车路协同系统的三维视景仿真方法研究

发布时间：2018-03-23 10:30

本文选题：车路协同　切入点：视景仿真　出处：《北京交通大学》2014年硕士论文

【摘要】：车路协同系统,简称CVIS,是涉及多学科交叉与融合方法,利用大规模并行计算、传感器网络等先进技术,实现道路交通信息的智能感知与人、车、路三位一体协调发展的大规模实时分布式系统。三维视景仿真方法是将计算机技术,图形图象技术,光学技术,控制技术等多种高科技的结合,用户借助必要的设备以自然的方式与虚拟环境中的对象进行交互作用、相互影响,对于提高系统规划的合理性与研制效率具有明显的促进作用。论文通过选取车路协同系统的车车、车路交互等典型应用为研究对象,将视景仿真应用到车路协同仿真领域内,对车路协同系统的三维视景仿真技术进行研究。将车路协同视景仿真部分集成为一个联邦成员,模拟整个车路协同系统的视景仿真。论文以车路协同系统仿真为基础,采用Multitgen Paradigm公司的可视化仿真软件VEGA/Creator,构建起车路协同系统所需的局部仿真交通网络的视景仿真模型,建立了视景仿真模型库。并以此为基础,利用多细节层次模型对模型进行优化,完成行人与车辆的多细节层次模型改造,提高了虚拟仿真的画面渲染效率。针对原始模型结构复杂的问题,采取基于功能的仿真模型节点结构优化法,对模型的节点组织结构进行优化,提高系统对模型功能节点的搜索效率。在单车仿真方面,借助虚拟手套和惯性传感器设备设计完成交互式辅助驾驶平台,使得仿真操作人员能够通过数据手套对单车仿真中的车辆辅助驾驶设备进行控制,完成对视景仿真系统的交互式设计。在仿真平台优化方面,设计了基于场景的模型动态载入机制,大幅度的提高了模型的载入效率,减少了模型的内存占用。并以最小二乘多项式拟合法对车辆的运动轨迹进行拟合与插值,实现了仿真轨迹的平滑过渡,仿真过程中,引入了车辆姿态动态调整机制,使得车辆的姿态能够与实时仿真保持姿态同步,达到了较好的视景仿真效果。论文对车路协同系统视景仿真平台的予以实现,完成了视景仿真平台的基本功能。对车路协同仿真系统中的车车、车路信息交互等典型应用场景从性能上和功能上验证。视景仿真能够将大量的数据信息转化为可视化的图形信息,增强了车路协同系统仿真的效率和交互性,提高了车路协同系统的研制效率。
[Abstract]:The vehicle-road cooperative system (CVIS-CVIS) is a multi-disciplinary intersecting and fusion method, which uses advanced technologies such as large-scale parallel computing, sensor network and so on, to realize the intelligent perception of road traffic information as well as human, vehicle, and so on. The 3D visual simulation method combines computer technology, graphics and image technology, optical technology, control technology and so on. With the help of necessary equipment, users interact with the objects in the virtual environment in a natural way and interact with each other, which can obviously promote the rationality of system planning and the development efficiency. In this paper, the typical application of vehicle-vehicle and vehicle-road interaction is selected as the research object, and the scene simulation is applied to the field of vehicle-road collaborative simulation. The 3D scene simulation technology of the vehicle-road collaborative system is studied. The part of the vehicle-road collaborative visual simulation is integrated into one federate to simulate the visual simulation of the whole vehicle-road collaborative system. Based on the simulation of vehicle-road cooperative system and the visual simulation software of Multitgen Paradigm, the scene simulation model of local simulation traffic network is constructed, and the visual simulation model base is established. The multi-detail hierarchical model is used to optimize the model, and the multi-detail hierarchical model of pedestrian and vehicle is transformed to improve the rendering efficiency of the virtual simulation, aiming at the complex structure of the original model. The node structure optimization method based on function is adopted to optimize the node structure of the model to improve the searching efficiency of the model function node. With the help of virtual gloves and inertial sensor equipment, the interactive auxiliary driving platform is designed, which enables the simulation operator to control the vehicle auxiliary driving equipment in the bicycle simulation through the data gloves. In the aspect of optimization of simulation platform, the dynamic loading mechanism of the model based on scene is designed, which greatly improves the loading efficiency of the model. The memory footprint of the model is reduced, and the vehicle motion trajectory is fitted and interpolated by least square polynomial fitting method, which realizes the smooth transition of the simulation trajectory. In the simulation process, the vehicle attitude dynamic adjustment mechanism is introduced. The attitude of the vehicle can be synchronized with the real-time simulation, and the result of visual simulation is better. In this paper, the visual simulation platform of vehicle-road collaborative system is implemented, and the basic functions of the visual simulation platform are completed. Visual simulation can transform a large amount of data information into visual graphic information and enhance the efficiency and interaction of vehicle-road collaborative system simulation. The development efficiency of the vehicle-road cooperative system is improved.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495

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