基于CarSim的车辆动力学虚拟仿真系统开发

doi:10.16182/j.issn1004731x.joss.21-0300

摘要/Abstract

摘要：

为了解决实车实验因“高成本、高消耗、高危险性”而无法开展的问题，开发了一套基于CarSim的车辆动力学虚拟仿真系统。利用CarSim创建实时车辆模型；在Unity3D中搭建虚拟场景，并使用主动立体显示技术实现3D视觉效果；通过Fanatec赛车模拟方向盘和LabView采集驾驶员操作信息，在NI-Pxie8840控制器中求解车辆动力学模型以确保其运算的实时性；将解算数据通过六自由度运动平台反馈给驾驶员。结果表明：虚拟车辆可以遵循驾驶员的意图行驶，整套系统反应灵敏、操作环境安全、沉浸式感受较强、实验数据准确可靠，对汽车的设计研发具有一定意义。

关键词: 车辆动力学, CarSim, 模拟驾驶, 实时仿真, 六自由度平台, 硬件在环

Abstract:

Aiming at the "high cost, high consumption and high risk" of real vehicle test, a virtual simulation system of vehicle dynamics based on CarSim is developed. The real-time vehicle model is created by CarSim. A virtual scene is built in Unity3D, and an active stereoscopic display technology is used to realize the 3D visual effects. The driver's operation information is collected by simulating the steering wheel of Fanatec racing car and LabView, and the vehicle dynamics model is solved in NI-Pxie8840 controller to ensure the real-time operation. The calculated data is fed back to the driver through the six-degree-of-freedom motion platform. The results show that the virtual vehicle can follow the driver's intention, and the system has sensitive response, safe operating environment, better immersive feeling, accurate and reliable test data, which is conducive to the design and development of automobiles.

Key words: vehicle dynamics, carsim, driving simulation, real-time simulation, six-degree-of-freedom motion platform, hardware in the loop

中图分类号:

TP391.9

刘建磊, 焦学健, 王怀谦. 基于CarSim的车辆动力学虚拟仿真系统开发[J]. 系统仿真学报, 2022, 34(8): 1847-1854.

Jianlei Liu, Xuejian Jiao, Huaiqian Wang. Development of Vehicle Dynamics Virtual Simulation System Based on CarSim[J]. Journal of System Simulation, 2022, 34(8): 1847-1854.

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参数	数值
长/mm	4 933
宽/mm	1 836
高/mm	1 469
整车质量/kg	1 470
轮胎规格	215/55/R17
车轮侧偏刚度/(N/rad)	-73 000
质心到前轴距离/mm	1 112
质心到后轴距离/mm	1 759
最大功率/kW	125
最大扭矩/(N∙m)	258
对x轴的极惯性矩/(kg∙m²)	671
对y轴的极惯性矩/(kg∙m²)	1 973
对z轴的极惯性矩/(kg∙m²)	2 315

参数	驾驶员模型	真人驾驶员
标桩间距离/m	30	30
基准车速/(km/h)	34.82	34.84
平均转向盘转角/(°)	46.86	45.58
平均横摆角速度((°)/s)	9.02	8.77
平均车身侧倾角/(°)	0.468	0.460
平均侧向加速度/(m/s²)	1.580	1.550

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