Development Of Driving Simulator System Based On XPC Target

The driving behavior of the vehicle can be simulated correctly by the driving simulator,and the driver can get real driving experience.The driving simulator can be divided into scientific driving simulator and training driving simulator.The scientific driving simulator is mainly used for researching and developing control strategies of important parts of automobiles,which can reduce development cost and improve development efficiency.For providing an experimental platform for the development of driving assistance systems,a scientific research driving simulator system was developed,using xPC Target real-time simulation tools,combined with steering wheel angle sensor,brake/accelerator pedal sensor and data acquisition card and other hardware equipment,based on the high precision provided by the vehicle dynamics simulation software veDYNA,in this paper.The host PC and target PC are built as real-time simulation platform by xPC Target,and the data is transmitted by TCP/IP communication protocol to realize the acquisition of the steering wheel angle signal and the brake/accelerator pedal signal and the real-time control of the torque motor.The vehicle dynamics model and simulation model was built in the veDYNA software to collecte external signals into the vehicle dynamics model to realize the driver’s control of the virtual vehicle.The DYNAanimation software is used to complete the driving simulator visual system creation and display video animation.The driver’s double lane-change test in the ring was carried out to verify that the real-time performance and simulation accuracy of the developed vehicle driving simulator system met the design requirements.The mathematical model of the steering system including the torque motor is established.The model predictive control algorithm is used to control the torque motor in a closed loop.The torque motor provides the steering wheel positive torque in real time,and the steering force feedback function of the steering simulator is realized.The research results of this paper can provide reference for the development of scientific driving simulator,and can also be used for driver assistance system driver model and human-machine cooperative control.