Vega环境中机动车辆运动仿真的研究和实现

Research and Realization of Vehicle Movement Simulation in Vega

大多数在Vega平台上进行的车辆运动仿真,只是将车体作为一个质点进行处理,在仿真过程中,当车体通过不平坦的路面时,不能随地形起伏改变车体的姿态,仿真的真实感和可靠性很差。通过分析车辆的运动数学模型,建立了三维空间的运动方程组,并结合名为"TRIPDO"相交矢量方法给出了一种通用解决算法和Vega程序实现。结果表明使用了这种解决方法的仿真应用,所仿真的车辆都能够随地形的起伏实时改变姿态,车辆运动仿真的真实感和可靠性显著增强。

In vega vehicles usually are regarded as a point in most of vechicle motion simulations. During simulation process, the vehicles can not change its motion gesture along with the terrain. The level of simulation authenticity is very low. Through analyzing the model of vehicle motion and using the intersect vector method called ＂tripod＂, this paper gives a motion equation in three dimensional space, then gives a general algorithm and the sulotion based on Vega programming. The simulation result demonstrates that the motor vehicles can change their motion gesture along with the terrain effectively and the authenticity of vehicle motion is enhanced obviously.