CN107452242A - A kind of car model semi-matter simulating system based on Beidou navigation - Google Patents
A kind of car model semi-matter simulating system based on Beidou navigation Download PDFInfo
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- CN107452242A CN107452242A CN201710540819.0A CN201710540819A CN107452242A CN 107452242 A CN107452242 A CN 107452242A CN 201710540819 A CN201710540819 A CN 201710540819A CN 107452242 A CN107452242 A CN 107452242A
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- 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
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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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Abstract
A kind of car model semi-matter simulating system based on Beidou navigation of the present invention, system is occurred by Big Dipper satellite signal and semi-matter simulating system forms.Including：The part such as system, communication system, interface conversion, I/O boards, Ethernet UDP/IP transmission, GT5 car models Games Software, automatic driving control system and three-axle table composition occurs for Big Dipper satellite signal.Its method based on Beidou navigation, a digital car model is defined by setting the various parameters of automobile, and the posture of the car model is simulated with three-axle table, when car model is travelled along predetermined travel route, corresponding posture can show on three-axle table.By repeatedly training, real time data and normal data are contrasted, facilitate designer to be adjusted and change model according to difference value.The system ensures to simulate emulation and analysis of the true environment to car model in laboratory conditions to greatest extent, saves the time of designer.
Description
Technical field
The present invention relates to Beidou navigation, vehicle electric field, more particularly to a kind of car model based on Beidou navigation
Semi-matter simulating system.
Background technology
Automobile industry is one of various countries' core industry, is the horizontal important symbol industry of a national development of manufacturing,
And play key player in world's economic growth and social progress.In recent years, the development of automobile industry in China is rapid, turns into
Qualified automobile superpower.With the fast development of China's economy and road transport condition, commercial car, in national life and set
Apply in construction and play vital effect.The auto industry in China is started late, and slower development, far lags behind automobile work
The countries such as the flourishing America and Europe of industry, while all kinds of automobiles in recent years flourish, the automobile in China also experienced from scratch,
Independent research is introduced into from vehicle, either yield or sales volume all increases year by year.This is also proposed to the quality of automobile
Higher more professional requirement, such as control stability, riding comfort and security etc. in the past passenger car field consider because
Element is also gradually considered in the R＆D process of heavy motor truck.Emulation technology is to carry out the dynamic performance simulation of vehicle
Provide strong instrument.But existing commercial car dynamics simulation software is less, can not meet the development of modern heavy-duty vehicles
It is required that.
Vehicle emulation is important component in automobile emulation technology, its core emulated be exactly establish meet it is actual
Full Vehicle Dynamics model.Based on dynamics of multibody systems, the car of more high-freedom degree can be established based on Virtual Prototype Technique
Kinetic model, and the dummy model of fairly close practical structures can be established.Virtual prototype is a kind of computer model,
It can reflect the characteristic of actual product, including outward appearance, spatial relationship and comprehensive kinematic and dynamic modeling.By means of this skill
Art, designer can establish mechanical system model on computers, are accompanied by three-dimensional visualization processing, simulate and build ring in experiment
The motion of system and dynamic characteristics and simplified according to simulation result under border and optimize system；But this simply solves the dynamic of vehicle
The emulation of mechanical model, the on the whole still analysis based on whole model emulation result.The car model is not true
Environment in go to test the quality of its model, and every real time data of the model in motion process can not be obtained.This is
The Beidou satellite navigation system that system uses, real real time environmental data, and automatic Pilot control system can be established in real time
System can be with unlimited number of training model, and obtains corresponding attitude information by three-axle table, and draws corresponding number
According to according to real time data and the difference value of normal data being adjusted and change to model, greatly save designer
Time.
The content of the invention
In order to reach object above, the present invention proposes a kind of car model semi-matter simulating system based on Beidou navigation,
The system is broadly divided into following components：
(1) predetermined travel route is obtained.The work of UDP/IP communications protocol can be regarded as two simple processing procedures：
The encapsulation process of layer and layer point uses process from the bottom to top from top to bottom.Each process completes corresponding function according to regulation.
UDP/IP distinguishing hierarchies are distinct, and different layers are corresponding with different sub-protocols.In terms of sending direction, row that digital automobile model is sent
The data for sailing trajectory signal are sent to UDP modules and handled as requested, and UDP modules are completed to send data after data processing
IP sending modules are given, the encapsulation task of datagram is completed by it, then gives link layer process, so far just complete UDP/IP associations
View sends datamation.From receiving in terms of direction, after the data frame for receiving data link layer, according to dividing with former for UDP/IP agreements
Reason, successively unpacks, finally transfers data to top level application program, pilot process also relates to the work of data check, finally
Satellite-signal simulation system is transmitted data to, its system block diagram is as shown in Figure 2.
(2) Big Dipper satellite signal for giving predetermined travel route is simulated.System, which occurs, for the satellite-signal is moved known to
State data form satellite positioning signal, carry out emulating the number of satellite and particular location that draw the position by built-in system, enter
And automobile can be enable to carry out dynamic simulative emulation to navigator fix performance, satellite navigation is then transmitted to by day bundle of lines signal
Module.The system can be transmitted to satellite navigation module by wired test and wireless test two ways signal, and wired test is
The receiver of satellite navigation module is put into by attenuator, low noise, realizes data transfer；And wireless test is by antenna and day
Radio communication between line realizes signal transmission.Concrete principle block diagram such as Fig. 3 and Fig. 4.
(3) semi-matter simulating system is built.The system is by satellite navigation module, I/O boards, automatic Pilot control system
System, interface signal converting system, GT5 digital automobiles Games Software and the part of three-axle table six are formed.Its specific work process is big
Cause as follows：Automatic driving control system satellite positioning signal, desired trajectory, corresponding driver behavior, immediately drive posture and
Positional information forms control instruction and is transmitted to interface board, carries out signal conversion, the control signal after conversion is transmitted to digital automobile, number
Control signal is transferred to communication system by word automobile by Ethernet, and signal is transmitted to GT5 car models, it is entered by communication system
Row control, GT5 car models are travelled along predetermined travel route, and corresponding posture can be shown on three-axle table
Come, and export real time data, be shown on the corresponding computer interface of earth station, and simulation times can be set model is entered
Row repeatedly training.By repeatedly training, real time data and normal data are contrasted, designer couple is facilitated according to difference value
Model is adjusted and changed.Theory diagram is as shown in Figure 5.
Brief description of the drawings
Fig. 1 is the general principles block diagram of the system；
Fig. 2 is the acquisition flow chart of traveling dynamic route；
Fig. 3 is Data Over Cable flow chart；
Fig. 4 is wirelessly transmitting data flow chart；
Fig. 5 is HWIL simulation theory diagram.
Embodiment
Embodiment one.
With reference to Figure of description 1, a kind of car model semi-matter simulating system based on Beidou navigation, such as bottom is included
Point：
Fig. 1 is the frame diagram of whole system, and system occurs by Big Dipper satellite signal and semi-matter simulating system forms.The Big Dipper
It is to obtain cartographic information according to the positioning signal of satellite that system, which occurs, for satellite-signal, and sets predetermined travel route, and its is specific
It is achieved in that what is completed by UDP/IP communications protocol, specific block diagram is as shown in Figure 2；It is then communicated to Big Dipper satellite signal mould
The digital simulation of plan system gives the Big Dipper satellite signal of predetermined travel route, and then big-dipper satellite is positioned according to satellite-signal
System carries out dynamic simulation.Semi-matter simulating system includes communication system, interface conversion, Ethernet UDP/IP transmission, GT5 automobiles
Model game software, I/O boards, automatic driving control system and the part of three-axle table seven composition.According to designer
Designed car model, the parameter of correlation is extracted, a car model defined in GT5, the automobile is simulated with three-axle table
The posture of model, is interconnected by the mathematical model on I/O boards and PC, and the system can be given by the real-time location information of the Big Dipper
Go out some region of positional information, calibrate the desired trajectory in the region, simulate the environmental information of this area, and in regional
Set corresponding driver behavior.Automatic driving control system is satellite positioning signal, desired trajectory, corresponding driver behavior, i.e.
When drive posture and positional information and form control instruction and be transmitted to interface board, carry out signal conversion, the control signal after conversion passed
To digital automobile, control signal is transferred to communication system by digital automobile by Ethernet, and signal is transmitted to GT5 vapour by communication system
Vehicle model, control it, GT5 car models are travelled along predetermined travel route, and corresponding posture can be in three axles
Showed on turntable, and export real time data, be shown on the corresponding computer interface of earth station, and emulation can be set
Number is repeatedly trained to model.By repeatedly training, real time data and normal data are contrasted, according to difference value side
Just designer is adjusted and changed to model.The system can ensure to simulate in laboratory conditions truly to greatest extent
Emulation and analysis of the environment to car model, save the time of designer.
Embodiment two.
The present embodiment provides a kind of car model semi-matter simulating system based on Beidou navigation, and the system is led by satellite
Model plane block, I/O boards, automatic driving control system, interface signal converting system, GT5 digital automobiles Games Software and three axles turn
The part of platform six is formed；
Wherein, wherein satellite navigation module inputs big-dipper satellite location information to the automatic driving control system, institute
Automatic driving control system is stated to believe satellite positioning signal, desired trajectory, immediately corresponding driver behavior, driving posture and position
Breath forms control instruction and is transmitted to I/O boards, signal conversion is carried out by interface signal converting system, the control signal after conversion
Input is controlled to GT5 digital automobiles Games Software and to GT5 car models therein, and GT5 car models are along predetermined
Travel route is travelled, and signal is synchronously inputted the three-axle table, so as to which corresponding posture can be in three-axle table upper table
Reveal and.And real time data is exported during the three-axle table work and the real time data is shown by computer interface.
Emulation mode based on the system, includes following steps：
(1) hardware module of the system is built, the automatic driving control system is according to big-dipper satellite location information, root
According to desired trajectory, immediately corresponding driver behavior, driving posture and positional information described in the Area generation delimited in advance；
(2) in GT5 Games Softwares, a digital car model is defined according to design parameter, and simulation is existing in gaming
Environmental factor in reality, simulate real-life every factor；In this environment by setting frequency of training, model is carried out
Training, and each item data is exported, it is conveniently adjusted and changes.
(3) setting simulation times are repeatedly trained to model, and by repeatedly training, real time data and normal data are entered
Row contrast, car model is adjusted and changed according to difference value is convenient.
In the case where not departing from spiritual or necessary characteristic of the invention, the present invention can be embodied in other specific forms.Should
The specific embodiment each side is considered merely as illustrative and non-limiting.Therefore, scope of the invention such as appended claims
It is shown in scope rather than shown as indicated above.It is all fall change in the equivalent meaning and scope of claim should be regarded as
Fall in the category of claim.
Claims (4)
1. a kind of car model semi-matter simulating system based on Beidou navigation, it is characterised in that the system is by satellite navigation
Module, I/O boards, automatic driving control system, interface signal converting system, GT5 digital automobiles Games Software and three-axle table
Six parts are formed；
Wherein, wherein satellite navigation module inputs big-dipper satellite location information to the automatic driving control system, it is described from
Dynamic Ride Control System is satellite positioning signal, desired trajectory, immediately corresponding driver behavior, driving posture and positional information shape
I/O boards are transmitted into control instruction, signal conversion is carried out by interface signal converting system, the control signal after conversion is inputted
It is controlled to GT5 digital automobiles Games Software and to GT5 car models therein, GT5 car models are along predetermined traveling
Route is travelled, and signal is synchronously inputted the three-axle table, so as to which corresponding posture can be shown on three-axle table
Come.
A kind of 2. car model semi-matter simulating system based on Beidou navigation as claimed in claim, it is characterised in that institute
Real time data is exported when stating three-axle table work and the real time data is shown by computer interface.
3. a kind of car model Hardware In The Loop Simulation Method based on Beidou navigation, it is applied to system as claimed in claim 2,
It is characterised in that it includes following steps：
(1) hardware module of the system is built, the automatic driving control system is according to big-dipper satellite location information, according to pre-
Desired trajectory, immediately corresponding driver behavior, driving posture and positional information described in the Area generation first delimited；
(2) in GT5 Games Softwares, a digital car model is defined according to design parameter, and in gaming in simulation reality
Environmental factor, simulate real-life every factor；In this environment by setting frequency of training, model instruction is carried out
Practice, and export each item data, be conveniently adjusted and change.
4. emulation mode as claimed in claim 1, it is characterised in that setting simulation times are repeatedly trained to model, are led to
Repeatedly training is crossed, real time data and normal data are contrasted, car model is adjusted and repaiied according to difference value is convenient
Change.
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| CN201710540819.0A CN107452242A (en) | 2017-07-05 | 2017-07-05 | A kind of car model semi-matter simulating system based on Beidou navigation |
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| CN201710540819.0A CN107452242A (en) | 2017-07-05 | 2017-07-05 | A kind of car model semi-matter simulating system based on Beidou navigation |
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Cited By (5)
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| CN109931937A (en) * | 2019-03-28 | 2019-06-25 | 北京经纬恒润科技有限公司 | High-precision navigation information simulation method and system |
| CN111123729A (en) * | 2018-10-31 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Method and device for vehicle driving simulation optimization, storage medium and terminal equipment |
| CN112817239A (en) * | 2019-11-18 | 2021-05-18 | 上海博泰悦臻网络技术服务有限公司 | Simulation test method and system |
| CN113593340A (en) * | 2021-08-02 | 2021-11-02 | 北京华云智联科技有限公司 | Beidou teaching interactive system |
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Application publication date: 20171208 |