CN103413473B - Driving simulation system of underground mine hinged trolley - Google Patents

Abstract

The invention provides a driving simulation system of an underground mine hinged trolley. The driving simulation system comprises an underground mine hinged trolley movement control model, a visual data model, a scene simulation engine, a driving assisting unit, a sound simulation engine, a display terminal, an audio output terminal and a virtual driving unit. The underground driving process of the hinged trolley can be truly simulated through the establishment of the models, a driver carries out driving simulation through the virtual driving unit, an underground roadway environment and the underground mine hinged trolley can be simulated, and a good platform is provided for the intelligent control technology of the underground mine hinged trolley. According to the driving simulation system of the underground mine hinged trolley, a simulation driving operational platform is designed according to a true trolley, the driver can conveniently carry out driving operation, and the feeling of the driver can be true. The cost for carrying out testing through the true trolley is greatly reduced, and damage to the driver in the underground dangerous driving environment is effectively reduced.

Description

A kind of driving analog system of [underground articulator

Technical field

The present invention relates to a kind of driving analog system, particularly a kind of driving analog system of [underground articulator.

Background technology

In underground mining industry, the climbing capacity of flexible transport vehicle and conevying efficiency are far away higher than rail travel vehicle, along with the progress of China's mining industry level, flexible transport vehicle is adopted to become the development trend of underground mine industry, improving ground vehicle intelligentized control method level is improve the important technology developing direction of mine vehicle conevying efficiency further, but now will to the repacking of real vehicles or configuration to the study general of Vehicular intelligent driving technology, test in highway or specific environment, reality factor is that train experiment cost is high, cycle is long and dangerous large, and experimentation can not reproduce.The Study of intelligent of carrying out using vehicle drive simulation to carry out vehicle in virtual scene is a new research direction, previews under virtual environment to the driving behavior of vehicle and correlative factor, guarantees that vehicle can intelligentized safety traffic.

In prior art, driving analog system is also more, document 1[" design and implimentation based on the driving analog system of OGRE and ODE "] (transport information and safety, 2006,1(24): 101) report a kind of driving analog system method for designing based on OGRE and ODE, the driving environment of vehicle is rendered by OGRE, be that instrument moves in conjunction with Vehicle dynamics simulating vehicle with ODE, achieve one by the interactive driving analog system of external input equipment operation, be mainly used in the driver training of driver.Chinese utility model patent ZL201220293043.X, disclose a kind of novel analog control loop, travelled by driving controller control simulation vehicle, driver is made to feel pavement behavior by vivid platform, present drive simulating environment by analog video glasses, this system is mainly used in the training of vehicle driver.

The feature of above-mentioned existing driving analog system is, only can simulate the vehicle running environment under ground environment, can not the tunnel environment of simulate formation mine vehicle work; Only can simulate the passenger vehicle of rigid body, the underground mine vehicle of articulated car body can not be simulated; Only can be used for training and the training of driver, auxiliary driving unit cannot be added, not possess the autonomous function travelling strategy of checking.

Summary of the invention

The present invention relates to a kind of driving analog system of [underground articulator, with auxiliary driving unit, can the driving analog system of simulate formation tunnel environment and [underground articulator, for [underground articulator intelligent control technology provides good platform.It comprises:

(1) virtual driving unit comprises virtual driving operator's console, bearing circle, operation handle, accelerator pedal, brake pedal, display screen and sound equipment etc., the operating-controlling mechanism of these equipment construction systems.

(2) underground articulator Motion Controlling Model, visual data model, vision simulation engine, auxiliary driving unit, underground articulator sound simulation, virtual driving unit, the foundation of these models can the driving process of real simulation articulator in underground, and driver carries out drive simulation by outer virtual driving unit.

(3) kinetic model of vehicle is part very crucial in system, according to the feature of articulated vehicle, establishes dynamics and the kinematics model of Three Degree Of Freedom.The data that kinetic model directly uses equipment to input, by calculating the data such as engine speed and position and attitude of vehicle in real time.

(4) visual data model comprises the three-dimensional model of articulator, the three-dimensional model of underground passage and traffic mark etc.

(5) vision simulation engine, utilizes computer graphic image technology to generate the underground virtual environment that in vehicle operation, driver sees, as tunnel, and traffic mark and light etc.

(6) auxiliary driving unit, the auxiliary driving of intelligence of underground articulator can be carried out in virtual environment, add virtual laser radar according to the principle of work of actual laser radar in systems in which by ray cast technology, the distance of vehicle and wall and barrier can be measured by virtual laser radar.By auxiliary driving strategy accordingly, occur when the vehicle is running with wall hypotelorism or tunnel in have dangerous driving conditions such as foreign matter appearance time system can give a warning.

(7) underground sound simulation engine, manufactures the sound of different-effect as engine sound, Work machine noise etc. in tunnel.

Native system applies sound engineer of increasing income, and in order to make sound effect more true to nature, system uses stereo audio.

Use dynamics of vehicle and the Motion Controlling Model of simplification in native system, and make sliding-model control, between two frames that computer graphical is played up, cpu idle time carries out the correlation computations of vehicle motion control, and Motion Controlling Model adopts following steps to set up:

If mine car central pivot point is set to H point, propons mid point is Pf (x1, y1), and the distance of this point and central pivot point H is l1, and the speed of a motor vehicle is vf; Back axle mid point is Pr (x2, y2) point, the distance of this point and central pivot point is l2, and the speed of a motor vehicle is vr, front vehicle body yaw velocity is ω 1, turning radius is r1, and aftercarriage yaw velocity is ω 2, and turning radius is r2, the course angle of front vehicle body is θ 1, the course angle of aftercarriage is θ 2, and splice angle is γ, if propons mid point position and posture vector S _t=[x ₁(t) y ₁(t) θ ₁(t)] ^trepresent front vehicle body in the position of t and course angle, then the propons position and posture vector S in t+1 moment _t+1=[x ₁(t+1) y ₁(t+1) θ ₁t+1)] ^t, be expressed as with nonlinear discrete model

$S_{t+1}=S_t+T_s\left[\begin{array}{cc}\cos {\mathrm{\θ}}_1\left(t\right)& 0\\ \sin {\mathrm{\θ}}_1\left(t\right)& 0\\ \frac{-\sin \mathrm{\γ}\left(t\right)}{l_1\cos \mathrm{\γ}\left(t\right)+l_2}& \frac{-l_2}{l_1\cos \mathrm{\γ}\left(t\right)+l_2}\end{array}\right]\left[\begin{array}{c}{v}_f\left(t\right)\\ {\stackrel{\·}{\mathrm{\γ}}}_1\left(t\right)\end{array}\right],$

The speed of current emulation moment front vehicle body is vf (t), and splice angle slewing rate is the time interval emulating this emulation last time is Ts, show that the angular velocity of front vehicle body is

In formula -splice angle slewing rate

$\stackrel{\·}{\mathrm{\γ}}t=\frac{\mathrm{\γt}-\mathrm{\γt}-1}{T_s}$ ，

The course angle of front vehicle body equals a moment course angle and adds this increment emulated

θ ₁t=θ ₁t-1+ω ₁(t)T _s，

The course angle of aftercarriage equals front vehicle body course angle and splice angle sum

θ ₂t=θ ₁+γt，

Show that vehicle propons mid point at the world coordinates of t is by front vehicle body travel speed and course angle:

$\left\{\begin{array}{ccc}{x}_1& t=x_1& t-1+[v_{f}t-1\cos {\mathrm{\θ}}_{1}t-1+v_{f}t\cos {\mathrm{\θ}}_{1}t]T_s/2\\ y_1& t=y_1& t-1+[v_{f}t-1\sin {\mathrm{\θ}}_{1}t-1+v_{f}t\sin {\mathrm{\θ}}_{1}t]T_s/2\end{array}\right.$

According to geometric relationship, try to achieve point coordinate in t back axle

$\left\{\begin{array}{cccc}{x}_2& t& =x_1& t-l_2\cos {\mathrm{\θ}}_2\left(t\right)+l_1\cos {\mathrm{\θ}}_1\left(t\right)\\ y_2& t& =y_1& t-l_2\sin {\mathrm{\θ}}_2\left(t\right)+l_1\sin {\mathrm{\θ}}_1\left(t\right)\end{array}\right.$

The lifting of container is at the uniform velocity, is tried to achieve the value of ω 3 by the controling parameters of container, thus obtains lifting angle θ 3, when control inputs amount C value is 0, container declines, the packing case lifting when C value is 1, the lifting angle scope of container is 0 to 60 degree, and the lifting of container or sinking speed are:

${\mathrm{\ω}}_{3}t=\left\{\begin{array}{cc}\frac{60T_s}{T_u}& (C=1)\\ \frac{60T_s}{T_d}& (C=0)\end{array}\right.,$

At the lifting angle of t container be:

${\mathrm{\θ}}_3\left(t\right)=\left\{\begin{array}{ccc}{\mathrm{\θ}}_3& t-1+{\mathrm{\ω}}_3\left(t\right)T_s& (C=1)\\ {\mathrm{\θ}}_3& t-1-{\mathrm{\ω}}_3\left(t\right)T_s& (C=0)\end{array}\right.$

The beneficial effect that the present invention is compared to the prior art had is

(1) the present invention contrasts real vehicle and devises drive simulating operator's console, is convenient to driver and carries out driver behavior, makes the impression of driver truer.

(2) the present invention is directed to [underground articulator and establish vehicle kinematics and kinetic model, can the traveling of the hinged car body of real simulation.

(3) the present invention can go out underground passage environment by real simulation, for the drive simulation of ground vehicle provides Environmental Support.

(4) the present invention has and auxiliary drives unit, can the driving of simulated intelligence vehicle, for mine car intelligent control technology research in underground provides good platform.

(5) the present invention greatly can reduce and carry out the cost of testing with true car, effectively reduces the harm to driver under underground dangerous driving environment.

Accompanying drawing explanation

Fig. 1 is virtual driving cell schematics.

Fig. 2 is that hinged car body turns to figure.

Fig. 3 is data interaction figure.

Fig. 4 vehicle axis system figure.

Fig. 5 is three-dimensional vehicle illustraton of model.

Fig. 6 is tunnel one-piece construction figure.

Fig. 7 is the inner pinup picture in tunnel.

Fig. 8 is graphical simulation engine start process flow diagram.

Fig. 9 is the scene graph of driving analog system.

Figure 10 is that a section body figure looked by video camera.

Figure 11 is the driving analog system first person and third person figure.

Figure 12 is the structural drawing of frame audiomonitor class.

Figure 13 is Laser Radar Scanning scope.

Figure 14 is virtual laser radar test figure.

Figure 15 is that vehicle is near tunnel left scan figure.

Figure 16 is that vehicle is near tunnel left scan virtual laser radar scanning data plot.

Figure 17 is that vehicle scans virtual laser radar scanning data plot on the right side of tunnel.

Figure 18 dangerous driving behavior is pointed out.

Embodiment

1) below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.

2) [underground articulator driving analog system comprises [underground articulator Motion Controlling Model, visual data model, vision simulation engine, auxiliary driving unit, sound simulation engine, display terminal, audio output terminal and virtual driving unit, the foundation of these models can the driving process of real simulation articulator in underground, and driver carries out drive simulation by virtual driving unit.

3) hardware device of this underground mine car driving analog system is made up of virtual driving operator's console, high-performance computer, display terminal and audio output terminal etc.

4) virtual driving operator's console comprises display terminal support and bridge, and display terminal support is for supporting three pieces of display screens, and driver comprehensively can experience the driving environment of the underground passage of image conversion and the transport condition of articulator by three pieces of display screens.Bridge designs and produces according to the physical dimension of real vehicle, and comprise pilot set, bearing circle, operation handle, accelerator pedal and brake pedal, driver can carry out the driver behavior identical with real vehicle above, as shown in Figure 1.

5) in underground mine car driving analog system, bearing circle is equipped with rotary encoder, output pulse signal, is used for recording its angle turned over; Accelerator pedal and brake pedal export analog voltage signal, export the voltage signal of respective value, control the size of acceleration and deceleration according to the stroke of pedal; Operation handle exports digital voltage signal, is used for controlling lifting and the decline of articulator container.These signals pass to Motion Controlling Model after being collected by the PCI-IO card of main frame, Motion Controlling Model calculates next step position and the attitude data of vehicle according to current vehicle-state and input data, these data are passed to vision emulation system, completed by vision emulation system and play up and export, driver carrys out the transport condition of direct feel vehicle by display terminal and audio output terminal.

6) high-performance computer requires energy fast processing three-dimensional picture and dynamics calculation, computer display card supports that three screen displays are shown, to reach the object of comprehensive display, audio output terminal is audio amplifier, be connected with computing machine, export the various sound that sound simulation engine manufactures in real time.

7) dynamics of vehicle in driving analog system and kinematics model directly can not use the form of the differential equation, because the machine solution differential equation can take a large amount of CPU time, and then the response speed of influential system.So use dynamics of vehicle and the kinematics model of simplification in native system, and make sliding-model control, between two frames that computer graphical is played up, cpu idle time carries out the correlation computations of vehicle motion control.

8), in underground mine car driving analog system, the data xin of the operating-controlling mechanism that the direct receiving system of Motion Controlling Model gathers, the calculating through Motion Controlling Model exports corresponding kinematics parameters xf, xr and xd to vision emulation system.System data flow is shown in accompanying drawing 2.

9) the input control data of the operating-controlling mechanism used in native system can be expressed as $x_{\mathrm{in}}={[{\mathrm{\φ}}_a,{\mathrm{\φ}}_b,\mathrm{\θ},\stackrel{\·}{\mathrm{\θ}},C,G]}^T,$

10) in formula, φ _a, φ _b---accelerator pedal and brake pedal position

11) θ, ---steering wheel angle and slewing rate

12) C---packing case lifting controls, C=0,1

13) G---gear, G=1,2,3

14) coordinate in graphics engine is different from SAE conventional coordinates, and in OGRE, coordinate system take screen as reference, and level is to the right X-axis positive dirction, and be Y-axis positive dirction vertically upward, normal to screen is outwards Z axis positive dirction, sees accompanying drawing 3.

15) be benchmark Modling model coordinate system with the coordinate in OGRE, driving analog system adopts Three Degree Of Freedom model, neither considers inclination and the pitching motion of vehicle, only has yaw to rotate, and suppose that vehicle does not have translation in the vertical direction.

16) be divided into by model several parts such as front vehicle body, Rear frame, container and wheel to process respectively, kinematics controling parameters xf and xr of front/rear frame can be expressed as $x_f={[{\mathrm{\θ}}_1,{\mathrm{\ω}}_1,{\stackrel{\·}{\mathrm{\ω}}}_1,v_{\mathrm{fx}},v_{\mathrm{fz}},a_{\mathrm{fx}},a_{\mathrm{fz}}]}^T,x_r={[{\mathrm{\θ}}_2,{\mathrm{\ω}}_2,{\stackrel{\·}{\mathrm{\ω}}}_2{v}_{\mathrm{rx}},v_{\mathrm{rz}},a_{\mathrm{rx}},a_{\mathrm{rz}}]}^T,$

17) θ in formula ₁, θ ₂---the yaw angle of front vehicle body and aftercarriage

18) ω ₁, ω ₂---the yaw velocity of front vehicle body and aftercarriage

19) ---the yaw angle acceleration of front vehicle body and aftercarriage

20) v _fx, v _fz---the horizontal and vertical speed of front vehicle body propons point midway

21) v _rx, v _rz---the horizontal and vertical speed of aftercarriage back axle point midway

22) a _fx, a _fz---the horizontal and vertical acceleration of front vehicle body propons point midway

23) a _rx, a _rz---the horizontal and vertical speed of aftercarriage back axle point midway

24) container and Rear frame are connected through the hinge, then the kinematics parameters of container is substantially identical with Rear frame, only increases the degree of angular freedom around Z axis, then the kinematics controling parameters of container is $x_d={[{\mathrm{\θ}}_2,{\mathrm{\θ}}_3,{\mathrm{\ω}}_2,{\mathrm{\ω}}_3,{\stackrel{\·}{\mathrm{\ω}}}_{2,}{v}_{\mathrm{rx}},v_{\mathrm{rz}},a_{\mathrm{rz}},a_{\mathrm{rz}}]}^T$

25) θ in formula ₃, ω ₃---packing case lifting angle and angular velocity

26) in systems in which, playing up of three-dimensional picture consumes most CPU time, and dynamics calculation will be carried out in the gap of playing up two two field pictures.In order to make simulate effect as far as possible close to truly, have real-time concurrently again, the dynamics for articulated vehicle simplifies, and is based upon nonlinear discretization Three Degree Of Freedom (3-DOF) model under world coordinates simultaneously.

27) the articulator kinetic model in the present embodiment is set up with certain 35 tons of electric transmission articulated truck.

28) mathematical model of vehicle travel process medium velocity is am=F _t-F _f-F _i-F _w

29) in formula, m---complete vehicle quality

30) a---vehicle travels acceleration

31) Ft---vehicle drive force

32) Ff---vehicle rolling resistance

33) Fi---grade resistance

34) Fw---air resistance suffered by vehicle

35) this Car design F-Zero is 25Km/h, and air resistance Fw can ignore.Due to derivation is the model of vehicle on two dimensional surface, therefore ignores grade resistance Fi.Automobile also will consider the impact that damping force Fb produces in the process of moving, and in sum, automobile driving speed model is ma=F _t-F _f-F _b

36) pass that engine mockup uses the mode of cubic polynomial matching to obtain between steady state torque and rotating speed is

37）M _e=a ₀+a ₁n _e+a ₂n _e ²+a ₃n _e ³

38) ai in formula---fitting coefficient, i=0,1,2,3

39) Me---motor torque

40) ne---engine speed

41) relation between motor torque and tractive force can be expressed as

42) i in formula ₀---final ratio

43) i _g---transmission ratio

44) R _w---radius of wheel

45) η _t---mechanical efficiency of power transmission

46) suppose that the pass between the stroke of brake pedal and damping force is linear

47) φ in formula _b---brake-pedal travel; φ _bmax---brake pedal range

48) Fc---maximum braking force

49) then vehicle t acceleration can in the hope of for

50) suppose that the acceleration of vehicle remains unchanged in twice emulation, can try to achieve vehicle in t travel speed is

Vt=Vt-1+atT _s

51) Ts in formula---twice simulation calculation time difference

52) kinematics model of articulator is set up as follows, and as shown in Figure 4, if mine car central pivot point is set to H point, propons mid point is Pf (x1, y1), and the distance of this point and central pivot point H is l1, and the speed of a motor vehicle is vf; Back axle mid point is Pr (x2, y2) point, and the distance of this point and central pivot point is l2, and the speed of a motor vehicle is vr.

53) front vehicle body yaw velocity is ω 1, and turning radius is r1, and aftercarriage yaw velocity is ω 2, and turning radius is r2.The course angle of front vehicle body is θ 1, and the course angle of aftercarriage is θ 2, and splice angle is γ.If propons mid point position and posture vector S _t=[x ₁(t) y ₁(t) θ ₁(t) ^t, represent front vehicle body in the position of t and course angle.The then propons position and posture vector S in t+1 moment _t+1=[x ₁(t+1) y ₁(t+1) θ ₁(t+1)] ^r, can be expressed as with nonlinear discrete model

$S_{t+1}=S_t+T_s\left[\begin{array}{cc}\cos {\mathrm{\θ}}_1\left(t\right)& 0\\ \sin {\mathrm{\θ}}_1\left(t\right)& 0\\ \frac{-\sin \mathrm{\γ}\left(t\right)}{l_1\cos \mathrm{\γ}\left(t\right)+l_2}& \frac{-l_2}{l_1\cos \mathrm{\γ}\left(t\right)+l_2}\end{array}\right]\left[\begin{array}{c}{v}_f\left(t\right)\\ {\stackrel{\·}{\mathrm{\γ}}}_1\left(t\right)\end{array}\right],$

54) speed of current emulation moment front vehicle body is vf (t), and splice angle slewing rate is , the time interval emulating this emulation last time is Ts, and the angular velocity that can obtain front vehicle body is

55) in formula ---splice angle slewing rate

56） $\stackrel{\·}{\mathrm{\γ}}t=\frac{\mathrm{\γt}-\mathrm{\γt}-1}{T_s}$

57) course angle of front vehicle body equals a moment course angle and adds this increment (θ emulated ₁t=θ ₁, t-1+ ω ₁(t) T _s,

58) course angle of aftercarriage equals front vehicle body course angle and splice angle sum θ ₂t=θ ₁t+ γ t,

59) can show that vehicle propons mid point at the world coordinates of t is by front vehicle body travel speed and course angle

$\left\{\begin{array}{ccc}{x}_1& t=x_1& t-1+[v_{f}t-1\cos {\mathrm{\θ}}_{1}t-1+v_{f}t\cos {\mathrm{\θ}}_{1}t]T_s/2\\ y_1& t=y_1& t-1+[v_{f}t-1\sin {\mathrm{\θ}}_{1}t-1+v_{f}t\sin {\mathrm{\θ}}_{1}t]T_s/2\end{array}\right.,$

60) according to geometric relationship, can in the hope of point coordinate in t back axle

$\left\{\begin{array}{cccc}{x}_2& t& =x_1& t-l_2\cos {\mathrm{\θ}}_2\left(t\right)+l_1\cos {\mathrm{\θ}}_1\left(t\right)\\ y_2& t& =y_1& t-l_2\sin {\mathrm{\θ}}_2\left(t\right)+l_1\sin {\mathrm{\θ}}_1\left(t\right)\end{array}\right.$

61) lifting of container is thought at the uniform velocity, then need to try to achieve the value of ω 3 in the controling parameters xd of container thus obtain lifting angle θ 3.When control inputs amount C value is 0, container declines, the packing case lifting when C value is 1.The lifting angle scope of container is 0 to 60 degree, and the packing case lifting time is Tu=10.5s, and container fall time is Td=11.2s, then the lifting of container or sinking speed are:

62) so at the lifting angle of t container be:

63), after the Motion Controlling Model of articulator is built up, start to set up visual data model.

64) auto model in embodiment adopts SolidWorks to set up, and Roadway model adopts Google SketchUp to set up, and graphics engine is GORE, and sound engineer is FMOD.

65) in order to simplified model and simultaneously by model derivation, use three-dimensional model to subtract face instrument Polygon Cruncher and carry out simplified model, to obtain better program operational efficiency.

66) in order to control underground mine car flexibly, the three-dimensional model of vehicle is split as front vehicle body, Rear frame, container and wheel four part herein, wherein four wheels share same model.Due to model import after without any texture mapping information, so also will for model adds corresponding pinup picture material in SketchUp, as driving cabin glass, car body is yellow to be painted and tire material.Accompanying drawing 5 is shown in by articulator three-dimensional model.

67) three-dimensional model in tunnel directly uses SketchUp to carry out modeling, and adopt during modeling and first draw cross section, tunnel, the mode adopting path to follow stretching afterwards sets up Roadway model.Model establishes rear use rock material and covers whole tunnel inwall as pinup picture, and accompanying drawing 6,7 is shown in by model.

68), after visual data model establishes, start to carry out graph rendering with OGRE graphics engine.

69) whether graphics engine Booting sequence is shown in accompanying drawing 8, defines all settings of rendering system, comprise as resolution, color depth, full screen display, uses DirectX or OPENGL to carry out bottom and plays up etc.

70) be next create concrete rendering system, then create scene manager, be in charge of the model in scene.Create viewpoint, be used for the conversion at vehicle drive visual angle, realize first person and to drive and third person is driven.Create the data that input audiomonitor is used for monitoring input.Create frame audiomonitor, frame audiomonitor is added root file, then carries out various computing and logic control by the render-ahead queue method of every frame.

71) OGRE graphics engine manages all objects played up in scene with scene graph form.OGRE is by scene manager class unified management scene graph.

72) accompanying drawing 9 illustrates the scene graph structure of driving analog system, the direct carry of scene manager is on the root node of OGRE system, carry is distinguished, stationary body node, front vehicle body node, Rear frame node, container node, wheel node and video camera below scene manager.The static entities such as carry sign board and barrier below stationary body node; Front vehicle body node carry front of the car entity and front headlight light; Rear frame node carry Rear frame entity; Container node carry container entity; Wheel node carry wheel entity.

73) video camera has also been mounted in scene manager as a special node, and the groundwork of video camera is that a part of figure intercepted in virtual scene is played up.Video camera is except also having two important parameters toward the outside, nearly intercepting Distance geometry far intercepts distance, two distances determine the distance of nearly cross section and cross section far away distance observation point respectively, body is cut by looking of two section constitutions one six, that is not all in virtual scene element all can be played up, but deciding depending on cutting body (see accompanying drawing 10) by video camera, only just can played up depending on the element cut in body.

74) OGRE adopts Frustum class to simulate the visual effect of human eye, according to the use habit of user on interface, facilitate user's transformation model coordinate, and in inside realizes, converted by the matrix of graphics, complete the mathematics conversion between human visual and computer vision, reach a reasonable transitional function.

75) movement control mode of driving simulator is carried out according to the control mode of actual vehicle completely, and cameras observe point is together with the binding positions of vehicle, so the motion of operation camera views needs to handle according to the real-time status of vehicle mutually.To the motion control of vehicle, be the position and attitude result that calculate in real time based on dynamics and kinematics model.In computing machine, emulation is based on discrete time point, and the time interval between twice circulation is very little, supposes that the stressing conditions of during this period of time object is constant.After the position and attitude of vehicle upgrades, obtain relevant data, then by upgrade video camera position and complete video camera towards parameter follow effect.

76) as accompanying drawing 11 vehicle needs when normal driving to use first person to run, namely with the visual angle of normal driver, eyes front from pilothouse, and when monitoring as third party, can third person be used, monitor to vehicle heading from back upper place car.

77) in order to realize being that the visual angle of reference point is followed with front vehicle body, after kinetic model calculates each time, what start to calculate video camera follows position.

78) coordinate of the front vehicle body node obtained is the geometric center of model, so can obtain video camera by the translation of a fixed range should follow position a little.According to the size of model in native system, being positioned at pilothouse to make observation point needs to move 1 unit distance to Z axis negative direction, moves 1.2 unit distances, move 1.2 unit distances to Y-axis positive dirction to X-axis positive dirction.Directly can be moved forward in the position of observation point certain distance under first person pattern.Third person similar with first person.

79) dynamics calculation and OGRE merge, and OGRE system is supplied to user with the form of class libraries, use OGRE to need coding according to the actual requirements.First loading configuration file when OGRE starts, arranges resource path, creates scene manager, video camera and viewport respectively afterwards.Afterwards will in the major cycle of OGRE registered frame audiomonitor, embodiment has suffered the frame audiomonitor class inheriting OGRE and has realized this function.

80) frame audiomonitor provide processed frame play up before (FrameStarted) frame play up in (FrameRenderingQueued) and frame play up after the method for event of (FrameEnded), call after playing up front event-handling method, OGRE starts to upgrade all post-processing object, come primarily of CPU owing to playing up, at this moment CPU does not make full use of, and the dynamics of vehicle and kinematics operation (DynamicSimulation) need to have been come by CPU, so dynamics and kinematic correlation computations are all placed on the frame performed following closely to play up in middle disposal route and run.

81) OGRE does not provide the interface reading peripheral hardware, and native system uses OIS to read input data.First in the frame audiomonitor of OGRE, create OIS equipment manager, OIS is set as non-buffered input pattern.Afterwards by UnbufferedInput process input data, be converted into the data layout needed for dynamics simulation.The frame audiomonitor of OGRE provides frame event entity and deposits the temporal information relevant with frame event, comprising frame time interval, these data be exactly time interval in dynamics calculation to Ts, accompanying drawing 12 illustrates the structure of frame audiomonitor class.

82) sound simulation engine is used for manufacturing the sound of different-effect as Work machine noise in engine sound and tunnel etc.Sound is play needs corresponding event to trigger, and the 3D audio employing FMOD in native system is to realize the 3D effect of sound, upgrades sound source position by event.

83) auxiliary driving unit, the auxiliary driving of intelligence of underground articulator can be carried out in virtual environment, virtual laser radar is added according to the principle of work of actual laser radar in systems in which by ray cast technology, the distance of vehicle and wall and barrier can be measured by virtual laser radar, see accompanying drawing 13, by auxiliary driving strategy accordingly, occur when the vehicle is running with wall hypotelorism or tunnel in have dangerous driving conditions such as foreign matter appearance time system can give a warning.

84) ray cast is that certain point sends a ray to setting direction from space, returns the coordinate of the title of object and the AABB bounding box intersection point of ray and this object when ray is crossing with the object in scene.Only have and cannot meet the demands with the coordinate of bounding box, virtual laser radar will be accurate to the intersection point can measured with model meshes triangular facet.So extract summit and the index data of model, travel through all triangular facets afterwards and whether ray has intersection point thus obtain a nearest intersection point.

85) adopt ray cast technical modelling laser radar, first utilize OGRE to set up a ray cast, and set starting point and the projecting direction of this light.The starting point of light is set at by propons mid point to X-axis forward translation 3.2m, as home position fan-shaped in Figure 13.Ray cast is in XZ plane, and direction is by-5 ° to 185 ° scannings.First each scanning judged whether object and ray intersection, if there is crossing object, extracts summit and the vertex index data of this object, travel through all dough sheets whether with ray intersection, and obtain nearest intersection point.

86) Figure 14,15 is driving analog system virtual laser radar Dynamic Data Acquiring design sketch, virtual laser radar scanning precision is decided to be 1 °, sweep frequency is 25Hz, sweep limit is from-5 ° to 185 °, from the right side of vehicle, scan left side terminate, by virtual laser visualization processing, send from laser and a little draw a white line segment to the intersection point detected.

87) data experiment obtained are transverse axis with scanning angle, can obtain Figure 16,17 apart from for the longitudinal axis.As can be seen from Figure 16, scanning angle vehicle distance values between-5 ° to 75 ° is less, thus can judge that vehicle is kept to the right, and Figure 17 and Figure 16 is contrary, and between 110 ° to 185 °, distance values is less, thus can judge that vehicle is kept to the left.

88) the dangerous driving warning function of auxiliary driving unit.When virtual laser radar detects in any direction that distance is less than the obstacle of 1.5m, system can provide warning.As shown in figure 18, on the right side of vehicle distances, tunnel is excessively near, and apart from during less than 1.5m, system can point out driver " warning: distance right side is less than 1.5m " in the upper right corner.Same situation, if tunnel is excessively near on the left of vehicle distances, apart from during less than 1.5m, system can point out driver " warning: distance left side is less than 1.5m " in the upper right corner.

89) the above is only the preferred embodiment for the present invention; it should be pointed out that the member of ordinary skill for the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.

Claims (4)

1. a driving analog system for [underground articulator, is characterized in that, this system comprises: [underground articulator Motion Controlling Model, visual data model, vision simulation engine, auxiliary driving unit, sound simulation engine, virtual driving unit;

Described auxiliary driving unit can carry out the auxiliary driving of intelligence of underground articulator in virtual environment, add virtual laser radar according to the principle of work of actual laser radar in systems in which by ray cast technology, the distance of vehicle and wall and barrier can be measured by virtual laser radar; Described virtual driving unit comprises virtual driving operator's console, bearing circle, operation handle, accelerator pedal, brake pedal, display screen and sound equipment; Wherein, [underground articulator Motion Controlling Model adopts following steps to set up:

If mine car central pivot point is set to H point, propons mid point is Pf (x1, y1), and the distance of propons mid point and central pivot point H is l1, and the speed of a motor vehicle is vf; Back axle mid point is Pr (x2, y2) point, the distance of back axle mid point and central pivot point is l2, and the speed of a motor vehicle is vr, front vehicle body yaw velocity is ω 1, turning radius is r1, and aftercarriage yaw velocity is ω 2, and turning radius is r2, the course angle of front vehicle body is θ 1, the course angle of aftercarriage is θ 2, and splice angle is γ, if propons mid point position and posture vector s _t=[x ₁(t) y ₁(t) θ ₁(t)] ^trepresent front vehicle body in the position of t and course angle, then the propons position and posture vector S in t+1 moment _t+1=[x ₁(t+1) y ₁(t+1) θ ₁(t+1), ^tbe expressed as with nonlinear discrete model

$S_{t+1}=S_t+T_s\left[\begin{array}{c}\begin{array}{cc}\cos {\mathrm{\θ}}_1\left(t\right)& 0\end{array}\\ \begin{array}{cc}\sin {\mathrm{\θ}}_1\left(t\right)& 0\end{array}\\ \begin{array}{cc}\frac{-\sin \mathrm{\γ}\left(t\right)}{l_1\cos \mathrm{\γ}\left(t\right)+l_2}& \frac{-l_2}{l_1\cos \mathrm{\γ}\left(t\right)+l_2}\end{array}\end{array}\right]\left[\begin{array}{c}{v}_f\left(t\right)\\ {\stackrel{\·}{\mathrm{\γ}}}_1\left(t\right)\end{array}\right]$

The speed of current emulation moment front vehicle body is vf (t), and splice angle slewing rate is the time interval emulating this emulation last time is Ts, show that the angular velocity of front vehicle body is $\begin{array}{cc}& {\mathrm{\ω}}_{1}t=\frac{-\sin \mathrm{\γt}{v}_{f}t-l_2\stackrel{\·}{\mathrm{\γ}}t}{l_1\cos \mathrm{\γ}\left(t\right)+l_2},\end{array}$

In formula ---splice angle slewing rate

$\stackrel{\·}{\mathrm{\γ}}t=\frac{\mathrm{\γt}-\mathrm{\γt}-1}{T_s},$

The course angle of front vehicle body equals a moment course angle and adds this increment emulated

θ ₁t＝θ ₁t-1+ω ₁(t)T _s，

The course angle of aftercarriage equals front vehicle body course angle and splice angle sum

θ ₂t＝θ ₁t+γT，

Show that vehicle propons mid point at the world coordinates of t is by front vehicle body travel speed and course angle:

$\left\{\begin{array}{c}{x}_{1}t=x_{1}t-1+[v_{f}t-1\cos {\mathrm{\θ}}_{1}t-1+v_{f}t\cos {\mathrm{\θ}}_{1}t]T_s/2\\ y_{1}t=y_{1}t-1+[v_{f}t-1\sin {\mathrm{\θ}}_{1}t-1+v_{f}t\sin {\mathrm{\θ}}_{1}t]T_s/2\end{array}\right.,$

According to geometric relationship, try to achieve point coordinate in t back axle

$\left\{\begin{array}{c}{x}_{2}t=x_{1}t-l_2\cos {\mathrm{\θ}}_2\left(t\right)+l_1\cos {\mathrm{\θ}}_1\left(t\right)\\ y_{2}t=y_{1}t-l_2\sin {\mathrm{\θ}}_2\left(t\right)+l_1\sin {\mathrm{\θ}}_1\left(t\right)\end{array}\right.$

The lifting of container is at the uniform velocity, is tried to achieve the value of ω 3 by the controling parameters of container, thus obtains lifting angle θ 3, when control inputs amount C value is 0, container declines, the packing case lifting when C value is 1, the lifting angle scope of container is 0 to 60 degree, and the lifting of container or sinking speed are:

$\begin{array}{cc}& \end{array}{\mathrm{\ω}}_{3}t=\left\{\begin{array}{cc}\frac{60T_s}{T_u}& (C=1)\\ \frac{60T_s}{T_d}& (C=0)\end{array}\right.,$

At the lifting angle of t container be:

${\mathrm{\θ}}_3\left(t\right)=\left\{\begin{array}{ccc}{\mathrm{\θ}}_3& t-1+{\mathrm{\ω}}_3\left(t\right)T_s& (C=1)\\ {\mathrm{\θ}}_3& t-1-{\mathrm{\ω}}_3\left(t\right)T_s& (C=0)\end{array}\right..$

2. system according to claim 1, is characterized in that, visual data model comprises the three-dimensional model of articulator, the three-dimensional model of underground passage and traffic mark.

3. system according to claim 1, is characterized in that, described vision simulation engine utilizes computer graphic image technology to generate the underground virtual environment that in vehicle operation, driver sees.

4. system according to claim 1, is characterized in that, described sound simulation engine can manufacture the sound of different-effect.