公开(公告)号：US11827202B2

公开(公告)日：2023-11-28

申请号：US17189899

申请日：2021-03-02

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Yinong Tan ,  Xiao Cui ,  Dingfeng Guo ,  Zhenguang Zhu

IPC: B60W30/02 ,  B60W10/04 ,  B60W10/18 ,  B60W40/10

CPC classification number: B60W30/02 ,  B60W10/04 ,  B60W10/18 ,  B60W40/10 ,  B60W2520/26 ,  B60W2530/20 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/16 ,  B60W2540/18

Abstract: The disclosure discloses a method and an apparatus for simulating a vehicle. The detailed implementation includes: determining, by a tire dynamics module, a tire translational force at a current moment based on a control instruction issued by an upper planning module and motion data of a vehicle body and a tire normal load outputted by a vehicle body dynamics module at a previous moment; and determining, by the vehicle body dynamics module, motion data of the vehicle body and a tire normal load at the current moment based on the control instruction and the tire translational force at the current moment, the motion data of the vehicle body at the current moment being used for vehicle simulation, and the tire normal load at the current moment being used to determine a tire translational force at a next moment.