CN101533571A - Simulated experiment system for driving in environment with people, vehicles and roads - Google Patents
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Abstract
The invention relates to an open simulated experiment system for driving in environment with people, vehicles and roads. The system is characterized in that a distributed network configuration, a modularized automobile dynamic model, modularized rapid generation of road traffic scene, modularized real-time loading of dynamic traffic, integrated monitoring of driver behavior and driving effect form information close loop of people, vehicles and roads, all processes take place in real time to produce continuously changing images. The invention can notably improve openness and expandability of system functions, enhance instantaneity of the system and smoothness of image movement, thus facilitating the system of the invention to have the capacity of handling a large scene and noticeably improving the application range of the system.
Description
Technical field
The present invention relates to the drive simulation experimental system, particularly study the drive simulation experimental system of people-Che-Lu traffic environment.
Background technology
Road traffic problem, its essence are exactly the problem that concerns of people, car, road (traffic environment), and the profound connotation relation is arranged between the three.The people here refers to the driver, also refers to the pedestrian; Car can refer to that a car also can refer to many cars.For a long time, at automobile or field of traffic, main research mode is " open loop " formula, and less consideration human and environment is to the influence of car when promptly studying car; And in research less consideration vehicle and human factor during road.And people, car, road (environment) are the system of an integral body in fact, study the key that rapport between this system is only the transport solution problem.
Characteristics of people, car, road (environment) system maximum are that its object always is in the dynamic process, and variation is many, the situation complexity, and with the research method of statistics, workload is big, waste time and energy, and is difficult to sometimes to grasp and to handle well the relation between the three.
Utilizing the research of driving analog system to problems such as " people-car-road " traffic safety, driving behavior feature, intelligent transportation, automobile dynamicss, is an international in recent years main developing direction.Carried out a lot of researchs abroad in this respect.Since the eighties, Germany, Sweden, Japan, the U.S. and Britain have all successively invested in driving simulation or traffic simulation experimental system respectively.
The traffic driving analog system has a wide range of applications.At first, it makes the design of vehicle or traffic system move towards closed loop design from traditional open-loop design; Next is that the idea of traffic design changes to " making traffic adapt to people's limit of power " from " making the people adapt to traffic ".Simultaneously, also promote the driver and controlled carrying out in a deep going way of behavior rule research.
At present, the driving analog system on the market comprises external drive simulation product, and is in the majority with the simulator that is used for driver training, and the simulator that is used to study that has also is that the simulator transformation from the training type forms.The usable range of many driving simulators that are used to study is very limited, shows: the one, modeling that system provides and arithmetic capability a little less than; Another main cause is that the degree of opening of system is lower, and promptly the user sets up limited from the method for master cast.For example, the driving simulator that is used to study the road traffic engineering evaluation must have the extremely strong modeling and the structuring capacity of dynamic scene, and the scene of most of driving simulators is prior given patterns, though what have can self-built model, but process complexity, many, the insufficiency of restriction, therefore do not possess wide-open function, or degree of opening is extremely low, is difficult to realize true modeling the road traffic evaluation object.
Summary of the invention
The drive simulation experimental system that the purpose of this invention is to provide a kind of people-Che-Lu traffic environment, the real-time of system and the flatness of image motion have greatly been improved, this system has been possessed handle the ability of large scene, thereby significantly improved the range of application of system.
System of the present invention mainly is made up of six big subsystems such as driving cabin, automobile dynamics model and the sound, image generation, dynamic traffic simulation, image projection, integrated controls.Driving cabin system acquisition driver's various operation informations and send it to automobile dynamics model system wherein; The automobile dynamics model system calculates the instantaneous position and the athletic posture parameter of automobile, and sends it to image generation system.Simultaneously, the automobile dynamics model system is called corresponding audio file according to driver's operation information and is played back by sound system; Image generation system generates and corresponding, the continually varying dynamic road traffic scene of vehicle movement according to the relevant parameter that automobile dynamics model system and dynamic traffic simulation system provide.By image projection system the dynamic road traffic scene is projected on the screen in driving cabin dead ahead at last.Integrated control system then is subsystems such as control driving cabin, automobile dynamics model and the sound, image generation, dynamic traffic simulation and image projection.
The principle of work of system is as follows: (1) produces the riding manipulation signal by driver's work chamber, by sensing and Circuits System the signal of gathering is passed to the automobile dynamics model system; (2) the automobile dynamics model carries out simulation calculating according to control signal and obtains vehicle movement parameter and export image generation system to, exports simulated sound to sound system simultaneously; (3) image generation system exports optical projection system to according to vehicle movement parameter generation driver's what comes into a driver's image; (4) simultaneously, other motor-driven wagon flow, bicycle, pedestrian etc. are generated by the traffic dynamic simulator system, and the static what comes into a driver's image that imports image generation system and road traffic into combines together with this; (5) optical projection system with the what comes into a driver's image projection to the screen of driving cabin front; (6) driver produces new operation information according to the road traffic virtual image steering vehicle on the screen, and the information that driving cabin, Circuits System, automobile dynamics model system, image generation system, sound system and optical projection system are produced forms closed loop.All these processes all take place in real time, with generation continually varying image, thereby give the driver the approaching sensation of driving really.
Content of the present invention is mainly reflected in the construction scheme of distributed and modular combination, makes opening, the exploitability of system obtain maximum the embodiment, is in particular in:
(1) distributed computer network structure;
(2) automobile dynamics model and modularization;
(3) the road traffic virtual scene moduleization generates fast;
(4) the dynamic traffic modularization loads in real time;
(5) driving behavior and the integrated monitoring of driving effect.
The invention has the beneficial effects as follows that the road traffic analogue system construction scheme biggest advantage that adopts distributed and modular combination is open good, function expansibility is strong.Because vehicle dynamic model and emulation, road traffic static model, image-driven engine, traffic dynamic model and emulation etc. all are independent operatings, make the opening of systemic-function and extendability significantly improve; Secondly, because it is by the network parallel computing that data acquisition, automobile dynamics Model Calculation, image generation, dynamic traffic Model Calculation etc. have the work real-time, that calculated amount is big, the real-time of system and the flatness of image motion have greatly been improved, this system has been possessed handle the ability of large scene, thereby significantly improved the range of application of system.
Description of drawings
The invention will be further described below in conjunction with the drawings and specific embodiments.
Fig. 1 is an experimental system for simulating structured flowchart of the present invention.
Fig. 2 is a distributed computer C/S network structure block diagram of the present invention.
Fig. 3 is car model structural drawing of the present invention (the OO model structure of automobile).
Fig. 4 is the real-time loading structure block diagram of dynamic traffic of the present invention.
Fig. 5 is driver's video monitor synoptic diagram of the present invention.
Fig. 6 is driving behavior of the present invention and drives the integrated monitoring system structural drawing of effect.
Embodiment
Experimental system for simulating of the present invention mainly is made up of six big subsystems such as driving cabin, automobile dynamics model and the sound, image generation, dynamic traffic simulation, image projection, integrated controls; Driving cabin system acquisition driver's various operation informations and send it to automobile dynamics model system wherein; The automobile dynamics model system calculates the instantaneous position and the athletic posture parameter of automobile, and sends it to image generation system.Simultaneously, the automobile dynamics model system is called corresponding audio file according to driver's operation information and is played back by sound system; Image generation system generates and corresponding, the continually varying dynamic road traffic scene of vehicle movement according to the relevant parameter that automobile dynamics model system and dynamic traffic simulation system provide.By image projection system the dynamic road traffic scene is projected on the screen in driving cabin dead ahead at last.Integrated control system then is subsystems such as control driving cabin, automobile dynamics model and the sound, image generation, dynamic traffic simulation and image projection.The software and hardware organization network structure of system as shown in Figure 1.
The formation of each several part below is described respectively:
(1) distributed computer network structure: the network structure of this analogue system such as Fig. 2, it is made up of 8 computing machines.It is a small-sized client/server structural network system, main control computer wherein is as server, all the other are as client computer, comprise: data acquisition computer, traffic model computing machine, automobile dynamics normatron, 4 graphic computers, information is by the exchange of 100M/1000M high-speed local area network.All computing machines independent parallel separately calculate, network service is is all received and dispatched by main control computer (server end): at first, server receives the driver's driver behavior parameter from data gather computer, and sends the driver behavior parameter to the automobile dynamics prototype; Secondly, server is received parameters such as the vehicle location finished from the Model Calculation of automobile dynamics normatron, attitude; Meanwhile, server receives the data such as dynamic traffic stream from the traffic model computing machine; Then, server sends simulator position, attitude and dynamic traffic environmental parameter and waits until 4 graphic computers, and real-time update realizes the real-time three-dimensional dynamic simulation synchronously.
(2) automobile dynamics model and modularization: the automobile dynamics Model Calculation is the core of driving simulator " motion ", and in driving procedure, all motions of vehicle (simulator) all obtain by the automobile dynamics Model Calculation.The input information of automobile dynamics Model Calculation is from upper driving cabin sensing system, and output information (result of calculation) is input to the next road traffic what comes into a driver's generation system.Consider that simulator can reflect the manipulation and the motion state of automobile more all sidedly, auto model adopts the kinetic model of 12 degree of freedom, comprises the inclination, trim, yaw, the rotation of four wheels, the motions such as corner of bearing circle of length travel, transversal displacement, the vehicle body of the course of work, the vehicle of engine rotation, clutch coupling; In addition, should determine that also the torque characteristics of the engine of simulating vehicle, the slip characteristic and the cornering behavior of tire simulate the authenticity of device when quickening, brake and turning to assurance.In Model Calculation, adopt OO method, independent the assembly relevant with the vehicle movement model, as Fig. 3, set up and comprised vehicle body, engine, chassis and catanator four systems.Wherein, catanator comprises: 5 subsystems such as brake pedal, variator, clutch pedal, gas pedal, bearing circle; Chassis portion comprises: power train, clutch coupling, turn to be, 6 subsystems such as braking system, suspension system, wheel.
(3) the road traffic virtual scene moduleization generates fast: be to generate fast the road traffic virtual scene, system design developable model bank, texture storehouse, and provide the visualized data standard of open interface.Call number by calling model, texture number and model parameter can realize the drafting of any complex model, and information such as virtual scene data storage texture number, pattern number, model parameter is the set of a series of models.Open data-interface, simple and clear data structure make the user to generate the road traffic virtual scene that meets the visualized data interface standard fast by self-programmed software.Simultaneously, system also provides abundant scene module storehouse, the scene module storehouse is by a series of model organic assembling, have versatility and realize the model set of complete function, as: the highway scene module, can form by set such as road model, guardrail model, traffic sign models, the road traffic virtual scene moduleization, be exactly in order to generate virtual scene fast, the utilization systematic point of view, the characteristics of research road traffic system are with the method for decomposing and making up, set up the scene module storehouse, and the utilization module combinations becomes the process of brand-new virtual scene.Modeling method: open the road traffic virtual scene, the model series that selection is fit to combine, definition module title and module interface parameter, output module.Combined method (use module): select basic scene module, load the traffic scene functional module (one or more) that needs, utilize translation, the rotation of three-dimensional scenic, the combined transformation of convergent-divergent, make module and the basic scene seamless link that loads, finish the road traffic virtual scene modeling.The scene module storehouse is wide-open, except a large amount of modules that system provides, and the freely-increased/decreased scene module of user, the scene module of enriching constantly storehouse.Abundant scene module storehouse, modular idea about modeling provides condition and method for generating the road traffic virtual scene fast.
(4) the dynamic traffic modularization loads in real time: dynamic traffic is the important component part of traffic simulation system, and this functional module can generate traffic flow that meets certain regularity of distribution and the traffic flow of satisfying specific plot in real time.The dynamic traffic module provides wide-open interface, and interface parameters mainly comprises controlled variable, characteristics of motion parameter.Controlled variable is used for the characteristic of definite traffic flow etc., comprises traffic flow three parameters: flow, speed, density, triggering mode (mainly contain trigger region triggering, distance triggering, three kinds of modes of Time Triggered, whether the control vehicle starts).Characteristics of motion parameter is used to specify the running orbit and the travelling speed of vehicle, also can only specify initial position, automatic then searching route, and according to traffic model acceleration, deceleration.Open interface can be realized the reproduction to the traffic flow of present domestic and international famous simulation software, as: by the traffic flow of VISSIM simulation software generation.The dynamic traffic module is calculated the kinematic parameter of each individuality of dynamic traffic (vehicles or pedestrians), the states such as position of real-time update traffic flow individuality in real time according to the state parameter of default controlled variable, moving law parameter and simulated automotive.The relation of traffic dynamic model and road virtual scene as shown in Figure 4.The road virtual scene is by static what comes into a driver's model, dynamically what comes into a driver's model, outside Traffic Flow Simulation interface loading rear drive.Wherein static what comes into a driver's model is set up by the three-dimensional vision editing machine; Dynamically the what comes into a driver's model provides data by dynamic traffic behavior algorithm or track data; Outside Traffic Flow Simulation interface provides data by relevant microscopic simulation software.
(5) driving behavior and the integrated monitoring of driving effect: the video monitoring device of driver's face, hand and foot is installed in driver's work chamber, and situation is handled in driver's facial expression, trick in the omnidistance record simulative automobile driving process of the test; Provide foundation as the manipulative behavior of research driver under various riving conditions and driving effect.Integrated monitoring is realized by industrial colourful CCD video camera, video change-over device, speech talkback device and the hard disk video and audio recording machine equipment of band infrared light.The driving behavior of writing down the driver by the industrial colourful CCD video camera that is installed in driver's work chamber three band infrared lights, these three video cameras are installed on respectively by the roof and gear pull bar of instrument desk, left back top, copilot seat in the place ahead, copilot seat, are used for monitoring driver's facial expression, driver's operation by human hand and driver's foot action respectively.Light is generally darker in driver's work chamber, owing to have infrared light, makes driver's foot, hand and face all can see clearly.By video converter the vision signal that the video output signals of image generation system is converted to bnc interface is linked to each other with hard disk video and audio recording machine.The speech talkback device is installed in the windshield place in last the place ahead of operating seat in driver's work chamber respectively by two covers and the audio amplifier and the microphone of central control board formed, and the audio input end that the output audio of speech talkback device is connected to hard disk video and audio recording machine is recorded.Adopt above-mentioned monitoring scheme, can monitor in real time the various driving behaviors of driver driving procedure and driving effect from a plurality of angles, can carry out synchronous long-time video recording and recording to the video and the audio-frequency information of monitoring again, and the data of necessity is provided for the driving behavior of further studying the driver.Simultaneously, because the picture that image generation system is generated is recorded in one road video image synchronously with driver's corresponding driving behavior again, for studying the driving behavior of driver in the various virtual road traffic scenes data that provides the foundation.Integrated monitoring system structure as shown in Figure 5 and Figure 6.The colourful CCD video camera of three band infrared lights is installed in driver's work chamber 1.The video camera 2 that is installed on the place ahead, copilot seat instrument desk is connected to first loop of hard disk video and audio recording machine 7 driver's facial expression is recorded a video, second loop that the video camera 3 that is installed in left back top, copilot seat roof is connected to hard disk video and audio recording machine 7 to the driver hand motion---bearing circle 6 is recorded a video, being installed in the 3rd loop that the other video camera 4 of gear pull bar is connected to hard disk video and audio recording machine 7 records a video to driver's footwork, the video output signals of the VGA interface of image generation system computing machine 8 is connected to the 4th loop of video converter 9 back access hard disk video and audio recording machines 7 virtual views in driver dead ahead is recorded a video, the BNC video output signals of hard disk video and audio recording machine 7 is connected to the another one loop of hard disk video and audio recording machine and realizes above-mentioned four passages are recorded a video in a picture, and the audio frequency output of speech talkback device 5 is connected to hard disk video and audio recording machine 7 first via audio input ends and realizes voice recording.
Claims (10)
1. people-Che-Lu environment drive simulation experimental system is characterized in that mainly being made up of driving cabin, automobile dynamics model and the sound, image generation, dynamic traffic simulation, image projection, integrated control six big subsystems; Driving cabin system acquisition driver's various operation informations and send it to automobile dynamics model system wherein; The automobile dynamics model system calculates the instantaneous position and the athletic posture parameter of automobile, and send it to image generation system, simultaneously, the automobile dynamics model system is called corresponding audio file according to driver's operation information and is played back by sound system; Image generation system generates and corresponding, the continually varying dynamic road traffic scene of vehicle movement according to the relevant parameter that automobile dynamics model system and dynamic traffic simulation system provide, the dynamic road traffic scene is projected on the screen in driving cabin dead ahead by image projection system at last, integrated control system then is that control driving cabin, automobile dynamics model and the sound, image generate, dynamic traffic is simulated and the image projection subsystem; By distributed network structure, modular automobile dynamics model, the road traffic virtual scene moduleization generates fast, the dynamic traffic modularization loads in real time, driving behavior and the integrated monitoring of driving effect, the information ring that forms people, car, road closes, and all processes all take place in real time, to produce the continually varying image.
2. people-Che according to claim 1-Lu environment drive simulation experimental system, it is characterized in that distributed network structure comprises data acquisition computer, traffic model computing machine, automobile dynamics normatron, 4 graphic computers, information is by the exchange of 100M/1000M high-speed local area network, all computing machines independent parallel separately calculate, and network service is is all received and dispatched by the server end of main control computer.
3. people-Che according to claim 2-Lu environment drive simulation experimental system, it is characterized in that network service all by the process that main control computer is received and dispatched is: at first, server receives the driver's driver behavior parameter from data gather computer, and sends the driver behavior parameter to the automobile dynamics prototype; Secondly, server is received vehicle location, the attitude parameter of finishing from the Model Calculation of automobile dynamics normatron; Meanwhile, server receives the dynamic traffic flow data from the traffic model computing machine; Then, server sends simulator position, attitude and dynamic traffic environmental parameter and waits until 4 graphic computers, and real-time update realizes the real-time three-dimensional dynamic simulation synchronously.
4. people-Che according to claim 1-Lu environment drive simulation experimental system is characterized in that modular automobile dynamics model comprises to have set up and comprises vehicle body, engine, chassis and catanator four systems; Wherein, catanator comprises: brake pedal, variator, clutch pedal, gas pedal, 5 subsystems of bearing circle; Chassis portion comprises: power train, clutch coupling, turn to be, braking system, suspension system, 6 subsystems of wheel.
5. people-Che according to claim 4-Lu environment drive simulation experimental system, it is characterized in that modular automobile dynamics model adopts the kinetic model of 12 degree of freedom, comprise the inclination, trim, yaw, the rotation of four wheels, the corner motion of bearing circle of length travel, transversal displacement, the vehicle body of the course of work, the vehicle of engine rotation, clutch coupling; And the slip characteristic of the torque characteristics of the engine of definite simulating vehicle, tire and cornering behavior are to guarantee to simulate the authenticity of device when quickening, brake and turning to.
6. people-Che according to claim 1-Lu environment drive simulation experimental system is characterized in that system provides developable model bank, texture storehouse and open interface method; Comprise the call number of calling model, texture number, model parameter; The scene module storehouse that is provided is by a series of model organic assembling, and is wide-open, with decomposing and the method for combination, sets up the scene module storehouse.
7. people-Che according to claim 1-Lu environment drive simulation experimental system is characterized in that the dynamic traffic module provides wide-open interface, and interface parameters mainly comprises controlled variable, characteristics of motion parameter; Open interface can be accepted the data of outside Traffic Flow Simulation software, the emulation of the traffic flow of realization.
8. people-Che according to claim 1-Lu environment drive simulation experimental system is characterized in that the road traffic virtual scene is by static what comes into a driver's model, dynamically what comes into a driver's model, outside Traffic Flow Simulation interface loading rear drive; Wherein static what comes into a driver's model is set up by the three-dimensional vision editing machine; Dynamically the what comes into a driver's model provides data by dynamic traffic behavior algorithm or track data; Outside Traffic Flow Simulation interface provides data by relevant microscopic simulation software.
9. people-Che according to claim 1-Lu environment drive simulation experimental system, it is characterized in that driving behavior and the integrated monitoring system of driving effect, be included in the video monitoring device to driver's face, hand and foot, driving effect image generation system, video converter, hard disk video and audio recording, the speech talkback device installed in the driving cabin.
10, people-Che according to claim 9-Lu environment drive simulation experimental system, it is characterized in that in driving cabin, installing the colourful CCD video camera of three band infrared lights, the video camera that is installed on the place ahead, copilot seat instrument desk is connected to first loop of hard disk video and audio recording machine, the video camera that is installed in left back top, copilot seat roof is connected to second loop of hard disk video and audio recording machine, be installed in the 3rd loop that the other video camera of gear pull bar is connected to hard disk video and audio recording machine, the video output signals of the VGA interface of image generation system computing machine is connected to the 4th loop inserting hard disk video and audio recording machine behind the video converter, the BNC video output signals of hard disk video and audio recording machine is connected to the another one loop of hard disk video and audio recording machine and realizes above-mentioned four passages are recorded a video in a picture, and the audio frequency output of speech talkback device is connected to hard disk video and audio recording machine first via audio input end and realizes voice recording.
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