CN106981232A - A kind of virtual driving simulator based on unity3D - Google Patents
A kind of virtual driving simulator based on unity3D Download PDFInfo
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- CN106981232A CN106981232A CN201710186153.3A CN201710186153A CN106981232A CN 106981232 A CN106981232 A CN 106981232A CN 201710186153 A CN201710186153 A CN 201710186153A CN 106981232 A CN106981232 A CN 106981232A
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- leading screw
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
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Abstract
The invention discloses a kind of virtual driving simulator based on unity3D, including bottom platform, halfpace and moving platform, the bottom platform is equilateral triangle plate, halfpace is also triangular plate, it is connected at the triangular apex of bottom platform by connecting plate with halfpace, leading screw is installed on connecting plate, leading screw is arranged on connecting plate by bearing, leading screw is rotated by motor powered, sliding block is installed on leading screw, connecting rod is hinged with sliding block, connecting rod is hinged with moving platform, multi-directional ball is connected to fixed length pillar below moving platform, fixed length pillar is fixedly mounted on halfpace.The present invention is simple in construction, replaces the parts such as hydraulic cylinder, electric cylinder to realize using motor leading screw module and moves so that manufacture and assembly are simpler, while reducing processing cost；Belong to symmetrical structure, middle brace rod is played a supporting role, substantially reduce the endurance of rod member and leading screw, add the stability of mechanism.
Description
Technical field
The present invention relates to the virtual driving simulator based on unity3D, belong to simulator field.
Background technology
With the fast development of automobile industry in recent years, automobile has become the Chinese most important vehicles.Increasingly
The people of many purchase vehicles need to be admitted to motor vehicle driving license, although most of driving schools are responsible for student and learn car and be admitted to driving license,
But obviously no time enough goes to practise skilled driving most of increasingly busy people.
Therefore, car steering training industry gradually starts to replace traditional master worker using the training method of driving simulator
The training method trained an apprentice, the efficiency of enhancement training, reasonable distribution education resource.
But traditional automobile training simulator is simple in construction, function is single, and driver can only be allowed to be familiar with steering wheel, clutch
The operation of the parts such as device, brake, it is impossible to reach the experience effect that real vehicle drives.Based on this, virtual driving simulator arises at the historic moment.
Virtual driving simulator is a kind of advanced training apparatus, with reference to multimedia technology, virtual reality technology
Unity3D, can create a relatively real driver training environment.Due to virtual driving simulator safety and environmental protection, training effect
The features such as rate is high, has been widely used in driving school's training.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of based on the virtual of unity3D
Driving simulator, can strengthen the feeling of immersion and dynamic authenticity of training, comprehensive driving training is carried out to driver to realize.
Technical scheme：In order to solve the above technical problems, a kind of virtual driving simulator based on unity3D of the present invention,
Including bottom platform, halfpace and moving platform, the bottom platform is equilateral triangle plate, and halfpace is also triangular plate, the bottom of at
It is connected at the triangular apex of platform by connecting plate with halfpace, leading screw is installed on connecting plate, leading screw passes through axle
Hold on connecting plate, leading screw is rotated by motor powered, is provided with leading screw on sliding block, sliding block and is hinged with connecting rod,
Connecting rod is hinged with moving platform, and multi-directional ball is connected to fixed length pillar below moving platform, and fixed length pillar is fixedly mounted on halfpace.
Preferably, being provided with draw-wire displacement sensor on the sliding block, the draw-wire displacement sensor other end is installed
On the platform of bottom, draw-wire displacement sensor is parallel with leading screw.
Preferably, being provided with attitude transducer on the moving platform.
Preferably, the attitude transducer is connected with control system, control system and motor connection.
Preferably, the control system includes control hardware and control software, the control software is that unity3D is virtual
Simulation software.
Beneficial effect：The virtual driving simulator based on unity3D of the present invention, with advantages below：
(1) simulator structure is simple, replaces the parts such as hydraulic cylinder, electric cylinder to realize using motor leading screw module and moves,
So that manufacture and assembly are simpler, while reducing processing cost.Belong to symmetrical structure, middle brace rod plays support and made
With substantially reducing the endurance of rod member and leading screw, add the stability of mechanism.
(2) simulator uses motion control card, supports a variety of Programming with Pascal Language of increasing income, is moved by DSP and FPGA
Planning, it is ensured that the real-time of control, realizes quick I/O responses, realizes high-speed data acquisition and transmission.Support point position and
Continuous path, multi-axial Simultaneous, the motor pattern such as straight line, circular arc, helix, space line interpolation.
(3) simulator is combined with virtual reality technology, enables driver trueer when manipulation simulator
Scene change when real impression drives, improves the feeling of immersion of driving training.Threedimensional model is built using 3dsMax softwares, makes mould
Type is more accurate true to nature, improves the authenticity of system emulation.Compared to traditional use Opengl structure is combined with VC++
The technology of visual system, builds visual system using advanced virtual emulation software Unity3D, faster easier can build
Vision emulation system, reduction programming difficulty.
Brief description of the drawings
Fig. 1 simulator schematic diagram of mechanisms.
Fig. 2 control system schematic diagrames.
Fig. 3 model hierarchy structure charts.
Wherein, 1 moving platform；2 connecting rods；3 rotary encoders；4 connecting rods；5 halfpaces；6 sliding blocks；7 encoders；8 draw
Rope type displacement transducer；9 sliding blocks；10 connecting rods；11 fixed length pillars；12 encoders；13 sliding blocks；14 draw-wire displacement sensors；
15 bottom platforms；16 draw-wire displacement sensors.
Embodiment
As shown in Figure 1 to Figure 3, the virtual driving simulator of the invention based on unity3D, including moving platform 1, bottom platform
15th, fixed length pillar 11 and three driving side chains.Three driving side chains respectively by structure identical connecting rod 4,2,10, leading screw,
Sliding block 6,9,13 and actuating motor formation prismatic pair constitute, driving side chain in connecting rod 2,4,10 end by ball pivot with
Moving platform 1 is connected, and can adjust in the athletic posture of moving platform 1, driving side chain between sliding block 6,9,13 and connecting rod 4,2,10
Connected, moved by the mobile drive connecting rod 4,2,10 of sliding block 6,9,13, and then change the motion of moving platform 1 using ball pivot
Posture.Fixed length pillar 11 connects moving platform 1 and halfpace 5, and halfpace is connected and fixed to by spherical pair and moving platform 1
5 center.Bottom platform 15 is equilateral triangle, and three apexes are respectively welded one piece of connecting plate, and the other end of connecting plate is with
Between platform 5 weld together, it is ensured that halfpace 5 and bottom platform 15 are parallel to each other.Connecting plate is mainly used in installing fixed offer
The ball-screw sliding block and actuating motor of prismatic pair, the top of leading screw are connected by shaft coupling with actuating motor, and end passes through connection
Axle device connects with rotary encoder 3,7,12, and draw-wire displacement sensor 8,14,16 is respectively arranged on three connecting plates, its
Drawstring top is individually fixed on sliding block 6,13,9.Three summits of moving platform 1 pass through connecting rod 4,2,10 and three cunnings respectively
Block 6,9,13 is connected, and specific connected mode is：Three summits of moving platform 1 constitute three balls by installing three accurate ball pivots
Face pair, is connected between three connecting rods 4,2,10 and three sliding blocks 6,9,13 using ball pivot.
As shown in Fig. 2 computer, motion control card, driver, actuating motor are linked together, the phase of data is realized
Mutually transmission.First, motion control card is inserted on the PCI slot of computer, it is total by PCI between motion control card and terminal board
Line is connected, and is connected between terminal board and driver using 25 needle serial port wire harness, and common-anode is used between driver and actuating motor
Connection is connected.
Software systems resolve module group by visual system, input equipment AM access module, software and hardware communication module, vehicle pose
Into.
As shown in figure 3, a kind of virtual scene structure of new driving simulator includes static models, dynamic model, special efficacy
Model.The model and animation set up using 3DSMax softwares in virtual driving system, then export as FBX by model and animation
Form is used into Unity.Mapping coordinates amendment is carried out to model using the UVW textures editing machine in 3DSMax.According to difference
Mode shape surface, different coordinate shaft positions is modified using UVW textures editing machine.
The foundation of model of place is completed in 3DSMax, by the three of the FBX forms such as the vehicle handled well, landform, building
Dimension module is put into Unity3D resource folder Assets, and Unity3D will be automatically imported corresponding threedimensional model and corresponding
Textures and animation file.
Each model file in scene is managed for convenience, and a scene is only provided with a scene root node, the world
Coordinate value may be generally viewed as (0,0,0).Root node is defined as a 3DEmpty in Unity3D, it does not have volume not have yet
Other physical attributes, are a relatively independent three-dimensional points.Other entities are all the child node of root node, the child node being affiliated to
Under can continue add child node, can so form the hierarchical structure tree construction of environmental model.Meanwhile, using from top to bottom
Method build scene, make to there is set membership between each geometrical model.
Using the direction light source (Directionallight) in Unity3D, spot light (Pointlight), spotlight
And area source (Arealight) simulates any light source in nature (Spotlight).By in menu bar
Option below GameObject creates light source, by the Transform attributes of modification of program light source, can be so as to controlling light source
The feature such as position, rotation, light source is ceaselessly rotated so that visual system is more rich and varied.
Use can strengthen the Lightmapping technologies of static scene lighting effect in Unity3D, by less
Performance consumption causes static scene to look truer, abundant, and with more third dimension；Select the static models in scene
Static check boxes are chosen in Inspector views after (such as fuel tank, street lamp, groups of building, oil drum model), so can be with
Allow these elements to participate in Lightmapping to bakee.Lightmapping windows are opened in Window menu items, are switched to
Bake tabs, arrange parameter.Wherein Quality determines the quality bakeed, and High is highest, but the calculating time can be long；
Bounces determines the calculating rank of photon, when it is more than 0, can be by setting FinalGatherRay to be to wait option to obtain
High-quality Light energy transfer operation effect；AmbientOcclusion can make model intersection produce shade transition effect；Set
After the completion of, click BakeScene buttons and start baking.The baking time can be different because of the difference of machine performance, in configuration
Last for several minutes is understood on less high machine to dozens of minutes.
The method being combined using main view point and secondary viewpoint, makes the two viewpoints mutually aid in, and provides complete to driver
Visual angle observe auto model transport condition, strengthen the dynamic feeling of immersion of driver.Using the method for dynamic following, make shooting
Being capable of following vehicle model sport, enhancing visual experience when machine is in secondary viewpoint.The speed of auto model is faster, and video camera is regarded
It is wild also bigger；Secondary viewpoint is in the back upper place of auto model direct of travel.Create needs to turn for viewpoint addition viewpoint after viewpoint
Exchange the letters number, makes virtual driving system just to switch between different viewpoints.
Video camera is set to the sub- object of auto model in Scene windows and the position of driver's eyes is adjusted to,
The Transform attributes of current camera are copied, an Empty object are then created in Hierarchy views, and order again
Entitled firstView, this object is also configured as the sub- object of auto model, clicked in Transform attributes
PasteComponentValues.So when needing to be switched to main view point, directly the Transform of this Empty object is belonged to
Property is copied in video camera Transform attributes, it is possible to the view scene of driver.
Using the method for dynamic following, following vehicle model sport when enabling video camera in secondary viewpoint strengthens vision
Experience.The speed of auto model is faster, and the visual field of video camera is also bigger；Secondary viewpoint auto model direct of travel it is rear on
Side.Create needs to add viewpoint translation function for viewpoint after viewpoint, makes virtual driving system just can be between different viewpoints
Switching.
CurrentDistance vector for auto model the unit vector of XZ plane directions of advance be multiplied by set be
Number, newTargetPosition vectors are unit vector vertically upward, then Vector3newPosition=
newTargetPosition-currentDistance；An Empty object is created in Hierarchy views, and again
SecondView is named as, this object is set to the sub- object of auto model, is that secondView adds a script,
The position that secondary viewpoint is set in LateUpdate () function is newPosition, is oriented newTargetPosition, this
Sample can all update the Transf attributes of secondary viewpoint in each frame：Transform.position=newPosition；
transform.LookAt(newTargetPosition)；
The NVIDIAPhysX physical engines being internally integrated using Unity3D are imitated to simulate the physics such as rigid motion, cloth
Really.Different collision bodies are selected according to different game objects.By from local coordinate Y-axis by projecting a ray downwards come real
The collision detection of existing wheel.Wheel has a radius extended downwardly by suspension distance, can pass through attribute different in script
Value is controlled to vehicle.The game object for needing to add collision body in scene is chosen, is clicked in Inspector views
AddComponent buttons, choose Physics options, and different collision body types may be selected, thus add on the object
Collision body component.
By taking the Car objects addition WheelCollider in scene as an example, Car objects are chosen in Hierarchy views,
An empty subobject is added for it, RNTO WheelColliderFL represents racing car the near front wheel.For
WheelColliderFL adds a WheelCollider component, and arrange parameter is as illustrated, choose Car subobject
WheelFL, the gear peace ox that the Transform components upper right corner is clicked in Inspector views is forced, single in the list of ejection
CopyComponent is hit, the value of current Transform components can be so replicated.Then WheelColliderFL pairs is chosen
As clicking the gear button in the Transform components upper right corner in Inspector views, being clicked in the list of ejection
PasteComponentValues options, have thus pasted the value above replicated on current Transform components.According to
It is the collision body that Car objects add other three wheels according to above-mentioned steps.
A GUI resource is added on the display channel of screen, motor racing information during driving is obtained by GUI,
Such as speed, gear and other interactive information.Provided using the GUI system of the complete set built in Unity3D from layout, control
A whole set of GUI solution of part to skin.
Call GUI codes to draw interface in OnGUI functions, called automatically per frame when virtual driving system operation
OnGUI functions, perform the sentence in function.GUI control is typically necessary formulation screen when incoming Rectangle parameters are come and painted
Region processed.
Use function GUI.Box (newRect (10,10,150,20), " steerSpeed:"+steerSpeed) show fixed
The good corner coefficient steerSpeed of justice, the coordinate of display is (10,10), and the width 150 of background frame is highly 20；Function
GUI.Box(newRect(Screen.width-150,10,80,20),"FPS:"+(int) (1f/Time.deltaTime)) aobvious
Show the FPS of virtual driving system, whether smooth for the frame updating effect of monitoring system, wherein Screen.width is screen
Width, Time.deltaTime is in order to complete the time of last frame；Wherein function GUI.Box (newRect
(Screen.width-250, Screen.height-150,300,300), dashboardPic) display speed instrument board,
DashboardPic is the picture Texture variables of definition.
Input equipment is steering wheel, brake, throttle, gear etc., and input control interface module is write using Input classes.
In Input classes, Key and physical button (keyboard, mouse, the button on rocking bar) are corresponding, set its mapping relations,
Then its input state is obtained by button title or keyboard-coding KeyCode.Create as needed and name is virtually pressed
Key, the virtual key Button defined in input manager InputManager is accessed by title, and setting is pressed with physics
Key (and combinations thereof) message mapping.
The input actions such as change, the rotation of steering wheel of rocking bar are simulated using input shaft Axis, it is right in input manager
Two positive and negative virtual keys (PositiveButton and NegativeButton) are configured.One input shaft is set to one
Individual slider bar, left side value is -1, and the right value is 1.When positive button is pressed, sliding block is mobile to the forward direction on the right；When pressing
During negative button, sliding block is moved to the negative sense on the left side.The current value of the position correspondence input shaft of sliding block.
The left-right rotation of steering wheel, throttle are caught automatically using GetAxis () method in Unity programs tramples degree
And brake etc. motion.The value that the method is returned is a value between -1 to 1, and obtained numerical value is multiplied by into rational parameter just
The control of auto model can be realized.
The exploitation of software and hardware communication control module be based on Unity3D Script Programming,
Editor's generation on MicrosoftVisualStudio2012 softwares.Its main development procedure is as follows：
1) a new game object, and RNTO are created in the Hierarchy views first in Unity3D
GTSController, is that this object adds a new script GTSController.cs；
2) the function dynamic link library secondly called in needed for program：A Plugins file is created in Unity3D,
The solid high outside dll components provided are placed in this file, the dll components of all external reference have to be put into this
It can just be cited, then be quoted in script GTSController.cs using using mode in file；
3) motion control card is initialized, its content mainly includes opening movement control card (GT_Open), configuration motion control
Device (GT_LoadConfig), AXIS kinematic axis planned position reset (GT_SetPrfPos), AXIS axles are set into a bit pattern
(GT_PrfTrap)；
4) implementing result is fed back to master by commissioning test program, motion controller when receiving the instruction of main frame transmission
Machine, indicates whether present instruction correctly performs.5) in script GTSController.cs, the return value of every instruction is detected,
With the execution state of decision instruction, and set up necessary error handling mechanism, it is ensured that program safety is reliably run.
Above-mentioned GTSController.cs shell scripts are mainly by calling the letter in motion control card dynamic link library
The motion of number controlled motor, using the shell script as main moving cell, according to the vehicle movement gathered in vision emulation system
Position and posture information calculates suitable control parameter, and control four-degree-of-freedom platform moves according to specified rule and reduces road conditions.
Vehicle pose resolves vibration, the tilt data that module refers to produce car model because of the out-of-flatness on ground, leads to
Cross program to resolve as the parameters needed for motor movement, the top for being then converted into four-degree-of-freedom platform by shell script again is put down
Platform motion pose parameter.
In order to constantly read the Transform attributes of auto model obtain the coordinate (Position) of vehicle in the scene with
And rotation (Rotation) information.Comprise the following steps that：
(1) GameObject of a public attribute is stated in GTSController.cs shell scripts, is named as
CarGo, represents Vehicle Object；
(2) chosen Car object values in Hierarchy views after GTSController objects to common variable
CarG；
(3) coordinate information (x, y, z) of vehicle is obtained by carGo.transform.position in script, is passed through
CarGo.transform.eulerAngles obtains the rotation Euler angle (α, beta, gamma) of vehicle.
Wherein, what is obtained by carGo.transform.rotation is rotation of the object in world's space coordinate transformation
Angle, this anglec of rotation is stored by Quaternion (quaternary number)；In order to obtain the vehicle needed for virtual driving system
Model real-time pose information, and make the smoothness of vision emulation system, these sentences are write in FixedUpdate () function.
The above-mentioned implementation software and hardware configuration of the present invention is as follows, software：Windows7 operating systems, Unity3D softwares；Hardware：
PC, the solid high four-shaft high-speed motion control cards of GTS-400-PV (G)-PCI, top gem of a girdle-pendant source HY57DJ114 type stepper motors, HYQD30-
H0057 type two-phase stepping motor drivers, E6B2-CWZ6C type rotary encoders, WXY31-0404-S2 type dragline types displacement is passed
Sensor, input equipment is from north logical steering wheel, throttle, brake etc..
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of virtual driving simulator based on unity3D, it is characterised in that：Including bottom platform, halfpace and moving platform,
The bottom platform is equilateral triangle plate, and halfpace is also triangular plate, passes through connection at the triangular apex of bottom platform
Plate is connected with halfpace, and leading screw is provided with connecting plate, and leading screw is arranged on connecting plate by bearing, and leading screw passes through motor
Electric rotary, is provided with sliding block, sliding block on leading screw and is hinged with connecting rod, and connecting rod is hinged with moving platform, below moving platform
Multi-directional ball is connected to fixed length pillar, and fixed length pillar is fixedly mounted on halfpace.
2. the virtual driving simulator according to claim 1 based on unity3D, it is characterised in that：Pacify on the sliding block
Equipped with draw-wire displacement sensor, the draw-wire displacement sensor other end is arranged on the platform of bottom, draw-wire displacement sensor with
Leading screw is parallel.
3. the virtual driving simulator according to claim 1 based on unity3D, it is characterised in that：On the moving platform
Attitude transducer is installed.
4. the virtual driving simulator according to claim 1 based on unity3D, it is characterised in that：The posture sensing
Device is connected with control system, control system and motor connection.
5. the virtual driving simulator according to claim 4 based on unity3D, it is characterised in that：The control system
Comprising control hardware and control software, the control software is unity3D virtual emulation softwares.
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| CN106652648A (en) * | 2017-02-09 | 2017-05-10 | 沈阳工业大学 | Swaying platform under control of cross-shaped sliding table and swaying control method |
| CN107463256A (en) * | 2017-08-01 | 2017-12-12 | 网易（杭州）网络有限公司 | Based on the user of virtual reality towards control method and device |
| CN108984275A (en) * | 2018-08-27 | 2018-12-11 | 洛阳中科龙网创新科技有限公司 | The agricultural driver training method of Intelligent unattended based on Unity3D and depth enhancing study |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106652648A (en) * | 2017-02-09 | 2017-05-10 | 沈阳工业大学 | Swaying platform under control of cross-shaped sliding table and swaying control method |
| CN107463256A (en) * | 2017-08-01 | 2017-12-12 | 网易（杭州）网络有限公司 | Based on the user of virtual reality towards control method and device |
| CN108984275A (en) * | 2018-08-27 | 2018-12-11 | 洛阳中科龙网创新科技有限公司 | The agricultural driver training method of Intelligent unattended based on Unity3D and depth enhancing study |
| CN109460579A (en) * | 2018-10-12 | 2019-03-12 | 厦门海迈科技股份有限公司 | A kind of method and device for shaking ball using Unity3D emulation stirring-type |
| CN109460579B (en) * | 2018-10-12 | 2022-06-03 | 厦门海迈科技股份有限公司 | Method and device for simulating stirring type ball shaking by utilizing Unity3D |
| CN109508319A (en) * | 2018-11-09 | 2019-03-22 | 武汉兴联云立方科技有限公司 | A kind of cross-platform resource management system of 3D and method |
| CN110120165A (en) * | 2019-04-11 | 2019-08-13 | 成都盛特石油装备模拟技术股份有限公司 | Drilling well emergency drilling simulation system |
| CN110579960A (en) * | 2019-10-10 | 2019-12-17 | 扬州恒山宏业科技发展有限公司 | Motion simulator control system |
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