驾驶模拟系统证实及标定方法研究
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摘要
应用驾驶模拟系统作为一种科学研究工具的前提是它必须为驾驶员提供一个与实际驾驶尽可能相同的驾驶环境和感受。因此,对于研究型驾驶模拟系统,必须对它进行证实及标定。
本文以研究型驾驶模拟系统为对象,提出从驾驶员视觉空间布局、驾驶员视觉认知、动态综合性三方面对驾驶模拟系统进行证实的方法。驾驶模拟系统视觉空间布局证实方法中,采用远处视景在近处位置成像的大小与驾驶员驾驶车辆时的视野作为标定参数,对驾驶模拟系统虚拟视景成像大小与驾驶模拟系统虚拟视景成像范围进行证实及标定。驾驶模拟系统驾驶员视觉认知证实方法中,采用驾驶员看清楚文字型标牌、数字型标牌与图像型标牌时驾驶员到标牌距离作为标定参数,对驾驶模拟系统驾驶员视觉认知进行证实。驾驶模拟系统动态综合性证实方法中,从汽车在启动时的加速性,直角转弯时的转向性,紧急制动时的制动性三个方面对驾驶模拟系统进行证实。
理论应用于实践,对昆明理工大学道路交通驾驶模拟系统平台进行驾驶员视觉空间布局、驾驶员视觉认知、动态综合性证实,并针对系统平台不能够得到证实的方面提出改进意见。
本文以实际道路测量数据为标定参数,提出驾驶模拟系统虚拟视景标定方法,利用昆明理工大学道路交通仿真实验室开发的“路达”仿真软件构建驾驶模拟系统虚拟视景标定模型。该模型对驾驶模拟系统虚拟视景的证实提供了快捷、通用、简易的平台。
The driving simulator which can be used for research must provide the driving environment and feeling with reality for the driver. So the driving simulator which is used for research must be validated.
This paper puts forward the method of the validation for driving simulator which contains three aspect such as the space position of driver's vision, the cognizance of driver's vision and all-around dynamic analysis. During the validation for the space position of driver's vision, this paper takes the size of object that is far away from where it is measured hard by and driver's field of vision as estimate parameter. During the validation for the cognizance of driver's vision, this paper takes the distances between the driver who can hardly know the information of traffic sign and traffic sign as estimate parameter. During the validation for all-around dynamic analysis, this paper validates the driving simulator from acceleration of vehicle's startup, vehicle's turning and vehicle's brake.
Based on the theory, this paper take Kunming university of science and technology driving simulation system for validation. and put forward some improvement for the driving simulator when it can not be validated.
This paper takes the data which is measured in road as estimate parameter and puts forward the method of estimation. This paper established an estimation model of driving simulator virtual scene by 'road' emulational tools which was designed by Kunming university of science and technology driving simulation lab. This model can offer a shortcut,currency and simple toole for driving simulator virtual scene validation.
本文以研究型驾驶模拟系统为对象,提出从驾驶员视觉空间布局、驾驶员视觉认知、动态综合性三方面对驾驶模拟系统进行证实的方法。驾驶模拟系统视觉空间布局证实方法中,采用远处视景在近处位置成像的大小与驾驶员驾驶车辆时的视野作为标定参数,对驾驶模拟系统虚拟视景成像大小与驾驶模拟系统虚拟视景成像范围进行证实及标定。驾驶模拟系统驾驶员视觉认知证实方法中,采用驾驶员看清楚文字型标牌、数字型标牌与图像型标牌时驾驶员到标牌距离作为标定参数,对驾驶模拟系统驾驶员视觉认知进行证实。驾驶模拟系统动态综合性证实方法中,从汽车在启动时的加速性,直角转弯时的转向性,紧急制动时的制动性三个方面对驾驶模拟系统进行证实。
理论应用于实践,对昆明理工大学道路交通驾驶模拟系统平台进行驾驶员视觉空间布局、驾驶员视觉认知、动态综合性证实,并针对系统平台不能够得到证实的方面提出改进意见。
本文以实际道路测量数据为标定参数,提出驾驶模拟系统虚拟视景标定方法,利用昆明理工大学道路交通仿真实验室开发的“路达”仿真软件构建驾驶模拟系统虚拟视景标定模型。该模型对驾驶模拟系统虚拟视景的证实提供了快捷、通用、简易的平台。
The driving simulator which can be used for research must provide the driving environment and feeling with reality for the driver. So the driving simulator which is used for research must be validated.
This paper puts forward the method of the validation for driving simulator which contains three aspect such as the space position of driver's vision, the cognizance of driver's vision and all-around dynamic analysis. During the validation for the space position of driver's vision, this paper takes the size of object that is far away from where it is measured hard by and driver's field of vision as estimate parameter. During the validation for the cognizance of driver's vision, this paper takes the distances between the driver who can hardly know the information of traffic sign and traffic sign as estimate parameter. During the validation for all-around dynamic analysis, this paper validates the driving simulator from acceleration of vehicle's startup, vehicle's turning and vehicle's brake.
Based on the theory, this paper take Kunming university of science and technology driving simulation system for validation. and put forward some improvement for the driving simulator when it can not be validated.
This paper takes the data which is measured in road as estimate parameter and puts forward the method of estimation. This paper established an estimation model of driving simulator virtual scene by 'road' emulational tools which was designed by Kunming university of science and technology driving simulation lab. This model can offer a shortcut,currency and simple toole for driving simulator virtual scene validation.
引文
[1]杨庆文,李兵.道路交通事故处理北京.东方出版社:1994
[2]新华网,http://news.xinhuanet.com/newscenter/
[3]熊坚,曾纪国,水瑞锋.面向道路交通问题的汽车驾驶模拟器开发研究.中国地面机器学会第10次学术年会(?)文集(2000洛阳)
[4]Francesco Bella,Driving simulator validation for work zone design.Department of Sciences of Civil Engineering - Roma TRE University TRB 2005 Annual Meeting
[5]Stuart T.Godley~*,Thomas J.Triggs,Brian N.Fildes,Driving simulator validation for speed research,Monash Uni_ersity Accident Research Centre.Australia TRB Accident Analysis and Prevention 34(2002)589-600
[6]Tomoki FURUICHI,Ichiro KATO and Masato IWASAKI,Validity of Stationary Driving Simulator with Actual Motorway Computer Graphic Images.TRB 2004Annual Meeting
[7]熊坚,曾纪国,丁立,等,面向道路交通的汽车驾驶模拟器的研究及应用[J].中国公路学报,2002,Vol.15(NO.2):117-119.
[8]曾纪国,熊坚,万华森.驾驶模拟器场景自动生成系统的开发及应用[J].系统仿真学报,2002,Vol.14(NO.6):752-755.
[9]James Gruenning,James Bernard,Chris Clover and Kurt Hoffmeister,Driving Simulation.SAE Paper No.980223
[10]VIP-SU web site::http://hcl.ise.vt.edu/～vasl
[11]日本大阪产业大学松蒲教授学术交流报告讲稿
[12]Federal Highway Administration of U.S driving simulation's web site:http://www.tfhrc.gov/pubrds/winter94/p94wi19.htm
[13]Leeds University Driving Simulator:http://mistral.leeds.ac.uk/
[14]Driving simulators at the Swedish National Road and Transport Research Institute:http://www.vti.se/info/foresurs/edetalj.asp?RecID=646&Lang=E
[15]Kading W,Hoffmeyer F,The Advanced Daimler-Benz Driving Simulator.SAE Paper:No.950175
[16]A fixed base driving simulator with a Nissan 240SX cab:http://pathfinder.cbr.com/facilities/simulation.html
[17]Greenberg J.A.,Park T.J.,The Ford Driving Simulator.SAE Paper:No.940176
[18]赵又群,管欣,郭孔辉,.开发型驾驶模拟器.公路交通科技:2000年5月(Vol.12No.3)
[19]唐新蓬,汽车驾驶模拟装置.世界汽车:No.4,1998
[20]National Advanced Driving Simulator,University of Iowa,http://www.nhtsa.dot.gov/people/perform/nads/
[21]王精业,周深根等,系统仿真技术在车辆仿真中的应用.系统仿真学报:1995年5月增刊
[22]吴耀武,王精业等,MUL-QJM汽车驾驶模拟器系统.系统仿真学报:1995年5月增刊
[23]丁浩杰,徐福培等,主动式三维汽车驾驶训练模拟器的设计与实现.系统仿真学报:2000年5月(Vol.12 No.3)
[24]赵又群,管欣,郭孔辉,开发型驾驶模拟器.公路交通科技:2000年5月(Vol.12No.3)
[25]汽车动态模拟国家重点实验室网址:http://adsl.jut.edu.cn/e_ver/about_adsl.htm
[26]百度百科:http://baike.baidu.com/view/1031465.htm
[27]任福田等编著,交通工程学.北京,人民交通出版社,2003.7.36-39
[28]昆明理工大学道路交通模拟实验室:http://fte.kmust.edu.cn/xkjs/xkzy/dljtfzjaq/index.html
[29]广州泽尔机电科技有限公司.VBOX汽车整车性能测试系统说明书
[30]广州泽尔机电科技有限公司.VB2SX 20Hz GPS数据采集器用户操作手册
[31]盛骤,谢式千,潘承毅编著,概率论与数理统计.北京,高等教育出版社,2001年12月第3版
[32]曾纪国,驾驶模拟器三维视景系统的开发与应用:[硕士学位论文].昆明:昆明理工大学交通学院,2001
[33]水瑞峰,汽车驾驶模拟器数据采集系统与车辆模型的研究及应用:[硕士学位论文]. 昆明:昆明理工大学交通学院,2001
[34]徐吉谦,交通工程总论.北京:人民交通出版社,1995
[35]曾纪国,驾驶模拟器三维视景系统的开发与应用:[硕士学位论文].昆明:昆明理工大学交通学院,2001
[36]熊坚,曾纪国,驾驶模拟器用于交通系统仿真的研究[J],系统仿真学报:2001年增刊
[37]熊坚,人-车-环境”交通虚拟仿真的研究项目研究报告[R].昆明:昆明理工大学交通工程学院,2003
[38]丁立,熊坚,陈泽林等,面向人-车-环境系统的汽车驾驶模拟器的开发和应用[J]..公路交通科技:2002(12):160-163.
[39]日本大阪产业大学松蒲教授学术交流报告讲稿
[40]Bella,Francesco;Garcia,Alfredo;Solves,Francisco;Romero,Mario A,Driving Simulator Validation for Deceleration Lane Design.Transportation Research Board:Annual Meeting 2007 Paper #07-0894
[41]James Gruenning,James Bernard,Chris Clover and Kurt Hoffmeister "Driving Simulation" SAE Paper No.980223
[42]Kading W.,Hoffmeyer F."The Advanced Daimler-Benz Driving Simulator" SAE Paper No.950175
[43]Greenberg J.A.,Park T.J."The Ford Driving Simulator" SAE Paper No.940176
[44]Allen R.W.,Rosenthal T.J."Low Cost Driving Simulation For Research,Training,and Screening Applications" SAE Paper No.950171
[45]Blana E.(1999).Behavioural Validation of a Fixed-base Driving Simulator.Paper presented at the Driving Simulation Conference(DSC99),Paris,July 1999.
[46]J.E.Bernard and C.L.Clover "Validation of Computer Simulations of Vehicle Dynamics" SAE Paper No.940231
[47]Dan Negrut and Jeffrey S.Freeman "Dynamic Tire Modeling for Application with Vehicle Simulations Incorporating Terrain" SAE Paper No.940223
[2]新华网,http://news.xinhuanet.com/newscenter/
[3]熊坚,曾纪国,水瑞锋.面向道路交通问题的汽车驾驶模拟器开发研究.中国地面机器学会第10次学术年会(?)文集(2000洛阳)
[4]Francesco Bella,Driving simulator validation for work zone design.Department of Sciences of Civil Engineering - Roma TRE University TRB 2005 Annual Meeting
[5]Stuart T.Godley~*,Thomas J.Triggs,Brian N.Fildes,Driving simulator validation for speed research,Monash Uni_ersity Accident Research Centre.Australia TRB Accident Analysis and Prevention 34(2002)589-600
[6]Tomoki FURUICHI,Ichiro KATO and Masato IWASAKI,Validity of Stationary Driving Simulator with Actual Motorway Computer Graphic Images.TRB 2004Annual Meeting
[7]熊坚,曾纪国,丁立,等,面向道路交通的汽车驾驶模拟器的研究及应用[J].中国公路学报,2002,Vol.15(NO.2):117-119.
[8]曾纪国,熊坚,万华森.驾驶模拟器场景自动生成系统的开发及应用[J].系统仿真学报,2002,Vol.14(NO.6):752-755.
[9]James Gruenning,James Bernard,Chris Clover and Kurt Hoffmeister,Driving Simulation.SAE Paper No.980223
[10]VIP-SU web site::http://hcl.ise.vt.edu/～vasl
[11]日本大阪产业大学松蒲教授学术交流报告讲稿
[12]Federal Highway Administration of U.S driving simulation's web site:http://www.tfhrc.gov/pubrds/winter94/p94wi19.htm
[13]Leeds University Driving Simulator:http://mistral.leeds.ac.uk/
[14]Driving simulators at the Swedish National Road and Transport Research Institute:http://www.vti.se/info/foresurs/edetalj.asp?RecID=646&Lang=E
[15]Kading W,Hoffmeyer F,The Advanced Daimler-Benz Driving Simulator.SAE Paper:No.950175
[16]A fixed base driving simulator with a Nissan 240SX cab:http://pathfinder.cbr.com/facilities/simulation.html
[17]Greenberg J.A.,Park T.J.,The Ford Driving Simulator.SAE Paper:No.940176
[18]赵又群,管欣,郭孔辉,.开发型驾驶模拟器.公路交通科技:2000年5月(Vol.12No.3)
[19]唐新蓬,汽车驾驶模拟装置.世界汽车:No.4,1998
[20]National Advanced Driving Simulator,University of Iowa,http://www.nhtsa.dot.gov/people/perform/nads/
[21]王精业,周深根等,系统仿真技术在车辆仿真中的应用.系统仿真学报:1995年5月增刊
[22]吴耀武,王精业等,MUL-QJM汽车驾驶模拟器系统.系统仿真学报:1995年5月增刊
[23]丁浩杰,徐福培等,主动式三维汽车驾驶训练模拟器的设计与实现.系统仿真学报:2000年5月(Vol.12 No.3)
[24]赵又群,管欣,郭孔辉,开发型驾驶模拟器.公路交通科技:2000年5月(Vol.12No.3)
[25]汽车动态模拟国家重点实验室网址:http://adsl.jut.edu.cn/e_ver/about_adsl.htm
[26]百度百科:http://baike.baidu.com/view/1031465.htm
[27]任福田等编著,交通工程学.北京,人民交通出版社,2003.7.36-39
[28]昆明理工大学道路交通模拟实验室:http://fte.kmust.edu.cn/xkjs/xkzy/dljtfzjaq/index.html
[29]广州泽尔机电科技有限公司.VBOX汽车整车性能测试系统说明书
[30]广州泽尔机电科技有限公司.VB2SX 20Hz GPS数据采集器用户操作手册
[31]盛骤,谢式千,潘承毅编著,概率论与数理统计.北京,高等教育出版社,2001年12月第3版
[32]曾纪国,驾驶模拟器三维视景系统的开发与应用:[硕士学位论文].昆明:昆明理工大学交通学院,2001
[33]水瑞峰,汽车驾驶模拟器数据采集系统与车辆模型的研究及应用:[硕士学位论文]. 昆明:昆明理工大学交通学院,2001
[34]徐吉谦,交通工程总论.北京:人民交通出版社,1995
[35]曾纪国,驾驶模拟器三维视景系统的开发与应用:[硕士学位论文].昆明:昆明理工大学交通学院,2001
[36]熊坚,曾纪国,驾驶模拟器用于交通系统仿真的研究[J],系统仿真学报:2001年增刊
[37]熊坚,人-车-环境”交通虚拟仿真的研究项目研究报告[R].昆明:昆明理工大学交通工程学院,2003
[38]丁立,熊坚,陈泽林等,面向人-车-环境系统的汽车驾驶模拟器的开发和应用[J]..公路交通科技:2002(12):160-163.
[39]日本大阪产业大学松蒲教授学术交流报告讲稿
[40]Bella,Francesco;Garcia,Alfredo;Solves,Francisco;Romero,Mario A,Driving Simulator Validation for Deceleration Lane Design.Transportation Research Board:Annual Meeting 2007 Paper #07-0894
[41]James Gruenning,James Bernard,Chris Clover and Kurt Hoffmeister "Driving Simulation" SAE Paper No.980223
[42]Kading W.,Hoffmeyer F."The Advanced Daimler-Benz Driving Simulator" SAE Paper No.950175
[43]Greenberg J.A.,Park T.J."The Ford Driving Simulator" SAE Paper No.940176
[44]Allen R.W.,Rosenthal T.J."Low Cost Driving Simulation For Research,Training,and Screening Applications" SAE Paper No.950171
[45]Blana E.(1999).Behavioural Validation of a Fixed-base Driving Simulator.Paper presented at the Driving Simulation Conference(DSC99),Paris,July 1999.
[46]J.E.Bernard and C.L.Clover "Validation of Computer Simulations of Vehicle Dynamics" SAE Paper No.940231
[47]Dan Negrut and Jeffrey S.Freeman "Dynamic Tire Modeling for Application with Vehicle Simulations Incorporating Terrain" SAE Paper No.940223