CN110364054A - A kind of Driving Test simulation system based on physical engine - Google Patents
A kind of Driving Test simulation system based on physical engine Download PDFInfo
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Abstract
The present invention discloses a kind of Driving Test simulation system based on physical engine, including automobile power emulator, virtual Driving Test scene device and Driving Test analog machine；Automobile power emulator includes drive subsystem, suspension sub-systems and wheel model subsystem；Drive subsystem includes that user inputs acquiring unit and gear unit, and virtual Driving Test scene device includes virtual Driving Test place building subsystem and automotive vision enhancing subsystem；Driving Test analog machine includes crimping detection subsystem, starting input subsystem and gear drives subsystem.The present invention is mentioned by simulating true examination scene, vehicle transmission performance and testing system, the experience of immersion is provided for Driving Test student, have the characteristics that the highly-safe of drive simulation study, reduce the abrasion of cost of labor and vehicle, Driving Test training is avoided to be limited by coach's time, vehicle, place and weather, the convenience for increasing student's study, improves the quality of Driving Test training, is convenient for promoting and applying.
Description
Technical field
The invention belongs to Driving Test analogue technique fields, are related to a kind of Driving Test simulation system based on physical engine.
Background technique
With the rapid development of economy, road vehicle gradually increases, every year because the number of road traffic death is more than
100000, risk factors for road injury is annual because direct indirect economic loss caused by traffic accident is up to tens billion of members up to 500,000.With
This simultaneously, student pilot is more and more, and driver training at present includes two kinds, based on the first is mainly trained with driving school, driving school
Student trains the lower passive association of commander again, and cycle of training is long, investment is big and upper road drives that risk is big, and institute takes for part
Road driving can not be still gone up after obtaining driving license, awareness of safety and driving technology are lacked using the Driving Test Training Methodology of driving school, increased
The risk that upper road drives, second using simple training driving simulator, training is at low cost, the training time is free, still
There are poor user experiences for driving simulator, can not be identical as the driving effect of existing actual Driving Test vehicle, simulated effect difference with
And drive simulating ambient experience is poor, learns the ability driven to improve student pilot user, increases the body of user's driving training
Effect is tested, driver's license is fast and effeciently obtained, now designs a kind of Driving Test simulation system based on physical engine.
Summary of the invention
The purpose of the present invention is to provide a kind of Driving Test simulation system based on physical engine, by simulation really examine
Examination hall scape, vehicle transmission performance and testing system provide the experience of immersion for Driving Test student, solve and deposit in the prior art
Driving training effect it is poor, training it is at high cost and training experience difference problem, improve the quality of Driving Test training, be user
True Driving Test environment is provided.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of Driving Test simulation system based on physical engine, including automobile power emulator, virtual Driving Test scene device
With Driving Test analog machine；
The automobile power emulator includes drive subsystem, suspension sub-systems and wheel model subsystem；
The drive subsystem includes that user inputs acquiring unit and gear unit, and user inputs acquiring unit and is used for vapour
Vehicle analog machine carries out user's input, according to the feedback return value that user inputs, and calculates vehicle motion parameters by return value；
The gear unit obtains vehicle idling for acquiring vehicle wheel rotational speed in real time, and according to vehicle wheel rotational speed, finally according to real-time speed
And vehicle idling obtains the real-time engine speed of vehicle；
The suspension sub-systems are used to input the quality, intrinsic frequency and ratio of damping of wheel, according to the wheel matter of input
Amount, intrinsic frequency and ratio of damping emulate vehicle hanging subsystem；
The wheel model subsystem calculates vehicle slip rate using speed and wheel line speed, and according to vehicle slip
Rate calculates the longitudinal force and cross force for giving automobile；
The virtual Driving Test scene device is used to construct virtual Driving Test place project route using the standard in Driving Test place, and
To the real-time position for obtaining vehicle, the position of wheel and the tune of automobile visual angle and rear car mirror visual angle are constructed according to the position of vehicle
Section；
The virtual Driving Test scene device includes virtual Driving Test place building subsystem and automotive vision enhancing subsystem；
The virtual Driving Test place building subsystem is for constructing virtual Driving Test place project route；
The automotive vision enhancing subsystem for obtaining position and the angle of wheel, the position and angle that will acquire in real time
Wheel is constructed at degree, and automobile visual angle and rear car mirror visual angle are adjusted；
The Driving Test analog machine includes crimping detection subsystem, starting input subsystem and gear drives subsystem；
Whether virtual Driving Test is pressed in the position that the crimping detection subsystem is used to detect vehicle wheel during traveling
The sideline of place project directly determines to fail if flanging line；
Whether the starting input subsystem inputs the corresponding Boolean variable of safety belt before being used for real-time detection vehicle launch
And the corresponding variable of starting engine, and the corresponding Boolean variable of the safety belt of input variable corresponding with starting engine is sent
Drive subsystem into automobile power emulator, to carry out starting input to vehicle；
The gear drives subsystem for when detecting user's gear shift whether complete let slip the clutch, and before driving
Whether detection current gear and engine start, and judge whether current gear is neutral gear, can not drive automobile if in neutral gear, if
In non-neutral gear, driving method is selected according to current gear.
Further, the calculation formula of the engine speed: y=x+wk, y are expressed as engine speed, and x is idling, and k is line
Sex ratio coefficient, w are current vehicle wheel rotational speed.
When vehicle is in neutral gear, the engine speed of automobile is idling；When vehicle is in reverse gear, linear scale factor k
=10, for being driven with clutch, loosening the clutch and provide a power backward for automobile in reverse gear；At vehicle
When one grade, linear scale factor k=10, user gives one, automobile by gas pedal and is greater than the power that clutch drives；Work as vehicle
Be in two grades when, linear scale factor k=5.1 is driven by gas pedal.
Further, the suspension sub-systems are realized based on spring carried mass, spring, damper model, suspension
The calculation formula of suspending power in system are as follows:
F=mg+jk-cv, wherein F is expressed as suspending power, and m is expressed as spring carried mass, and g is expressed as acceleration of gravity, k table
It is shown as device of spring stiffness coefficient, j is expressed as stroke, and it is c that c, which is expressed as damped coefficient, and v is expressed as stretching speed；
According to resultant moment suffered by Calculation of the levitation force automobile, formula are as follows:
Wherein, MsusFor resultant moment, FiFor the suspension force of i-th of spring, LiFor i-th of spring and automobile tie point to automobile
The distance of particle.
Further, the calculation formula of drift out rate are as follows:V is expressed as speed, VwTable
It is shown as wheel linear velocity, it is sliding when car speed is below or above a certain critical speed when calculating slip rate based on physical engine
Shifting rate starts to vibrate up and down, successively increases critical speed until the equal region of the corresponding slip rate of speed for being greater than the critical speed is flat
It is sliding.
Further, the method for the building of negotiation of bends place route, comprising the following steps:
S1, to the band-like arc fragmenting that need to be drawn at seg sections, every section is made of two tri patch, and the band fills circular arc
It is made of inside and outside two circular arcs；
S2, the apex coordinate for obtaining each tri patch；
S3, according to the apex coordinate of each tri patch, count the coordinate on each vertex of each triangle, coordinate calculation formula
Are as follows:(x, y) is expressed as the coordinate in the center of circle, separates
At seg sections, r is expressed as round radius, and α is expressed as that the corresponding central angle of circular arc need to be drawn, and i.x is expressed as the abscissa of point i, i.y
It is expressed as the ordinate of point i；
S4, step S3 is repeated, obtains the apex coordinate of all tri patch on two circular arcs inside and outside band-like circular arc；
S5, spliced according to the apex coordinate of the tri patch on the inside and outside circular arc of statistics, obtain drawing order；
S6, band-like circular arc is obtained according to step S1-S5, band-like circular arc is carried out to be spliced to form negotiation of bends place route.
Further, the automotive vision enhancing subsystem includes wheel parameter acquiring unit, both view angle adjustment unit；
The wheel parameter acquiring unit is used to obtain the real time position of automobile, and obtains vehicle wheel rotation angle；
The vision accommodation unit for obtaining the coordinate of automobile in real time, and the automobile coordinate that will acquire is sent to and automobile
Synchronous preceding video camera, update before video camera position coordinates, and the automobile coordinate that will acquire be sent to after vehicle synchronous
The corresponding video camera of visor updates the corresponding camera position coordinate of rearview mirror, so that video camera follows the position of automobile.
Further, the crimping detection subsystem carries out simulated implementation using impinger, and the crimping detects subsystem
The method of crimping detection, comprising the following steps:
H1, emit a ray from the vertical direction of wheel center；
H2, the corresponding collision body of the actinogenic first time collision information is returned；
H3, collision body is analyzed, judges the collision body contacted with wheel；
H4, according to collision body, judge whether the object tags of vehicle collision are solid line of the examination hall ground in project, if reality
Line then shows automobile crimping, conversely, the then non-crimping of automobile.
Further, the method for the gear drives subsystem driving automobile, includes the following steps；
W1, judge current gear, if reversing gear, then follow the steps W2, if one grade, step W4 is executed, if at two grades,
Execute step W5；
The pine conjunction range of W2, detection clutch pedal are held when pine conjunction range accounts for the 0.3-0.7 of maximum pine conjunction range
Row step W3, wherein when clutch is floored, the corresponding Boolean variable of clutch be it is true, when clutch is totally released, clutch
The corresponding Boolean variable of device is false；
W3, the pine conjunction direction of detection pedal and current pine close speed, by the Boolean variable and a upper Boolean variable before driving
It compares, Boolean variable is true, and when judging whether present speed is less than preset pine and closes threshold speed, then Automobile drive falls
Vehicle；
W4, judge whether the corresponding Boolean variable of current throttle is true, and judge whether present speed is less than preset pine
Threshold speed is closed, then automobile is driven with one grade；
W5, judge whether current gear is one grade, if one grade, drive throttle, driven with two grades, when automobile needs to make
When dynamic, whether detection brake pedal is stepped on, and hinders automobile to continue to travel with brake force in automobile if stepping on.
Beneficial effects of the present invention:
Compared with prior art, the Driving Test simulation system provided by the invention based on physical engine, it is true by simulating
Examination scene, vehicle transmission performance and testing system, provide the experience of immersion for Driving Test student, have drive simulation study
Highly-safe feature, reduce the abrasion of cost of labor and vehicle, avoid Driving Test training by coach time, vehicle, field
The limitation on ground and weather increases the convenience of student's study, improves the quality of Driving Test training, is convenient for promoting and answer
With；
In addition, being improved by being emulated to the transmission, suspension and the wheel model that drive vehicle in Driving Test training
The authenticity of simulation system simulation improves the experience effect of user, and by carrying out building to Driving Test scene and according to vehicle
Position adjust automobile visual angle and rear car mirror visual angle, guarantee to stay Driving Test place during student's simulation learning, improve and drive
The authenticity for examining environment is conducive to student and carries out simulation learning.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of schematic diagram of the Driving Test simulation system based on physical engine in the present invention；
Fig. 2 is the change in friction force figure for calculating Frictional model in the present invention based on slip rate；
Fig. 3 is the schematic diagram of arc fragmenting in the present invention；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Refering to Figure 1, a kind of Driving Test simulation system based on physical engine, including automobile power emulator, void
Quasi- Driving Test scene device and Driving Test analog machine；
Automobile power emulator includes drive subsystem, suspension sub-systems and wheel model subsystem；
Drive subsystem includes that user inputs acquiring unit and gear unit, and user inputs acquiring unit and is used for automobile mould
Standby progress user's input is proposed, according to the feedback return value that user inputs, and passes through return value and calculates vehicle motion parameters, automobile
Analog machine includes keyboard, steering wheel, clutch pedal, brake pedal, gas pedal, parking brake, lever etc., the analog machine
Input include key-press input and axle key input, wherein key-press input be Boolean type input, whether key is judged by return value
It presses, using GetKeyUp () method；Axle key is successional when inputting, and is obtained by GetAxis () function, and return value is
Float type, and the degree inputted in (- 1,1) section by the size of return value and positive negative judgement user and direction；
Motor racing can be obtained multiplied by the maximum value of the corresponding related coefficient of equipment by return value in drive subsystem
Parameter, such as steering wheel maximum angle are set as 30 degree, then current vehicle turning angle can be obtained multiplied by 30 degree in return value.
Wherein, keyboard, parking brake, lever use key-press input, and steering wheel, clutch pedal, brake pedal, gas pedal
It is all made of axle key input.
Gear unit obtains vehicle idling for acquiring vehicle wheel rotational speed in real time, and according to vehicle wheel rotational speed, last according in real time
Speed and vehicle idling obtain the real-time engine speed of vehicle, wherein the calculation formula of the engine speed: y=x+wk, y
It is expressed as engine speed, x is idling, and k is linear scale factor, and w is current vehicle wheel rotational speed.
Wherein, automobile gears include neutral gear, reverse gear, one grade and two grades, when automobile is in different stalls, linear scale factor
It is different；
When vehicle is in neutral gear, the engine speed of automobile is idling, and about 800r/min, user applies without normal direction automobile at this time
Add any power；When vehicle is in reverse gear, linear scale factor k=10, for that can be driven with clutch in reverse gear
It is dynamic, it loosens the clutch and provides a power backward for automobile, retreat reversing to realize, the power maximum that clutch driving generates is to vehicle
The speed of body offer 5km/h；When vehicle is in one grade, linear scale factor k=10, user gives automobile by gas pedal
One is greater than the power of clutch driving, drives vehicle fast starting；When vehicle is in two grades, linear scale factor k=5.1, nothing
Method drives automobile by clutch, can only be driven by gas pedal.
Suspension sub-systems are used to input the quality, intrinsic frequency and ratio of damping of wheel, according to the wheel mass of input, Gu
There are frequency and ratio of damping to emulate vehicle hanging subsystem, the suspension sub-systems are based on spring carried mass, spring, resistance
Buddhist nun's model realization.
The damper that spring that the vehicle for being m by quality, stiffness factor are k, damped coefficient are c, according to mechanical balance
The differential equation calculates suspension sub-systems to the power f (t) of vehicle, wherein the differential equation of mechanical balance are as follows:M is expressed as the quality of vehicle, and c is expressed as the damped coefficient of damper, and k is expressed as
The stiffness factor of spring, x (t) are expressed as the displacement of vehicle output,It is expressed as the speed of vehicle output,It is expressed as vehicle
Output acceleration；
Second order differential equation canonical form are as follows:W is expressed as intrinsic frequencyζ is expressed as damping ratio,When damping ratio is 0, the vibration of spring will not failure, work as resistance
When Buddhist nun's ratio is greater than 1, spring will not vibrate.
The stiffness factor k and damped coefficient c that spring is calculated according to the intrinsic frequency of spring and damping ratio, shift formula onto are as follows: k
=mw2, c=2mw ζ can individually calculate the spring carried mass of each wheel based on Unity3D model, and spring carried mass is comprehensive to be equal to vapour
The quality of vehicle, spring carried mass, spring and damper model allow Unity3D individually to calculate the power of each wheel, and do not have to manage it
His wheel, this allows physical engine to handle all wheels simultaneously to be avoided unnecessary complicated calculations.
Suspension sub-systems will attempt that wheel is allowed to return to ground in each frame, if in the sky, suspension force is set for wheel
It is zero, if wheel not in the sky, calculates suspension force, the differential equation that model mechanics balance is applied in suspension sub-systems,
Available following formula:
F=mg+jk-cv, wherein F is expressed as suspending power, and m is expressed as spring carried mass, and g is expressed as acceleration of gravity, k table
It is shown as device of spring stiffness coefficient, j is expressed as stroke, and it is c that c, which is expressed as damped coefficient, and v is expressed as stretching speed.
When automobile is on horizontal plane, suspension force and spring carrying force offset balance, i.e., the two is equal, and following table is outstanding
Hang the essential attribute setting of subsystem.
| Attribute | Meaning | Numerical value |
| Intrinsic frequency | The intrinsic frequency of pendulum spring, for describing device of spring stiffness coefficient | 10Hz |
| Ratio of damping | The ratio of damping of pendulum spring determines the rate that spring tends towards stability | 0.8 |
| Power offset | The stress point of wheel is described, is calculated down from automobile mass center along Y-axis | 0.03 |
According to above table, resultant moment suffered by automobile, formula are calculated are as follows:
Wherein, MsusFor resultant moment, FiFor the suspension force of i-th of spring, LiFor i-th of spring and automobile tie point to automobile
The distance of particle.
Wheel model subsystem calculates vehicle slip rate using speed and wheel line speed, and according to vehicle slip rate meter
Calculate the longitudinal force and cross force for giving automobile.
Wherein, the calculation formula of drift out rate are as follows:V is expressed as speed, VwIt is expressed as
Wheel linear velocity；
Slip rate is calculated by physical engine, and wheel in reality can be emulated according to the model that slip rate calculates frictional force and transported
Stress condition in row, when wheel starts to roll and the rubber tyre of ground face contact will be stretched deformation to which generation pushes away
Into power, the frictional force that wheel is subject to is bigger, and wheel rolling is faster, and the slip rate of generation is also higher, and higher slip rate can add
The amplitude that big rubber tyre stretches.This process will continue to that slip rate reaches sliding extreme point, this rear wheel will locking
Or skid, therefore the level of stretch of rubber tyre can slow down, frictional force reduces.When slip rate reaches at sliding progressive, rubber
Rubber tire tire will keep a stable level of stretch, can not do flexible, the friction based on slip rate calculating Frictional model again
Power variation diagram, such as Fig. 2.
When calculating slip rate by physical engine, when car speed is below or above a certain critical speed, initially set
Setting critical speed is 5m/s, and when automobile is in the speed for reaching 5m/s or so, slip rate starts to vibrate up and down, is successively increased critical
Speed is until be greater than the equal segment smoothing of the corresponding slip rate of speed of the critical speed.
Wherein, automobile fundamental performance parameter: car weight 1500kg, radius of wheel 0.315m, throttle peak torque 300Nm,
Throttle peak torque 300Nm, clutch peak torque 200Nm, 30 ° of steering locking angle, braking torque 30000Nm, wheel
Suspension distance 0196m.
According to automobile fundamental performance parameter, test automobile during linear accelerating, acquire it is each during revolving speed with
And travel speed data, following test data table is obtained, test process includes igniting, reverse gear, one grade, two grades, and will be tested
Emulation data and the data of vehicle actual measurement compare.
The irrelevance of each gear data and real vehicle data under same revolving speed: reverse gear deviation value can be calculated according to test data
About 39.75%, one grade of deviation range is 22.4%-01.%, and two grades of deviation ranges are 19.1%-7.3%, is based on above-mentioned number
According to showing vehicle dynamics simulation better performances, can meet the needs of drive simulation.
Virtual Driving Test scene device is used to construct virtual Driving Test place project route using the standard in Driving Test place, and to reality
When obtain vehicle position, according to the position of vehicle construct wheel position and automobile visual angle and rear car mirror visual angle adjusting；
The virtual Driving Test scene device includes virtual Driving Test place building subsystem and automotive vision enhancing subsystem；
Virtual Driving Test place building subsystem is for constructing virtual Driving Test place project route, the virtual Driving Test place
Mesh includes reversing storage, lateral parking, negotiation of bends, right-angled bend and climbing starting, wherein reversing storage, side coil
The size of the position of straight line, angle and straight line is respectively set to realize the building in place in parking and right-angled bend.
Wherein, as shown in figure 3, the method for the building of negotiation of bends place route, comprising the following steps:
S1, to the band-like arc fragmenting that need to be drawn at seg sections, every section is made of two tri patch, and the band fills circular arc
It is made of inside and outside two circular arcs；
S2, the apex coordinate for obtaining each tri patch；
S3, according to the apex coordinate of each tri patch, count the coordinate on each vertex of each triangle, coordinate calculation formula
Are as follows:(x, y) is expressed as the coordinate in the center of circle, separates
At seg sections, r is expressed as round radius, and α is expressed as that the corresponding central angle of circular arc need to be drawn, and i.x is expressed as the abscissa of point i, i.y
It is expressed as the ordinate of point i；
S4, step S3 is repeated, obtains the apex coordinate of all tri patch on two circular arcs inside and outside band-like circular arc；
S5, spliced according to the apex coordinate of the tri patch on the inside and outside circular arc of statistics, obtain drawing order；
S6, band-like circular arc is obtained according to step S1-S5, band-like circular arc is carried out to be spliced to form negotiation of bends place route.
Wherein, climbing starting is different from sundry item, need to establish upward slope model, and the present invention uses 3dsMax modeling software simultaneously
Upward slope modeling is carried out in conjunction with Unity3D.
Automotive vision enhances subsystem for obtaining position and the angle of wheel in real time, at the position that will acquire and angle
Wheel is constructed, increases the authenticity of wheel, and automobile visual angle and rear car mirror visual angle are adjusted.
The automotive vision enhancing subsystem includes wheel parameter acquiring unit, both view angle adjustment unit, the wheel parameter
Acquiring unit is used to obtain the real time position of automobile, and obtains vehicle wheel rotation angle.
Vision accommodation unit for obtaining the coordinate of automobile in real time, and the automobile coordinate that will acquire is sent to and vehicle synchronous
Preceding video camera, the position coordinates of video camera before updating, and the automobile coordinate that will acquire is sent to the rearview mirror with vehicle synchronous
Corresponding video camera updates the corresponding camera position coordinate of rearview mirror, so that video camera follows the position of automobile, guarantees camera shooting
The position consistency of machine and automobile improves the authenticity at preceding visual angle and rearview mirror in driver's simulating driving procedure.
Driving Test analog machine includes crimping detection subsystem, starting input subsystem and gear drives subsystem；
Whether virtual Driving Test is pressed in the position that the crimping detection subsystem is used to detect vehicle wheel during traveling
The sideline of place project directly determines to fail if flanging line.
The crimping detection subsystem is detected using collision, carries out simulated implementation, the crimping inspection using impinger
The method for surveying the detection of subsystem crimping, comprising the following steps:
H1, emit a ray from the vertical direction of wheel center；
H2, the corresponding collision body of the actinogenic first time collision information is returned；
H3, collision body is analyzed, judges the collision body contacted with wheel；
H4, according to collision body, judge whether the object tags of vehicle collision are solid line of the examination hall ground in project, if reality
Line then shows automobile crimping, conversely, the then non-crimping of automobile.
Using above method, the workload in crimping deterministic process can be reduced, and improve crimping detection accuracy and
Efficiency.
Starting input subsystem for whether input before real-time detection vehicle launch the corresponding Boolean variable of safety belt and
Start the corresponding variable of engine, and the corresponding Boolean variable of the safety belt of input variable corresponding with starting engine is sent to vapour
Drive subsystem in vehicle dynamical simulation equipment, to carry out starting input to vehicle.
Gear drives subsystem for when detecting user's gear shift whether complete let slip the clutch, and detected before driving
Whether current gear and engine start, and judge whether current gear is neutral gear, automobile can not be driven if in neutral gear, if being in
Non- neutral gear selects driving method according to current gear.
The method of the gear drives subsystem driving automobile, includes the following steps；
W1, judge current gear, if reversing gear, then follow the steps W2, if one grade, step W4 is executed, if at two grades,
Execute step W5；
The pine conjunction range of W2, detection clutch pedal are held when pine conjunction range accounts for the 0.3-0.7 of maximum pine conjunction range
Row step W3, wherein when clutch is floored, the corresponding Boolean variable of clutch be it is true, when clutch is totally released, clutch
The corresponding Boolean variable of device is false；
W3, the pine conjunction direction of detection pedal and current pine close speed, by the Boolean variable and a upper Boolean variable before driving
It compares, Boolean variable is true, and when judging whether present speed is less than preset pine and closes threshold speed, then Automobile drive falls
Vehicle；
W4, judge whether the corresponding Boolean variable of current throttle is true, and judge whether present speed is less than preset pine
Threshold speed is closed, then automobile is driven with one grade；
W5, judge whether current gear is one grade, if one grade, drive throttle, driven with two grades, when automobile needs to make
When dynamic, whether detection brake pedal is stepped on, and hinders automobile to continue to travel with brake force in automobile if stepping on.
The above content is just an example and description of the concept of the present invention, affiliated those skilled in the art
It makes various modifications or additions to the described embodiments or is substituted in a similar manner, without departing from invention
Design or beyond the scope defined by this claim, be within the scope of protection of the invention.
Claims (8)
1. a kind of Driving Test simulation system based on physical engine, it is characterised in that: including automobile power emulator, virtual Driving Test
Scene device and Driving Test analog machine；
The automobile power emulator includes drive subsystem, suspension sub-systems and wheel model subsystem；
The drive subsystem includes that user inputs acquiring unit and gear unit, and user inputs acquiring unit and is used for automobile mould
Standby progress user's input is proposed, according to the feedback return value that user inputs, and vehicle motion parameters are calculated by return value；It is described
Gear unit obtains vehicle idling for acquiring vehicle wheel rotational speed in real time, and according to vehicle wheel rotational speed, finally according to real-time speed and
Vehicle idling obtains the real-time engine speed of vehicle；
The suspension sub-systems are used to input the quality, intrinsic frequency and ratio of damping of wheel, according to the wheel mass of input, Gu
There are frequency and ratio of damping to emulate vehicle hanging subsystem；
The wheel model subsystem calculates vehicle slip rate using speed and wheel line speed, and according to vehicle slip rate meter
Calculate the longitudinal force and cross force for giving automobile；
The virtual Driving Test scene device is used to construct virtual Driving Test place project route using the standard in Driving Test place, and to reality
When obtain vehicle position, according to the position of vehicle construct wheel position and automobile visual angle and rear car mirror visual angle adjusting；
The virtual Driving Test scene device includes virtual Driving Test place building subsystem and automotive vision enhancing subsystem；
The virtual Driving Test place building subsystem is for constructing virtual Driving Test place project route；
Automotive vision enhancing subsystem for obtaining position and the angle of wheel in real time, at the position that will acquire and angle
Wheel is constructed, and automobile visual angle and rear car mirror visual angle are adjusted；
The Driving Test analog machine includes crimping detection subsystem, starting input subsystem and gear drives subsystem；
Whether virtual Driving Test place is pressed in the position that the crimping detection subsystem is used to detect vehicle wheel during traveling
The sideline of project directly determines to fail if flanging line；
The starting input subsystem be used for real-time detection vehicle launch before whether input the corresponding Boolean variable of safety belt and
Start the corresponding variable of engine, and the corresponding Boolean variable of the safety belt of input variable corresponding with starting engine is sent to vapour
Drive subsystem in vehicle dynamical simulation equipment, to carry out starting input to vehicle；
The gear drives subsystem for when detecting user's gear shift whether complete let slip the clutch, and detected before driving
Whether current gear and engine start, and judge whether current gear is neutral gear, automobile can not be driven if in neutral gear, if being in
Non- neutral gear selects driving method according to current gear.
2. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: the engine turns
The calculation formula of speed: y=x+wk, y are expressed as engine speed, and x is idling, and k is linear scale factor, and w is current vehicle wheel rotational speed.
When vehicle is in neutral gear, the engine speed of automobile is idling；When vehicle is in reverse gear, linear scale factor k=10,
For being driven with clutch in reverse gear, loosens the clutch and provide a power backward for automobile；When vehicle is in one grade
When, linear scale factor k=10, user gives one, automobile by gas pedal and is greater than the power that clutch drives；When vehicle is in
At two grades, linear scale factor k=5.1 is driven by gas pedal.
3. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: suspension
System is realized based on spring carried mass, spring, damper model, the calculation formula of suspending power in the suspension sub-systems are as follows:
F=mg+jk-cv, wherein F is expressed as suspending power, and m is expressed as spring carried mass, and g is expressed as acceleration of gravity, and k is expressed as
Device of spring stiffness coefficient, j are expressed as stroke, and it is c that c, which is expressed as damped coefficient, and v is expressed as stretching speed；
According to resultant moment suffered by Calculation of the levitation force automobile, formula are as follows:
Wherein, MsusFor resultant moment, FiFor the suspension force of i-th of spring, LiFor i-th of spring and automobile tie point to automobile particle
Distance.
4. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: drift out rate
Calculation formula are as follows:V is expressed as speed, vwIt is expressed as wheel linear velocity, is calculating slip rate
When, when car speed be below or above a certain critical speed when, slip rate start up and down vibrate, successively increase critical speed until
The equal segment smoothing of slip rate corresponding greater than the speed of the critical speed.
5. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: the bend row
The method for sailing the building of place route, comprising the following steps:
S1, to the band-like arc fragmenting that need to be drawn at seg sections, every section is made of two tri patch, and band dress circular arc is by interior
Outer two circular arcs are constituted；
S2, the apex coordinate for obtaining each tri patch；
S3, according to the apex coordinate of each tri patch, count the coordinate on each vertex of each triangle, coordinate calculation formula are as follows:(x, y) is expressed as the coordinate in the center of circle, is separated into
Seg sections, r is expressed as round radius, and α is expressed as that the corresponding central angle of circular arc need to be drawn, and i.x is expressed as the abscissa of point i, i.y table
It is shown as the ordinate of point i；
S4, step S3 is repeated, obtains the apex coordinate of all tri patch on two circular arcs inside and outside band-like circular arc；
S5, spliced according to the apex coordinate of the tri patch on the inside and outside circular arc of statistics, obtain drawing order；
S6, band-like circular arc is obtained according to step S1-S5, band-like circular arc is carried out to be spliced to form negotiation of bends place route.
6. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: the automobile view
Feel that enhancing subsystem includes wheel parameter acquiring unit, both view angle adjustment unit；
The wheel parameter acquiring unit is used to obtain the real time position of automobile, and obtains vehicle wheel rotation angle；
The vision accommodation unit for obtaining the coordinate of automobile in real time, and the automobile coordinate that will acquire is sent to and vehicle synchronous
Preceding video camera, the position coordinates of video camera before updating, and the automobile coordinate that will acquire is sent to the rearview mirror with vehicle synchronous
Corresponding video camera updates the corresponding camera position coordinate of rearview mirror, so that video camera follows the position of automobile.
7. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: the crimping inspection
It surveys subsystem and simulated implementation, the method for the crimping detection subsystem crimping detection is carried out using impinger, comprising the following steps:
H1, emit a ray from the vertical direction of wheel center；
H2, the corresponding collision body of the actinogenic first time collision information is returned；
H3, collision body is analyzed, judges the collision body contacted with wheel；
H4, according to collision body, judge whether the object tags of vehicle collision are solid line of the examination hall ground in project, if solid line, then
Show automobile crimping, conversely, the then non-crimping of automobile.
8. a kind of Driving Test simulation system based on physical engine according to claim 1, it is characterised in that: the shelves
The method of position drives subsystem driving automobile, includes the following steps；
W1, judge current gear, if reversing gear, then follow the steps W2, if one grade, step W4 is executed, if at two grades, executing
Step W5；
The pine conjunction range of W2, detection clutch pedal execute step when pine conjunction range accounts for the 0.3-0.7 of maximum pine conjunction range
Rapid W3, wherein when clutch is floored, the corresponding Boolean variable of clutch be it is true, when clutch is totally released, clutch pair
The Boolean variable answered is false；
W3, the pine conjunction direction of detection pedal and current pine close speed, by the Boolean variable and the progress of a upper Boolean variable before driving
Comparison, Boolean variable are true, and when judging whether present speed is less than preset pine and closes threshold speed, then Automobile drive is moved backward；
W4, judge whether the corresponding Boolean variable of current throttle is true, and judge whether present speed is less than preset pine and closes speed
Threshold value is spent, then automobile is driven with one grade；
W5, judge whether current gear is one grade, if one grade, drive throttle, driven with two grades, when automobile needs to brake
When, whether detection brake pedal is stepped on, and hinders automobile to continue to travel with brake force in automobile if stepping on.
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