摘要
为验证车辆跟随系统的车辆跟踪及路径跟踪性能,建立了以车辆纵横向运动跟踪误差为变量的车辆动力学模型,并基于硬件在环技术和虚拟现实技术构建了同步视景车辆跟随仿真试验平台,该平台的系统结构包括实时交互式信号处理界面、三维虚拟试验场景等软件系统及其驾驶操作设备、实时控制和图像处理等硬件系统.在该试验平台上对直线加速及弯道变速工况下的车辆跟随系统进行硬件在环仿真试验,同时分析人为驾驶操作对车辆跟随控制效果的影响.仿真结果表明,在进行实车道路试验之前,基于三维虚拟现实技术的硬件在环仿真试验平台能够为车辆跟随系统提供一种安全可行的验证方法.
In order to verify the vehicle tracking and path tracking performances of the vehicle following system, a vehicle dynamic model is presented to perform the longitudinal and lateral position errors with respect to the target vehicle and road. Additionally, a real-time vehicle following experimental platform is developed, which is based on the hardware-in-the-loop and virtual reality technologies. Its hardware and software components, which include the steering wheel, a real-time controller hoard, a graphics display generator and a 3D virtual reality toolbox, are integrated together to realize the hardware-in-the-loop simu- lation. This platform is successfully utilized for simulating vehicle following tests in several driving condi- tions like velocity changing and road curvature changing. The influence of human factors on the vehicle following system is considered too. The experimental results obtained show that the hardware-in-the-loop simulator combined with the virtual reality technology provides an effective and safe method for the verifi- cation of the overall performances of the vehicle following system before conducting actual vehicle road tests.
出处
《西南大学学报（自然科学版）》
CAS
CSCD
北大核心
2013年第6期95-103,共9页
Journal of Southwest University(Natural Science Edition)
基金
国家自然科学基金资助项目(51201140)
中央高校基本科研业务费(XDJK2010c26)
西南大学科研基金资助项目(SWU110040)
关键词
车辆跟随
硬件在环
虚拟现实
试验平台
vehicle following
hardware-in-loop
virtual reality
experiential platform
