CN110097799A - Virtual driving system based on real scene modeling - Google Patents
Virtual driving system based on real scene modeling Download PDFInfo
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- CN110097799A CN110097799A CN201910434811.5A CN201910434811A CN110097799A CN 110097799 A CN110097799 A CN 110097799A CN 201910434811 A CN201910434811 A CN 201910434811A CN 110097799 A CN110097799 A CN 110097799A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
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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
Abstract
The invention discloses a kind of virtual driving systems based on real scene modeling, including computer, driver behavior input module, virtual scene system and virtual reality hardware, in a computer, the virtual scene system includes sphere scene module and driving operational module to the virtual scene system loading.Driver behavior input module includes steering wheel and foot pedal, and the steering wheel and foot pedal pass through data-interface respectively and connect with computer；Virtual reality hardware includes the VR helmet and three-dimensional space tracking and positioning device；Sphere scene module includes sphere model and the real scene video frame picture that is attached on sphere model inner surface；Driving operational module includes change gear control module and deflecting control module.The present invention builds virtual driving scene using the real scene video of shooting, and the validity of scene is high；Cooperate virtual reality hardware simultaneously, user can experience driving sensation on the spot in person, and then can improve training effectiveness and effect.
Description
Technical field
The present invention relates to automobile virtual driving technical field, in particular to a kind of virtual driving based on real scene modeling
System.
Background technique
Driving simulation system is a kind of advanced driving training tool, contains various roads situation and weather in the system
Actual environment is imitated, while the drive simulatings equipment such as full-size(d) steering wheel, foot pedal and selector of arranging in pairs or groups, to drive simulating
Virtual car in scene carries out real-time control, and by display screen broadcasting pictures and audible sound, is reached with this and approach reality
The effect of driving.
But existing drive simulating, which still has usage experience, feels the problem of greatly differing from each other with what is really driven, causes
This problem main reason is that: 1, the scene of virtual driving is untrue, 2, operation it is not intuitive.Instantly drive simulating product,
It is to build scene by way of 3D modeling, not by real material, therefore, the sense of user in use
There is bigger difference by with reality scene.Meanwhile present most of drive simulating products, display equipment are all the displays of plane
Device, impression not on the spot in person, this will also result in the huge drop with experience of actually driving, influences training quality.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of virtual driving system based on real scene modeling, to solve
Existing simulative automobile driving product builds scene time-consuming using 3D modeling, and the scene built and real scene gap are big, operates
Person cannot experience the technical problems such as driving sensation on the spot in person.
The present invention is based on the virtual driving systems of real scene modeling, including computer, further include driver behavior input mould
Block, virtual scene system and virtual reality hardware, the virtual scene system loading in a computer, the virtual scene system
Including sphere scene module and drive operational module；
The driver behavior input module includes steering wheel and foot pedal, and the steering wheel and foot pedal pass through number respectively
It is connect according to interface with computer；
The sphere scene module is included the sphere model built in Virtual Space using Unity3D, is attached to sphere mould
Real scene video frame picture on type inner surface is placed in the virtual driving vehicle at sphere model center and is placed in and virtually drives
Sail the virtual camera of vehicle drive position；
The driving operational module includes change gear control module and deflecting control module, and deflecting control module is used for according to side
Virtual driving vehicle deflecting into the input control sphere scene module of disk, change gear control module are used for according to the defeated of foot pedal
Enter to control the broadcasting speed of real scene video
The virtual reality hardware includes the VR helmet and three-dimensional space tracking and positioning device, the VR helmet and three-dimensional space
Tracking and positioning device passes through data-interface respectively and connects with computer；The three-dimensional space tracking and positioning device exists for acquiring the VR helmet
Coordinate position in three-dimensional space and rotation angle, and using collected coordinate and corner information input virtual scene system as
The reference input of virtual camera, to control the angles and positions of virtual camera, so that virtual camera be made to follow the VR helmet is synchronous to turn
It is dynamic；For the virtual camera by shooting when the scene image on front hook direction, the picture as the output of virtual scene system is defeated
Enter the VR helmet；The VR helmet is used to the picture that virtual scene system exports being shown to driver.
Further, the change gear control module performs the steps of at runtime
1) input signal of foot pedal, including throttle input signal values δ are acquired1With brake input signal value δ2, input signal
Value range be all [- 32767,32767]；
2) according to the kinetic parameter of certain actual vehicle, the average acceleration value of the vehicle is calculated, including throttle averagely adds
Speed ac1With brake average acceleration ac2:
V in above formula10And v11The initial velocity and end of a period speed of throttle accelerator, unit km/h are respectively indicated, throttle adds
The fast time is Δ t1Second；v20And v21The initial velocity and end of a period speed of brake deceleration process, unit km/h are respectively indicated, brake subtracts
The fast time is Δ t2Second；
3) according to the average acceleration value of the input signal of foot pedal and certain actual vehicle, the model virtual driving is calculated
The throttle acceleration a of vehicle1, brake acceleration a2With current acceleration a:
4) according to current acceleration a, the present speed v of virtual driving vehicle is calculatedD:
vD=vD0+(a·Δt)×3.6 (6)
V in above formulaDAnd vD0The car speed of current time and last moment are respectively indicated, unit km/h, front and back is counted twice
The interval time of calculation is Δ t seconds；
5) according to the present speed of virtual driving vehicle and posture deflection angle, dynamic changes scene video playback rate coefficient
The expression formula of k, the scene video playback rate coefficient k are as follows:
K in above formulamaxFor maximum playback rate coefficient, value depends on computer hardware configuration height；v0It is true to shoot
The movement speed of camera, v when Driving Scene panoramic videoDFor the current driving speed of virtual driving vehicle, v0kmaxVirtually to drive
Sail the maximum travelling speed of vehicle permission；θ is the posture deflection angle of virtual driving vehicle, and value is calculated by following formula (8)；
The deflecting control module performs the steps of at runtime
1) the input angle signal ω of steering wheel is acquired；
2) change posture and cross of the virtual driving vehicle in sphere scene according to the input angle signal dynamics of steering wheel
To position:
A) steer coefficient q=ω is sets/θs, wherein ωsFor the unilateral maximum rotation angle of steering wheel, θsFor virtual driving
The steering locking angle degree of pivoted wheels on vehicle；
B) the posture deflection angle theta of virtual driving vehicle in sphere scene is set are as follows:
ω is the input angle signal of steering wheel in above formula；
C) according to the present speed of virtual driving vehicle and posture deflection angle, automobile side angle translational velocity v is obtainedx:
vx=vD·sinθ (9)
D) the left and right range of translation of virtual driving vehicle in sphere scene is set as Rc, when virtual driving vehicle translational range
In RcWithin when, i.e. x ∈ [- Rc,Rc], virtual driving vehicle moves left and right in the scene video of current lane；When the model of translation
It encloses beyond RcWhen, i.e. x <-RcOr x > Rc, virtual driving vehicle is switched to the scene video of adjacent lane in moving process.
Beneficial effects of the present invention:
1, the present invention is based on the virtual driving system of real scene modeling, the real scene video of shooting is used to build void
Quasi- Driving Scene, the validity of built scene is relative to the existing scene built using 3D modeling software, and validity is significantly
It improves；The basic functions such as the energy simulated automotive acceleration and deceleration of this virtual driving system and deflecting, while cooperating virtual reality hardware, it uses
Person can experience driving sensation on the spot in person, can improve training effectiveness and effect.
2, the present invention is based on the virtual driving system of real scene modeling, operator not only can be carried out observation vehicle front
Scene, and with the help of the VR helmet, operator, which is able to rotate head, can also observe the scene of surrounding in sphere scene, further
It improves and drives the sense of reality on the spot in person.
Detailed description of the invention
Fig. 1 is the virtual driving system structure diagram modeled based on real scene；
Fig. 2 is the work flow diagram of the virtual driving system modeled based on real scene；
Fig. 3 is sphere schematic diagram of a scenario；
Fig. 4 is virtual driving deflection action schematic diagram.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The virtual driving system that the present embodiment is modeled based on real scene, including computer further include driver behavior input
Module, virtual scene system and virtual reality hardware, the virtual scene system loading in a computer, the virtual scene system
System includes sphere scene module and driving operational module.
The driver behavior input module includes steering wheel and foot pedal, and the steering wheel and foot pedal pass through number respectively
It is connect according to interface with computer；The foot pedal includes gas pedal and brake pedal.In the present embodiment, steering wheel and foot-operated
Plate uses sieve skill G29 steering wheel and foot pedal of Logitech Company's production, this product is connect using USB interface with computer；Its side
Double motor force feedback technique is used to disk, it can realistically analog force feedback effects；Steering wheel can from left to right rotate
900 °, i.e., two circles half are identical as the degree of vehicle steering wheel rotation；Built-in Hall-type rotation direction sensor is capable of providing essence simultaneously
True steering wheel angle digital signal.Its device with pedal keeps the vehicle driving posture closer to reality, steps on using non-linear brake
Plate imitates pressure-sensitive braking system, there is sensitive, accurately brake experience.Certainly in different embodiments, other models can also be used
Drive simulating steering wheel and foot pedal.
The virtual reality hardware includes the VR helmet and three-dimensional space tracking and positioning device, the VR helmet and three-dimensional space
Tracking and positioning device passes through data-interface respectively and connects with computer.The three-dimensional space tracking and positioning device exists for acquiring the VR helmet
Coordinate position and rotation angle in three-dimensional space, the three-dimensional space tracking and positioning device is for acquiring the VR helmet in three-dimensional space
In coordinate position and rotation angle, and using collected coordinate and corner information input virtual scene system as virtual camera
Reference input, to control the angles and positions of virtual camera, thus make virtual camera follow the VR helmet rotate synchronously；Specific
In implementation, the synchronous script of realization in VR development kit is added on virtual camera, in this way when program is run, locator will be adopted
The coordinate collected is just used as synchronous script reference input with corner information, and to control the angles and positions of virtual camera, realization makes
Virtual camera follows the VR helmet to rotate synchronously.The virtual camera by shooting when the scene image on front hook direction, as
The picture of virtual scene system output inputs the VR helmet, and the VR helmet is for the picture that virtual scene system exports to be shown to
Driver.
In the present embodiment, it is by HTC and Value that the virtual reality hardware, which specifically uses HTC VIVE, HTC VIVE,
A VR wear-type product developed jointly.Certainly in different embodiments, other virtual reality hardware can also be used.
The sphere scene module is included the sphere model built in Virtual Space using Unity3D, is attached to sphere mould
Real scene video frame picture on type inner surface is placed in the virtual driving vehicle at sphere model center and is placed in and virtually drives
Sail the virtual camera of vehicle drive position.The specific modeling method of the sphere scene module are as follows: first recorded using panorama camera
True Driving Scene video is conducted into the engineering of Unity3D engine, then after completing panoramic video shooting
Begin setting up sphere scene.A sphere model object is established in the Virtual Space of Unity3D, which is added
VideoPlayer component.VideoPlayer is the component built in Unity3D, using the component and cooperates corresponding API, can be with
It realizes and plays video in Unity3d and switch over, suspend, adjusting the functions such as playback rate.It is configured after addition component,
Render mode Render Mode indicates the mode that image is shown, including Camera Far Plane, Camera Near Plane,
Tetra- kinds of modes of Render texture and Material Override.In conjunction with the reality for needing to be shown to picture on sphere model
Border situation, the present embodiment are applicable in Material Override mode, similarly, in Renderer selection sphere Sphere.It sets up
In, Source indicates video source, by directly selecting in engineering video file and video can be selected to be stored in calculating by URL
Storage location two ways selects video source in machine.
After VideoPlayer component is provided with, video council is shown on the surface of sphere model object.The present embodiment
Subjective visual angle is placed in the centre of sphere, just can watch the scene of surrounding in this way, it is therefore desirable to which the rendering position of video is changed to sphere
Inner surface, this purpose is reached by modification Shader file.Shader is a part of computer graphical rendering pipeline,
It shows the rendering mode of object in scene by one section of program in machine code.This process includes calculating color and painted areas etc.,
Then object is given, object is allowed to be shown.By modifying Shader file, the rendering position of sphere model is changed to ball
Internal side, while brightness will be rendered and be always on (i.e. illumination system in cancellation Unity3d influences) instead.
After the completion of video component and Shader file process, a virtual camera Camera object is put into car body model
Position of driver, as driver's subjectivity visual angle；And the synchronous script of realization in VR development kit is added to virtual camera
On Camera object, in this way when program is run, locator will test angles and positions of the VR helmet in actual environment, then
The angles and positions that will test are as synchronous script reference input, to control the angles and positions of virtual camera, to make void
Quasi- camera follows the VR helmet to rotate synchronously, and by virtual camera capture when the scene image input VR head on front hook direction
Helmet.When the system is operated, driver, which puts on the VR helmet, can watch the true environment of surrounding in sphere scene, very close to existing
It is real.
The driving operational module includes change gear control module and deflecting control module, and deflecting control module is used for according to side
Virtual driving vehicle deflecting into the input control sphere scene module of disk, change gear control module are used for according to the defeated of foot pedal
Enter to control the broadcasting speed of real scene video.
In the present embodiment, the change gear control module performs the steps of at runtime
1) input signal of foot pedal, including throttle input signal values δ are acquired1With brake input signal value δ2, input signal
Value range be all [- 32767,32767]；
2) according to the kinetic parameter of certain actual vehicle, the average acceleration value of the vehicle is calculated, including throttle averagely adds
Speed ac1With brake average acceleration ac2:
V in above formula10And v11The initial velocity and end of a period speed of throttle accelerator, unit km/h are respectively indicated, throttle adds
The fast time is Δ t1Second；v20And v21The initial velocity and end of a period speed of brake deceleration process, unit km/h are respectively indicated, brake subtracts
The fast time is Δ t2Second；
3) according to the average acceleration value of the input signal of foot pedal and certain actual vehicle, the model virtual driving is calculated
The throttle acceleration a of vehicle1, brake acceleration a2With current acceleration a:
4) according to current acceleration a, the present speed v of virtual driving vehicle is calculatedD:
vD=vD0+(a·Δt)×3.6 (6)
V in above formulaDAnd vD0The car speed of current time and last moment are respectively indicated, unit km/h, front and back is counted twice
The interval time of calculation is Δ t seconds；
5) according to the present speed of virtual driving vehicle and posture deflection angle, dynamic changes scene video playback rate coefficient
The expression formula of k, the scene video playback rate coefficient k are as follows:
K in above formulamaxFor maximum playback rate coefficient, value depends on computer hardware configuration height, is usually set to 2-
Between 3；v0The movement speed of camera, v when to shoot true Driving Scene panoramic videoDFor the current driving of virtual driving vehicle
Speed, v0kmaxThe maximum travelling speed allowed for virtual driving vehicle；θ be virtual driving vehicle posture deflection angle, value by
Following formula (8) calculates.
The deflecting control module performs the steps of at runtime
1) the input angle signal ω of steering wheel is acquired；
2) change posture and cross of the virtual driving vehicle in sphere scene according to the input angle signal dynamics of steering wheel
To position:
A) steer coefficient q=ω is sets/θs, wherein ωsFor the unilateral maximum rotation angle of steering wheel, θsFor virtual driving
The steering locking angle degree of pivoted wheels on vehicle；
B) the posture deflection angle theta of virtual driving vehicle in sphere scene is set are as follows:
ω is the input angle signal of steering wheel in above formula；
C) according to the present speed of virtual driving vehicle and posture deflection angle, automobile side angle translational velocity v is obtainedx:
vx=vD·sinθ (9)
D) the left and right range of translation of virtual driving vehicle in sphere scene is set as Rc, when virtual driving vehicle translational range
In RcWithin when, i.e. x ∈ [- Rc,Rc], virtual driving vehicle moves left and right in the scene video of current lane；When the model of translation
It encloses beyond RcWhen, i.e. x <-RcOr x > Rc, virtual driving vehicle is switched to the scene video of adjacent lane in moving process.
In the present embodiment, using G29, there are two types of schemes in the sphere scene built using Unity3d, and one is installations
API is directly used after the driving of G29 in Unity3d, one is directly read the defeated of equipment for G29 as a common peripheral hardware
Enter.The present embodiment selects the second way, and when G29 is connect by USB interface with Unity3d, Unity3d can identify G29
Main key mapping.The input manager (Input Manager) of Unity3d carries out each input setting of G29 equipment, then leads to
The Input class function of Unity3d is crossed to read each input respectively.
By taking the input of the brake pedal of G29 is read as an example:
1. creating an input in input manager, it is named as Brake, setting input sensitivity Sensitivity is
0.5 (can adjust according to the actual situation), input type Type are Joystick Axis (the shaft type input for indicating external equipment),
Axis Axis is 4rd axis (indicating the 4th shaft type input in equipment).
2. use Input class function: Input.GetAxisRaw (" Brake ") makes to obtain in control shell script
User tramples the degree of trampling of brake.In this way, system can lead to when user is when carrying out various driver behaviors to G29 equipment
The movement of user is learned in the various inputs for crossing reading G29, to be adjusted.
Then, a virtual driving vehicle is put near the sphere center position of sphere model, then by adjusting virtually driving
The position for sailing vehicle makes virtual camera realize the position just at driver's seat.
It is arranged in the script of Driving control module:
If 1) detect, steering wheel is inputted, according to the deflection direction of steering wheel and deflection angle, the generation pair of vehicle mould posture
The left rotation and right rotation answered, vehicle mould position generate corresponding transverse shifting.
If 2) detect, gas pedal is inputted, and sphere model tramples the broadcasting speed that amplitude accelerates panoramic video according to throttle
Rate；Conversely, if detecting the input of brake pedal, sphere model slows down the playback rate of panoramic video according to amplitude, until being
0。
Deflecting, the acceleration and deceleration that vehicle in sphere scene is controlled by steering wheel and foot pedal can be realized by above-mentioned setting
And brake.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (2)
1. based on the virtual driving system of real scene modeling, including computer, it is characterised in that: it further include driver behavior input
Module, virtual scene system and virtual reality hardware, the virtual scene system loading in a computer, the virtual scene system
System includes sphere scene module and driving operational module；
The driver behavior input module includes steering wheel and foot pedal, and the steering wheel and foot pedal are connect by data respectively
Mouth is connect with computer；
The sphere scene module is included the sphere model built in Virtual Space using Unity3D, is attached in sphere model
Real scene video frame picture on surface is placed in the virtual driving vehicle at sphere model center and is placed in virtual driving vehicle
The virtual camera of operator seat；
The driving operational module includes change gear control module and deflecting control module, and deflecting control module is used for according to steering wheel
Input control sphere scene module in virtual driving vehicle deflecting, change gear control module is used for according to the input control of foot pedal
The broadcasting speed of real scene video processed
The virtual reality hardware includes the VR helmet and three-dimensional space tracking and positioning device, and the VR helmet and three-dimensional space track
Locator passes through data-interface respectively and connects with computer；The three-dimensional track and localization device is for acquiring the VR helmet in three-dimensional space
In coordinate position and rotation angle, and using collected coordinate and corner information input virtual scene system as virtual camera
Reference input, to control the angles and positions of virtual camera, thus make virtual camera follow the VR helmet rotate synchronously；The void
For quasi- camera by shooting when the scene image on front hook direction, the picture as the output of virtual scene system inputs the VR helmet；
The VR helmet is used to the picture that virtual scene system exports being shown to driver.
2. the virtual driving system according to claim 1 based on real scene modeling, it is characterised in that: the speed change control
Molding block performs the steps of at runtime
1) input signal of foot pedal, including throttle input signal values δ are acquired1With brake input signal value δ2, input signal takes
Value range is all [- 32767,32767]；
2) according to the kinetic parameter of certain actual vehicle, the average acceleration value of the vehicle, including throttle average acceleration are calculated
ac1With brake average acceleration ac2:
V in above formula10And v11Respectively indicate the initial velocity and end of a period speed of throttle accelerator, unit km/h, when throttle accelerates
Between be Δ t1Second；v20And v21Respectively indicate the initial velocity and end of a period speed of brake deceleration process, unit km/h, when brake deceleration
Between be Δ t2Second；
3) according to the average acceleration value of the input signal of foot pedal and certain actual vehicle, the model virtual driving vehicle is calculated
Throttle acceleration a1, brake acceleration a2With current acceleration a:
4) according to current acceleration a, the present speed v of virtual driving vehicle is calculatedD:
vD=vD0+(a·Δt)×3.6 (6)
V in above formulaDAnd vD0Respectively indicate the car speed of current time and last moment, unit km/h, what front and back calculated twice
Interval time is Δ t seconds；
5) according to the present speed of virtual driving vehicle and posture deflection angle, dynamic changes scene video playback rate coefficient k, institute
The expression formula for stating scene video playback rate coefficient k is as follows:
K in above formulamaxFor maximum playback rate coefficient, value depends on computer hardware configuration height；v0To shoot true drive
The movement speed of camera, v when scene panoramic videoDFor the current driving speed of virtual driving vehicle, v0kmaxFor virtual driving vehicle
Allow maximum travelling speed；θ is the posture deflection angle of virtual driving vehicle, and value calculates by following formula (8)
The deflecting control module performs the steps of at runtime
1) the input angle signal ω of steering wheel is acquired；
2) change posture and lateral position of the virtual driving vehicle in sphere scene according to the input angle signal dynamics of steering wheel
It sets:
A) steer coefficient q=ω is sets/θs, wherein ωsFor the unilateral maximum rotation angle of steering wheel, θsFor virtual driving vehicle
The steering locking angle degree of deflecting roller；
B) the posture deflection angle theta of virtual driving vehicle in sphere scene is set are as follows:
ω is the input angle signal of steering wheel in above formula；
C) according to the present speed of virtual driving vehicle and posture deflection angle, automobile side angle translational velocity v is obtainedx:
vx=vD·sinθ (9)
D) the left and right range of translation of virtual driving vehicle in sphere scene is set as Rc, when virtual driving vehicle translational range is in Rc
Within when, i.e. x ∈ [- Rc,Rc], virtual driving vehicle moves left and right in the scene video of current lane；When the range of translation is super
R outcWhen, i.e. x <-RcOr x > Rc, virtual driving vehicle is switched to the scene video of adjacent lane in moving process.
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