【作者】 荆旭；

【导师】 柴山；

【作者基本信息】 山东理工大学 ， 车辆工程， 2007， 硕士

【摘要】 本文对汽车虚拟驾驶系统进行了系统的研究。汽车虚拟驾驶系统是以汽车系统动力学理论建立的汽车运动仿真模型为基础,集合虚拟现实、三维实时渲染、计算机接口和多媒体等先进技术的仿真系统。借助于虚拟驾驶系统,能对汽车-驾驶员-道路(环境)相互作用关系进行研究,可为汽车的数字化设计和性能研究提供有力的工具,为道路交通仿真、驾驶员心理和行为特征等提供研究平台,也为汽车驾驶人员培训提供一个高效、节能的途径。因此,汽车虚拟驾驶系统的研究具有理论和实用的意义,其产品开发具有广阔的市场。本论文结合虚拟现实建模、面向对象建模和数学建模等理论,确定虚拟驾驶系统中各类模型的具体构建方法,提出了系统整体功能框架和各个组成模块的具体开发方案;通过对汽车动力学系统的面向对象分析,以汽车动力学和运动学理论为基础,采用面向对象建模和数学建模方法建立了汽车动力学模型;基于DirectX技术和C++编程语言构建了针对于虚拟驾驶系统的场景管理平台类库;根据汽车动力学对象数学模型,采用改良型欧拉法,建立汽车运动仿真模型;应用虚拟现实建模理论,建立了符合实车驾驶过程中人员的操纵步骤、并具备人机交互和地形检测功能的汽车实时操纵模型;采用VC++ 6.0编程软件开发了汽车虚拟驾驶软件,并进行了模拟驾驶仿真试验。本文中建立的汽车动力学模型、运动仿真模型和实时操纵模型为汽车虚拟驾驶仿真和数字化试验提供了有力而便捷的工具;基于DirectX技术构建的场景管理平台为虚拟驾驶系统提供了有效的运行和开发平台,通过人机交互、视景渲染和声效模拟,能进行驾驶员触觉、视觉和听觉仿真,具有一定研究和应用价值。更多还原

【Abstract】 This paper has a systemic research on the Vehicle Virtual Driving System (VVDS). VVDS is an advanced simulation system, which is based on vehicle motion simulation model built by vehicle dynamics, and integrated with many technologies such as Virtual Reality, 3-Dimention Real-time Rendering and Computer Interface and Multimedia, and so on. In the presence of Vehicle Virtual Driving System, it is effective to study the correlation bettween vehicle, drivers and road (environments); a powerful research tool can be offered to the digital design and performance study of vehicle; a convenient platform can be provided to the traffic simulation and the researchment in psychological and behavioral characteristics of drivers. Also, VVDS is an efficient and energy saving approach for drivers training. So the study of it has a great academic and practical significance, and its productions have a good market.In this paper, combining with the theories of Virtual Reality modeling, object-oriented modeling and mathematical modeling we planed the approaches of constructing kinds of models in VVDS and designed its whole frame and the developing projects of each part. Via the object-oriented analysis of vehicle dynamic system, a dynamic simulation model was constructed in the methods of object-oriented modeling and mathematical modeling based on vehicle kinematics and dynamics theories. A scene management platform of the virtual driving system was built by the DirectX technology and C++. Using modified Euler method, a vehicle motion simulation model was founded combining with vehicle mathematical model and the analysis of its movement. Based on the virtual reality behavior modeling theory, a vehicle real-time operating model was set up, which accords with the driver operation process of real driving and reflects the change of terrain that the vehicle has passed. At last, adopting program software VC++ 6.0 we developed the vehicle virtual driving software and realized virtual driving simulation.The vehicle dynamic model, motion simulation model and real-time operating model which were built in this paper provide a convenient and robust tool for automobile virtual driving simulation and digital experiment. Based on DirectX, the scene management platform offers an efficient and reliable running environment, and makes an immersion environment with virtual vision and sound imitation.更多还原