CN113447277A - Virtual experiment platform for automobile highway stability test - Google Patents
Virtual experiment platform for automobile highway stability test Download PDFInfo
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- CN113447277A CN113447277A CN202110626357.0A CN202110626357A CN113447277A CN 113447277 A CN113447277 A CN 113447277A CN 202110626357 A CN202110626357 A CN 202110626357A CN 113447277 A CN113447277 A CN 113447277A
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Abstract
The invention discloses a virtual experiment platform for testing the stability of an automobile highway, which comprises an automobile stability simulation system, a virtual experiment automobile, a data management module, a kinematics simulation module and a user operation interface, and is characterized in that: the data management module comprises a test scene database, an automobile model database, a simulation control database and a stability evaluation database, the kinematics simulation module comprises kinematics modeling, a motion parameter bandage and motion simulation, the user operation interface comprises interface display, parameter input and interface control, a user can select different automobile models to simulate according to simulation requirements, meanwhile, the automobile stability test is carried out on the expressway under different scenes and different weather conditions, the user can further manually set relevant parameters of the automobile according to test requirements by operating a supplementary parameter input key, and the operation is more convenient and diversified.
Description
Technical Field
The invention relates to the field of automobile testing, in particular to a virtual experiment platform for testing the stability of an automobile highway.
Background
With the gradual improvement of the living standard of people, automobiles enter the lives of people more and more, the operation stability is one of the important performances of the automobiles, and the stability has direct influence on the driving speed, the driving safety, the trafficability characteristic and the like. On the expressway, the automobile is influenced by the driving speed of the automobile, so that the automobile is easy to be unstable, and the consequences are more serious once the automobile is unstable. In order to improve the safety of automobiles running on an expressway and determine the stability requirement of the automobiles on the expressway and the maximum safe speed of various automobiles under specific environmental conditions, a large amount of diversified expressway road tests should be performed on the automobiles, the expressway field tests are time-consuming and labor-consuming and have certain dangerousness, and limit data cannot be tested. With the continuous development of the virtual reality technology, the software technology is mature gradually, and powerful technical guarantee is provided for the application of the automobile virtual test, so that the establishment of a virtual highway for the stability test of the automobile becomes possible.
The virtual test platform for the stability of the automobile highway has the obvious advantages of small risk, simplicity and convenience in operation, good immersion and the like from the perspective of a tester, so that the virtual test platform for the stability of the automobile highway is provided for optimizing the stability test of the automobile.
Disclosure of Invention
The invention aims to provide a virtual experiment platform for testing the stability of an automobile highway, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a virtual experiment platform of car highway stability test, includes car stability analog system, virtual experiment car, data management module, kinematics emulation module and user operation interface, data management module includes test scene database, automobile model database, simulation control database and stability evaluation database, kinematics emulation module includes kinematics modeling, motion parameter bandage and motion simulation, user operation interface includes interface display, parameter input and interface control.
As a further scheme of the invention: the automobile stability simulation system is characterized in that a synthetic automobile kinematics model is constructed based on a Unity3D engine, physical properties and kinematics characteristics of an experimental scene are given, the driving process of an experimental automobile in a virtual environment is simulated through a control script bound by a test automobile according to the test requirement of a user on the automobile stability, and control parameters are bound to the automobile model in the experiment to complete the test of the automobile in the virtual environment.
As a still further scheme of the invention: the system comprises a test scene database, an automobile model database, a simulation control database and a stability evaluation database, wherein the test scene database is used for storing three-dimensional models and components in a Unity3D engineering project scene, including various road models, signal lamps, traffic auxiliary facilities and environment backgrounds of an expressway, the three-dimensional models are integrated to construct an experiment scene model, the automobile model database is used for storing an automobile model and a collision body model, the simulation control database is used for storing control data of an automobile stability experiment, feedback data of an experiment automobile in running and an automobile control script written by using C # language, and the stability evaluation database is used for storing stability evaluation indexes and threshold value ranges.
As a still further scheme of the invention: the kinematics simulation module gives physical properties to the imported automobile and the scene based on a Physx physical engine built in the Unity3d, sets kinematics parameters, establishes an automobile kinematics model, adds a kinematics control script written by using a C # language to the automobile for calling related components such as additional engine rotating speed range, spring stiffness, suspension travel and the like in order to realize the functions of simulating acceleration, braking and steering of the automobile in a virtual test scene, cures the scene by setting path points, collision bodies and automatic road finding grids, plans a driving path for the experimental automobile, and further completes animation demonstration of a virtual test of the operation stability of the highway automobile.
As a still further scheme of the invention: the construction of the user operation interface mainly depends on the ui control of the Unity3D, and the response of the interface to the user operation is realized by adding the controls with different functions.
As a still further scheme of the invention: the interface control comprises a start key, an exit key, a vehicle model menu expansion key, a scene menu expansion key and a weather menu expansion key, the parameter input comprises a supplementary parameter input key, the vehicle model menu expansion key comprises an off-road vehicle key, a car key and a truck key, the scene menu expansion key comprises a high-speed tunnel scene key, a high-speed loop scene key, a high-speed ramp scene key and a high-speed ramp scene key, the weather menu expansion key comprises a clear weather key, a rainy weather key and a snowy weather key, the supplementary parameter input key comprises a vehicle body height input grid, a vehicle body front-back axial distance input grid, a vehicle body mass center and front axial distance input grid, a vehicle mass center and ground distance input grid, a rolling vehicle body inertia input grid, a vehicle body pitching inertia input grid, a vehicle body yawing inertia input grid, a lateral wind speed input grid, a vehicle speed input grid and a vehicle speed control system, the vehicle speed control system is characterized in that the vehicle speed is controlled by the vehicle speed control system and the supplementary parameter input is controlled by the vehicle speed control system, Additional friction coefficient input grids, parameter confirmation keys and return keys.
As a still further scheme of the invention: the interface control is used for realizing and presenting user instructions and displaying options made by a user, the start key is used for controlling the start of an experimental process, the quit key is used for controlling the end of the experimental process, the model menu expansion key is used for realizing the switching and calling of various experimental models, the scene menu expansion key 4 is used for realizing the switching and calling among various scenes, the weather menu expansion key is used for realizing the switching and calling among various weathers, the supplementary parameter input key is used for performing supplementary input when the user has specific automobile parameter requirements, if the interface is ignored, default parameters are adopted, and the interface display is used for displaying the changes of kinematic parameters and stability of the experimental automobile in the driving process under a virtual environment and evaluating the stability of the automobile in high-speed driving.
As a still further scheme of the invention: the virtual experiment automobile is a dynamic three-dimensional automobile model constructed by combining a Unity3D collision component and a kinematics script and is a test object of an automobile stability virtual experiment platform, the platform provides automobile models of off-road vehicles, cars and trucks, the function of feeding back stability parameters during driving is realized in a virtual experiment scene of a highway, and the functions of changing working conditions, planning paths and emitting acousto-optic special effects are realized in the driving process according to different test scenes.
As a still further scheme of the invention: the interface display is used for displaying the real-time engine speed, the vehicle speed, the left driving wheel speed, the right driving wheel speed, the left driving wheel rotation, the right driving wheel torque, the left driving wheel braking torque, the right driving wheel braking torque, the steering angle, the yaw rate and the vehicle body side inclination angle of the tested vehicle, displaying the maximum yaw rate and the vehicle body side inclination angle from the motion start to the current moment, and displaying the real-time driving force and the real-time braking force by using a red and black two-color histogram.
Compared with the prior art, the invention has the beneficial effects that:
1. the automobile stability testing device has the advantages that the requirement for selecting the test is met by operating the automobile type menu expansion key, the scene menu expansion key and the weather menu expansion key, so that a user can select different automobile types to simulate according to the simulation requirement, meanwhile, the automobile stability test is carried out on the expressway under the conditions of different scenes and different weather, the user can further manually set relevant parameters of the automobile according to the test requirement by operating the supplementary parameter input key, and the operation is more convenient and diversified.
2. The method can partially replace the stability test of the on-site automobile of the highway, provides data reference and theoretical guidance for on-site test, shortens development period, saves fund and improves safety, and meanwhile, the method belongs to a software system, is not limited by environment, has repeatability test and good immersion.
3. The dynamic property and stability parameters of the automobile are displayed in the test process, so that the experimental data can be monitored in real time conveniently, and a real scene is restored, so that the experiment tends to be more real.
Drawings
Fig. 1 is a block diagram of the module composition of a virtual experimental platform for testing the stability of an automobile highway.
Fig. 2 is a flow chart of interface design of a virtual experimental platform for testing the stability of the automobile highway.
Fig. 3 is a main interface of the virtual experiment platform for the automobile highway stability test.
Fig. 4 is a selection interface of the virtual experimental platform for the automobile highway stability test.
Fig. 5 is a supplementary parameter input interface of the virtual experiment platform for the automobile highway stability test.
Fig. 6 is a vehicle stability parameter display interface of the virtual experiment platform for testing the stability of the automobile highway.
Shown in the figure: a start key 1, an exit key 2, a vehicle model menu expansion key 3, a scene menu expansion key 4, a weather menu expansion key 5, a supplementary parameter input key 6, an off-road vehicle key 7, a car key 8, a truck key 9, a high-speed tunnel scene key 10, a high-speed loop scene key 11, a high-speed ramp scene key 12, a high-speed ramp scene key 13, a clear weather key 14, a rainy weather key 15, a snowy weather key 16, a vehicle height input grid 17, a vehicle front-rear axle distance input grid 18, a vehicle mass center-front axle distance input grid 19, a vehicle mass center-ground distance input grid 20, a vehicle body side-rolling inertia input grid 21, a vehicle body pitch inertia input grid 22, a vehicle body yaw inertia input grid 23, a lateral wind speed input grid 24, an additional friction coefficient input grid 25, a parameter confirmation key 26 and a return key 27.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, in an embodiment of the present invention, an automobile highway stability test virtual experiment platform includes an automobile stability simulation system, a virtual experiment automobile, a data management module, a kinematics simulation module, and a user operation interface, where the data management module includes a test scene database, an automobile model database, a simulation control database, and a stability evaluation database, the kinematics simulation module includes kinematics modeling, a motion parameter binding band, and motion simulation, and the user operation interface includes interface display, parameter input, and interface control.
The automobile stability simulation system is characterized in that a synthetic automobile kinematic model is constructed based on a Unity3D engine, an experimental scene physical attribute and a kinematic characteristic are given, the driving process of an experimental automobile in a virtual environment is simulated through a control script bound by a test vehicle according to the test requirement of a user on the automobile stability, and a control parameter is bound to the automobile model in the experiment to complete the test of the automobile in the virtual environment, the automobile stability simulation system is a main component of an automobile expressway stability test virtual experiment platform, the synthetic automobile kinematic model is constructed based on the Unity3D engine, the experimental scene physical attribute and the kinematic characteristic are given, the model is unified in coordinate axes and simplified by utilizing a Polygon Cruncher software before the automobile model is introduced, the parameter setting is carried out on the automobile model after the model is introduced, and the physical attribute is given to the automobile model at the same time, the method comprises the steps of dividing each part in a model into parent-child levels according to motion characteristics, taking a shell taking an automobile model as a center as a parent of the whole automobile model, enabling wheels and an automobile body to be child objects of the same level, enabling the wheels and the automobile body to move along with the motion of the parent automobile body and simultaneously enabling the wheels and the automobile body to independently move, and adding a created camera component into the automobile model in order to ensure that the automobile can realize the following of a view field during driving. Then, setting dynamic parameters for the model, for example, when adding torque and driving force to the model, a torque curve in an engine external characteristic curve can be edited by calling a built-in function AnimationCurve of Unity3D, so as to define a torque variable engineTorque, and an initial value is assigned, i.e. the torque characteristic can be simulated, and then the driving force change can be correspondingly simulated by the relationship between the driving force and the torque:
in the formula
Is engine torque (
），
Gear and vehicle speed are simulated in a similar way for transmission ratio of a transmission, main reducer transmission ratio, eta T transmission system mechanical efficiency and r Wheel radius (m), and the mass center and mass of each component of the automobile are assumed to realize the simulation of steering and ramp driving, and then a Wheel collision body Wheel collision simulator is used for simulating suspension, Wheel friction and Wheel speed in Unity3D, for example, and the suspension is simplified into a mass-spring-damping vibration model:
wherein m is the weight (kg) of the automobile borne by the wheel, x is the displacement (m) of m, f is the damping coefficient, and k is the elastic stiffness of the spring. After a suspension is simulated by using the wheel Collider, transverse and longitudinal friction characteristics of wheels are set by using forwardFritization and sidewaysFritization, so that main parameters, dynamics and kinematics models of the automobile are set, the driving process of the experimental automobile in the virtual expressway environment is simulated by testing a control script bound by the automobile according to the test requirement of a user on the stability of the automobile, and the test of the automobile in the virtual environment is completed by binding control parameters to the automobile model in the experiment.
The system comprises a test scene database, an automobile model database, a simulation control database and a stability evaluation database, wherein the test scene database is used for storing three-dimensional models and components in a Unity3D engineering project scene, including various road models, signal lamps, traffic auxiliary facilities and environment backgrounds of an expressway, the three-dimensional models are integrated to construct an experiment scene model, the automobile model database is used for storing an automobile model and a collision body model, the simulation control database is used for storing control data of an automobile stability experiment, feedback data of an experiment automobile in running and an automobile control script written by using C # language, and the stability evaluation database is used for storing stability evaluation indexes and threshold value ranges.
The kinematic simulation module gives physical properties to the imported automobile and scene based on a Physx physical engine built in the Unity3d and sets kinematic parameters to establish an automobile kinematic model, in order to realize the functions of simulating acceleration, braking and steering of the automobile in a virtual test scene, the kinematics simulation module adds a kinematics control script written by using C # language to the automobile for calling related components, such as additional engine speed ranges, spring rates, suspension travel, etc., by setting waypoints and collision volumes and an automatic road-finding grid, baking the scene, planning a driving path for the experimental automobile, further completing the animation demonstration of the virtual test of the operation stability of the highway automobile, the kinematics simulation module endows the imported automobile and scene with physical properties based on a Physx physical engine built in the Unity3d and sets kinematics parameters; in order to realize the functions of simulating acceleration, braking and steering of the automobile in a virtual test scene, a kinematics control script written by using C # language is added to the automobile by the simulation control module for calling related components, such as additional engine rotating speed range, spring stiffness, suspension travel and the like. Taking the car drive setting as an example, a corresponding control script "AI car" may be created in Unity3D to store parameters and bind to the car model, and the main class parameters in the main program are (including but not limited to):
adding rigid body components: a private Rigiddbody rigid;
adding a model: public GameObject car;
setting a mass center: public Transform COM;
left front wheel: public Transform FLWheelTransform;
while initializing the following class parameters (including but not limited to) as appropriate:
engine torque curve: public animationCurve [ ] engineTorqCurve;
driving torque: public float engineTorque;
the transmission ratio of the transmission is as follows: public float [ ] GearboxRatio;
the transmission ratio of the main reducer is as follows: public float [ ] MainretarderRatio.
The driving of the vehicle is mainly controlled by using an AI Car (C # script) script, such as the engine speed: engineRPM = mathf clamp ((mathf. lerp (0- (minimum engine rpm); currentGear)), maxiumengine rpm, wheelRPM GearRatio [ ]/(WheelRadius [ 0.377)) + minimumengine rpm), minimumengine rpm, maxiumengine rpm)
The system is characterized in that a suspension is arranged in the kinematics simulation module, the system is prevented from being turned over easily, is prevented from being slid and is used for collision detection, corresponding components are required to be added, such as collision body components, and a similar mode is adopted for script control and parameter binding.
The kinematics simulation module cures a scene by setting path points, collision bodies and automatic road-finding grids, plans a driving path for an experimental automobile and further completes animation demonstration of an automobile control stability virtual test. The specific mode is to open a Navagation automatic path-finding module and add constraints in Bake (baking), for example, the value of Agent Radius indicates how far away from an obstacle is not baked into a grid capable of walking. Then, setting an expressway virtual scene, in order to make the automobile run along the test road according to a preset path in the scene, a new script "WaypointsContainer" needs to be added in the scene, and the code is as follows: public class WaypointsContainer MonoBehaviour
{
public List<Transform> waypoints = new List<Transform>();
void OnDrawGizmos() {
for(int i = 0; i < waypoints.Count; i ++){
Gizmos.color = new Color(0.0f, 1.0f, 1.0f, 0.3f);
Gizmos.DrawSphere (waypoints[i].transform.position, 2);
Gizmos.DrawWireSphere (waypoints[i].transform.position, 20f);
if(i < waypoints.Count - 1){
if(waypoints[i] && waypoints[i+1]){
if (waypoints.Count > 0) {
Gizmos.color = Color.green;
if(i < waypoints.Count - 1)
Gizmos.DrawLine(waypoints[i].position, waypoints[i+1].position);
if(i < waypoints.Count - 2)
Gizmos.DrawLine(waypoints[waypoints.Count - 1].position,
waypoints[0].position);
Then, the driving path points of the automobile can be manually set in the scene, and during the driving process of the simulated automobile, the operation of the driver can also be realized by a script, for example, adding "Brake Zones" before the curve to replace the situation that the driver limits the speed of the automobile when the automobile passes through the curve, namely adding the "automatic driving behavior" as the subclass of the "braking zone" of the parent class, inheriting the former behavior and limiting the speed of the zone.
public class BrakeZone : MonoBehaviour
{
public float targetSpeed =50;
// limiting the object speed to 50
}
And finally, selecting a Mesh Collider Component in a Component menu bar, setting models such as expressway guardrails and tunnels as wall collision bodies, and setting the models as 'Not Walkable' in Navigation Area options of the automatic road-finding grid. After the setting is finished, the baking operation is carried out on the scene, and the driving path of the automobile is calculated, so that the automobile can sequentially drive through the set path points.
The construction of the user operation interface mainly depends on the ui control of the Unity3D, and the response of the interface to the user operation is realized by adding the controls with different functions.
The interface control comprises a start key 1, an exit key 2, a vehicle model menu expansion key 3, a scene menu expansion key 4 and a weather menu expansion key 5, the parameter input comprises a supplementary parameter input key 6, the vehicle model menu expansion key 3 comprises an off-road vehicle key 7, a car key 8 and a truck key 9, the scene menu expansion key 4 comprises a high-speed tunnel scene key 10, a high-speed loop scene key 11, a high-speed ramp scene key 12 and a high-speed ramp scene key 13, the weather menu expansion key 5 comprises a clear weather key 14, a rainy weather key 15 and a snowy weather key 16, the supplementary parameter input key 6 comprises a vehicle height input lattice 17, a vehicle front-rear axle distance input lattice 18, a vehicle mass center-front axle distance input lattice 19, a vehicle mass center-ground distance input lattice 20, a roll inertia input lattice 21, a vehicle height input lattice 10, a vehicle height input lattice 13, a vehicle body front-rear axle distance input lattice 19, a vehicle mass center-ground distance input lattice 20, a roll inertia input lattice 21, A vehicle body pitch inertia input cell 22, a vehicle body yaw inertia input cell 23, a lateral wind speed input cell 24, an additional friction coefficient input cell 25, a parameter confirmation key 26, and a return key 27.
The starting key 1 is used for controlling the starting of an experimental process, the quitting key 2 is used for controlling the ending of the experimental process, the vehicle model menu expansion key 3 is used for realizing the switching and calling of various experimental vehicle models, the scene menu expansion key 4 is used for realizing the switching and calling of various scenes, the weather menu expansion key 5 is used for realizing the switching and calling of various weathers, the supplementary parameter input key 6 is used for carrying out supplementary input when a user has specific vehicle parameter requirements, if the interface is ignored, default parameters are adopted, and the interface display is used for displaying the kinematic parameters and the stability changes of the experimental vehicle in the driving process under a virtual environment and evaluating the stability of the vehicle in high-speed driving.
The virtual experiment automobile is a dynamic three-dimensional automobile model constructed by combining a Unity3D collision component and a kinematics script and is a test object of an automobile stability virtual experiment platform, the platform provides automobile models of off-road vehicles, cars and trucks, the function of feeding back stability parameters during driving is realized in a virtual experiment scene of a highway, and the functions of changing working conditions, planning paths and emitting acousto-optic special effects are realized in the driving process according to different test scenes.
The interface display is used for displaying the real-time engine speed, the vehicle speed, the left driving wheel speed, the right driving wheel speed, the left driving wheel rotation, the right driving wheel torque, the left driving wheel braking torque, the right driving wheel braking torque, the steering angle, the yaw rate and the vehicle body side inclination angle of the tested vehicle, displaying the maximum yaw rate and the vehicle body side inclination angle from the motion start to the current moment, and displaying the real-time driving force and the real-time braking force by using a red and black two-color histogram.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a virtual experiment platform of car highway stability test, includes car stability analog system, virtual experiment car, data management module, kinematics emulation module and user operation interface, its characterized in that: the data management module comprises a test scene database, an automobile model database, a simulation control database and a stability evaluation database, the kinematics simulation module comprises kinematics modeling, a motion parameter binding band and motion simulation, and the user operation interface comprises interface display, parameter input and interface control.
2. The virtual experimental platform for testing the stability of the motorways according to claim 1, characterized in that: the automobile stability simulation system is characterized in that a synthetic automobile kinematics model is constructed based on a Unity3D engine, physical properties and kinematics characteristics of an experimental scene are given, the driving process of an experimental automobile in a virtual environment is simulated through a control script bound by a test automobile according to the test requirement of a user on the automobile stability, and control parameters are bound to the automobile model in the experiment to complete the test of the automobile in the virtual environment.
3. The virtual experimental platform for testing the stability of the motorways according to claim 1, characterized in that: the system comprises a test scene database, an automobile model database, a simulation control database and a stability evaluation database, wherein the test scene database is used for storing three-dimensional models and components in a Unity3D engineering project scene, including various road models, signal lamps, traffic auxiliary facilities and environment backgrounds of an expressway, the three-dimensional models are integrated to construct an experiment scene model, the automobile model database is used for storing an automobile model and a collision body model, the simulation control database is used for storing control data of an automobile stability experiment, feedback data of an experiment automobile in running and an automobile control script written by using C # language, and the stability evaluation database is used for storing stability evaluation indexes and threshold value ranges.
4. The virtual experimental platform for testing the stability of the motorways according to claim 1, characterized in that: the kinematics simulation module gives physical properties to the imported automobile and the scene based on a Physx physical engine built in the Unity3d, sets kinematics parameters, establishes an automobile kinematics model, adds a kinematics control script written by using a C # language to the automobile for calling related components such as additional engine rotating speed range, spring stiffness, suspension travel and the like in order to realize the functions of simulating acceleration, braking and steering of the automobile in a virtual test scene, cures the scene by setting path points, collision bodies and automatic road finding grids, plans a driving path for the experimental automobile, and further completes animation demonstration of a virtual test of the operation stability of the highway automobile.
5. The virtual experimental platform for testing the stability of the motorways according to claim 1, characterized in that: the construction of the user operation interface mainly depends on the ui control of the Unity3D, and the response of the interface to the user operation is realized by adding the controls with different functions.
6. The virtual experimental platform for testing the stability of the motorways according to claim 1, characterized in that: the interface control comprises a start key (1), an exit key (2), a vehicle type menu expansion key (3), a scene menu expansion key (4) and a weather menu expansion key (5), the parameter input comprises a supplementary parameter input key (6), the vehicle type menu expansion key (3) comprises an off-road vehicle key (7), a car key (8) and a truck key (9), the scene menu expansion key (4) comprises a high-speed tunnel scene key (10), a high-speed loop scene key (11), a high-speed ramp scene key (12) and a high-speed ramp scene key (13), the weather menu expansion key (5) comprises a clear weather key (14), a rainy weather key (15) and a snowy weather key (16), and the supplementary parameter input key (6) comprises a vehicle body height input lattice (17), a vehicle body front-rear axle distance input lattice (18), The device comprises a vehicle body mass center-to-front shaft distance input grid (19), a vehicle body mass center-to-ground distance input grid (20), a vehicle body rolling inertia input grid (21), a vehicle body pitching inertia input grid (22), a vehicle body yawing inertia input grid (23), a lateral wind speed input grid (24), an additional friction coefficient input grid (25), a parameter confirmation key (26) and a return key (27).
7. The virtual experimental platform for testing the stability of the motorways according to claim 6, wherein: the system comprises a start key (1) used for controlling the start of an experimental process, an exit key (2) used for controlling the end of the experimental process, a vehicle type menu expansion key (3) used for realizing the switching and calling of various experimental vehicle types, a scene menu expansion key (4) used for realizing the switching and calling among various scenes, a weather menu expansion key (5) used for realizing the switching and calling among various weathers, a supplementary parameter input key (6) used for carrying out supplementary input when a user has specific vehicle parameter requirements, default parameters are adopted if the interface is ignored, and the interface display is used for displaying the changes of kinematic parameters and stability of an experimental vehicle in the driving process under a virtual environment and evaluating the stability of the vehicle in high-speed driving.
8. The virtual experimental platform for testing the stability of the motorways according to claim 1, characterized in that: the virtual experiment automobile is a dynamic three-dimensional automobile model constructed by combining a Unity3D collision component and a kinematics script and is a test object of an automobile stability virtual experiment platform, the platform provides automobile models of off-road vehicles, cars and trucks, the function of feeding back stability parameters during driving is realized in a virtual experiment scene of a highway, and the functions of changing working conditions, planning paths and emitting acousto-optic special effects are realized in the driving process according to different test scenes.
9. The virtual experimental platform for testing the stability of the motorway according to claim 1: the interface display is used for displaying the real-time engine speed, the vehicle speed, the left driving wheel speed, the right driving wheel speed, the left driving wheel rotation, the right driving wheel torque, the left driving wheel braking torque, the right driving wheel braking torque, the steering angle, the yaw rate and the vehicle body side inclination angle of the tested vehicle, displaying the maximum yaw rate and the vehicle body side inclination angle from the motion start to the current moment, and displaying the real-time driving force and the real-time braking force by using a red and black two-color histogram.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117516961A (en) * | 2024-01-05 | 2024-02-06 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving automobile lateral stability testing device |
| CN118093554A (en) * | 2024-04-25 | 2024-05-28 | 中汽研汽车检验中心(昆明)有限公司 | Plateau environment automobile road adaptability test evaluation scene library establishment method and system |
-
2021
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117516961A (en) * | 2024-01-05 | 2024-02-06 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving automobile lateral stability testing device |
| CN117516961B (en) * | 2024-01-05 | 2024-04-05 | 安徽中科星驰自动驾驶技术有限公司 | Automatic driving automobile lateral stability testing device |
| CN118093554A (en) * | 2024-04-25 | 2024-05-28 | 中汽研汽车检验中心(昆明)有限公司 | Plateau environment automobile road adaptability test evaluation scene library establishment method and system |
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