收稿日期: 2021-04-07
修回日期: 2021-06-07
网络出版日期: 2022-08-15
基金资助
国家自然科学基金(51975341)
Development of Vehicle Dynamics Virtual Simulation System Based on CarSim
Received date: 2021-04-07
Revised date: 2021-06-07
Online published: 2022-08-15
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。
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 . DOI: 10.16182/j.issn1004731x.joss.21-0300
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.
| 1 | 唐克双, 王亚晴, 王鹏飞. 汽车驾驶模拟器在交通研究中的应用[J]. 城市交通, 2011, 9(6): 78-85. |
| 1 | Tang Keshuang, Wang Yaqing, Wang Pengfei. Driving Simulator in Transportation Research[J]. Urban Transport of China, 2011, 9(6): 78-85. |
| 2 | 刘东波, 缪小冬, 王长群, 等. 汽车驾驶模拟器及其关键技术研究现状[J]. 公路与汽运, 2010(5): 53-58. |
| 2 | Liu Dongbo, Miao Xiaodong, Wang Changqun, et al. Research Status of Vehicle Driving Simulator and Key Technologies[J]. Highways & Automotive Applications, 2010(5): 53-58. |
| 3 | 齐成华. 智能汽车驾驶模拟器在汽车驾驶教学中的应用意义[J]. 智能网联汽车, 2018(20): 44-45. |
| 3 | Qi Chenghua. Application Significance of Intelligent Car Driving Simulator in Automobile Driving Teaching[J]. Automobile Applied Technology, 2018(20): 44-45. |
| 4 | 常鑫, 李海舰, 荣建, 等. 基于驾驶模拟器的车联网环境搭建及对驾驶行为的影响[J]. 科学技术与工程, 2019, 19(15): 330-335. |
| 4 | Chang Xin, Li Haijian, Rong Jian, et al. Connected Vehicle Environment Simulation Platform Construction and Its Impact on Driving Behavior Based on Driving Simulator[J]. Science Technology and Engineering, 2019, 19(15): 330-335. |
| 5 | Melanie K, Edmund W, Michael F, et al. The Ability of Young, Middle-Aged and Older Drivers to Inhibit Visual and Auditory Distraction in a Driving Simulator Task[J]. Transportation Research Part F: Psychology and Behaviour(S1369-8478), 2020, 68: 272-284. |
| 6 | Milleville Pennel I, Marquez S. Comparison Between Elderly and Young Drivers' Performances on a Driving Simulator and Self-Assessment of Their Driving Attitudes and Mastery[J]. Accident Analysis & Prevention (S0001-4575), 2020, 135: 105317. |
| 7 | 张俊友, 焦学健, 柴山. 基于虚拟现实的汽车驾驶模拟器设计与实现[J]. 机械设计与制造, 2013(4): 39-41. |
| 7 | Zhang Junyou, Jiao Xuejian, Chai Shang. Design and Realization of Driving Simulator System Based on Virtual Reality[J]. Machinery Design & Manufacture, 2013(4): 39-41. |
| 8 | Marteaux F, Saad C. Diesel Engine Combustion Modeling for Hardware in the Loop Applications: Effects of Ignition Delay Time Model[J]. Energy(S0360-5442), 2013, 57(8): 641-652. |
| 9 | 杨果. 基于虚拟现实的驾驶模拟仿真系统开发[D]. 重庆: 重庆大学, 2016. |
| 9 | Yang Guo. Development of Driving Simulation System Based on Virtual Reality[D]. Chongqing: Chongqing University, 2016. |
| 10 | 张玉洁. 基于CarSim的电动助力转向系统仿真与硬件在环验证[D]. 合肥: 合肥工业大学, 2015. |
| 10 | Zhang Yujie. Electric Power Steering System Simulation and Hardware in Loop Simulation Based on CarSim[D]. Hefei: Hefei University of Technology, 2015. |
| 11 | 王慧然, 黄鹤, 罗家亮. 基于LabView-RT和CarSim的EPS硬件在环实验台开发与仿真研究[J]. 合肥工业大学学报, 2017, 40(7): 877-882. |
| 11 | Wang Huiran, Huang He, Luo Jialiang. Development and Simulation Research of EPS Hardware-in-Loop Experiment Platform Based on LabView-RT and CarSim[J]. Journal of Hefei University of Technology, 2017, 40(7): 877-882. |
| 12 | 宋安兴. 汽车稳定性控制驾驶模拟仿真系统研究[D]. 重庆: 重庆大学, 2012. |
| 12 | Song Anxing. Study on Driving Simulation System for Vehicle Stability Control[D]. Chongqing: Chongqing University, 2012. |
| 13 | 赵雪. 汽车半实物模拟驾驶系统设计[D]. 重庆: 重庆理工大学, 2017. |
| 13 | Zhao Xue. The Design of Semi Physical Simulation Driving System for Automobile[D]. Chongqing: Chongqing University of Technology, 2017. |
| 14 | 谢潇. 基于虚拟现实的六自由度驾驶模拟仿真系统开发[D]. 重庆: 重庆大学, 2017. |
| 14 | Xie Xiao. Development of Driving Simulation System with Six Degree of Freedom Platform Based on Virtual Reality[D]. Chongqing: Chongqing University, 2017. |
| 15 | 孙荣强, 陈焕明, 刘大维. 硬件在环汽车驾驶模拟器系统开发[J]. 青岛大学学报(工程技术版), 2019, 34(2): 85-89. |
| 15 | Sun Rongqiang, Chen Huanming, Liu Dawei. Development of Hardware in Loop Vehicle Driving Simulator System[J]. Journal of Qingdao University (E&T), 2019, 34(2): 85-89. |
| 16 | 胡淦. 基于洗出滤波算法的六自由度汽车驾驶模拟实验平台设计开发[D]. 北京: 北京交通大学, 2017. |
| 16 | Hu Gan. Design and Development of 6-DOF Driving Simulation Experiment Platform Based on Washout Filter Algorithm[D]. Beijing: Beijing Jiaotong University, 2017. |
| 17 | 中华人民共和国国家质量监督检验检疫总局, 中国国家标准化管理委员会. 汽车操纵稳定性实验方法: [S]. 北京: 中国标准出版社, 2014. |
| 17 | General Administration of Quality Supervision Inspection and Quarantine of the People's Republic of China, Administration Standardization. Controllability and Stability Experiment Procedure for Automobile: [S]. Beijing: Standards Press of China, 2014. |
| 18 | 张凯旋, 徐霖. 汽车操纵稳定性实验与评价标准研究[J]. 北京汽车, 2021(1): 1-5. |
| 18 | Zhang Kaixuan, Xu Lin. Research on Vehicle Handling Stability Experiment and Evaluation Standard[J]. Beijing Automotive Engineering, 2021(1): 1-5. |
| 19 | 徐亮, 石娟. 汽车驾驶模拟器主客观评价方法的应用研究[J]. 汽车工程, 2020, 42(10): 1420-1427. |
| 19 | Xu Liang, Shi Juan. Application Research on Subjective and Objective Evaluation Method of Vehicle Driving Simulator[J]. Automotive Engineering, 2020, 42(10): 1420-1427. |
/
| 〈 |
|
〉 |
http://www.china-simulation.com
