CN105205248A - Design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components - Google Patents
Design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components Download PDFInfo
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Abstract
The invention discloses a design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components, and relates to a design method of the vehicle terrain trafficability simulating and analyzing components and aims at solving the problems that a large amount of manpower, material resources and financial resources are consumed in the prior art and the research efficiency is low and the period is long in the prior art. The method comprises the following steps: step one, reading terrain elevation data expressed by the SEDRIS (synthetic environment data representation and interchange specification) standard; step two, building a three-dimensional terrain model by reading the terrain elevation data; step three, building a vehicle model for simulating a real vehicle; step four, finishing analyzing the trafficability of the vehicle according to the basic parameters of a vehicle model of the real vehicle; step five, encapsulating the vehicle trafficability analyzing procedure as a trafficability effect component by utilizing a resource encapsulating tool of HIT-TENA. The design method is applied to the design field of the vehicle terrain trafficability simulating and analyzing components.
Description
Technical field
The present invention relates to the method for designing of vehicle terrain trafficability simulation analysis assembly, particularly a kind of method for designing of the vehicle terrain trafficability simulation analysis assembly based on ODE physical engine.
Background technology
For meeting the demand of national defence and military field modeling and simulation technology, U.S. Department of Defense develops the enable architecture (TestandTrainingEnablingArchitecture, TENA) of test training.The basis that Harbin Institute of Technology has used for reference TENA proposes the universal test training system structure HIT-TENA meeting domestic research at present.Figure 1 shows that HIT-TENA architecture, figure acceptance of the bid color part is environmental resource application.Environmental resource comprises the synthetic natural environments such as landform, ocean, space, air, and artificial technology and the tactical environment such as sound, electromagnetism, light.The all test of HIT-TENA is all occur in certain environmental baseline, and the structure effect of environmental resource directly affects simulation result, and the assessment for equipment performance of participating in the experiment also plays a part can not ignore with promoting.
Military with national defence, terrain environment is important component part in whole synthetic natural environment.As the vehicles modal in daily life and military activity, the Characteristic fluctuation of landform has a great impact advancing of vehicle.To in the terrain trafficability test of vehicle, by it for tank and military offroad vehicle, carry over the vehicle research pattern of design-trial-production-test-improvement always.Such pattern obviously needs human and material resources and the financial resources of at substantial, and Efficiency is not high, and the cycle is long.
In domestic existing large-scale virtual platform, also there is terrain environment emulation part, but the technical research for terrain environment and the mutual aspect of vehicle mainly concentrates on the single aspects such as the real-time visual display of scene, vehicle modeling and the modeling of terrain environment effect, does not also have the test training system structure that the operation of complete applied to reality emulates.Therefore, in test training system structure, build terrain environment resource, realize the information interaction of terrain environment resource and vehicle resources, carrying out the terrain trafficability emulation of vehicle, is the effective way of lifting test training system structure competitive power.
Summary of the invention
The object of the invention is the human and material resources and the financial resources that need at substantial in order to solve prior art, and prior art Efficiency is low, the problem that cycle is long, and the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine proposed.
Above-mentioned goal of the invention is achieved through the following technical solutions:
Step one, on VisualStudio platform, GDAL function library is used to read with the terrain elevation data of SEDRIS canonical representation;
Step 2, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build three-dimensional terrain model by reading terrain elevation data;
The initial position of step 3, setting real vehicles, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build the auto model of Reality simulation vehicle according to the hinge-2 joint in the data of the auto model of real vehicles and ODE engine;
Wherein, the data of the auto model of real vehicles comprise the length of vehicle and the diameter of wheel;
The basic parameter of step 4, the Real-time Obtaining auto model of real vehicles in three-dimensional terrain model, completes being analyzed by property of vehicle according to the basic parameter of the auto model of real vehicles; Wherein, the basic parameter of the auto model of real vehicles comprises the speed of vehicle, position and acceleration;
Step 5, the Resource Encapsulation instrument in HIT-TENA is utilized to be encapsulated as by effect assembly by the program analyzed by property of vehicle;
Wherein, the program analyzed by property of vehicle be encapsulated as be specially by effect assembly:
(1) is the resource component that Information System Structure HIT-TENA can load, by the auto model of acquisition real vehicles by the interface encapsulation of property analytical information;
(2), utilize the template encapsulation function of the platform assembly encapsulation tool in HIT-TENA by the Program Generating code skeleton analyzed by property of vehicle.
Invention effect
The present invention is the vehicle terrain trafficability simulation analysis assembly utilizing increase income physical engine ODE (OpenDynamicEngine) and design.Vehicle be virtual test mesorelief environmental resource important component part by effect, landform by effect assembly by real-time analysis vehicle in terrain environment by property, issue the information interaction that vehicle position information and velocity information realize the application of terrain environment resource and other equipment of participating in the experiment.Vehicle terrain trafficability simulation analysis assembly, for the raising credibility of virtual test, the reusability of environmental resource, improves virtual environment resource significant.
Along with virtual reality technology is developed with perfect gradually in recent years, carry out terrain trafficability analysis by virtual reality technology and have that cost is low, easy to use, the cycle is short and the advantage of broad covered area.
Cycle is short: current trafficability test is all that the real vehicle carried out at testing field is measured, when true experimental site adopts real vehicles to carry out terrain trafficability analysis design mothod, need preparing experiment place and experiment vehicle in advance, and in large-area place, experiment needs time a couple of days, and the cycle is longer.And in the present invention, adopt virtual reality technology, saved the setup time before experiment, and the emulation running time of auto model on three-dimensional terrain model also shortens greatly.Compared with measuring with real vehicle, the present invention by the test period from the order of magnitude in units of sky drop to by hour in units of the order of magnitude, there is cycle short advantage.
Broad covered area: when carrying out train experiment in actual experiment place, consider the restriction in actual place, the geographic factors such as the gradient of landform have very large restriction.And in the present invention, adopt three-dimensional terrain model to emulate, the gradient of landform, material are not limited, there is the advantage of broad covered area.
The present invention is the terrain trafficability assembly that universal test training system structure HIT-TENA builds vehicle, is the ingredient of the terrain environment resource in the application of HIT-TENA system environmental resource.Terrain environment database in HIT-TENA system is based on Synthetic environment data representation and interchange specification (SyntheticEnvironmentDataRepresentationandInterchangeSpec ification, SEDRIS) build, comprise altitude figures, cultural traits data, data texturing and 3D model file, achieve the complete representation of terrain environment data and unambiguously mutual.The present invention is directed to the altitude figures (DEM) in the terrain environment resource of HIT-TENA system, design the terrain trafficability analytic unit of vehicle.
In order to carry out dynamics simulation to auto model, force analysis when simulating vehicle is advanced in landform also carries out collision detection when vehicle and surrounding environment collide, and needs to adopt physical engine.Physical engine common at present has Havok, Physx, Bullet and ODE.The present invention adopts the physical engine ODE that increases income mainly developed by RussellSmith, has the following advantages:
1, the simulation to radial type rigid structure is particularly suitable for;
2, there is quick, strong, stable feature, be applicable to the simulation of interactive environment or real time environment;
3, the mode adopting " firmly " to connect, other physical engine then represents the annexation between two objects with virtual spring, but is difficult to like this simulate correct collision effect, and very easily makes mistakes;
4, the collision space supported has: quaternary tree space, hash space, simple space;
5, use First-order Integral device fast, have can be free time step;
The present invention analyzes that its straight line travels, turns, mechanical relationship under a few class transport condition of climbing and kinematic relation, in HIT-TENA system with the terrain environment data of SEDRIS canonical representation, construct three-dimensional terrain model.For realizing the dynamics simulation of auto model, adopting ODE physical engine to carry out mechanical analysis and collision detection, realizing the terrain trafficability analysis to auto model.For realize various resource in HIT-TENA system interoperability, reuse and may be combined with, utilize TA Resource Encapsulation instrument to carry out terrain trafficability component package.The test resource of test training system structure that this assembly is perfect, improves the confidence level of test training system structure, has important using value in field of virtual reality.
The present invention improves the credibility of virtual test, the reusability of environmental resource, improves virtual environment resource, devises the vehicle terrain trafficability simulation analysis assembly based on the physical engine ODE that increases income.Compared with the terrain simulation technology in existing large-scale virtual platform, the real-time visual of scene shows by the present invention, vehicle modeling and the modeling of terrain environment effect combine, carry out terrain trafficability analysis in real time, achieve the information interaction of terrain environment resource and vehicle resources.The design has and uses credible high, and reusability is good, highly versatile, the feature such as to be widely used.
Accompanying drawing explanation
Fig. 1 is the HIT-TENA architectural schematic that background technology proposes;
Fig. 2 is that the TIN algorithm that embodiment three proposes builds three-dimensional terrain model schematic diagram;
The three-dimensional terrain model perspective view that Fig. 3 (a) proposes for embodiment three;
The three-dimensional terrain model close-up view that Fig. 3 (b) proposes for embodiment three;
Fig. 4 is the auto model schematic diagram of the real vehicles that embodiment one proposes;
Fig. 5 be embodiment four propose vehicle travel in landform by property exploded view;
Fig. 6 is the component package schematic flow sheet analyzed by property of the auto model that embodiment one proposes;
Fig. 7 is that the landform of embodiment six proposition is by effect the Component Object Model schematic diagram;
Fig. 8 is that the landform of embodiment six proposition is by effect module data interactive interface figure.
Embodiment
Embodiment one: the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine of present embodiment, specifically prepare according to following steps:
Step one, on VisualStudio platform, GDAL function library is used to read with the terrain elevation data of SEDRIS canonical representation; Wherein, read and comprise .dt1 file .aux file and .rrd file with the terrain elevation data of SEDRIS canonical representation;
.dt1 file is used for storing altitude figures;
.aux file is a file being used for preserving the supplementary that raster file self can not be preserved, and .aux file exists in same catalogue together with raster file, and filename is consistent with raster file;
.rrd file is image pyramid file, if a raster dataset creates image pyramid, so the pointer of .rrd file storing path also preserved by aux file;
Step 2, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build three-dimensional terrain model by reading terrain elevation data;
The initial position of step 3, setting real vehicles, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build the auto model of Reality simulation vehicle as Fig. 4 according to hinge-2 (chain 2) joint in the data of the auto model of real vehicles and ODE engine;
Wherein, the data of the auto model of real vehicles comprise the length of vehicle and the diameter of wheel;
The basic parameter of step 4, the Real-time Obtaining auto model of real vehicles in three-dimensional terrain model, completes being analyzed by property of vehicle according to the basic parameter of the auto model of real vehicles; Wherein, the basic parameter of the auto model of real vehicles comprises the speed of vehicle, position and acceleration;
Step 5, utilize the Resource Encapsulation instrument in HIT-TENA to be encapsulated as the program analyzed by property of vehicle by effect assembly, achieve the interoperability with vehicle assembly, terrain environment resource and Atmosphere environment resource etc. in TENA system;
Wherein, the program analyzed by property of vehicle be encapsulated as be specially by effect assembly:
(1), in order to provide terrain trafficability information to other equipment of participating in the experiment in HIT-TENA system, the present invention is the resource component that Information System Structure HIT-TENA can load by what obtain the auto model of real vehicles by the interface encapsulation of property analytical information;
(2), in order to build based on ODE physical engine by effect assembly, utilize the template encapsulation function of the platform assembly encapsulation tool in HIT-TENA by the Program Generating code skeleton analyzed by property of vehicle; The component package flow process analyzed by property of auto model as shown in Figure 6.
Present embodiment effect:
Present embodiment is the vehicle terrain trafficability simulation analysis assembly utilizing increase income physical engine ODE (OpenDynamicEngine) and design.Vehicle be virtual test mesorelief environmental resource important component part by effect, landform by effect assembly by real-time analysis vehicle in terrain environment by property, issue the information interaction that vehicle position information and velocity information realize the application of terrain environment resource and other equipment of participating in the experiment.Vehicle terrain trafficability simulation analysis assembly, for the raising credibility of virtual test, the reusability of environmental resource, improves virtual environment resource significant.
Along with virtual reality technology is developed with perfect gradually in recent years, carry out terrain trafficability analysis by virtual reality technology and have that cost is low, easy to use, the cycle is short and the advantage of broad covered area.
Cycle is short: current trafficability test is all that the real vehicle carried out at testing field is measured, when true experimental site adopts real vehicles to carry out terrain trafficability analysis design mothod, need preparing experiment place and experiment vehicle in advance, and in large-area place, experiment needs time a couple of days, and the cycle is longer.And in present embodiment, adopt virtual reality technology, saved the setup time before experiment, and the emulation running time of auto model on three-dimensional terrain model also shortens greatly.Compared with measuring with real vehicle, present embodiment by the test period from the order of magnitude in units of sky drop to by hour in units of the order of magnitude, there is cycle short advantage.
Broad covered area: when carrying out train experiment in actual experiment place, consider the restriction in actual place, the geographic factors such as the gradient of landform have very large restriction.And in present embodiment, adopt three-dimensional terrain model to emulate, the gradient of landform, material are not limited, there is the advantage of broad covered area.
Present embodiment is the terrain trafficability assembly that universal test training system structure HIT-TENA builds vehicle, is the ingredient of the terrain environment resource in the application of HIT-TENA system environmental resource.Terrain environment database in HIT-TENA system is based on Synthetic environment data representation and interchange specification (SyntheticEnvironmentDataRepresentationandInterchangeSpec ification, SEDRIS) build, comprise altitude figures, cultural traits data, data texturing and 3D model file, achieve the complete representation of terrain environment data and unambiguously mutual.Present embodiment, for the altitude figures (DEM) in the terrain environment resource of HIT-TENA system, designs the terrain trafficability analytic unit of vehicle.
In order to carry out dynamics simulation to auto model, force analysis when simulating vehicle is advanced in landform also carries out collision detection when vehicle and surrounding environment collide, and needs to adopt physical engine.Physical engine common at present has Havok, Physx, Bullet and ODE.Present embodiment adopts the physical engine ODE that increases income mainly developed by RussellSmith, has the following advantages:
Be particularly suitable for the simulation to radial type rigid structure
1, there is quick, strong, stable feature, be applicable to the simulation of interactive environment or real time environment;
2, the mode adopting " firmly " to connect, other physical engine then represents the annexation between two objects with virtual spring, but is difficult to like this simulate correct collision effect, and very easily makes mistakes;
3, the collision space supported has: quaternary tree space, hash space, simple space;
4, use First-order Integral device fast, have can be free time step;
Present embodiment analyzes that its straight line travels, turns, mechanical relationship under a few class transport condition of climbing and kinematic relation, in HIT-TENA system with the terrain environment data of SEDRIS canonical representation, construct three-dimensional terrain model.For realizing the dynamics simulation of auto model, adopting ODE physical engine to carry out mechanical analysis and collision detection, realizing the terrain trafficability analysis to auto model.For realize various resource in HIT-TENA system interoperability, reuse and may be combined with, utilize TA Resource Encapsulation instrument to carry out terrain trafficability component package.The test resource of test training system structure that this assembly is perfect, improves the confidence level of test training system structure, has important using value in field of virtual reality.
Present embodiment is improve the credibility of virtual test, the reusability of environmental resource, improves virtual environment resource, devises the vehicle terrain trafficability simulation analysis assembly based on the physical engine ODE that increases income.Compared with the terrain simulation technology in existing large-scale virtual platform, the real-time visual of scene shows by present embodiment, vehicle modeling and the modeling of terrain environment effect combine, carry out terrain trafficability analysis in real time, achieve the information interaction of terrain environment resource and vehicle resources.The design has and uses credible high, and reusability is good, highly versatile, the feature such as to be widely used.
Embodiment two: present embodiment and embodiment one unlike: read in step one and be specially with the terrain elevation data of SEDRIS canonical representation:
(1) the storehouse GDAL that increases income of increase income storehouse GDAL and the vector geographic data form of operation grid format, is adopted to read terrain elevation data respectively;
(2) the GDALRasterBand::RasterIO function in GDAL function library (reading wave band data function), is utilized to read the terrain elevation data stored in .aux file, because altitude figures is the individual event digital land value model model that zeroth order is simple, therefore the terrain elevation data read out is stored in the two-dimensional array of foundation, so that follow-up terrain construction.
Embodiment three: present embodiment and embodiment one or two unlike: utilize ODE physical engine tectonodynamics realistic model in step 2, in Dynamics Simulation Model, build three-dimensional terrain model detailed process by reading terrain elevation data:
(1), ODE physical engine intermediate cam grid (trimesh) class and highland (heightfield) class all can be used to represent dimensional topography; Instability due to trimesh class and the not pardon to convex body, therefore the present invention adopts the highland class of ODE inside to represent three-dimensional terrain model;
(2) TIN algorithm (TriangulatedIrregularNetwork, is adopted, TIN) read the terrain elevation data of SEDRIS standard, in Dynamics Simulation Model, construct three-dimensional terrain model as shown in Fig. 3 (a) He Fig. 3 (b) according to terrain elevation data; Its main process as shown in Figure 2.Other step and parameter identical with embodiment one.Other step and parameter identical with embodiment one or two.
Embodiment four: one of present embodiment and embodiment one to three, unlike the basic parameter of Real-time Obtaining auto model of real vehicles in three-dimensional terrain model in step 4, complete analyzing detailed process by property and being of vehicle according to the basic parameter of the auto model of real vehicles:
(1), in order to build vehicle emulation kinetic model and carry out behavior modeling, ODE physical engine is adopted to create the collision world of three-dimensional terrain model and the collision solid object of real vehicles, utilize the auto model of collision solid object to three-dimensional terrain model and real vehicles of the collision world of three-dimensional terrain model and real vehicles to carry out collision detection, controlled the motion of the auto model of real vehicles by parametric controller; The auto model of real vehicles is normally travelled (completing auto model in the traveling in uneven landform of jolting) in three-dimensional terrain model;
Wherein, the motion of the auto model of real vehicles comprises the forward-reverse of the auto model of real vehicles, the function of turning left and turning right; Meanwhile, the performance travelled to observe its straight line, the performance that the performance of turning driving and climbing travel, the present invention can obtain the state of vehicle in real time, achieves the real-time, effectively mutual of terrain environment resource and vehicle resources; Fig. 5 is the result of the vehicle terrain trafficability analysis that the present invention realizes;
(2), the auto model of real vehicles adopts ODE physical engine to carry out Dynamic solving computing to the auto model of real vehicles after normal traveling in three-dimensional terrain model, the state that the auto model obtaining real vehicles is advanced in three-dimensional terrain model is by setting up Dynamics Simulation Model, mechanics and the kinematics character of object is shown, for the terrain trafficability analysis realizing vehicle provides mechanical foundation in Dynamics Simulation Model.Other step and parameter identical with one of embodiment one to three.
Embodiment five: one of present embodiment and embodiment one to four unlike: the detailed process utilizing the auto model of the collision solid object of the collision world of three-dimensional terrain model and real vehicles to three-dimensional terrain model and real vehicles to carry out collision detection is:
(1) the auto model power of real vehicles, is set;
(2) parameter that the auto model hinge-2, adjusting real vehicles saves;
(3), call the auto model of call back function to three-dimensional terrain model and real vehicles and carry out collision detection;
1) whether the auto model detecting three-dimensional terrain model and real vehicles collides, if do not collided, the auto model of real vehicles repeats step (1) ~ (3);
2) if collided, the auto model of AABB detection algorithm to the three-dimensional terrain model collided and real vehicles is utilized to detect, here detection refers to carries out force analysis to the three-dimensional terrain model collided and real auto model, ensureing the normal traveling of auto model in landform, is not will avoid colliding; The auto model of real vehicles after detecting, still repeats step (1) to (3);
(4), repeating step (1) ~ (3) starts to carry out simulation cycles until the state that the auto model of the real vehicles obtained is advanced in three-dimensional terrain model satisfies the demands; Wherein, the demand that state meets is specially: the auto model travel condition data of the real vehicles of acquisition are more than or equal to 50 groups.Other step and parameter identical with one of embodiment one to four.
Embodiment six: one of present embodiment and embodiment one to five unlike: be the resource component that Information System Structure HIT-TENA can load by the interface encapsulation of property analytical information process is by what obtain the auto model of real vehicles in step 5:
(1), being set up by the middleware interface in HIT-TENA by property analytic unit of auto model issue object model, needs the application of data can order object model, realize data exchange process;
(2) object model that the landform that the analysis, in HIT-TENA or the process class in HIT-TENA are ordered in applying is issued by effect assembly; The object model that its mesorelief is issued by effect assembly is as Fig. 7, and table 1 is the details of object model; The landform that the process of step (1) and (2) is referred to as under TENA-IDE (TENA Integrated Development Environment (TENA-IDE, TENA-IntegratedDevelopmentEnvironment)) carries out the process of data interaction as shown in Figure 8 by effect assembly;
(3), utilize component package instrument in HIT-TENA to generate landform by after effect component template, after adding being analyzed by property of completed vehicle, set up the realistic model of landform by effect assembly;
(4) object model, obtained according to step (1) and (2) and landform parse the basic parameter of the auto model of real vehicles by the realistic model of effect assembly, and decision-making is carried out to basic parameter, control the speed of the auto model of real vehicles according to result of decision issuing control information and turn to;
The data produced in simulation cycles comprise the positional information of vehicle and velocity information is issued by middleware interface, can be ordered by other assemblies under HIT-TENA platform, achieve the mutual of information between platform, meet the needs of virtual test; So, the present invention completes the vehicle terrain trafficability component design based on ODE physical engine in HIT-TENA test training system.Other step and parameter identical with one of embodiment one to five.
Claims (6)
1., based on a method for designing for the vehicle terrain trafficability simulation analysis assembly of ODE physical engine, it is characterized in that what a kind of method for designing of the vehicle terrain trafficability simulation analysis assembly based on ODE physical engine was specifically carried out according to following steps:
Step one, on VisualStudio platform, GDAL function library is used to read with the terrain elevation data of SEDRIS canonical representation;
Step 2, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build three-dimensional terrain model by reading terrain elevation data;
The initial position of step 3, setting real vehicles, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build the auto model of Reality simulation vehicle according to the hinge-2 joint in the data of the auto model of real vehicles and ODE engine;
Wherein, the data of the auto model of real vehicles comprise the length of vehicle and the diameter of wheel;
The basic parameter of step 4, the Real-time Obtaining auto model of real vehicles in three-dimensional terrain model, completes being analyzed by property of vehicle according to the basic parameter of the auto model of real vehicles; Wherein, the basic parameter of the auto model of real vehicles comprises the speed of vehicle, position and acceleration;
Step 5, the Resource Encapsulation instrument in HIT-TENA is utilized to be encapsulated as by effect assembly by the program analyzed by property of vehicle;
Wherein, the program analyzed by property of vehicle be encapsulated as be specially by effect assembly:
(1) is the resource component that Information System Structure HIT-TENA can load, by the auto model of acquisition real vehicles by the interface encapsulation of property analytical information;
(2), utilize the template encapsulation function of the platform assembly encapsulation tool in HIT-TENA by the Program Generating code skeleton analyzed by property of vehicle.
2. the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine according to claim 1, is characterized in that: read in step one and be specially with the terrain elevation data of SEDRIS canonical representation:
(1) the storehouse GDAL that increases income of increase income storehouse GDAL and the vector geographic data form of operation grid format, is adopted to read terrain elevation data respectively;
(2), utilize the reading wave band data function in GDAL function library to read the terrain elevation data stored, the terrain elevation data read out is stored in the two-dimensional array of foundation.
3. the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine according to claim 2, it is characterized in that: in step 2, utilize ODE physical engine tectonodynamics realistic model, in Dynamics Simulation Model, build three-dimensional terrain model detailed process by reading terrain elevation data:
(1), the highland class of ODE inside is adopted to represent three-dimensional terrain model;
(2), adopt TIN algorithm to read the terrain elevation data of SEDRIS standard, in Dynamics Simulation Model, construct three-dimensional terrain model according to terrain elevation data.
4. the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine according to claim 3, it is characterized in that: the basic parameter of Real-time Obtaining auto model of real vehicles in three-dimensional terrain model in step 4, what complete vehicle according to the basic parameter of the auto model of real vehicles by property analysis detailed process is:
(1), ODE physical engine is adopted to create the collision world of three-dimensional terrain model and the collision solid object of real vehicles, utilize the auto model of collision solid object to three-dimensional terrain model and real vehicles of the collision world of three-dimensional terrain model and real vehicles to carry out collision detection, controlled the motion of the auto model of real vehicles by parametric controller;
Wherein, the motion of the auto model of real vehicles comprises the forward-reverse of the auto model of real vehicles, the function of turning left and turning right;
(2), the rear ODE physical engine that adopts of the auto model of real vehicles normal traveling in three-dimensional terrain model carries out Dynamic solving computing to the auto model of real vehicles, the state that the auto model obtaining real vehicles is advanced in three-dimensional terrain model.
5. the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine according to claim 4, is characterized in that: the detailed process utilizing the auto model of the collision solid object of the collision world of three-dimensional terrain model and real vehicles to three-dimensional terrain model and real vehicles to carry out collision detection is:
(1) the auto model power of real vehicles, is set;
(2) parameter that the auto model hinge-2, adjusting real vehicles saves;
(3), call the auto model of call back function to three-dimensional terrain model and real vehicles and carry out collision detection;
1) whether the auto model detecting three-dimensional terrain model and real vehicles collides, if do not collided, the auto model of real vehicles repeats step (1) ~ (3);
2) if collided, utilize the auto model of AABB detection algorithm to the three-dimensional terrain model collided and real vehicles to detect, after detecting, the auto model of real vehicles, still repeats step (1) ~ (3);
(4), repeating step (1) ~ (3) starts to carry out simulation cycles until the state that the auto model of the real vehicles obtained is advanced in three-dimensional terrain model satisfies the demands; Wherein, the demand that state meets is specially: the auto model travel condition data of the real vehicles of acquisition are more than or equal to 50 groups.
6. the method for designing of a kind of vehicle terrain trafficability simulation analysis assembly based on ODE physical engine according to claim 5, is characterized in that: be the resource component that Information System Structure HIT-TENA can load by the interface encapsulation of property analytical information process is by what obtain the auto model of real vehicles in step 5:
(1), the middleware interface foundation issue object model passed through by property analytic unit in HIT-TENA of auto model;
(2) object model that the landform that the analysis, in HIT-TENA or the process class in HIT-TENA are ordered in applying is issued by effect assembly;
(3), utilize component package instrument in HIT-TENA to generate landform by after effect component template, after adding being analyzed by property of completed vehicle, set up the realistic model of landform by effect assembly;
(4) object model, obtained according to step (1) and (2) and landform parse the basic parameter of the auto model of real vehicles by the realistic model of effect assembly, and decision-making is carried out to basic parameter, control the speed of the auto model of real vehicles according to result of decision issuing control information and turn to.
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