虚拟环境下基于非水平路面的智能自主汽车运动研究

Study on Motion Simulation of Virtual Autonomous Vehicle Based on Non-Level Road

在虚拟驾驶模拟系统中,智能自主汽车在非水平路面上的驾驶水平对于整个虚拟驾驶仿真系统的逼真性以及测试的可信性起着决定作用。在利用数据库技术存储非水平交通环境中道路信息的基础上,采用Creator软件搭建了适合实时仿真的非水平道路模型。分析了智能自主汽车的位姿变换,并利用碰撞检测原理阐述了智能自主汽车视觉信息的获取及其在非水平路面的行驶决策。最后,利用Visual C++、EON Studio软件实现了系统的仿真。实验结果表明,虚拟模拟驾驶系统的真实感得到了增强。

In the virtual driving simulate system,the driving intelligence of the intelligent autonomous vehicle driving on non-level road in the driving simulation system is crucial to the system’s sense of reality and the reliability of the test.In this paper,we established a non-level road model fit for real time simulation with Creator software,and proposed the way for the intelligent vehicle to distinguish the road information by using the database technology.Based on this,this paper analyzed the position and orientation transform of the intelligent autonomous vehicle,and proposed the method to obtain the vision information and the driving decision on non-level road which is based on the collision detection.The intelligent autonomous vehicle driving on non-level road was developed and simulated with VC++ and EON Studio software.The experimental results demonstrate that the reality of the driving simulation system has been enhanced.