CN105205248B - A kind of design method of the vehicle terrain trafficability simulation analysis component based on ODE physical engines - Google Patents
A kind of design method of the vehicle terrain trafficability simulation analysis component based on ODE physical engines Download PDFInfo
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Abstract
A kind of design method of the vehicle terrain trafficability simulation analysis component based on ODE physical engines, the present invention relates to the design method of vehicle terrain trafficability simulation analysis component.Need to expend substantial amounts of human and material resources and financial resources the present invention is to solve prior art, and the problem of prior art Efficiency is low, and the cycle is long.The present invention is with the terrain elevation data of SEDRIS canonical representations by one, reading；2nd, three-dimensional terrain model is built by reading terrain elevation data；3rd, the auto model of structure simulation real vehicles；4th, being analyzed by property for vehicle is completed according to the basic parameter of the auto model of real vehicles；5th, the program analyzed by property of vehicle is encapsulated as what is realized by steps such as effect components using the Resource Encapsulation instrument in HIT TENA.The present invention is applied to the design field of vehicle terrain trafficability simulation analysis component.
Description
Technical field
It is more particularly to a kind of to be based on ODE things the present invention relates to the design method of vehicle terrain trafficability simulation analysis component
Manage the design method of the vehicle terrain trafficability simulation analysis component of engine.
Background technology
The needs of to meet national defence and military field modeling and simulation technology, it is enabled that U.S. Department of Defense develops experiment training
Architecture (Test and Training Enabling Architecture, TENA).Harbin Institute of Technology uses for reference
The universal test training system structure HIT-TENA for meeting domestic research at present is proposed on the basis of TENA.Fig. 1 is shown
HIT-TENA architectures, figure acceptance of the bid color part is environmental resource application.Environmental resource includes landform, ocean, space, air etc.
Synthetic natural environment, and the artificial technology such as sound, electromagnetism, light and tactical environment.Experiments all HIT-TENA is occurred one
In fixed environmental condition, the structure effect of environmental resource directly affects simulation result, the assessment for equipment performance of participating in the experiment with
Lifting also plays a part of can not ignore.
In military and national defence, terrain environment is important component in whole synthetic natural environment.As daily
The most common vehicles in life and military activity, the traveling of the Characteristic fluctuation of landform to vehicle have a great impact.To car
Terrain trafficability test in, by it for tank and military offroad vehicle, continue up design-trial-production-experiment-improved
Vehicle research pattern.Such pattern has clearly a need for expending substantial amounts of human and material resources and financial resources, and Efficiency is not high, week
Phase is grown.
In domestic existing large-scale virtual platform, it may have terrain environment emulates part, but for terrain environment and car
Interaction aspect technical research be concentrated mainly on scene real-time visual show, vehicle modeling and terrain environment effect model
Etc. single aspect, the experiment training system structure of actual operation emulation not can operate with completely also.Therefore, trained in experiment
Terrain environment resource is built in architecture, realizes the information exchange of terrain environment resource and vehicle resources, carries out the ground of vehicle
Shape is emulated by property, is the effective way of lifting test training system structure competitiveness.
The content of the invention
The invention aims to solve prior art to need to expend substantial amounts of human and material resources and financial resources, and it is existing
The problem of technical research efficiency is low, and the cycle is long, and a kind of vehicle terrain trafficability emulation point based on ODE physical engines proposed
Analyse the design method of component.
Above-mentioned goal of the invention is achieved through the following technical solutions：
Step 1: on Visual Studio platforms, read using GDAL function libraries with the landform of SEDRIS canonical representations
Altitude data；
Step 2: using ODE physical engine tectonodynamics simulation models, by reading ground in Dynamics Simulation Model
Shape altitude data builds three-dimensional terrain model；
Step 3: the initial position of setting real vehicles, using ODE physical engine tectonodynamics simulation models, dynamic
Hinge-2 joints structure simulation in Mechanics Simulation model in the data of the auto model of real vehicles and ODE engines is true
The auto model of real vehicle；
Wherein, the data of the auto model of real vehicles include the length of vehicle and the diameter of wheel；
Step 4: the basic parameter of the auto model of real vehicles in three-dimensional terrain model is obtained in real time, according to true
The basic parameter of the auto model of vehicle completes being analyzed by property for vehicle；Wherein, the basic ginseng of the auto model of real vehicles
Number includes speed, position and the acceleration of vehicle；
Step 5: the program analyzed by property of vehicle is encapsulated as passing through using the Resource Encapsulation instrument in HIT-TENA
Effect component；
Wherein, the program that vehicle is analyzed by property is encapsulated as by effect component be specially:
(1) interface encapsulation by property analysis information that, will obtain the auto model of real vehicles is Information System knot
The resource component that structure HIT-TENA can be loaded；
(2), vehicle is analyzed by property using the template encapsulation function of the platform assembly encapsulation tool in HIT-TENA
Program Generating code skeleton.
Invention effect
The present invention is passed through using the vehicle landform increased income physical engine ODE (Open Dynamic Engine) and designed
Property simulation analysis component.Vehicle is virtual test mesorelief environmental resource important component by effect, and landform passes through
Effect component realizes ground in terrain environment by analyzing vehicle in real time by property, issue vehicle position information and velocity information
Shape environmental resource is using the information exchange with other equipment of participating in the experiment.Vehicle terrain trafficability simulation analysis component is virtual for improving
The credibility of experiment, the reusability of environmental resource, it is significant to improve virtual environment resource.
As virtual reality technology is gradually developed with perfect in recent years, landform is carried out by virtual reality technology and passed through
Property analysis have that cost is low, easy to use, cycle is short and the advantages of broad covered area.
Cycle is short：Current trafficability test is all the real vehicle measurement carried out at test site, in true experimental site
Carried out using real vehicles when terrain trafficability analysis is tested, it is necessary to preparing experiment place and experiment vehicle, and big in advance
Experiment needs time a couple of days in the place of area, and the cycle is longer.And virtual reality technology is used in the present invention, before having saved experiment
Time, and emulation running time of the auto model on three-dimensional terrain model also greatly shortens.Phase is measured with real vehicle
Than the order of magnitude that the present invention drops to the test period in units of hour from the order of magnitude in units of day, having the cycle short
Advantage.
Broad covered area：When train experiment is carried out in actual experiment place, it is contemplated that the limitation of actual place, the slope of landform
The geographic factors such as degree have very big limitation.And emulated in the present invention using three-dimensional terrain model, the gradient, material to landform
Do not limit, there is the advantages of broad covered area.
The present invention builds the terrain trafficability component of vehicle for universal test training system structure HIT-TENA, is HIT-
The part of terrain environment resource in the application of TENA systems environmental resource.Terrain environment database in HIT-TENA systems
It is to be based on Synthetic environment data representation and interchange specification (Synthetic Environment Data Representation
And Interchange Specification, SEDRIS) structure, including altitude data, cultural traits data, texture number
According to 3D model files, realize the complete representation of terrain environment data and unambiguously interact.The present invention is directed to HIT-TENA bodies
Altitude data (DEM) in the terrain environment resource of system, design the terrain trafficability analytic unit of vehicle.
In order to auto model carry out dynamics simulation, simulating vehicle in landform advance when force analysis and in vehicle
Collision detection is carried out when being collided with surrounding environment, it is necessary to using physical engine.Physical engine common at present has Havok,
Physx, Bullet and ODE.The present invention using the physical engine ODE that increases income that is mainly developed by Russell Smith, have with
Lower advantage：
1st, particularly suitable for the simulation to radial type rigid structure；
2nd, there is the characteristics of quick, strong, stable, suitable for the simulation of interactive environment or real time environment；
3rd, using it is " hard " connection by the way of, and other physical engines then with virtual spring represent two objects between connection
Relation, but be so difficult to simulate correct collision effect, and easily malfunction；
4th, the crash space supported has：Quaternary tree space, hash space, simple space；
5th, using quick First-order Integral device, with time step that can be free；
The present invention analyzes mechanical relationship and the kinematics pass that its straight line is travelled, turned, climbing under a few class transport conditions
System, for the terrain environment data with SEDRIS canonical representations in HIT-TENA systems, constructs three-dimensional terrain model.For reality
The dynamics simulation of existing auto model, mechanical analysis and collision detection are carried out using ODE physical engines, realized to auto model
Terrain trafficability is analyzed.To realize the interoperability of various resources in HIT-TENA systems, reuse and can be combined, TA resources are utilized to seal
Holding tool has carried out terrain trafficability component package.The experiment resource of the perfect experiment training system structure of the component, is improved
The confidence level of training system structure is tested, there is important application value in field of virtual reality.
The present invention improves virtual environment resource, designed to improve credibility, the reusability of environmental resource of virtual test
Vehicle terrain trafficability simulation analysis component based on the physical engine ODE that increases income.With the ground in existing large-scale virtual platform
Shape emulation technology is compared, and the present invention shows the real-time visual of scene, vehicle modeling and the modeling of terrain environment effect combine, real
Shi Jinhang terrain trafficabilities are analyzed, and realize the information exchange of terrain environment resource and vehicle resources.The design has use can
Letter property is high, and reusability is good, versatile, the features such as being widely used.
Brief description of the drawings
Fig. 1 is the HIT-TENA architectural schematics that background technology proposes；
Fig. 2 is that the TIN algorithms that embodiment three proposes build three-dimensional terrain model schematic diagram；
Fig. 3 (a) is the three-dimensional terrain model perspective view that embodiment three proposes；
Fig. 3 (b) is the three-dimensional terrain model close-up view that embodiment three proposes；
Fig. 4 is the auto model schematic diagram for the real vehicles that embodiment one proposes；
Fig. 5 is schemed for what the vehicle that embodiment four proposes travelled in landform by property displaying；
Fig. 6 is the component package schematic flow sheet analyzed by property for the auto model that embodiment one proposes；
Fig. 7 is that the landform that embodiment six proposes passes through effect The Component Object Model schematic diagram；
Fig. 8 is that the landform that embodiment six proposes passes through effect module data interactive interface figure.
Embodiment
Embodiment one：A kind of vehicle terrain trafficability emulation point based on ODE physical engines of present embodiment
The design method of component is analysed, is specifically prepared according to following steps：
Step 1: on Visual Studio platforms, read using GDAL function libraries with the landform of SEDRIS canonical representations
Altitude data；Wherein, read includes .dt1 files .aux files and .rrd texts with the terrain elevation data of SEDRIS canonical representations
Part；
.dt1 file is used for storing altitude data；
.aux file is one and is used for preserving the file of the auxiliary information that raster file itself can not preserve .aux files with
Raster file exists in same catalogue together, and filename is consistent with raster file；
.rrd file is image pyramid file, if a raster dataset has created image pyramid, then
Aux files also preserve the pointer of .rrd file storing paths；
Step 2: using ODE physical engine tectonodynamics simulation models, by reading ground in Dynamics Simulation Model
Shape altitude data builds three-dimensional terrain model；
Step 3: the initial position of setting real vehicles, using ODE physical engine tectonodynamics simulation models, dynamic
Hinge-2 (chain 2) joint structure in Mechanics Simulation model in the data of the auto model of real vehicles and ODE engines
Simulate auto model such as Fig. 4 of real vehicles；
Wherein, the data of the auto model of real vehicles include the length of vehicle and the diameter of wheel；
Step 4: the basic parameter of the auto model of real vehicles in three-dimensional terrain model is obtained in real time, according to true
The basic parameter of the auto model of vehicle completes being analyzed by property for vehicle；Wherein, the basic ginseng of the auto model of real vehicles
Number includes speed, position and the acceleration of vehicle；
Step 5: the program analyzed by property of vehicle is encapsulated as passing through using the Resource Encapsulation instrument in HIT-TENA
Effect component, realize the interoperability with vehicle assembly, terrain environment resource and Atmosphere environment resource etc. in TENA systems；
Wherein, the program that vehicle is analyzed by property is encapsulated as by effect component be specially:
(1), in order to provide terrain trafficability information to other equipment of participating in the experiment in HIT-TENA systems, the present invention will obtain
The interface encapsulation that information is analyzed by property of the auto model of real vehicles can load for Information System Structure HIT-TENA
Resource component；
(2), in order to build based on ODE physical engines by effect component, sealed using the platform assembly in HIT-TENA
The Program Generating code skeleton that the template encapsulation function of holding tool analyzes vehicle by property；Auto model is analyzed by property
Component package flow it is as shown in Figure 6.
Present embodiment effect：
Present embodiment is the vehicle landform using increase income physical engine ODE (Open Dynamic Engine) and design
Pass through property simulation analysis component.Vehicle is virtual test mesorelief environmental resource important component by effect, landform
It is real by property, issue vehicle position information and velocity information in terrain environment by analyzing vehicle in real time by effect component
Existing terrain environment resource is using the information exchange with other equipment of participating in the experiment.Vehicle terrain trafficability simulation analysis component is for improving
The credibility of virtual test, the reusability of environmental resource, it is significant to improve virtual environment resource.
As virtual reality technology is gradually developed with perfect in recent years, landform is carried out by virtual reality technology and passed through
Property analysis have that cost is low, easy to use, cycle is short and the advantages of broad covered area.
Cycle is short：Current trafficability test is all the real vehicle measurement carried out at test site, in true experimental site
Carried out using real vehicles when terrain trafficability analysis is tested, it is necessary to preparing experiment place and experiment vehicle, and big in advance
Experiment needs time a couple of days in the place of area, and the cycle is longer.And virtual reality technology is used in present embodiment, save reality
Time before testing, and emulation running time of the auto model on three-dimensional terrain model also greatly shortens.Surveyed with real vehicle
Amount is compared, and the order of magnitude that present embodiment drops to the test period in units of hour from the order of magnitude in units of day, is had
The advantages of cycle is short.
Broad covered area：When train experiment is carried out in actual experiment place, it is contemplated that the limitation of actual place, the slope of landform
The geographic factors such as degree have very big limitation.And emulated in present embodiment using three-dimensional terrain model, the gradient to landform,
Material does not limit, and has the advantages of broad covered area.
Present embodiment is the terrain trafficability component that universal test training system structure HIT-TENA builds vehicle, is
The part of terrain environment resource in the application of HIT-TENA systems environmental resource.Terrain environment number in HIT-TENA systems
It is to be based on Synthetic environment data representation and interchange specification (Synthetic Environment Data according to storehouse
Representation and Interchange Specification, SEDRIS) structure, including altitude data, culture
Characteristic, data texturing and 3D model files, realize the complete representation of terrain environment data and unambiguously interact.This implementation
For the altitude data (DEM) in the terrain environment resource of HIT-TENA systems, the terrain trafficability for designing vehicle divides mode
Analyse component.
In order to auto model carry out dynamics simulation, simulating vehicle in landform advance when force analysis and in vehicle
Collision detection is carried out when being collided with surrounding environment, it is necessary to using physical engine.Physical engine common at present has Havok,
Physx, Bullet and ODE.Present embodiment uses the physical engine ODE that increases income mainly developed by Russell Smith, tool
Have the advantage that：
Particularly suitable for the simulation to radial type rigid structure
1st, there is the characteristics of quick, strong, stable, suitable for the simulation of interactive environment or real time environment；
2nd, using it is " hard " connection by the way of, and other physical engines then with virtual spring represent two objects between connection
Relation, but be so difficult to simulate correct collision effect, and easily malfunction；
3rd, the crash space supported has：Quaternary tree space, hash space, simple space；
4th, using quick First-order Integral device, with time step that can be free；
Present embodiment analyzes mechanical relationship and the motion that its straight line is travelled, turned, climbing under a few class transport conditions
Relation, for the terrain environment data with SEDRIS canonical representations in HIT-TENA systems, construct three-dimensional terrain model.
To realize the dynamics simulation of auto model, mechanical analysis and collision detection are carried out using ODE physical engines, realized to vehicle mould
The terrain trafficability analysis of type.To realize the interoperability of various resources in HIT-TENA systems, reuse and can be combined, provided using TA
Source encapsulation tool has carried out terrain trafficability component package.The experiment resource of the perfect experiment training system structure of the component, is carried
The confidence level of experiment training system structure has been risen, there is important application value in field of virtual reality.
Present embodiment is credibility, the reusability of environmental resource of raising virtual test, improves virtual environment resource,
Devise the vehicle terrain trafficability simulation analysis component based on the physical engine ODE that increases income.With in existing large-scale virtual platform
Terrain simulation technology compare, present embodiment shows the real-time visual of scene, vehicle modeling and terrain environment effect build
Mould combines, and carries out terrain trafficability analysis in real time, realizes the information exchange of terrain environment resource and vehicle resources.The design has
Have using credible height, reusability is good, versatile, the features such as being widely used.
Embodiment two：Present embodiment is unlike embodiment one：In step 1 read with
The terrain elevation data of SEDRIS canonical representations is specially：
(1) the storehouse GDAL readings of increasing income of increase income storehouse GDAL and the vector geographic data form of operation grid format, are respectively adopted
Take terrain elevation data；
(2) GDALRasterBand in GDAL function libraries, is utilized::RasterIO functions (read wave band data function)
The terrain elevation data stored in .aux files is read, because altitude data is the simple individual event digital land value model model of zeroth order, because
This stores the terrain elevation data read out into the two-dimensional array of foundation, so as to follow-up terrain construction.
Embodiment three：Present embodiment is unlike embodiment one or two：ODE is utilized in step 2
Physical engine tectonodynamics simulation model, dimensional topography is built by reading terrain elevation data in Dynamics Simulation Model
Model detailed process：
(1), ODE physical engines intermediate cam grid (trimesh) class and highland (heightfield) class can be used to represent
Dimensional topography；Unstability due to trimesh classes and the not pardon to convex body, therefore the present invention is using inside ODE
Highland class represent three-dimensional terrain model；
(2), read using TIN algorithm (Triangulated Irregular Network, TIN)
The terrain elevation data of SEDRIS standards, three-dimensional terrain model is constructed in Dynamics Simulation Model according to terrain elevation data
As shown in Fig. 3 (a) and Fig. 3 (b)；Its main process is as shown in Figure 2.Other steps and parameter and embodiment one or two-phase
Together.
Embodiment four：Unlike one of present embodiment and embodiment one to three：It is real in step 4
When obtain in three-dimensional terrain model the auto model of real vehicles basic parameter, according to the base of the auto model of real vehicles
This parameter complete vehicle by property analyze detailed process be：
1) in order to build vehicle emulation kinetic model and carry out behavior modeling, created dimensionally using ODE physical engines
The collision world of shape model and the collision solid object of real vehicles, the collision world and true car using three-dimensional terrain model
Collision solid object collision detection is carried out to three-dimensional terrain model and the auto model of real vehicles, pass through control platform
Control the motion of the auto model of real vehicles；So that the auto model of real vehicles normally travel in three-dimensional terrain model
(completing traveling of the auto model in the landform for jolting injustice)；
Wherein, the motion of the auto model of real vehicles includes the forward-reverse of the auto model of real vehicles, turn left and
The function of right-hand rotation；Meanwhile in order to observe the performance of its straight line traveling, the performance of turning driving and the performance of climbing traveling, this
Invention can obtain the state of vehicle in real time, realize real-time, effective interaction of terrain environment resource and vehicle resources；Fig. 5 is
The result for the vehicle terrain trafficability analysis that the present invention realizes；
2) auto model of real vehicles uses ODE physical engines to true car in three-dimensional terrain model after normally travel
Auto model carry out Dynamic solving computing, obtain the shape that the auto model of real vehicles is advanced in three-dimensional terrain model
State shows the mechanics and kinematics character of object by establishing Dynamics Simulation Model in Dynamics Simulation Model, in fact
The terrain trafficability analysis of existing vehicle provides mechanical foundation.One of other steps and parameter and embodiment one to three phase
Together.
Embodiment five：Unlike one of present embodiment and embodiment one to four：Using dimensionally
The collision world of shape model and the collision solid object of real vehicles are to three-dimensional terrain model and the auto model of real vehicles
Carry out collision detection detailed process be：
(1) the auto model power of real vehicles, is set；
(2) parameter of the auto model hinge-2 sections of real vehicles, is adjusted；
(3), call back function is called to carry out collision detection to three-dimensional terrain model and the auto model of real vehicles；
1) detect three-dimensional terrain model and whether the auto model of real vehicles collides, if do not collided,
The auto model of real vehicles repeats step (1)~(3)；
2) in the event of colliding, using AABB detection algorithms to the three-dimensional terrain model to collide and the car of real vehicles
Model is detected, and detection here refers to that three-dimensional terrain model to colliding and real auto model carry out stress
Analysis, to ensure normally travel of the auto model in landform, is not intended to avoid colliding；The car of real vehicles after detection
Model, still repeat step (1) arrive (3)；
(4), repeat step (1)~(3) proceed by auto model of the simulation cycles until the real vehicles of acquisition three
The state meet demand advanced in dimension relief model；Wherein, the needs of state meets be specially：The vehicle of the real vehicles of acquisition
Model travel condition data are more than or equal to 50 groups.Other steps and parameter are identical with one of embodiment one to four.
Embodiment six：Unlike one of present embodiment and embodiment one to five：Will in step 5
The interface encapsulation that information is analyzed by property for obtaining the auto model of real vehicles can for Information System Structure HIT-TENA
The process of the resource component of loading is：
(1), auto model by property analytic unit establishes issue object mould by the middleware interface in HIT-TENA
Type realizes data exchange process, it is necessary to the application of data can order object model；
(2), the analysis in HIT-TENA or the processing class in HIT-TENA pass through effect group using the landform of interior order
The object model of part issue；Object model such as Fig. 7 that its mesorelief is issued by effect component；Step (1) and the process of (2) system
Referred to as TENA-IDE (TENA IDEs (TENA-IDE, TENA-Integrated Development
Environment the process that the landform under)) carries out data interaction by effect component is as shown in Figure 8；
(3) after, generating landform by effect component template using the component package instrument in HIT-TENA, addition has been completed
Being analyzed by property of vehicle after, establish simulation model of the landform by effect component；
(4) object model and landform, obtained according to step (1) and (2) is parsed by the simulation model of effect component
The basic parameter of the auto model of real vehicles, and decision-making is carried out to basic parameter, control information control is issued according to the result of decision
The speed of the auto model of real vehicles processed and steering；
Caused data, which include the positional information of vehicle and velocity information, in simulation cycles can pass through middleware interface
Issue, it can be ordered by the other assemblies under HIT-TENA platforms, realize the interaction of information between platform, meet virtual test
Needs；In this way, the present invention completes the vehicle terrain trafficability based on ODE physical engines in HIT-TENA experiment training systems
Component designs.Other steps and parameter are identical with one of embodiment one to five.
Claims (6)
1. a kind of design method of the vehicle terrain trafficability simulation analysis component based on ODE physical engines, it is characterised in that one
The design method of vehicle terrain trafficability simulation analysis component of the kind based on ODE physical engines is specifically to follow the steps below
's：
Step 1: on Visual Studio platforms, read using GDAL function libraries with the landform altitude of SEDRIS canonical representations
Data；
Step 2: using ODE physical engine tectonodynamics simulation models, by reading landform height in Dynamics Simulation Model
Number of passes is according to structure three-dimensional terrain model；
Step 3: the initial position of setting real vehicles, using ODE physical engine tectonodynamics simulation models, in dynamics
Hinge-2 joints structure in simulation model in the data of the auto model of real vehicles and ODE engines simulates true car
Auto model；
Wherein, the data of the auto model of real vehicles include the length of vehicle and the diameter of wheel；
Step 4: the basic parameter of the auto model of real vehicles in three-dimensional terrain model is obtained in real time, according to real vehicles
The basic parameter of auto model complete vehicle and analyzed by property；Wherein, the basic parameter bag of the auto model of real vehicles
Include speed, position and the acceleration of vehicle；
Step 5: the program analyzed by property of vehicle is encapsulated as passing through effect using the Resource Encapsulation instrument in HIT-TENA
Component；
Wherein, the program that vehicle is analyzed by property is encapsulated as by effect component be specially:
(1) interface encapsulation by property analysis information that, will obtain the auto model of real vehicles is Information System Structure
The resource component that HIT-TENA can be loaded；
(2), the journey for being analyzed vehicle by property using the template encapsulation function of platform assembly encapsulation tool in HIT-TENA
Sequence generates code skeleton.
A kind of 2. design of the vehicle terrain trafficability simulation analysis component based on ODE physical engines according to claim 1
Method, it is characterised in that：Read in step 1 with the terrain elevation data of SEDRIS canonical representations and be specially：
(1) the storehouse GDAL readings ground of increasing income of increase income storehouse GDAL and the vector geographic data form of operation grid format, is respectively adopted
Shape altitude data；
(2), using the terrain elevation data for reading wave band data function and reading storage in GDAL function libraries, the ground that will be read out
Shape altitude data is stored into the two-dimensional array of foundation.
A kind of 3. design of the vehicle terrain trafficability simulation analysis component based on ODE physical engines according to claim 2
Method, it is characterised in that：ODE physical engine tectonodynamics simulation models are utilized in step 2, in Dynamics Simulation Model
Three-dimensional terrain model detailed process is built by reading terrain elevation data：
(1) three-dimensional terrain model, is represented using the highland class inside ODE；
(2) terrain elevation data of SEDRIS standards, the root in Dynamics Simulation Model, are read using TIN algorithm
Three-dimensional terrain model is constructed according to terrain elevation data.
A kind of 4. design of the vehicle terrain trafficability simulation analysis component based on ODE physical engines according to claim 3
Method, it is characterised in that：The basic parameter of the auto model of real vehicles in three-dimensional terrain model is obtained in step 4 in real time,
It is by property analysis detailed process according to what the basic parameter of the auto model of real vehicles completed vehicle：
1) the collision world and the collision solid object of real vehicles of three-dimensional terrain model, profit are created using ODE physical engines
With the collision world of three-dimensional terrain model and the collision solid object of real vehicles to three-dimensional terrain model and real vehicles
Auto model carries out collision detection, and the motion of the auto model of real vehicles is controlled by control platform；
Wherein, the motion of the auto model of real vehicles includes the forward-reverse of the auto model of real vehicles, turns left and turns right
Function；
2) auto model of real vehicles uses ODE physical engines to real vehicles in three-dimensional terrain model after normally travel
Auto model carries out Dynamic solving computing, obtains the state that the auto model of real vehicles is advanced in three-dimensional terrain model.
A kind of 5. design of the vehicle terrain trafficability simulation analysis component based on ODE physical engines according to claim 4
Method, it is characterised in that：Using the collision world of three-dimensional terrain model and the collision solid object of real vehicles to dimensionally
The detailed process that shape model and the auto model of real vehicles carry out collision detection is：
(1) the auto model power of real vehicles, is set；
(2) parameter of the auto model hinge-2 sections of real vehicles, is adjusted；
(3), call back function is called to carry out collision detection to three-dimensional terrain model and the auto model of real vehicles；
1) detect three-dimensional terrain model and whether the auto model of real vehicles collides, if do not collided, truly
The auto model of vehicle repeats step (1)~(3)；
2) in the event of colliding, using AABB detection algorithms to the three-dimensional terrain model to collide and the vehicle mould of real vehicles
Type is detected, the auto model of real vehicles after detection, still repeat step (1)~(3)；
(4), repeat step (1)~(3) proceed by auto model of the simulation cycles until the real vehicles of acquisition dimensionally
The state meet demand advanced in shape model；Wherein, the needs of state meets be specially：The auto model of the real vehicles of acquisition
Travel condition data are more than or equal to 50 groups.
A kind of 6. design of the vehicle terrain trafficability simulation analysis component based on ODE physical engines according to claim 5
Method, it is characterised in that：It is by the interface encapsulation that information is analyzed by property for the auto model for obtaining real vehicles in step 5
The process for the resource component that Information System Structure HIT-TENA can be loaded is：
(1), auto model by property analytic unit establishes issue object model by the middleware interface in HIT-TENA；
(2), the analysis in HIT-TENA or the processing class in HIT-TENA are sent out using the landform of interior order by effect component
The object model of cloth；
(3) after, generating landform by effect component template using the component package instrument in HIT-TENA, completed car is added
Analyzed by property after, establish simulation model of the landform by effect component；
(4) object model and landform, obtained according to step (1) and (2) is parsed truly by the simulation model of effect component
The basic parameter of the auto model of vehicle, and decision-making is carried out to basic parameter, it is true to issue control information control according to the result of decision
The speed of the auto model of real vehicle and steering.
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