辆模型，并根据接收到的车载运动控制信号实时更新虚拟车辆模型，从而实现对智能网联车辆200的实时动力学行为的镜像数字孪生。Step S3, the mirror digital twin module 30 displays the virtual vehicle model and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle 200.
实施例的作用与效果Functions and Effects of the Embodiments
根据本实施例所涉及的智能网联汽车动力学行为的镜像数字孪生装置及方法，因为数据采集模块实时采集该智能网联汽车的包括车辆运动控制信号的车载网络数据，数据接口对车载网络数据进行处理得到车辆运动控制信号并将该车辆运动控制信号传输给镜像数字孪生模块，镜像数字孪生模块显示采用数字孪生技术搭建的并且与智能网联汽车及其动力学行为相匹配的虚拟车辆模型，并根据接收到的车辆运动控制信号实时更新虚拟车辆模型，从而实现对智能网联车辆的实时动力学行为的镜像数字孪生，所以，本实施例能够在虚拟空间中孪生出智能网联汽车的物理动力学行为，从而实现对智能网联汽车的实时态势感知，以辅助车辆的设计、评估及运营状态监控。According to the mirror digital twin device and method of the dynamic behavior of the intelligent connected vehicle involved in this embodiment, because the data acquisition module collects the on-board network data of the intelligent connected vehicle including the vehicle motion control signal in real time, the data interface processes the on-board network data to obtain the vehicle motion control signal and transmits the vehicle motion control signal to the mirror digital twin module, the mirror digital twin module displays a virtual vehicle model built with digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updates the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing the mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle. Therefore, this embodiment can twin the physical dynamic behavior of the intelligent connected vehicle in the virtual space, thereby realizing real-time situational awareness of the intelligent connected vehicle to assist the design, evaluation and operation status monitoring of the vehicle.
另外，因为数据接口还能够将从车载网络数据中得到的车辆运动控制信号作为历史车辆运动控制信号进行存储，并将存储的历史车辆 运动控制信号传输给镜像数字孪生模块，镜像数字孪生模块显示虚拟车辆模型，并根据接收到的历史车辆运动控制信号更新虚拟车辆模型，从而实现对智能网联车辆的历史动力学行为的镜像数字孪生，进而实现对智能网联汽车的历史态势感知，以便对智能网联车辆的历史状态进行分析，对辅助车辆的设计、评估及运营状态监控提供更加全面的支持。In addition, because the data interface can also store the vehicle motion control signal obtained from the on-board network data as a historical vehicle motion control signal, and transmit the stored historical vehicle motion control signal to the mirror digital twin module, the mirror digital twin module displays the virtual vehicle model, and updates the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing the mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle, and then realizing the historical situation awareness of the intelligent connected vehicle, so as to analyze the historical status of the intelligent connected vehicle and provide more comprehensive support for the design, evaluation and operation status monitoring of auxiliary vehicles.
<变形例><Modification>
本变形例是实施例的进一步改进，对于和实施例相同的结构，给予相同的符号，并省略相同的说明。This variation is a further improvement of the embodiment. The same symbols are given to the same structures as the embodiment, and the same descriptions are omitted.
在本变形例中，智能网联汽车动力学行为的镜像数字孪生装置100还包括车辆状态监控模块。该车辆状态监测模块能够对数据采集模块10采集到的车载网络数据的流量进行实时监测，并在实时流量值超过预设浮动值时生成包含车辆处于异常状态提示内容的警示信息。In this variant, the mirror digital twin device 100 of the dynamic behavior of the intelligent networked vehicle also includes a vehicle state monitoring module. The vehicle state monitoring module can monitor the flow of the vehicle network data collected by the data acquisition module 10 in real time, and generate a warning message containing a prompt content that the vehicle is in an abnormal state when the real-time flow value exceeds the preset floating value.
在本变形例中，因为还具有车辆状态监控模块，能够检测出智能网联汽车是否处于遭受攻击的异常状态或正常状态，用以调试或验证异常检测的策略，辅助入侵检测和防御***的设计与开发。In this variant, because it also has a vehicle status monitoring module, it can detect whether the intelligent connected vehicle is in an abnormal state or a normal state where it is under attack, so as to debug or verify the abnormality detection strategy and assist in the design and development of the intrusion detection and defense system.
上述实施方式为本发明的优选案例，并不用来限制本发明的保护范围。The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.
Claims (9)
- 一种智能网联汽车动力学行为的镜像数字孪生装置，用于对智能网联汽车的动力学行为进行镜像数字孪生，其特征在于，包括：A mirror digital twin device for the dynamic behavior of an intelligent networked vehicle, used for mirroring the dynamic behavior of an intelligent networked vehicle, is characterized by comprising:数据采集模块、数据接口以及镜像数字孪生模块，Data acquisition module, data interface and mirror digital twin module,其中，所述数据采集模块设置在所述智能网联汽车中，实时采集该智能网联汽车的包括车辆运动控制信号的车载网络数据，The data acquisition module is arranged in the intelligent network-connected vehicle to collect the vehicle-mounted network data of the intelligent network-connected vehicle including the vehicle motion control signal in real time.所述数据接口对所述车载网络数据进行处理得到所述车辆运动控制信号，并将该车辆运动控制信号传输给所述镜像数字孪生模块，The data interface processes the vehicle network data to obtain the vehicle motion control signal, and transmits the vehicle motion control signal to the mirror digital twin module.所述镜像数字孪生模块设有采用数字孪生技术搭建的并且与所述智能网联汽车及其动力学行为相匹配的虚拟车辆模型，显示所述虚拟车辆模型，并根据接收到的所述车辆运动控制信号实时更新所述虚拟车辆模型，从而实现对所述智能网联车辆的实时动力学行为的镜像数字孪生。The mirror digital twin module is provided with a virtual vehicle model built using digital twin technology and matching the intelligent connected vehicle and its dynamic behavior. The virtual vehicle model is displayed and updated in real time according to the received vehicle motion control signal, thereby realizing a mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle.
- 根据权利要求1所述的智能网联汽车动力学行为的镜像数字孪生装置，其特征在于：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 1 is characterized in that:其中，所述数据接口还用于将从所述车载网络数据中得到的所述车辆运动控制信号作为历史车辆运动控制信号进行存储。The data interface is further used to store the vehicle motion control signal obtained from the vehicle network data as a historical vehicle motion control signal.
- 根据权利要求2所述的智能网联汽车动力学行为的镜像数字孪生装置，其特征在于：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 2 is characterized in that:其中，所述数据接口将存储的所述历史车辆运动控制信号传输给所述镜像数字孪生模块，Wherein, the data interface transmits the stored historical vehicle motion control signal to the mirror digital twin module,所述镜像数字孪生模块显示所述虚拟车辆模型，并根据接收到的所述历史车辆运动控制信号更新所述虚拟车辆模型，从而实现对所述智能网联车辆的历史动力学行为的镜像数字孪生。The mirror digital twin module displays the virtual vehicle model and updates the virtual vehicle model according to the received historical vehicle motion control signal, thereby realizing a mirror digital twin of the historical dynamic behavior of the intelligent connected vehicle.
- 根据权利要求1所述的智能网联汽车动力学行为的镜像数字孪 生装置，其特征在于：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 1 is characterized in that:其中，所述数据采集模块从所述智能网联汽车的车载总线上采集所述车辆网络数据。Among them, the data acquisition module collects the vehicle network data from the on-board bus of the intelligent connected vehicle.
- 根据权利要求1所述的智能网联汽车动力学行为的镜像数字孪生装置，其特征在于：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 1 is characterized in that:其中，所述车辆运动控制信号包括纵向运动控制信号和横向运动控制信号，The vehicle motion control signal includes a longitudinal motion control signal and a lateral motion control signal.所述纵向运动控制信号包括驱动控制信号和制动控制信号，The longitudinal motion control signal includes a driving control signal and a braking control signal.所述横向运动控制信号包括转向控制信号。The lateral motion control signal includes a steering control signal.
- 根据权利要求5所述的智能网联汽车动力学行为的镜像数字孪生装置，其特征在于：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 5 is characterized in that:其中，所述驱动控制信号包括节气门开度控制信号，Wherein, the driving control signal includes a throttle opening control signal,所述制动控制信号包括刹车踏板行程控制信号，The brake control signal includes a brake pedal travel control signal,所述转向控制信号包括转向轮转角控制信号。The steering control signal includes a steering wheel angle control signal.
- 根据权利要求1所述的智能网联汽车动力学行为的镜像数字孪生装置，其特征在于：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 1 is characterized in that:其中，所述虚拟车辆模型是根据所述智能网联汽车的车辆基础数据搭建而成的，The virtual vehicle model is constructed based on the basic vehicle data of the intelligent connected vehicle.所述车辆基础数据包括整车机械参数、驱动***信息、制动***信息以及转向***信息。The basic vehicle data includes vehicle mechanical parameters, drive system information, brake system information and steering system information.
- 根据权利要求1所述的智能网联汽车动力学行为的镜像数字孪生装置，其特征在于，还包括：The mirror digital twin device of the dynamic behavior of an intelligent connected vehicle according to claim 1, characterized in that it also includes:车辆状态监控模块，用于对所述数据采集模块采集到的所述车载网络数据的流量进行实时监测，并在实时流量值超过预设浮动值生成包含车辆处于异常状态提示内容的警示信息。The vehicle status monitoring module is used to monitor the flow of the vehicle network data collected by the data collection module in real time, and generate a warning message containing prompt content that the vehicle is in an abnormal state when the real-time flow value exceeds a preset floating value.
- 一种智能网联汽车动力学行为的镜像数字孪生方法，用于对智 能网联汽车的动力学行为进行镜像数字孪生，其特征在于，包括以下步骤：A mirror digital twin method for the dynamic behavior of an intelligent connected vehicle is used to perform a mirror digital twin on the dynamic behavior of an intelligent connected vehicle, and is characterized by comprising the following steps:步骤S1，实时采集智能网联汽车的包括车辆运动控制信号的车载网络数据；Step S1, collecting in-vehicle network data including vehicle motion control signals of the intelligent network-connected vehicle in real time;步骤S2，对所述车载网络数据进行处理得到所述车辆运动控制信号，并将该车辆运动控制信号传输给所述镜像数字孪生模块；Step S2, processing the vehicle network data to obtain the vehicle motion control signal, and transmitting the vehicle motion control signal to the mirror digital twin module;步骤S3，显示采用数字孪生技术搭建的并且与所述智能网联汽车及其动力学行为相匹配的虚拟车辆模型，并根据接收到的所述车辆运动控制信号实时更新所述虚拟车辆模型，从而实现对所述智能网联车辆的实时动力学行为的镜像数字孪生。Step S3, displaying a virtual vehicle model built using digital twin technology and matching the intelligent connected vehicle and its dynamic behavior, and updating the virtual vehicle model in real time according to the received vehicle motion control signal, thereby realizing a mirror digital twin of the real-time dynamic behavior of the intelligent connected vehicle.
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| CN115079663A (en) * | 2021-03-16 | 2022-09-20 | 广州汽车集团股份有限公司 | Vehicle power system monitoring method and device based on digital twin technology |
| CN115782782A (en) * | 2022-10-10 | 2023-03-14 | 中汽创智科技有限公司 | Mirror image digital twinning device and method for intelligent networking automobile dynamic behavior |
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2022
- 2022-10-10 CN CN202211237376.5A patent/CN115782782A/en active Pending
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2023
- 2023-01-10 WO PCT/CN2023/071645 patent/WO2024077808A1/en unknown
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| CN114840929A (en) * | 2022-05-10 | 2022-08-02 | 苏州氢澜科技有限公司 | Fuel cell unmanned automobile system based on digital twinning |
| CN115782782A (en) * | 2022-10-10 | 2023-03-14 | 中汽创智科技有限公司 | Mirror image digital twinning device and method for intelligent networking automobile dynamic behavior |
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