Dynamic Simulation In Vehicle Simulator

In the vehicle simulator,the vehicle dynamics and physical system,which has an important impact on the simulation accuracy of the vehicle simulator,are used to realize the real-time simulation of vehicle driving state,and to provide driving state data to other simulation subsystems such as visual simulation system,sound system somatosensory system and so on.In practical engineering applications,the dynamic simulation system not only needs to complete the real-time calculation of vehicle driving state,but also needs to interact with the physical simulation system in real-time,cooperate to complete the simulation of collision process and other functions.However,dynamic simulation software generally does not have such functions.In order to solve this problem,this paper designs and implements a vehicle dynamics simulation system which can cooperate with physical simulation system based on dynamic simulation software CarSim.The system mainly includes: vehicle dynamics simulation,realtime collision simulation,road elevation detection and other modules.The specific work is as follows:Firstly,considering the requirement of vehicle collision simulation,the overall design of vehicle dynamics and physics collaborative simulation system is carried out.In the system,the dynamic simulation module is implemented by CarSim software,and the road data is obtained from the external scene model.The real-time road elevation is provided to CarSim by the elevation detection module.Collision detection and response module cooperates with CarSim to realize vehicle collision simulation.An elevation detection algorithm based on ray intersection technique is realized.By analyzing the influence of road input on wheel and vehicle suspension,the elevation detection algorithm based on ray intersection technology is realized,and the combination of vehicle dynamics simulation of vehicle driving road elevation detection simulation subsystem and vehicle dynamics simulation subsystem is completed.The simulation of vehicle driving on uneven road surface is realized.A hybrid collision detection method based on separation axis theorem and distance is realized.In order to reduce the computational complexity of collision detection,the static and dynamic objects that cannot possibly collide are eliminated by two different methods of space region partition combined with distance-based collision detection algorithm.Then,the collision detection of potential collision objects is calculated based on the Separation Axis Theorem(SAT).The collision response calculation is completed and the dynamic simulation subsystem is combined.Simplify the object of collision.Aiming at the collision process between rigid bodies,momentum conservation and kinetic energy conservation are used to calculate the collision response when collision occurs.The collision detection and response in vehicle simulator are simulated by using static link library combined with dynamic simulation subsystem.At present,the above achievements have been applied in practical engineering projects,and the relevant debugging work has been completed in the actual vehicle simulator,and good results have been achieved.Through practice,the design of this paper is verified.