CN104834552A - Fast intercepting engine for obtaining traffic environment information by driving simulator - Google Patents
Fast intercepting engine for obtaining traffic environment information by driving simulator Download PDFInfo
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Abstract
The invention discloses a fast intercepting engine for obtaining traffic environment information by a driving simulator. A positioning service module is connected with an intercepted simulation object data storage space; the intercepted simulation object data storage space is connected with a simulation object positioning algorithm module and a simulation range interception algorithm module; the simulation object positioning algorithm module is connected with a simulation scene space division module; the simulation scene space division module is connected with the simulation range intercepting algorithm module; the simulation range interception algorithm module is connected with an interception service module; the interception service module is connected with a simulator sub system data storage space; the simulator sub system data storage space is connected with the simulation range interception algorithm module; an intercepted simulation object is connected with the positioning service module; each sub system of the driving simulator is connected with the interception service module. The traffic simulation vehicles around the vehicle represented by the driving simulator can be accurately intercepted in real time, and simple and effective data is provided for the calculation of a driving simulator interactive system.
Description
Technical field
The invention belongs to driving simulator applied technical field, relate to the quick intercepting engine that a kind of driving simulator obtains traffic environment information.
Background technology
For making the surrounding traffic environment that presents in driving simulator more true, credible, people start the method that more and more have employed driving simulator and traffic simulator associative simulation.Driver is in the process handling driving simulator, the dynamics calculation result of driving simulator is sent to traffic simulator, using the vehicle representated by driving simulator as the vehicular traffic object of in traffic simulation, and the driver result of traffic simulation presented to by interactively method in driving simulator, form the closed-loop simulation system of people's-Che-traffic environment, make the driving experience of driver more true, and then make the result of emulation experiment more true and reliable.Even but microscopic traffic flow simulation, simulation object also has several thousand even up to ten thousand cars, how therefrom to select the traffic simulation vehicle in the vehicle periphery certain limit representated by driving simulator fast, its artificial intelligence extracted and is presented to the driver in driving simulator by interactive means such as the sound, image displays, becoming the key factor affecting associative simulation real-time, the sense of reality.
Designed and Implemented in " data-interface of driving simulator and microscopic traffic simulation VISSIM is studied " literary composition that the people such as Qin Yaqin delivered " Kunming University of Science and Technology's journal (engineering version) " the 32nd volume the 1st phase in 2007 its independent research towards the senior driving simulator (KMRTS) of road traffic and the data transfer of microscopic traffic simulation software VISSIM, but this process is first carried out traffic simulation and result is exported to file in VISSIM, then import above-mentioned traffic simulation destination file when driving simulator emulates.In the method, the simulation result of driving simulator cannot act in the result of traffic simulation, can not realize the associative simulation of driving simulator and traffic simulator completely.
The shortcoming of prior art: the method that driving simulator and traffic simulator carry out associative simulation is just risen at present, the emulation platform occurred also is in the functional realiey stage mostly, but when the region of traffic simulation is comparatively large, emulation vehicle fleet size also large time for how from a large amount of emulated datas of traffic simulator rapid extraction effective information, ensure the real-time of the effect such as the sound, display, to improve simulation performance also rare research.
Summary of the invention
The object of this invention is to provide the quick intercepting engine that a kind of driving simulator obtains traffic environment information, utilize traffic simulation to simulate simulation performance during traffic environment information to improve in driving simulator, ensure when driving simulator and mass transportation emulator carry out associative simulation, the traffic simulation vehicle in the vehicle periphery certain limit representated by driving simulator can be intercepted out in real time, exactly, for the calculating of the driving simulator interactive systems such as vision, the sense of hearing, sense of touch provide succinctly, effective data.Meanwhile, this engine also can provide support for vehicular traffic obtains peripheral information merely in traffic simulation.
The technical solution adopted in the present invention is, a kind of driving simulator obtains the quick intercepting engine of traffic environment information, positioning service module with intercepted simulation object data space and be connected, by intercepting simulation object data space respectively with simulation object location algorithm module, simulation scale intercepts algoritic module and connects, simulation object location algorithm module is connected with simulating scenes space partitioning module, simulating scenes space partitioning module and simulation scale intercept algoritic module and are connected, simulation scale intercepts algoritic module and is connected with intercepting service module, intercept service module to be connected with simulator subsystem data storage space, simulator subsystem data storage space and simulation scale intercept algoritic module and are connected, by intercepting simulation object and positioning service model calling, the each subsystem of driving simulator is connected with intercepting service module.
The invention has the beneficial effects as follows, solve when the traffic simulator simulating area of carrying out associative simulation with driving simulator comparatively greatly, simulation object quantity also large time, be difficult to the problem in real time, accurately, comprehensively extracting traffic simulation object information in certain limit around driver, thus improve the fidelity of driving simulator, carry out all kinds of research relevant to traffic for utilizing driving simulator and lay a good foundation.And, the present invention has arrangement feature flexibly, when very large when simulating scenes, to participate in traffic simulation vehicle number is a lot, can select intercepting engine fast independent outside traffic simulator and driving simulator, an independent computing machine runs, to improve travelling speed; When traffic simulation vehicle number is more, can selecting to run making quick engine be integrated on traffic simulator, to reduce the communication overhead of traffic simulator, improving data transmission efficiency; In addition also can select to be integrated in driving simulator internal operation by intercepting engine fast.
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention.
Fig. 2 is the arrangement schematic diagram of the present invention and driving simulator, traffic simulator.
A is integrated in traffic simulator for intercepting engine fast; B intercepts engine fast independently outside traffic simulator and driving simulator; C is integrated in driving simulator for intercepting engine fast.
Fig. 3 is for simulating scenes space partitioning module of the present invention carries out to simulating scenes space the process schematic that two-dimensional mesh formats.
The process schematic of Fig. 4 grid residing for simulation object location algorithm module determination simulation object of the present invention.
Fig. 5 for positioning service of the present invention for three kinds of functions being provided by the simulation object intercepted and intercept fast in engine by the relation intercepted between simulation object data space.
Fig. 6 intercepts scope institute grid coverage process schematic for simulation scale of the present invention intercepts algoritic module determination allocating object.
Fig. 7 intercepts the relation between four kinds of functions and the quick simulator subsystem data storage space intercepted in engine of serving as driving simulator subsystem provides for of the present invention.
In figure, 1. intercept engine fast, 2. positioning service module, 3. intercepts service module, 4. simulation object location algorithm module, 5. simulating scenes space partitioning module, 6. simulation scale intercepts algoritic module, 7. by intercepting simulation object data space, and 8. simulator subsystem data storage space, 9. by intercepting simulation object, the 10. each subsystem of driving simulator.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of driving simulator obtains the quick intercepting engine 1 of traffic environment information, structure as shown in Figure 1, comprise positioning service module 2, intercepting service module 3, simulation object location algorithm module 4, simulating scenes space partitioning module 5, simulation scale intercepting algoritic module 6 totally 5 modules, also comprise by intercepting simulation object data space 7, simulator subsystem data storage space 8 totally 2 data spaces.
Positioning service module 2 with intercepted simulation object data space 7 and be connected, by intercepting simulation object data space 7 respectively with simulation object location algorithm module 4, simulation scale intercepts algoritic module 6 and connects, simulation object location algorithm module 4 is connected with simulating scenes space partitioning module 5, simulating scenes space partitioning module 5 and simulation scale intercept algoritic module 6 and are connected, simulation scale intercepts algoritic module 6 and is connected with intercepting service module 3, intercept service module 3 to be connected with simulator subsystem data storage space 8, simulator subsystem data storage space 8 and simulation scale intercept algoritic module 6 and are connected, be connected with positioning service module 2 by intercepting simulation object 9, the each subsystem 10 of driving simulator is connected with intercepting service module 3.
Positioning service module 2, be responsible for traffic simulator and transmit serving data to intercepting engine 1 fast, need in traffic simulator to be called by intercepting simulation object by the simulation object intercepted, each is intercepted simulation object 9 and to be intercepted fast in engine having one section by intercepting simulation object data space 7, saves to be intercepted the data of simulation object 9 required for simulation object location algorithm module 4 and driving simulator.Positioning service module 2 is for being provided registration, cancellation by intercepting simulation object 9, upgrade three functions, wherein registering functional is accordingly intercepted simulation object data space 7 for it creates when intercepting simulation object 9 and wishing to add driving simulator scene in engine, creates the handle of accessing this storage space and initialization data simultaneously; Nullify function intercepted simulation object 9 wish to destroy in engine when exiting driving simulator scene the data space that creates and handle; More New function is responsible for be intercepted corresponding being intercepted in simulation object data space 7 in the result of calculation write engine of simulation object 9 at every turn.
Intercept service module 3, be responsible for driving simulator and intercept between engine 1 fast and transmit serving data, the subsystem that in driving simulator, each needs application to intercept function corresponds to one in each subsystem 10 of driving simulator in Fig. 1, the each subsystem 10 of each driving simulator to there being one section of simulator subsystem data storage space 8, saves the data of simulation scale intercepting required for algoritic module 6 in quick intercepting engine 1.Intercepting service module 3 is that each subsystem 10 of driving simulator provides registration, cancellation, renewal, feedback four functions, wherein registering functional when driving simulator each subsystem 10 wishes to utilize the intercepting function of engine in engine for it creates corresponding simulator subsystem data storage space 8, create the handle of accessing this storage space and initialization data simultaneously; Nullify function no longer to need in engine, to destroy created data space and handle during the intercepting function utilizing engine at each subsystem of driving simulator 10; More New function is responsible for each for driving simulator subsystem 10 to intercept at every turn needs in simulator subsystem data storage space 8 corresponding in the data write engine of renewal when calculating; The result of calculation that feedback function is responsible for simulation scale to intercept algoritic module 6 feeds back to each subsystem 10 of driving simulator.
Simulating scenes space partitioning module 5, be responsible for according to simulating scenes x under inertial coordinates system, the full-size in y direction, simulating scenes is divided into one group respectively along x, the continuous two-dimension square shape grid in y direction, and be the grid establishment after each division, safeguard several chained lists, have recorded in each chained list the identical type be in this grid about being intercepted the handle of simulation object 9, this handle by intercepting simulation object 9 created to during engine registers by positioning service module 2, and pointed to one section by intercepting simulation object data space 7, can be obtained this by the emulated data intercepting simulation object 9 and provide for driving simulator by this handle.For each grid safeguards that the process of chained list comprises; by be in current grid by intercept simulation object 9 handle write chained list; to no longer be in being deleted from chained list by the handle intercepting simulation object 9 of current grid; export and intercepted the handle of simulation object 9, to the reading and writing protection mechanism of chained list in simulation process in chained list.Reading and writing protection mechanism refers to and ensures to meet the following a series of processes required: (1) each chained list can only have one to be written into by the handle intercepting simulation object 9 or to delete at synchronization, and now can not carry out reading chain table handling; (2) each chained list can have multiple visitor therefrom to read by the handle intercepting simulation object 9 at synchronization.The described simulation object 9 that intercepted can be the dynamic object such as traffic simulation vehicle, pedestrian, multidate information direction board in traffic simulator, also can be the static object such as roadblock, traffic mark board.
Simulation object location algorithm module 4, be responsible for and provided a kind of location algorithm by intercepting simulation object 9, the grid that this algorithm can divide according to simulating scenes space partitioning module 5, and intercepted the profile of simulation object 9, position, attitude determine to be intercepted the current residing grid of simulation object 9, it is required in this algorithm implementation that by the data that intercept simulation object 9, by positioning service module 2, create by this object by acquisition in intercepting simulation object data space 7.Intercepted the current residing grid of simulation object 9 to refer to, utilize the crossing detection computations representing and to be carried out with the square net in simulating scenes by the rectangle intercepting simulation object two-dimensional silhouette in computer graphics meaning, there is crossing square net in all and above-mentioned rectangle, all think to be intercepted the current residing grid of simulation object 9, therefore being intercepted the current residing grid number of simulation object 9 is 1 to 4.
Simulation scale intercepts algoritic module 6, be responsible for the grid divided according to simulating scenes space partitioning module 5, and the position of the current setting of each subsystem of the driving simulator calling this module 10, intercepting scope, calculate the square net that this intercepting scope covers, then extract from the chained list that capped square net creates and intercepted that simulation object 9 is corresponding in engine is intercepted the handle of simulation object data space 7, the data of each subsystem of driving simulator 10 required in this algorithm implementation are by intercepting acquisition in simulator subsystem data storage space 8 that service module 3 creates for each subsystem 10 of driving simulator.What store in the chained list that this simulation scale intercepting algoritic module 6 can be created by square net is intercepted the handle of simulation object 9, access by intercept corresponding to simulation object 9 by intercepting simulation object data space 7, thus to obtain by the information such as simulation parameter, simulation result intercepting simulation object 9.The each subsystem 10 of driving simulator calling simulation scale intercepting algoritic module 6 can be image display system, sound simulation system, they obtain the required state such as display state, sound state of traffic simulation vehicle within intercepting scope by the chained list that capped grid creates, and present to driver by the imaging device of driving simulator, sound equipment, motion simulation equipment.Simultaneously, what call simulation scale intercepting algoritic module 6 also can be other objects needing to carry out vehicular traffic Information Statistics in certain area in independently developed traffic simulator, such as each traffic simulation vehicle, the information of other traffic simulation vehicles in certain limit around oneself can be obtained, as the input of self Driving Decision-making by this algoritic module.The square net that intercepting scope covers, refer to utilize and represent that the simple geometry figure (as circle, rectangle, isosceles triangle etc.) of intercepting scope carries out the crossing detection computations in computer graphics meaning with the square net in simulating scenes, there is crossing square net with above-mentioned simple geometry figure, all think the square net that intercepting scope covers.
As shown in Figure 1, 2, quick intercepting engine is as the information transmission media between driving simulator and traffic simulator, eliminate the process that all traffic simulation objects in whole scene are traveled through, but only need to carry out a small amount of, simply to intersect the traffic simulation object data that detection computations just can obtain required scope, therefore, it is possible to greatly improve subsystems in driving simulator from traffic simulator, obtain the travelling speed of traffic simulation object information, thus reach the object of the performance improving driving simulator and traffic simulator associative simulation.And according to different situations, different arrangements can be selected for intercepting engine fast, the present embodiment selects a arrangement as shown in Figure 2.
The present embodiment adopts OO C Plus Plus programming realization, the present invention devises and intercepts engine class CCullingEngine Class as what intercept engine 1 and simulating scenes space partitioning module 5 fast and realize object, such completes and carries out the work of stress and strain model according to the size of simulation space and the size of grid division to simulation space, meanwhile, such is responsible for the instance objects creating, manage other classes.As shown in Figure 3; the present invention devises space lattice class CCell Class as each the Grid Example object after spatial division; include in space lattice class CCell Class for dissimilar intercepted simulation object 9 the chained list set up; chained list utilizes the list of C++ STL to realize, thus achieves the read-write protection mechanism to chained list.Save in chained list belong to this grid intercepted the handle of simulation object data space 7 by what intercept simulation object 9 correspondence, space lattice class CCell Class additionally provides the member function writing above-mentioned handle in each chained list, delete handle, extract handle from each chained list from each chained list, and the two-dimensional array that all space lattice class CCell Class examples representing grid are formed manages by intercepting engine class CCullingEngine Class.
The present embodiment devises by intercepting object class CObjectToCull Class, each needs that traffic simulator exports are represented by the example intercepting object class CObjectToCull Class by one quick intercepting in engine 1 by the simulation object intercepted, the profile of this traffic simulation object is saved by the member variable intercepting object class CObjectToCull Class, position, attitude information, its in space lattice class CCell Class should belonging to link table information, and its current affiliated meshes number, the index value of grid, the function of simulation object location algorithm module 4 is achieved by the member function intercepting object class CObjectToCull Class, can according to the profile of simulation object, position, attitude determines the grid residing for it.All by intercepting object class CObjectToCull Class example, be all stored in by intercepting object data storage space 7.
As shown in Figure 4, in the present embodiment, simulation object location algorithm have employed the crossing detection algorithm in computer graphics, the profile of traffic simulation object utilizes oriented bounding box (Oriented Bounding Box, OBB) represent, grid after simulating scenes spatial division then represents with square, asking therebetween hands over calculating to be realized by the canonical algorithm in computer graphics, allly there is crossing square net with OBB, all think the current residing grid of traffic simulation object, the square net intersected in Fig. 4 marks with mesh lines texture, overlapping relation is represented for clear in figure, the size of emulation vehicle has been carried out suitable amplification.
As shown in Figure 5, be in charge of by positioning service by the data space intercepting object class CObjectToCull Class example, the registering functional of positioning service realizes the structure of class, and that nullifies functional realiey class analyses structure, upgrades functional realiey to the renewal of class members's variable.
The present embodiment devises truncated models class CCullingModel Class, in driving simulator, each needs the subsystem to traffic simulation object intercepts to be represented by a truncated models class CCullingModel Class example quick intercepting in engine, the member variable of truncated models class CCullingModel Class saves the range information that this driving simulator subsystem will intercept, the current positional information that will intercept, the traffic simulation object-type information intercepted, truncated models class CCullingModelClass member function achieves the function that simulation scale intercepts algoritic module 6, can according to the intercepting scope of driving simulator subsystem, current location information determines the grid be truncated to.
The driving simulator subsystem related in the present embodiment comprises sound system and image display system, as shown in Figure 6, their intercepting scope all represents by circle, when asking between the square of scope intercepting algoritic module grid after carrying out circle and expression simulating scenes spatial division is handed over and is calculated, realized by the canonical algorithm in computer graphics, allly there is crossing square net with circle, all think that driving simulator subsystem needs the grid of information extraction.
As shown in Figure 7, the data space of truncated models class CCullingModel Class example is in charge of by the service of intercepting, the registering functional intercepting service realizes the structure of class, that nullifies functional realiey class analyses structure, upgrade functional realiey to the renewal of class members's variable, the result of calculation that feedback function realizes simulation scale to intercept algorithm feeds back to driving simulator.
The workflow of quick intercepting engine is divided into the following steps:
Step 1, simulated program initial phase, intercepting engine class CCullingEngine Class is utilized to divide simulation space, and be the grid establishment after each division and initialization space lattice class CCell Class example, the two-dimensional array of span grid class CCell Class example.
Image subsystems in step 2, driving simulator, sound subsystem are to the application for registration of intercepting service commitment, the registering functional intercepting service is that two subsystems create truncated models class CCullingModel Class example corresponding with it respectively in engine, and determine two subsystems intercepting scope, need to which the traffic simulation object in traffic simulator to intercept respectively, in the present invention, two subsystems all only need intercept traffic simulation vehicle.
In step 3, traffic simulator, each wishes that the traffic simulation object joined in driving simulator scene submits application for registration to positioning service, positioning service is set up corresponding to intercepting object class CObjectToCullClass example with it for each traffic simulation object (the present invention only has traffic simulation vehicle) in engine, and the member variable of initialization class.
Each traffic simulation vehicle that step 4, traffic simulator export is the member variable such as position, attitude being upgraded traffic simulation object by intercepting object class CObjectToCull Class example in engine by the more New function of positioning service, class example performs simulation object location algorithm by member function, determine the simulation space grid residing for it, and self handle is written in the chained list of space lattice class CCellClass example of residing grid.
Step 5, driving simulator image subsystems are by intercepting the member variable such as interception position that the more New function of service is truncated models class CCullingModel Class example in engine more fresh driver place, class example performs simulation scale intercepting algorithm by member function and determines the grid that intercepting scope covers, and extract the traffic simulation object information that grid comprises, then fed back to the image subsystems of driving simulator by the feedback function of positioning service, realized the display of these vehicular traffics in driving simulator scene by image subsystems.Driving simulator sound subsystem intercepts traffic simulation vehicle and the process play its effects,sound is similar with it.
Step 6, carry out controlling by intercepting engine class CCullingEngine Class in the process of associative simulation at driving simulator and traffic simulator, respectively above-mentioned 4th, 5 steps of concurrent circulation execution.
Step 7, when terminating emulation, the image of driving simulator, sound system are exited from engine by the cancellation function intercepting service; Being exited from engine by the cancellation function of positioning service by intercepting simulation object of traffic simulator; At whole truncated models class CCullingModel Class example with after successfully being analysed structure by intercepting object class CObjectToCull Class example, the example in space lattice class CCell Class example array is analysed structure, exits intercepting engine.
Claims (6)
1. the quick intercepting engine of a driving simulator acquisition traffic environment information, it is characterized in that, positioning service module (2) with intercepted simulation object data space (7) and be connected, by intercepting simulation object data space (7) respectively with simulation object location algorithm module (4), simulation scale intercepts algoritic module (6) and connects, simulation object location algorithm module (4) is connected with simulating scenes space partitioning module (5), simulating scenes space partitioning module (5) and simulation scale intercept algoritic module (6) and are connected, simulation scale intercepts algoritic module (6) and is connected with intercepting service module (3), intercept service module (3) to be connected with simulator subsystem data storage space (8), simulator subsystem data storage space (8) and simulation scale intercept algoritic module (6) and are connected, be connected with positioning service module (2) by intercepting simulation object (9), the each subsystem of driving simulator (10) is connected with intercepting service module (3).
2. a kind of driving simulator according to claim 1 obtains the quick intercepting engine of traffic environment information, it is characterized in that, positioning service module (2), be responsible for traffic simulator and transmit serving data to intercepting engine (1) fast, each in traffic simulator is intercepted simulation object (9) and to be intercepted in engine having one section by intercepting simulation object data space (7) fast, save required for simulation object location algorithm module (4) and driving simulator by the data of intercepting simulation object (9); Positioning service module (2) provides registration, cancellation, upgrades three functions for traffic simulation object, and wherein registering functional is intercepted simulation object data space (7) accordingly for it creates, creates the handle of accessing this storage space and initialization data simultaneously being intercepted when simulation object (9) wishes to add driving simulator scene in engine; Nullify function by intercept simulation object (9) wish to destroy in engine when exiting driving simulator scene create by intercepting simulation object data space and handle; More New function is responsible for data space corresponding in the result of calculation of each traffic simulation object write engine.
3. a kind of driving simulator according to claim 1 obtains the quick intercepting engine of traffic environment information, it is characterized in that, intercept service module (3), be responsible for driving simulator and intercept fast between engine (1) and transmit serving data, the subsystem that in driving simulator, each needs application to intercept function is intercepting in engine (1) fast to there being one section of simulator subsystem data storage space (8), save the data required for simulation scale intercepting algoritic module (6), intercept the subsystem that service module (3) is driving simulator and provide registration, nullify, upgrade, feed back four functions, wherein registering functional when each subsystem of driving simulator (10) wishes to utilize the intercepting function of engine in engine for it creates corresponding simulator subsystem data storage space (8), create the handle of accessing this storage space and initialization data simultaneously, nullify function when each subsystem of driving simulator (10) no longer needs the intercepting function utilizing engine in engine destroy create the simulator subsystem data storage space (8) and handle warded off, more New function is responsible for each for driving simulator subsystem (10) being intercepted at every turn the data space needed when calculating in the data write engine of renewal, the result of calculation that feedback function is responsible for simulation scale to intercept algoritic module (6) feeds back to the subsystem of driving simulator.
4. a kind of driving simulator according to claim 1 obtains the quick intercepting engine of traffic environment information, it is characterized in that, simulating scenes space partitioning module (5), be responsible for according to simulating scenes x under inertial coordinates system, the full-size in y direction, simulating scenes is divided into one group respectively along x, the continuous two-dimension square shape grid in y direction, and be the grid establishment after each division, safeguard several chained lists, have recorded in each chained list the identical type be in this grid about by intercept simulation object (9) handle, this handle by intercepting simulation object (9) created to during engine registers by positioning service module (2), and pointed to one section by intercepting simulation object data space (7), can be obtained this by the emulated data intercepting simulation object (9) and provide for driving simulator by this handle, for each grid safeguards that the process of chained list comprises, simulation object (9) handle that intercepted being in current grid is write chained list, to no longer be in being deleted from chained list by intercepting simulation object (9) of current grid, export in chained list by intercepting simulation object (9) handle, to the reading and writing protection mechanism of chained list in simulation process, reading and writing protection mechanism refers to and ensures to meet the following a series of processes required: each chained list can only have one to be written into by intercepting simulation object (9) handle or to delete at synchronization, and now can not carry out reading chain table handling, each chained list can have multiple visitor therefrom to read by intercepting simulation object (9) handle at synchronization, traffic simulation is to the traffic simulation vehicle liked in traffic simulator, pedestrian, multidate information direction board dynamic object, or roadblock, traffic mark board static object.
5. a kind of driving simulator according to claim 1 obtains the quick intercepting engine of traffic environment information, it is characterized in that, simulation object location algorithm module (4), be responsible for and provided a kind of location algorithm by intercepting simulation object (9), the grid that this algorithm can divide according to simulating scenes space partitioning module (5), and intercepted the profile of simulation object (9), position, the current residing grid of attitude determination simulation object, requiredly in this algorithm implementation intercepted simulation object (9) data created to by this object is obtained by intercepting simulation object data space (7) by positioning service module (2), the current residing grid of simulation object refers to, utilize and represent that the rectangle of simulation object two-dimensional silhouette carries out the crossing detection computations in computer graphics meaning with the square net in simulating scenes, there is crossing square net in all and above-mentioned rectangle, all think the current residing grid of simulation object, therefore the current residing grid number of simulation object is 1 to 4.
6. a kind of driving simulator according to claim 1 obtains the quick intercepting engine of traffic environment information, it is characterized in that, simulation scale intercepts algoritic module (6), be responsible for the grid divided according to simulating scenes space partitioning module (5), and the position of each subsystem of the driving simulator calling this module (10) current setting, intercepting scope, calculate the square net that this intercepting scope covers, then extract by the handle intercepting simulation object (9) from the chained list that capped square net creates, the each subsystem of driving simulator (10) data required in this algorithm implementation obtain by intercepting in simulator subsystem data storage space (8) that service module (3) opens up for driving simulator subsystem, what store in the chained list that this simulation scale intercepting algoritic module (6) can be created by square net is intercepted the handle of simulation object (9), access by intercept corresponding to simulation object (9) by intercepting simulation object data space (7), thus obtain by the simulation parameter, the simulation result information that intercept simulation object (9), the each subsystem of driving simulator (10) calling simulation scale intercepting algoritic module (6) can be image display system, sound simulation system, the chained list created by capped grid obtains display state, the sound state of traffic simulation vehicle within intercepting scope, and presents to driver by the imaging device of driving simulator, sound equipment, motion simulation equipment, meanwhile, what call simulation scale intercepting algoritic module (6) also can be other objects needing to carry out vehicular traffic Information Statistics in certain area in independently developed traffic simulator, the square net that intercepting scope covers, refer to utilize and represent that the simple geometry figure of intercepting scope carries out the crossing detection computations in computer graphics meaning with the square net in simulating scenes, there is crossing square net with above-mentioned simple geometry figure, all think the square net that intercepting scope covers.
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| CN110673636A (en) * | 2019-09-30 | 2020-01-10 | 上海商汤临港智能科技有限公司 | Unmanned simulation test system and method, and storage medium |
| CN110673636B (en) * | 2019-09-30 | 2023-01-31 | 上海商汤临港智能科技有限公司 | Unmanned simulation test system and method, and storage medium |
| CN111539112A (en) * | 2020-04-27 | 2020-08-14 | 吉林大学 | Scene modeling method for automatically driving vehicle to quickly search traffic object |
| CN111539112B (en) * | 2020-04-27 | 2022-08-05 | 吉林大学 | Scene modeling method for automatically driving vehicle to quickly search traffic object |
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