Study On The Hardware-in-loop Simulation Platform Of Virtual Driving

The simulation platform of virtual driving has a wide range of applications in driver training,ergonomics design research,vehicle product development and other fields.But there are some problems in the traditional virtual driving platform,such as high hardware costs,poor interaction,single type of vehicle simulation,low versatility,etc.This thesis shows how to design a hardware-in-loop simulation platform of virtual driving.Basing on the traditional virtual driving platform,hardware-in-loop simulation system is added.At the same time,this thesis also designs intelligent driving algorithms for vehicles and pedestrians so that the platform can better simulate the actual process of driving.This article mainly completed the following work.(1)This thesis proposes and designs a new platform framework combining virtual reality technology and hardware-in-loop simulation technology.This framework reduces the development cost of the traditional virtual driving platform and provides new ideas for the development of low-cost and simple virtual driving platform.(2)This thesis focuses on designing and completing the construction of virtual scenes.The setting of scene is based on the real world things,such as buildings,roads,and plants.At the same time,this thesis adds the traffic light system,street light system,24-hour time change system,weather system.Those systems can increase the authenticity of the platform.(3)This thesis analyzes and completes the establishment of the vehicle dynamics model,such as the driving dynamics model,the braking dynamic model and the steering dynamics model.The platform simulates more realistic vehicle movements.Vehicle attributes also can be changed according to user requirements,making the platform expandable.(4)This paper has designed intelligent driving algorithms for vehicles and pedestrians.The vehicle can realize the functions of autonomous path finding,autonomous overtaking,and autonomous identification of traffic lights.Pedestrians walk freely and cross the crosswalk function according to traffic lights.Intelligent driving algorithm makes this platform more intelligent.After unit testing and integration testing in each part,the hardware-in-loop simulation platform of virtual driving designed in this paper run normally and can achieve expected functions.The result proves that the overall scheme of the platform is correct and feasible.This thesis provides a good support for the follow-up study of the virtual driving platform.