动感型汽车驾驶模拟器信息采集、处理与视景系统的研究
|
摘要
动感型汽车驾驶模拟器是一种能够正确模拟汽车驾驶动作,并能在主要性能上获得与实车驾驶相同感觉的仿真设备。采用汽车驾驶模拟器与实车驾驶相结合的培训方式,可以提高驾驶培训效率、缩短培训周期。因此,对汽车驾驶模拟器的研制具有十分重要的现实意义。
本文针对动感型汽车驾驶模拟器的信息采集、处理与视景系统分别进行了研究。首先,详细介绍了采集对象一汽车驾驶模拟器操纵系统、采集元件的选择和采集电路的设计,完成了对三踏板、变速操纵机构、转向操纵机构的操纵量信息采集。
其次,基于单片机Atmega128设计了电源模块、信息处理电路模块、控制电路模块和通信模块。按照RS422串行数据接口标准设定了通信协议,采用C语言编写了系统程序,完成了操纵系统与主控计算机之间的通信,实现了对汽车组合仪表、车灯等装置的控制。
在视景系统研究中,以汽车动力学为基础,通过分析发动机功率、汽车加速度、汽车速度三者之间的关系,充分考虑了影响汽车运动状态的几个操纵输入量,如挡位、油门、离合、刹车及方向盘的动作状态等,建立了包括动力性方程和操纵稳定性方程的近似4自由度汽车动力学模型,同时,运用法国OKTAL公司开发的SCANeRⅡ软件建立了三维驾驶场景,并编写了部分特殊驾驶情景控制程序。
Dynamic-type vehicle driving simulator is a simulated car, which can drive the right moves and get the same feeling on the main performance. Training which combines the vehicle driving simulator driving and a car driving can improve efficiency and shorten the training cycle. Therefore, the development of the training vehicle driving simulator is of great significance.
In this dissertation, study on the information Acquisition, processing and visual system of dynamic-type vehicle driving simulator is proposed.
Firstly, the acquiring target - vehicle driving simulator manipulators, the choice of acquisition components and the design of acquisition circuit are presented in detail in information acquisition system, which completes the acquisition of signals on three pedals, gear and steering wheel.
Secondly, based on a single chip processor, Atmegal28, the power circuit, information processing circuit, control and communication circuit are developed. After setting the RS422 protocol and programming system procedure by C-language, the communication between the manipulation system and the master computer is completed, and the control of instrument, lights and other devices is realized.
Finally, in visual system study, using of vehicle dynamics knowledge, analyzing the relationship among engine power, vehicle acceleration and speed, fully considering the effect of several manipulation inputs (including shift, throttle, clutch, brake and steering wheel) to motor action status, established an approximate 4-degrees freedom vehicle dynamic model which involves sport equations and manipulating stability equations. Applying the software SCANeRⅡwhich is developed by a French company OKTAL, a virtual driving scene is established and some special driving scenarios control procedures are programmed.
本文针对动感型汽车驾驶模拟器的信息采集、处理与视景系统分别进行了研究。首先,详细介绍了采集对象一汽车驾驶模拟器操纵系统、采集元件的选择和采集电路的设计,完成了对三踏板、变速操纵机构、转向操纵机构的操纵量信息采集。
其次,基于单片机Atmega128设计了电源模块、信息处理电路模块、控制电路模块和通信模块。按照RS422串行数据接口标准设定了通信协议,采用C语言编写了系统程序,完成了操纵系统与主控计算机之间的通信,实现了对汽车组合仪表、车灯等装置的控制。
在视景系统研究中,以汽车动力学为基础,通过分析发动机功率、汽车加速度、汽车速度三者之间的关系,充分考虑了影响汽车运动状态的几个操纵输入量,如挡位、油门、离合、刹车及方向盘的动作状态等,建立了包括动力性方程和操纵稳定性方程的近似4自由度汽车动力学模型,同时,运用法国OKTAL公司开发的SCANeRⅡ软件建立了三维驾驶场景,并编写了部分特殊驾驶情景控制程序。
Dynamic-type vehicle driving simulator is a simulated car, which can drive the right moves and get the same feeling on the main performance. Training which combines the vehicle driving simulator driving and a car driving can improve efficiency and shorten the training cycle. Therefore, the development of the training vehicle driving simulator is of great significance.
In this dissertation, study on the information Acquisition, processing and visual system of dynamic-type vehicle driving simulator is proposed.
Firstly, the acquiring target - vehicle driving simulator manipulators, the choice of acquisition components and the design of acquisition circuit are presented in detail in information acquisition system, which completes the acquisition of signals on three pedals, gear and steering wheel.
Secondly, based on a single chip processor, Atmegal28, the power circuit, information processing circuit, control and communication circuit are developed. After setting the RS422 protocol and programming system procedure by C-language, the communication between the manipulation system and the master computer is completed, and the control of instrument, lights and other devices is realized.
Finally, in visual system study, using of vehicle dynamics knowledge, analyzing the relationship among engine power, vehicle acceleration and speed, fully considering the effect of several manipulation inputs (including shift, throttle, clutch, brake and steering wheel) to motor action status, established an approximate 4-degrees freedom vehicle dynamic model which involves sport equations and manipulating stability equations. Applying the software SCANeRⅡwhich is developed by a French company OKTAL, a virtual driving scene is established and some special driving scenarios control procedures are programmed.
引文
[1]B.Repa,W.Wierwille.Driver Performance in Controlling a Driving Simulator with Varying Vehicle Response Characteristics[J].SAE(Society of Automotive Engineers)Paper 760779.1976.
[2]B.Richter.Driving Simulator Studies:The Influence of Vehicle Parameters on Safety in Critical Situations[J].SAE Paper 741105.1974.
[3]熊坚,曾纪国,丁立等.面向道路交通的汽车驾驶模拟器的研究及应用[J].中国公路学报.2002,17(2):117-119.
[4]H.S.Kang,M.K.Abdul Jalil,Musa Mailah.A PC-based Driving Simulator Using Virtual Reality Technology.Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry.2004:273-277.
[5]张萍,修吉平.汽车驾驶模拟器控制系统的研制[J].自动化技术与应用.2005,24(12):30-32.
[6]李伟韬.汽车驾驶员操作特性考核仿真系统的研究:[学位论文].吉林大学.2002.
[7]左为民,隋日安.汽车驾驶模拟器在机动车驾驶技能培训中的应用[J].鲁东大学学报(自然科学报).2007,23(4):343-345.
[8]丁立,熊坚,陈泽林等.面向人-车-环境系统的汽车驾驶模拟器的开发和应用[J].公路交通科技.2002,19(6):160-163.
[9]张旦,钱蔚等.虚拟驾驶环境中混合交通控制的设计与实现[J].计算机科学.2000,27(2):76-78.
[10]孙显营,熊坚.车辆驾驶模拟器的发展综述[J].交通科技.2001,6:48-50.
[11]吴耀武.MUL-QJM汽车驾驶模拟器系统[J].系统仿真学报.1995,5:19-24.
[12]张平,修吉平.汽车驾驶模拟器控制系统的研制[J].计算机应用.2005,24(5):30-32.
[13]果明明.汽车驾驶模拟器[J].应用技术.2006,32(24):9-10.
[14]魏明,曹正清,龚家伟等.驾驶训练模拟器的设计与开发[J].计算机仿真.2004,3
[15]周慎.基于虚拟现实的汽车驾驶模拟器建模技术研究:[学位论文].武汉理工大学.2005.
[16]杜飞,李葳巍,钟延炯.虚拟现实技术在汽车驾驶模拟器上的应用[J].汽车电子.2006,22(10):292-295.
[17]陈定方,李勋祥,李文锋.基于分布式虚拟现实技术的汽车驾驶模拟器的研究[J].系统仿真学报.2005,17(2):347-350.
[18]饶成,陈定方,李勋祥.一种汽车驾驶模拟器中的实用景物优化的方法[J].Equipment Manufacturing Technology.2006,(1):18-20.
[19]冯贵全,刘力田.浅谈汽车驾驶模拟视景系统[J].汽车运用.2006,(7):33.
[20]于晓辉.汽车驾驶智能模拟培训教程.(2002-4-18).http://www.bjxa.com/theory/sorts.
[21]霍丽.VJ型汽车驾驶模拟器的研制与开发:[学位论文].山东农业大学.2001.
[22]尹念东.汽车驾驶模拟器研究现状与技术关键[J].湖北汽车工业学院学报.2002,16(4):7-10.
[23]李安定,陈定方.汽车驾驶模拟器视景建模技术研究[J].湖北工业大学学报.2006,21(3):28-31.
[24]尹念东.汽车驾驶模拟器视景的三维动画实现[J].信息技术.2004,28(9):70-72.
[25]尹念东,陈定方,李安定.基于OpenGVS的分布式虚拟汽车驾驶视景系统设计与实现[J].武汉理工大学学报(交通科学与工程版).2006,30(6):984-987.
[26]高平,李合非,王曙光等.人机工程学在汽车驾驶模拟器研制上的应用[J].农机化研究.2001,(4):96-98.
[27]江学东,陈无畏.基于Vega的车辆驾驶模拟视景仿真[J].公路与汽运.2007,(2):37-40.
[28]苏美,周美玉.高速列车模拟器的视景建模与仿真[J].系统仿真学报.2001,13(5):588-591.
[29]陈经平,尹念东,陈定方.基于分布式虚拟现实技术的汽车驾驶模拟器研究[J].黄石理工学院学报.2005,6.
[30]汽车动态模拟国家重点实验室.开发性驾驶模拟器技术简介.长春:吉林大学.2002.
[31]Human Factors Research Laboratory in University of Minnesota.http://cehd.umn.edu/kls/research/hfrl/facilities/was.html
[32]Abdel-Malek,K.,Duncan,et al.Realistic Posture Prediction for Maximum Dexterity[J].SAE Transactions Journal of Passenger Cars-Mechanical Systems.2002,110(6):2241-2249.
[33]K.-P.Beier.Virtual Reality in Automotive Design and Manufacturing[J].Proceedings,Convergence '94,International Congress on Transportation Electronics,SAE,Dearborn,Michigan.1994.
[34]张建彦,张靖,林静芬等.大客车心理物理行为门槛模式之驾驶模拟器场景建置[J].中华管理学报.2005,6(1):119-140.
[35]K.-P.Beier.Virtual Reality - Advanced Design and Manufacturing[J].ESD Technology.1995,56(1):22-28.
[36]Ho,G.,Scialfa,C.T.,et al.Traffic sign conspicuity:The effects of clutter,luminance,and age.Human Factors.2001,43(2):194-207.
[37]Trick,L.,Enns,J.,Mills,J.,et al.Paying attention behind the wheel:A framework for studying the role of selective attention in driving[J].Theoretical Issues in Ergonomic Science.2004,5(5):385-424.
[38]Stationary automobile-cabin.(2007-1-10).http://www.it.pw.edu.pl/autopw/en/main.html.
[39]Munchen Technical University.http://www.ftm.mw.tum.de/english/institute/projects/drivingsimulator.htm.
[40]Driving Simulator,Faculty of Transportation,Warsaw University of Technology.http://www.inrets.fr/ur/msis/simus/sim2e.htm
[41]The Driving Research Unit,Cranfietd University.http://www.drive.cranfield.ac.uk/cfml/ldorn.cfm
[42]The australian MUARC Research Center driving simulator,Monash University.http://www.monash.edu.au/muarc/projects/simulator/index.html
[43]Kookrnin University.http://vclab.typepad.com/
[44]陈定方,李勋祥,李文锋.基于分布式虚拟现实技术的汽车驾驶模拟器的研究.第四界全国虚拟现实与可视化学术会议论文集.2004:701-707.
[45]范正伟,贺秀良,姜丁等.汽车驾驶模拟器研究现状与未来展望[J].汽车运用.2004,(10):31-32.
[46]唐智慧,左延亮,周美玉.汽车驾驶模拟器在交通工程中的应用[J].西南交通大学学报. 2006,41(5):630-634.
[47]许维健.新型汽车驾驶模拟器原理及实现[J].计算机时代.2005,2:19-21.
[48][日]自动车技术会小林明等.汽车工程手册编译委员会.汽车工程手册(第一分册).北京:机械工业出版社.1984:149-224.
[49]芮延年.传感器与检测技术[M].苏州:苏州大学出版社.2005.
[50]申永胜.机械原理教程(第2版)[M].北京:清华大学出版社.2005.
[51]皮胜文,袁焕,尹念东.汽车驾驶模拟器变速操纵机构的设计[J].黄石理工学院学报.2007,23(2):6-8.
[52]刘迎春,叶湘滨.传感器原理设计与应用[M].长沙:国防科技大学出版社.2002.
[53]芮延年.传感器与检测技术[M].苏州:苏州大学出版社.2005.
[54]吴社强,吴政清,姜斯平.汽车构造[M].上海:上海科学技术出版社.2003:327-335.
[55]马潮.高档8位单片机ATmega128原理与开发应用指南(上)[M].北京:北京航天航空大学出版社.2004.
[56]Andy R.W.Hang,Chihsiuh Chen.A Low-Cost Driving Simulator for Full Vehicle Dynamics Simulation.IEEE transactions on vehicular technology.2003,52(1):162-171.
[57]H.S.Kang,M.K.Abdul Jail,Musa Mailah.A PC-Driving Simulator Using Virtual Reality Technology.Proceeding of the 2004 ACM SIGGRAPH international conference on virtual reality continuum and its applications in industry.2004:273-277.
[58]蔡忠法,刘大健,章安元.基于虚拟现实的汽车驾驶模拟训练系统方案研究[J].系统仿真学报.2002,14(6):10-14.
[59]何锋,杨宁.汽车动力学[M].贵阳:贵州科技出版社.2003.
[60]代汝泉.汽车运行性能[M].北京:国防工业出版社.2003.
[61][西德]M.米奇克.桑杰,译.汽车动力学[M].北京:机械工业出版社.1980.
[62]王伟,吴超仲,严新平等.汽车驾驶模拟器动力学仿真建模[J].武汉理工大学学报(信息与管理工程版).2005,2.
[63]郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社.1991.
[64]雷雨成.汽车系统动力学及仿真[M].北京:国防工业出版社.1997.
[2]B.Richter.Driving Simulator Studies:The Influence of Vehicle Parameters on Safety in Critical Situations[J].SAE Paper 741105.1974.
[3]熊坚,曾纪国,丁立等.面向道路交通的汽车驾驶模拟器的研究及应用[J].中国公路学报.2002,17(2):117-119.
[4]H.S.Kang,M.K.Abdul Jalil,Musa Mailah.A PC-based Driving Simulator Using Virtual Reality Technology.Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry.2004:273-277.
[5]张萍,修吉平.汽车驾驶模拟器控制系统的研制[J].自动化技术与应用.2005,24(12):30-32.
[6]李伟韬.汽车驾驶员操作特性考核仿真系统的研究:[学位论文].吉林大学.2002.
[7]左为民,隋日安.汽车驾驶模拟器在机动车驾驶技能培训中的应用[J].鲁东大学学报(自然科学报).2007,23(4):343-345.
[8]丁立,熊坚,陈泽林等.面向人-车-环境系统的汽车驾驶模拟器的开发和应用[J].公路交通科技.2002,19(6):160-163.
[9]张旦,钱蔚等.虚拟驾驶环境中混合交通控制的设计与实现[J].计算机科学.2000,27(2):76-78.
[10]孙显营,熊坚.车辆驾驶模拟器的发展综述[J].交通科技.2001,6:48-50.
[11]吴耀武.MUL-QJM汽车驾驶模拟器系统[J].系统仿真学报.1995,5:19-24.
[12]张平,修吉平.汽车驾驶模拟器控制系统的研制[J].计算机应用.2005,24(5):30-32.
[13]果明明.汽车驾驶模拟器[J].应用技术.2006,32(24):9-10.
[14]魏明,曹正清,龚家伟等.驾驶训练模拟器的设计与开发[J].计算机仿真.2004,3
[15]周慎.基于虚拟现实的汽车驾驶模拟器建模技术研究:[学位论文].武汉理工大学.2005.
[16]杜飞,李葳巍,钟延炯.虚拟现实技术在汽车驾驶模拟器上的应用[J].汽车电子.2006,22(10):292-295.
[17]陈定方,李勋祥,李文锋.基于分布式虚拟现实技术的汽车驾驶模拟器的研究[J].系统仿真学报.2005,17(2):347-350.
[18]饶成,陈定方,李勋祥.一种汽车驾驶模拟器中的实用景物优化的方法[J].Equipment Manufacturing Technology.2006,(1):18-20.
[19]冯贵全,刘力田.浅谈汽车驾驶模拟视景系统[J].汽车运用.2006,(7):33.
[20]于晓辉.汽车驾驶智能模拟培训教程.(2002-4-18).http://www.bjxa.com/theory/sorts.
[21]霍丽.VJ型汽车驾驶模拟器的研制与开发:[学位论文].山东农业大学.2001.
[22]尹念东.汽车驾驶模拟器研究现状与技术关键[J].湖北汽车工业学院学报.2002,16(4):7-10.
[23]李安定,陈定方.汽车驾驶模拟器视景建模技术研究[J].湖北工业大学学报.2006,21(3):28-31.
[24]尹念东.汽车驾驶模拟器视景的三维动画实现[J].信息技术.2004,28(9):70-72.
[25]尹念东,陈定方,李安定.基于OpenGVS的分布式虚拟汽车驾驶视景系统设计与实现[J].武汉理工大学学报(交通科学与工程版).2006,30(6):984-987.
[26]高平,李合非,王曙光等.人机工程学在汽车驾驶模拟器研制上的应用[J].农机化研究.2001,(4):96-98.
[27]江学东,陈无畏.基于Vega的车辆驾驶模拟视景仿真[J].公路与汽运.2007,(2):37-40.
[28]苏美,周美玉.高速列车模拟器的视景建模与仿真[J].系统仿真学报.2001,13(5):588-591.
[29]陈经平,尹念东,陈定方.基于分布式虚拟现实技术的汽车驾驶模拟器研究[J].黄石理工学院学报.2005,6.
[30]汽车动态模拟国家重点实验室.开发性驾驶模拟器技术简介.长春:吉林大学.2002.
[31]Human Factors Research Laboratory in University of Minnesota.http://cehd.umn.edu/kls/research/hfrl/facilities/was.html
[32]Abdel-Malek,K.,Duncan,et al.Realistic Posture Prediction for Maximum Dexterity[J].SAE Transactions Journal of Passenger Cars-Mechanical Systems.2002,110(6):2241-2249.
[33]K.-P.Beier.Virtual Reality in Automotive Design and Manufacturing[J].Proceedings,Convergence '94,International Congress on Transportation Electronics,SAE,Dearborn,Michigan.1994.
[34]张建彦,张靖,林静芬等.大客车心理物理行为门槛模式之驾驶模拟器场景建置[J].中华管理学报.2005,6(1):119-140.
[35]K.-P.Beier.Virtual Reality - Advanced Design and Manufacturing[J].ESD Technology.1995,56(1):22-28.
[36]Ho,G.,Scialfa,C.T.,et al.Traffic sign conspicuity:The effects of clutter,luminance,and age.Human Factors.2001,43(2):194-207.
[37]Trick,L.,Enns,J.,Mills,J.,et al.Paying attention behind the wheel:A framework for studying the role of selective attention in driving[J].Theoretical Issues in Ergonomic Science.2004,5(5):385-424.
[38]Stationary automobile-cabin.(2007-1-10).http://www.it.pw.edu.pl/autopw/en/main.html.
[39]Munchen Technical University.http://www.ftm.mw.tum.de/english/institute/projects/drivingsimulator.htm.
[40]Driving Simulator,Faculty of Transportation,Warsaw University of Technology.http://www.inrets.fr/ur/msis/simus/sim2e.htm
[41]The Driving Research Unit,Cranfietd University.http://www.drive.cranfield.ac.uk/cfml/ldorn.cfm
[42]The australian MUARC Research Center driving simulator,Monash University.http://www.monash.edu.au/muarc/projects/simulator/index.html
[43]Kookrnin University.http://vclab.typepad.com/
[44]陈定方,李勋祥,李文锋.基于分布式虚拟现实技术的汽车驾驶模拟器的研究.第四界全国虚拟现实与可视化学术会议论文集.2004:701-707.
[45]范正伟,贺秀良,姜丁等.汽车驾驶模拟器研究现状与未来展望[J].汽车运用.2004,(10):31-32.
[46]唐智慧,左延亮,周美玉.汽车驾驶模拟器在交通工程中的应用[J].西南交通大学学报. 2006,41(5):630-634.
[47]许维健.新型汽车驾驶模拟器原理及实现[J].计算机时代.2005,2:19-21.
[48][日]自动车技术会小林明等.汽车工程手册编译委员会.汽车工程手册(第一分册).北京:机械工业出版社.1984:149-224.
[49]芮延年.传感器与检测技术[M].苏州:苏州大学出版社.2005.
[50]申永胜.机械原理教程(第2版)[M].北京:清华大学出版社.2005.
[51]皮胜文,袁焕,尹念东.汽车驾驶模拟器变速操纵机构的设计[J].黄石理工学院学报.2007,23(2):6-8.
[52]刘迎春,叶湘滨.传感器原理设计与应用[M].长沙:国防科技大学出版社.2002.
[53]芮延年.传感器与检测技术[M].苏州:苏州大学出版社.2005.
[54]吴社强,吴政清,姜斯平.汽车构造[M].上海:上海科学技术出版社.2003:327-335.
[55]马潮.高档8位单片机ATmega128原理与开发应用指南(上)[M].北京:北京航天航空大学出版社.2004.
[56]Andy R.W.Hang,Chihsiuh Chen.A Low-Cost Driving Simulator for Full Vehicle Dynamics Simulation.IEEE transactions on vehicular technology.2003,52(1):162-171.
[57]H.S.Kang,M.K.Abdul Jail,Musa Mailah.A PC-Driving Simulator Using Virtual Reality Technology.Proceeding of the 2004 ACM SIGGRAPH international conference on virtual reality continuum and its applications in industry.2004:273-277.
[58]蔡忠法,刘大健,章安元.基于虚拟现实的汽车驾驶模拟训练系统方案研究[J].系统仿真学报.2002,14(6):10-14.
[59]何锋,杨宁.汽车动力学[M].贵阳:贵州科技出版社.2003.
[60]代汝泉.汽车运行性能[M].北京:国防工业出版社.2003.
[61][西德]M.米奇克.桑杰,译.汽车动力学[M].北京:机械工业出版社.1980.
[62]王伟,吴超仲,严新平等.汽车驾驶模拟器动力学仿真建模[J].武汉理工大学学报(信息与管理工程版).2005,2.
[63]郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社.1991.
[64]雷雨成.汽车系统动力学及仿真[M].北京:国防工业出版社.1997.