基于虚拟现实的驾驶模拟仿真系统开发

发布时间：2017-12-27 14:09

本文关键词：基于虚拟现实的驾驶模拟仿真系统开发　出处：《重庆大学》2016年硕士论文　论文类型：学位论文

【摘要】：汽车是人机协调控制的复杂系统,要对汽车进行控制仿真,就必须考虑到人的因素,必须考虑真实道路的影响。于是,结合人车路三者进行汽车系统仿真是非常必要的。而要进行人车路层面的仿真,就必须依赖于更加全面的仿真系统,传统HIL仿真架构已经不足以担当此仿真任务。本文引入了人的因素,进行H2IL仿真,而驾驶模拟仿真系统就是基于H2IL车辆仿真的一种形式。车辆驾驶模拟仿真系统是进行汽车工程研究的重要工具和手段,其最主要的性能指标是沉浸性。为了实现于驾驶员而言良好的沉浸效果,就要求驾驶模拟器的车辆动力学模型足够准确,解算结果接近真实物理世界。其显示系统、声觉模拟系统、体感模拟系统能够向驾驶员提供接近真实的运动体感和视觉、声觉、触觉反馈。本文针对这一关键问题,从系统层面进行考虑,引入成熟的车辆动力学模拟软件、最新的虚拟现实显示技术,进行了六自由度驾驶模拟仿真系统的设计,主要完成了以下工作:(1)广泛参考国内外的驾驶模拟仿真平台,结合目前已具有的试验条件,确定了系统方案和性能要求。分析了其中的关键技术,确定了技术方案,并进行了详细的说明。(2)基于应用广泛的虚拟现实引擎和三维建模软件构建了驾驶模拟环境,并通过虚拟显示头盔进行显示,实现向驾驶员进行驾驶环境的视觉模拟。制作了较高精度的场景模型,制作了音效,并编制了脚本对场景中的物理模型进行驱动,使其符合物理生活规律,获得了逼真的场景效果。(3)基于NI PXI实时系统及车辆动力学软件CarSim构建了驾驶模拟仿真系统的车辆动力学模型实时解算系统,利用罗技G27实现了驾驶员操作数据的采集。由于NI实时系统的优势,可以保证仿真过程的实时和准确。(4)调研国内外驾驶模拟器的六自由度运动平台空间参数并考虑实验室现有条件设计了平台运动空间参数。通过建立平台结构参数与空间性能参数之间的数学关系,分析得到了一些可以帮助进行平台结构参数设计的规则。然后利用三维建模软件CATIA进行了参数化建模、仿真、干涉校验。确定了最终的平台设计方案,最后利用ADAMS和MATLAB进行了联合仿真,测试了不同工况下的平台受力及运动情况。(5)分析了驾驶模拟系统中数据通信需求,并选取了数据通信实现方法,编程实现并进行了相应的测试。结果证明,所设计的数据通信程序能够满足需求。通过以上的研究工作,基本实现了驾驶模拟仿真系统设计中的重要模块。车辆动力学模型解算系统能够实时而准确的解算驾驶员的输入。视景系统能够提供较为逼真的沉浸效果。运动平台控制效果良好。
[Abstract]:Automobile is a complex system of man-machine coordinated control. In order to control and simulate the vehicle, the human factors must be taken into consideration, and the influence of the real road must be considered. Therefore, it is very necessary to simulate the car system by combining the three people with the car road. In order to simulate the human vehicle road level, we must rely on a more comprehensive simulation system. The traditional HIL simulation architecture is not enough to perform the simulation task. This paper introduces human factors and carries out H2IL simulation, and driving simulation system is a form of vehicle simulation based on H2IL. Vehicle driving simulation system is an important tool and means for automobile engineering research, and its most important performance index is immersion. In order to achieve good immersion effect for drivers, it is required that the vehicle dynamics model of driving simulator is accurate enough, and the solution result is close to the real physical world. Its display system, acoustic simulation system and somatosensory simulation system can provide drivers with real motion sense, visual, sound and tactile feedback. Aiming at the key problem, consider from the system level, the introduction of vehicle dynamics simulation software, the mature virtual reality display of the latest technology, the design of the six degree of freedom driving simulation system, mainly completed the following work: (1) extensive reference to domestic and foreign driving simulation platform, combined with the current experimental conditions has, determine the requirements of the system scheme and performance. The key technology is analyzed, the technical scheme is determined, and the detailed description is carried out. (2) based on the widely used virtual reality engine and 3D modeling software, the driving simulation environment is constructed, and the visual display of the driving environment is realized through virtual display helmet. The high accuracy scene model is made, and the sound effect is produced, and the script is compiled to drive the physical model in the scene, making it conform to the law of physical life, and get the realistic scene effect. (3) based on NI PXI real-time system and vehicle dynamics software CarSim, a real-time simulation system of vehicle dynamics model for driving simulation system is built. The driver data collection is realized by Logitech G27. Because of the advantages of NI real-time system, the real-time and accurate simulation process can be ensured. (4) to investigate the spatial parameters of the six degree of freedom motion platform of the driving simulator at home and abroad and to design the space parameters of the platform by considering the existing conditions of the laboratory. By establishing the mathematical relationship between the platform structure parameters and the spatial performance parameters, some rules which can help the design of the platform structure parameters are obtained. Then the parameterized modeling, simulation and interference check are carried out by using the 3D modeling software CATIA. Finally, the final design of the platform is determined. At last, the joint simulation is carried out with ADAMS and MATLAB to test the force and movement of the platform under different working conditions. (5) the data communication needs in the driving simulation system are analyzed, and the data communication implementation method is selected, and the corresponding test is implemented by programming. The results show that the designed data communication program can meet the requirements. Through the above research work, the important modules in the design of driving simulation system are basically realized. The vehicle dynamic model solution system can calculate the driver's input in real time and accurately. The visual system can provide more realistic immersion. The control effect of the motion platform is good.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U467.13

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