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基于汽车动力学的虚拟驾驶模拟仿真重庆大学硕士学位论文（学术学位）学生姓名：王磊指导教师：杨亚联教授专业：车辆工程学科门类：工学重庆大学机械工程学院二O一四年五月ResearchonDrivingSimulationBasedonVehicleDynamicsAThesisSubmittedtoChongqingUniversityinPartialFulfillmentoftheRequirementfortheMaster’sDegreeofEngineeringByWangLeiSupervisedbyProf.YangYalianSpecialty:VehicleEngineeringCollegeofMechanicalEngineeringofChongqingUniversity,ChongqingChina.May,2014中文摘要I摘要汽车是人机协同控制的复杂系统，要保障汽车的安全运行，驾驶员必须时刻结合道路的变化情况，对汽车进行人机协同控制。因此，汽车仿真必须从人-车-路系统层面进行研究。而汽车驾驶模拟器是实现汽车人机交互式仿真的最有效工具之一。目前，国内外汽车生产厂商及研究院校都对驾驶模拟仿真技术展开广泛研究。驾驶模拟仿真最主要的特点就是沉浸性和交互性。虚拟现实技术结合了实时三维计算机图形技术、立体显示技术、观察者头部、手部跟踪技术、触觉反馈以及声响系统技术等。为使用者提供了视觉、听觉、触觉等等多层面信息，让使用者产生身临其境的感觉。被广泛应用于医学、娱乐、军事、工业虚拟设计、建筑设计等领域。而虚拟现实技术在驾驶模拟研究中的应用，也使得仿真过程沉浸感、交互性更强。针对汽车驾驶的人机交互特性，本文基于汽车动力学以及NI实时仿真平台搭建了研究型驾驶模拟器。并应用此系统，对一种混合动力汽车进行数学建模及燃油经济性分析。主要完成以下工作：①根据驾驶模拟仿真国内外研究现状及已具备的试验条件，确定了系统设计方案和性能要求，对关键技术进行了分析，选取了驾驶模拟仿真系统开发工具，对系统工作原理进行了阐述。②通过游戏引擎及三维建模软件建立了驾驶模拟仿真系统的视景软件，引入头戴式眼镜显示器OculusRift观察视景，实现虚拟场景的平面显示器和头戴式眼镜显示器两种观察方式。③分析NI实时测控系统的总体架构，各子系统软硬件组成及功能。通过NI实时系统和驾驶模拟输入设备搭建了驾驶模拟仿真系统，包括NIPXIe8108实时控制器、PXI7842R数据采集卡、北通BETOPC432Plus游戏输入设备。保证了仿真过程的实时性。④用NILabVIEW编程语言编制建立了车辆动力学模型，并通过数据库技术使仿真过程与视景系统相结合，实现仿真过程与三维动画实时视景系统的数据交互。⑤系统集成，选取虚拟试验场一段道路进行测试，得到仿真数据，并对比普通显示器和头盔显示器试验效果。通过以上研究工作，在仿真过程引入了驾驶模拟操纵，实现了人在环路的人机交互式仿真，为驾驶过程中人和汽车协同控制仿真和极端工况下的仿真，提供重庆大学硕士学位论文II了一种安全、可靠的人-车协同控制仿真环境。关键词：驾驶模拟，汽车动力学，Unity3D，LabVIEW英文摘要IIIABSTRACTAutomobileishuman-machinecontrolledandcomplexsystem,toensuredrivingsafely,thedrivermustcontrolautomobileaccordtochangeofroadconditionallthetime.Thus,automobilesimulationshouldberesearchedfromhuman-vehicle-roadsystemlevel.Drivingsimulatorisoneofthemosteffectivewaystorealizehuman-machineinteractivesimulation.Currently,automobilemanufacturersandscientificresearchinstitutionsfromhomeandabroadhavedoneextensiveresearchondrivingsimulationtechnology.Themostimportantfeatureofdrivingsimulationisimmersiveandinteractivity.VirtualRealitycombinesreal-timecomputergraphicstechnology,Stereodisplaytechnology,headandhandmovementtrackingtechnology,tactilefeedback,soundsystem,etc,providingmultidimensionalinformationforusers,suchasvisualsense,auditorysenseandtactilesense,makingusersbepersonallyonthescene.VirtualRealitytechnologyhasbeenwidelyusedinmedicalscience,entertainment,militaryaffairs,virtualdesigninindustry,buildingdesign,etc.Moreover,theuseofVirtualRealityindrivingsimulatormakessimulationprocesswithstrongerimmersiveandinteractivity.Consideringhuman-machineinteractiveofdriving,aresearchingdrivingsimulatorsystemisbuiltbasedonvehicledynamicsandNIreal-timesimulationplatforminthispaper.Andapplyingthissystem,buildmathmodelandanalyzefuelconsumeeconomicforahybridelectricalvehicle(HEV).Mainlycompletethefollowingworksinthispaper.①Accordingtooverseasanddomesticresearchstatusofdrivingsimulationandexperimentalcondition,systemdesignandperformancerequirementshavebeendetermined,②Avisualsimulationsoftwareofdrivingsimulationhasbeenbuiltthroughgameengineand3Dmodelingsoftware,andobservedthroughHeadMountedDisplay(HMD)OculusRiftimportedinthisproject,realizestwomodesofobserving,ordinarydisplayandHMDdisplay.③TheoverallarchitectureofNIreal-timemeasurementandcontrolsystem，andfunctionofeachsubsystemhavebeenintroduced,thenAdrivingsimulationsystemhasbeenbuiltthroughNIreal-timesystemanddrivingsimulatorinputequipments,includingNIPXIe8108real-timecontroller,PXI7842RDAQcard,BETOPC432Plus重庆大学硕士学位论文IV`gameinputequipment,ensuringreal-timeofsimulationprocess.④VehicledynamicsmodelhasbeenbuiltthroughNILabVIEW,combinedwithvisualdisplaysystemthroughdatabase,realizesdatainteractivebetweenreal-timesimulationprocessand3Dvisualdisplay.⑤Systemintegration,alengthofroadfromvirtualprovinggroundhasbeenselectedtotest,andsimulationdatahasbeenobtained,resultsbetweentestwithordinarydisplayerandtestwithHMDhasbeencompared.Throughtheresearchworksabove,humanmanipulationsareimporttosimulationprocess,realizehuman-in-the-loopinteractivesimulation,andprovideasafe,reliablehuman-automobilecoordinatecontrolsimulationenvironmentforhuman-automobilesystemresearchandsimulationunderExtremeworkingconditions.Keywords:DrivingSimulation,VehicleDynamics,Unity3D,LabVIEW目录V目录中文摘要.......................................................................................................................................I英文摘要....................................................................................................................................III1绪论...........................................................................................................................................11.1课题背景及意义...................................................................................................................11.2虚拟现实技术概述...............................................................................................................21.3驾驶模拟仿真概述及国内外研究现状...............................................................................41.3.1驾驶模拟仿真概述....................................................................................................41.3.2驾驶模拟仿真国内外研究现状..................