CN104834552B - A kind of driving simulator obtains the quick interception engine of traffic environment information - Google Patents

A kind of driving simulator obtains the quick interception engine of traffic environment information Download PDF

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Publication number
CN104834552B
CN104834552B CN201510217591.2A CN201510217591A CN104834552B CN 104834552 B CN104834552 B CN 104834552B CN 201510217591 A CN201510217591 A CN 201510217591A CN 104834552 B CN104834552 B CN 104834552B
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simulation
interception
intercepted
module
simulation object
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CN201510217591.2A
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CN104834552A (en
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管欣
洪峰
贾鑫
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吉林大学
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Abstract

The invention discloses the quick interception engine that a kind of driving simulator obtains traffic environment information, positioning service module is connected with being intercepted simulation object data space, be intercepted simulation object data space respectively with simulation object location algorithm module, simulation scale interception algoritic module connection, simulation object location algorithm module is connected with simulating scenes space partitioning module, simulating scenes space partitioning module is connected with simulation scale interception algoritic module, simulation scale intercepts algoritic module and is connected with interception service module, interception service module is connected with simulator subsystem data memory space, simulator subsystem data memory space is connected with simulation scale interception algoritic module, simulation object is intercepted to be connected with positioning service module, each subsystem of driving simulator is connected with interception service module.The traffic simulation vehicle of the vehicle periphery representated by driving simulator can be real-time and accurately intercepted out, succinct effective data are provided for the calculating of driving simulator interactive system.

Description

A kind of driving simulator obtains the quick interception engine of traffic environment information

Technical field

The invention belongs to driving simulator applied technical field, is related to a kind of driving simulator and obtains traffic environment information Quick interception engine.

Background technology

To make the surrounding traffic environment that is presented in driving simulator more true, credible, people start more and more The method for employing driving simulator and traffic simulator associative simulation.Driver, will during driving simulator is manipulated The dynamics calculation result of driving simulator is sent to traffic simulator, and the vehicle representated by driving simulator is imitated as traffic A vehicular traffic object in very, and the result of traffic simulation is presented in driving simulator by the method for interactive mode Driver, the closed-loop simulation system of people-car-traffic environment is formed, makes the driving experience of driver truer, and then make emulation The result of experiment is more true and reliable.But even microscopic traffic flow simulation, simulation object also have thousands of or even up to ten thousand Car, a range of traffic simulation vehicle of vehicle periphery representated by driving simulator how is quickly therefrom selected, it is right Its artificial intelligence is extracted and shows etc. that interactive means are presented to the driver in driving simulator by the sound, image, Becoming influences associative simulation real-time, the key factor of the sense of reality.

Qin Ya qins et al. were in 2007《Kunming University of Science and Technology's journal (engineering version)》What the 1st phase of volume 32 delivered《Drive mould The data-interface for intending device and microscopic traffic simulation VISSIM is studied》Designed and Implemented in one text its independent research towards road The advanced driving simulator (KMRTS) of traffic and traffic simulation software VISSIM data transfer, but the process is Traffic simulation is first carried out in VISSIM and exports result to file, then above-mentioned friendship is imported when driving simulator is emulated Logical simulation result file.The simulation result of driving simulator can not be acted in the result of traffic simulation in this method, can not Fully achieve the associative simulation of driving simulator and traffic simulator.

The shortcomings that prior art:The method that driving simulator carries out associative simulation with traffic simulator has just been risen at present, The emulation platform occurred is mostly also in function implementation phase, but the region for working as traffic simulation is larger, emulation vehicle fleet size When larger for how from a large amount of emulation data of traffic simulator rapid extraction effective information, ensure the sound, display it is equivalent The real-time of fruit, to improve the also rare research of simulation performance.

The content of the invention

It is an object of the invention to provide the quick interception engine that a kind of driving simulator obtains traffic environment information, in order to carry Simulation performance during traffic environment information is simulated using traffic simulation in high driving simulator, guarantee is when driving simulator and greatly When scale traffic simulator carries out associative simulation, the vehicle periphery representated by driving simulator can be intercepted out in real time, exactly A range of traffic simulation vehicle, the calculating for the driving simulator interactive system such as vision, the sense of hearing, tactile provide letter Clean, effective data.Meanwhile the engine can also obtain peripheral information for vehicular traffic in traffic simulation merely and provide branch Hold.

The technical solution adopted in the present invention is that the quick interception that a kind of driving simulator obtains traffic environment information is drawn Hold up, positioning service module is connected with being intercepted simulation object data space, is intercepted simulation object data space point It is not connected with simulation object location algorithm module, simulation scale interception algoritic module, simulation object location algorithm module and emulation Scene space subdivision module is connected, and simulating scenes space partitioning module is connected with simulation scale interception algoritic module, simulation scale Interception algoritic module is connected with interception service module, and interception service module is connected with simulator subsystem data memory space, mould Intend device subsystem data memory space to be connected with simulation scale interception algoritic module, be intercepted simulation object and positioning service module Connection, each subsystem of driving simulator are connected with interception service module.

The invention has the advantages that solve when the traffic simulator simulating area that associative simulation is carried out with driving simulator It is larger, when simulation object quantity is also larger, it is difficult to traffic is imitated in certain limit in real time, around accurate, comprehensive extraction driver The problem of true object information, so as to improve the fidelity of driving simulator, to carry out all kinds of and traffic using driving simulator Related research is laid a good foundation.Moreover, the present invention has the characteristics of arrangement is flexible, when simulating scenes are very big, participate in handing over When the vehicle number of logical emulation is a lot, it can select quickly intercept engine independently outside traffic simulator and driving simulator, Run on a single computer, to improve the speed of service;When traffic simulation vehicle number is more, can select make soon Fast engine is integrated in be run on traffic simulator, to reduce the communication overhead of traffic simulator, improves data transmission efficiency;This It can also select quick interception engine being integrated in driving simulator internal operation outside.

Brief description of the drawings

Fig. 1 is the structured flowchart of the present invention.

Fig. 2 is the present invention and driving simulator, the arrangement schematic diagram of traffic simulator.

A is integrated in traffic simulator for quick interception engine;B independently in traffic simulator and drives for quick interception engine Sail outside simulator;C is integrated in driving simulator for quick interception engine.

Fig. 3 is the process formatted for the simulating scenes space partitioning module of the present invention to simulating scenes space progress two-dimensional mesh Schematic diagram.

Fig. 4 is that the simulation object location algorithm module of the present invention determines the process schematic of grid residing for simulation object.

Fig. 5 is that the positioning service of the present invention is that three kinds of functions that the simulation object being intercepted provides are intercepted in engine with quick The relation being intercepted between simulation object data space.

Fig. 6 intercepts algoritic module for the simulation scale of the present invention and determines that calling object to intercept scope institute grid coverage process shows It is intended to.

Fig. 7 is that the interception service of the present invention is that four kinds of functions that driving simulator subsystem provides are intercepted in engine with quick Simulator subsystem data memory space between relation.

In figure, 1. quick interception engines, 2. positioning service modules, 3. interception service modules, 4. simulation object location algorithms Module, 5. simulating scenes space partitioning modules, 6. simulation scales interception algoritic module, 7. are intercepted simulation object data storage sky Between, 8. simulator subsystem data memory spaces, 9. are intercepted simulation object, each subsystem of 10. driving simulators.

Embodiment

The present invention is described in detail with reference to the accompanying drawings and detailed description.

A kind of driving simulator obtains the quick interception engine 1 of traffic environment information, and structure is as shown in figure 1, including positioning Service module 2, interception service module 3, simulation object location algorithm module 4, simulating scenes space partitioning module 5, simulation scale Totally 5 modules of algoritic module 6 are intercepted, in addition to are intercepted simulation object data space 7, the storage of simulator subsystem data Totally 2 data spaces of space 8.

Positioning service module 2 is connected with being intercepted simulation object data space 7, is intercepted simulation object data storage Space 7 is connected with simulation object location algorithm module 4, simulation scale interception algoritic module 6 respectively, simulation object location algorithm mould Block 4 is connected with simulating scenes space partitioning module 5, and simulating scenes space partitioning module 5 connects with simulation scale interception algoritic module 6 Connect, simulation scale intercepts algoritic module 6 and is connected with interception service module 3, and interception service module 3 is deposited with simulator subsystem data Storage space 8 is connected, and simulator subsystem data memory space 8 is connected with simulation scale interception algoritic module 6, is intercepted emulation pair It is connected as 9 with positioning service module 2, each subsystem 10 of driving simulator is connected with interception service module 3.

Positioning service module 2, it is responsible for traffic simulator and transmits serving data to quick interception engine 1, traffic is imitated The simulation object for needing to be intercepted in true device is referred to as being intercepted simulation object, and each is intercepted simulation object 9 and quickly intercepted One section is all corresponding with engine and is intercepted simulation object data space 7, simulation object location algorithm module 4 is saved and drives Sail the data for being intercepted simulation object 9 required for simulator.Positioning service module 2 provides note to be intercepted simulation object 9 Volume, nullify, renewal three functions, wherein registering functional be intercepted simulation object 9 wish add driving simulator scene when Simulation object data space 7 is intercepted accordingly for its establishment in engine, while creates the handle for accessing the memory space And initialization data;Nullify function and institute is destroyed in engine when being intercepted simulation object 9 and wishing to exit driving simulator scene The data space and handle of establishment;More New function is responsible for the result of calculation for being intercepted simulation object 9 every time writing engine In corresponding to be intercepted in simulation object data space 7.

Service module 3 is intercepted, is responsible for transmitting serving data between driving simulator and quick interception engine 1, drives Sailing each in simulator needs the subsystem of application interception function to correspond to one in each subsystem 10 of driving simulator in Fig. 1 Individual, each subsystem 10 of each driving simulator is corresponding with one section of simulator subsystem data in quickly interception engine 1 and deposited Space 8 is stored up, saves the data required for simulation scale interception algoritic module 6.Interception service module 3 is each son of driving simulator System 10 provides four registration, cancellation, renewal, feedback functions, and wherein registering functional is uncommon in each subsystem 10 of driving simulator Corresponding simulator subsystem data memory space 8 is created for it in engine when hoping the interception function using engine, is created simultaneously Build the handle and initialization data for accessing the memory space;Nullify function no longer needs to utilize in each subsystem 10 of driving simulator Created data space and handle are destroyed during the interception function of engine in engine;More New function is responsible for drive simulation The data that each subsystem 10 of device needs to update when interception calculates every time write corresponding simulator subsystem data storage in engine In space 8;Feedback function is responsible for the result of calculation of simulation scale interception algoritic module 6 feeding back to each subsystem of driving simulator 10。

Simulating scenes space partitioning module 5, be responsible for according to simulating scenes under inertial coodinate system x, the maximum chi in y directions It is very little, simulating scenes are divided into one group respectively along the continuous two-dimension square shape grid in x, y direction, and be the net after each division Lattice are created, safeguard several chained lists, and being emulated on being intercepted for the same type in the grid is have recorded in each chained list The handle of object 9, the handle is created when being intercepted simulation object 9 to engine registers by positioning service module 2, and has pointed to one Section is intercepted simulation object data space 7, and it is driving simulator that can obtain this to be intercepted simulation object 9 by the handle The emulation data of offer.The process for safeguarding chained list for each grid includes, and will be intercepted emulation pair in current grid As 9 handle write-in chained list, the handle for being intercepted simulation object 9 that will no more be in current grid is deleted from chained list, exported The handle for being intercepted simulation object 9 in chained list, the reading and writing protection mechanism in simulation process to chained list.Reading and writing protection mechanism Refer to ensure to meet a series of processes claimed below:(1) each chained list can only have one to be intercepted emulation in synchronization The handle of object 9 is written into or deleted, and can not now carry out reading chain table handling;(2) each chained list can in synchronization The handle of simulation object 9 is intercepted there are multiple visitors therefrom to read.The described simulation object 9 that is intercepted can be that traffic is imitated The dynamic objects or roadblock, traffic mark board etc. such as traffic simulation vehicle, pedestrian, multidate information direction board in true device Static object.

Simulation object location algorithm module 4, is responsible for being intercepted simulation object 9 and provides a kind of location algorithm, the algorithm energy Enough grids divided according to simulating scenes space partitioning module 5, and to be intercepted the profile of simulation object 9, position, posture true Surely the grid that simulation object 9 is presently in is intercepted, the data for being intercepted simulation object 9 required for during the algorithm performs Obtained by positioning service module 2 for being intercepted in simulation object data space 7 of being created of the object.It is intercepted emulation pair As 9 grids being presently in refer to, the pros for representing to be intercepted in the rectangle and simulating scenes of simulation object two-dimensional silhouette are utilized The intersecting detection that shape grid is carried out in computer graphics meaning calculates, all square nets intersected with above-mentioned rectangle Lattice, it is regarded as being intercepted the grid that simulation object 9 is presently in, therefore is intercepted the grid number that simulation object 9 is presently in It is 1 to 4.

Simulation scale intercepts algoritic module 6, is responsible for the grid divided according to simulating scenes space partitioning module 5, and The position, interception scope that each subsystem 10 of driving simulator of the module currently sets are called, the interception scope is calculated and is covered The square net of lid, in the chained list then created from capped square net extraction be intercepted simulation object 9 and drawing The corresponding handle for being intercepted simulation object data space 7 in holding up, the driving mould required for during the algorithm performs Intend the simulator subsystem that the data of each subsystem 10 of device are created by interception service module 3 by each subsystem 10 of driving simulator Obtained in data space 8.Simulation scale interception algoritic module 6 can be by depositing in chained list that square net is created The handle for being intercepted simulation object 9 of storage, access are intercepted corresponding to simulation object 9 and are intercepted simulation object data storage sky Between 7, so as to obtain the information such as the simulation parameter for being intercepted simulation object 9, simulation result.Call simulation scale interception algoritic module 6 each subsystem 10 of driving simulator can be image display system, sound simulation system, and they pass through capped grid institute The chained list of establishment obtains state needed for the dispaly state of traffic simulation vehicle, sound state etc. within interception scope, and by driving Imaging device, sound equipment, the motion analog machine for sailing simulator are presented to driver.Meanwhile simulation scale interception is called to calculate Method module 6 can also be needed in independently developed traffic simulator carry out certain area in vehicular traffic Information Statistics its His object, such as each traffic simulation vehicle, can obtain around oneself that other are handed in certain limit by the algoritic module The information of logical emulation vehicle, the input as itself Driving Decision-making.The square net that interception scope is covered, refers to utilize table Show that the simple geometry figure (such as circle, rectangle, isosceles triangle) of interception scope enters with the square net in simulating scenes Intersecting detection in row computer graphics meaning calculates, the square net intersected with above-mentioned simple geometry figure, all It is considered to intercept the square net that scope is covered.

As shown in Figure 1, 2, quickly interception engine as the information transmission media between driving simulator and traffic simulator, The process traveled through to all traffic simulation objects in whole scene is eliminated, but only that carrying out a small amount of, simple Intersecting detection calculate be obtained with needed for scope traffic simulation object data, therefore driving simulator can be greatly improved Middle subsystems obtain the speed of service of traffic simulation object information from traffic simulator, so as to reach raising drive simulation Device and the purpose of the performance of traffic simulator associative simulation.And can be according to different situations, for quick interception engine selection not Same arrangement, the present embodiment select a arrangements as shown in Figure 2.

The present embodiment uses the C Plus Plus programming realization of object-oriented, and the present invention devises interception engine class CCullingEngine Class realize object as quick interception engine 1 and simulating scenes space partitioning module 5, and such is complete Into the work for carrying out mesh generation to simulation space according to the size of simulation space and the size of grid division, meanwhile, such It is responsible for creating, managing the instance objects of other classes.As shown in figure 3, the present invention devises space lattice class CCell Class conducts Each Grid Example object after the division of space, includes in space lattice class CCell Class and is cut for different type The chained list for taking simulation object 9 to be established, chained list is realized using the list of C++ STLs, it is achieved thereby that the reading to chained list Write-protect mechanism.Saved in chained list and belong to being intercepted corresponding to simulation object 9 for the grid and be intercepted simulation object data and deposit The handle in space 7 is stored up, space lattice class CCell Class, which additionally provide, writes above-mentioned handle into each chained list, from each chain Handle is deleted in table, extracts from each chained list the member function of handle, all space lattice class CCell for representing grid The two-dimensional array that Class examples are formed is managed by interception engine class CCullingEngine Class.

The present embodiment, which devises, is intercepted object class CObjectToCull Class, traffic simulator output each The simulation object for needing to be intercepted all is intercepted object class CObjectToCull Class in quickly interception engine 1 by one Example represent, the member variable for being intercepted object class CObjectToCull Class saves the traffic simulation object Profile, position, attitude information, the link table information that it should be affiliated in space lattice class CCell Class, and its current institute The meshes number of category, the index value of grid, being intercepted object class CObjectToCull Class member function realizes emulation The function of object location algorithm module 4, grid that can be according to residing for the profile of simulation object, position, posture determine it.It is all Object class CObjectToCull Class examples are intercepted, is stored in and is intercepted in object data memory space 7.

As shown in figure 4, the intersecting detection that simulation object location algorithm is employed in computer graphics in the present embodiment is calculated Method, the profile of traffic simulation object represent that simulating scenes are empty using oriented bounding box (Oriented Bounding Box, OBB) Between divide after grid then represent that asking therebetween hands over that to calculate the canonical algorithm passed through in computer graphics real with square It is existing, all square nets intersected with OBB, the grid that traffic simulation object is presently in is regarded as, is occurred in Fig. 4 Intersecting square net is marked with grid lines texture, and to clearly show that overlapping relation in figure, the size for emulating vehicle is entered Appropriate amplification is gone.

As shown in figure 5, the data space of object class CObjectToCull Class examples is intercepted by positioning service It is responsible for, the registering functional of positioning service realizes the construction of class, nullifies function and realizes the destructed of class, more New function is realized to class The renewal of member variable.

The present embodiment devises truncated models class CCullingModel Class, and each in driving simulator needs pair The subsystem that traffic simulation object is intercepted is in quickly interception engine all by a truncated models class CCullingModel Class examples represent, and truncated models class CCullingModel Class member variable saves the driving simulator subsystem Unite the range information to be intercepted, the current positional information to be intercepted, the traffic simulation object-type information to be intercepted, section Modulus type class CCullingModel Class member functions realize the function of simulation scale interception algoritic module 6, being capable of basis The interception scope of driving simulator subsystem, current location information determine the grid being truncated to.

The driving simulator subsystem being related in the present embodiment includes sound system and image display system, such as Fig. 6 institutes Show, their interception scope is all represented with circle, and scope intercepts algoritic module and carrying out circular and representing simulating scenes space When asking between the square of grid hands over calculating after division, the canonical algorithm passed through in computer graphics is realized, all and circle Intersecting square net occurs for shape, and being regarded as driving simulator subsystem needs to extract the grid of information.

As shown in fig. 7, the data space of truncated models class CCullingModel Class examples is negative by interception service Duty management, the registering functional for intercepting service realize the construction of class, nullify function and realize the destructed of class, more New function realize to class into The renewal of member's variable, feedback function realize that the result of calculation that simulation scale is intercepted to algorithm feeds back to driving simulator.

The workflow of quick interception engine is divided into the following steps:

Step 1, simulated program initial phase, using intercepting engine class CCullingEngine Class to simulation space Divided, and create and initialize a space lattice class CCell Class example, generation for the grid after each division The two-dimensional array of space lattice class CCell Class examples.

Image subsystems, sound subsystem in step 2, driving simulator intercept to interception service commitment application for registration Corresponding truncated models class CCullingModel is respectively created for two subsystems in engine in the registering functional of service Class examples, and determine the interception scope of two subsystems, be respectively necessary for which of traffic simulator traffic simulation object Intercepted, two subsystems need to only intercept to traffic simulation vehicle in the present invention.

The traffic simulation object that each in step 3, traffic simulator wishes to be added in driving simulator scene is to calmly Position service commitment application for registration, positioning service are each traffic simulation object (present invention only has traffic simulation vehicle) in engine In establish it is corresponding be intercepted object class CObjectToCull Class examples, and initialize the member variable of class.

The more New function that step 4, each traffic simulation vehicle of traffic simulator output pass through positioning service is engine In be intercepted the member variables such as the object class CObjectToCull Class examples renewal position of traffic simulation object, posture, Class example performs simulation object location algorithm by member function, determines the simulation space grid residing for it, and by itself handle It is written in the chained list of the space lattice class CCell Class examples of residing grid.

Step 5, driving simulator image subsystems are the truncated models class in engine by intercepting the more New function of service Member variable, the class examples such as the interception position where CCullingModel Class examples more fresh driver pass through member function Perform simulation scale interception algorithm and determine the grid that interception scope is covered, and extract the traffic simulation object that grid is included Information, the image subsystems of driving simulator are then fed back to by the feedback function of positioning service, are realized by image subsystems To display of these vehicular traffics in driving simulator scene.Driving simulator sound subsystem interception traffic simulation vehicle is simultaneously The process played out to its effects,sound is similar therewith.

Step 6, during driving simulator and traffic simulator carry out associative simulation by interception engine class CCullingEngine Class are controlled, and concurrently circulation performs the above-mentioned 4th, 5 steps respectively.

Step 7, when terminating to emulate, the image of driving simulator, sound system by intercept the cancellation function of service from Exited in engine;The simulation object that is intercepted of traffic simulator is exited by the cancellation function of positioning service from engine;Complete Portion's truncated models class CCullingModel Class examples succeed with object class CObjectToCull Class examples are intercepted It is after destructed, the example in space lattice class CCell Class example arrays is destructed, exit interception engine.

Claims (1)

1. a kind of driving simulator obtains the quick interception engine of traffic environment information, it is characterised in that positioning service module (2) Be connected with being intercepted simulation object data space (7), be intercepted simulation object data space (7) respectively with emulation pair As location algorithm module (4), simulation scale interception algoritic module (6) connection, simulation object location algorithm module (4) and emulation field Scape space partitioning module (5) is connected, and simulating scenes space partitioning module (5) is connected with simulation scale interception algoritic module (6), is imitated True scope interception algoritic module (6) is connected with interception service module (3), interception service module (3) and simulator subsystem data Memory space (8) is connected, and simulator subsystem data memory space (8) is connected with simulation scale interception algoritic module (6), is cut Simulation object (9) is taken to be connected with positioning service module (2), each subsystem of driving simulator (10) connects with interception service module (3) Connect;
Positioning service module (2), it is responsible for traffic simulator and transmits serving data to quick interception engine (1), traffic is imitated Each in true device, which is intercepted simulation object (9) and is corresponding with one section in quickly interception engine, is intercepted simulation object data Memory space (7), save simulation object location algorithm module (4) and be intercepted simulation object required for driving simulator (9) data;Positioning service module (2) provides three registration, cancellation, renewal functions for traffic simulation object, wherein registering Function be intercepted simulation object (9) wish add driving simulator scene when in engine for its establishment be intercepted accordingly it is imitative True object data memory space (7) while the handle and initialization data for creating the access memory space;Function is nullified to be cut Take simulation object (9) to destroy the simulation object data that are intercepted created when wishing to exit driving simulator scene in engine to deposit Store up space and handle;More New function is responsible for corresponding data storage in the result of calculation write-in engine by each traffic simulation object Space;
Service module (3) is intercepted, is responsible for transmitting serving data between driving simulator and quick interception engine (1), drives Sailing each in simulator needs the subsystem of application interception function to be corresponding with one section of simulator in quickly interception engine (1) Subsystem data memory space (8), the data required for simulation scale interception algoritic module (6) are saved, intercept service module (3) subsystem for driving simulator provides four registration, cancellation, renewal, feedback functions, and wherein registering functional is driving mould Intend each subsystem of device (10) to be desirable with creating corresponding simulator subsystem number in engine for it during the interception function of engine According to memory space (8) and meanwhile create access the memory space handle and initialization data;It is each in driving simulator to nullify function Subsystem (10) no longer needs to destroy the simulator subsystem data for creating and warding off during the interception function using engine in engine Memory space (8) and handle;More New function is responsible for needing to update when interception calculates every time by each subsystem of driving simulator (10) Data write-in engine in data space;Feedback function is responsible for the calculating knot of simulation scale interception algoritic module (6) Fruit feeds back to the subsystem of driving simulator;
Simulation object location algorithm module (4), it is responsible for being intercepted a kind of location algorithm of simulation object (9) offer, the algorithm energy Enough grids divided according to simulating scenes space partitioning module (5), and it is intercepted the profiles of simulation object (9), position, appearance State determines the grid that simulation object is presently in, during the algorithm performs required for be intercepted simulation object (9) data by Positioning service module (2) is intercepted acquisition in simulation object data space (7) for what the object was created;Simulation object is worked as Preceding residing grid refers to, is counted using the square net in the rectangle and simulating scenes that represent simulation object two-dimensional silhouette Intersecting detection in calculation machine graphics meaning calculates, and all square nets intersected with above-mentioned rectangle, is regarded as imitating The grid that true object is presently in, therefore the grid number that simulation object is presently in is 1 to 4;
Simulating scenes space partitioning module (5), be responsible for according to simulating scenes under inertial coodinate system x, the full-size in y directions, Simulating scenes are divided into one group respectively along the continuous two-dimension square shape grid in x, y direction, and are the grid after each division Create, safeguard several chained lists, have recorded in each chained list the same type in the grid on be intercepted emulation pair As the handle of (9), the handle is created when being intercepted simulation object (9) to engine registers by positioning service module (2), and is pointed to One section is intercepted simulation object data space (7), and can obtain this by the handle is intercepted simulation object (9) to drive The emulation data of simulator offer are provided;The process for safeguarding chained list for each grid includes, by being intercepted in current grid Simulation object (9) handle writes chained list, and the simulation object (9) that is intercepted that will no more be in current grid is deleted from chained list, defeated Go out in chained list and be intercepted simulation object (9) handle, the reading and writing protection mechanism in simulation process to chained list;Machine is protected in reading and writing System refers to ensure to meet a series of processes claimed below:Each chained list can only have one to be intercepted emulation pair in synchronization As (9) handle is written into or deleted, and can not now carry out reading chain table handling;Each chained list can have more in synchronization Individual visitor, which therefrom reads, is intercepted simulation object (9) handle;Traffic simulation object is the traffic simulation car in traffic simulator , pedestrian, multidate information direction board dynamic object, or roadblock, traffic mark board static object;
Simulation scale interception algoritic module (6), it is responsible for the grid divided according to simulating scenes space partitioning module (5), and The position, interception scope that each subsystem of driving simulator (10) of the module currently sets are called, calculates the interception scope institute The square net of covering, in the chained list then created from capped square net extraction be intercepted simulation object (9) Handle, each subsystem of driving simulator (10) data required for during the algorithm performs are by interception service module (3) Obtained in the simulator subsystem data memory space (8) that driving simulator subsystem is opened up;The simulation scale intercepts algorithm Module (6) can be accessed and cut by the handle for being intercepted simulation object (9) stored in chained list that square net is created Take and be intercepted simulation object data space (7) corresponding to simulation object (9), simulation object (9) is intercepted so as to obtain Simulation parameter, simulation result information;Call each subsystem of driving simulator (10) of simulation scale interception algoritic module (6) can To be image display system, sound simulation system, the chained list created by capped grid obtains to be handed within interception scope Dispaly state, the sound state of logical emulation vehicle, and set by the imaging device of driving simulator, sound equipment, motion simulation It is standby to be presented to driver;Meanwhile call simulation scale interception algoritic module (6) can also be independently developed traffic simulator Middle other objects for needing to carry out vehicular traffic Information Statistics in certain area;The square net that interception scope is covered, it is Refer to and carry out computer graphics meaning using the square net for representing to intercept in the simple geometry figure and simulating scenes of scope On intersecting detection calculate, the square net intersected with above-mentioned simple geometry figure, be regarded as interception scope covered The square net of lid.
CN201510217591.2A 2015-04-30 2015-04-30 A kind of driving simulator obtains the quick interception engine of traffic environment information CN104834552B (en)

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Publication number Priority date Publication date Assignee Title
US8509982B2 (en) * 2010-10-05 2013-08-13 Google Inc. Zone driving

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Publication number Priority date Publication date Assignee Title
CN103236084A (en) * 2013-05-15 2013-08-07 中南大学 Dynamic modeling method of large-scale track lines
CN204680002U (en) * 2015-04-30 2015-09-30 吉林大学 Driving simulator obtains quick intercepting engine of traffic environment information

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