技术领域technical field
本发明属于驾驶模拟器应用技术领域，涉及一种驾驶模拟器获得交通环境信息的快速截取引擎。The invention belongs to the technical field of driving simulator applications, and relates to a fast interception engine for driving simulators to obtain traffic environment information.
背景技术Background technique
为使驾驶模拟器中呈现的周围交通环境更加的真实、可信，人们开始越来越多的采用了驾驶模拟器与交通仿真器联合仿真的方法。驾驶员在操纵驾驶模拟器的过程中，将驾驶模拟器的动力学计算结果发送到交通仿真器，将驾驶模拟器所代表的车辆作为交通仿真中的一个交通车辆对象，并将交通仿真的结果通过交互式的方法呈现给驾驶模拟器中的驾驶员，形成人-车-交通环境的闭环仿真系统，使驾驶员的驾驶感受更加真实，进而使仿真实验的结果更加真实可靠。然而即使是微观交通流仿真，仿真对象也会有几千甚至上万辆车，如何快速的从中选取出驾驶模拟器所代表的车辆周围一定范围内的交通仿真车辆，对其仿真信息进行提取并通过声响、图像显示等交互式手段呈现给驾驶模拟器中的驾驶员，成为了影响联合仿真实时性、真实感的关键因素。In order to make the surrounding traffic environment presented in the driving simulator more real and credible, more and more people began to adopt the joint simulation method of driving simulator and traffic simulator. In the process of manipulating the driving simulator, the driver sends the dynamic calculation results of the driving simulator to the traffic simulator, takes the vehicle represented by the driving simulator as a traffic vehicle object in the traffic simulation, and sends the result of the traffic simulation Presented to the driver in the driving simulator through an interactive method, a closed-loop simulation system of human-vehicle-traffic environment is formed, which makes the driving experience of the driver more realistic, and makes the results of the simulation experiment more real and reliable. However, even for micro-traffic flow simulation, the simulation objects will have thousands or even tens of thousands of vehicles. How to quickly select traffic simulation vehicles within a certain range around the vehicle represented by the driving simulator, extract their simulation information and It is presented to the driver in the driving simulator through interactive means such as sound and image display, which has become a key factor affecting the real-time performance and realism of the co-simulation.
秦雅琴等人在2007年《昆明理工大学学报(工学版)》第32卷第1期发表的《驾驶模拟器与微观交通仿真VISSIM的数据接口研究》一文中设计并实现了其自主研发的面向道路交通的高级驾驶模拟器(KMRTS)与微观交通仿真软件VISSIM的数据传递过程，但该过程是先在VISSIM中进行交通仿真并将结果导出至文件，再在驾驶模拟器进行仿真时导入上述交通仿真结果文件。该方法中驾驶模拟器的仿真结果无法作用在交通仿真的结果上，并不能完全实现驾驶模拟器与交通仿真器的联合仿真。Qin Yaqin et al. designed and implemented their self-developed road-oriented model in the article "Research on Data Interface between Driving Simulator and Microscopic Traffic Simulation VISSIM" published in "Journal of Kunming University of Science and Technology (Engineering Edition)" Volume 32, Issue 1 in 2007. The data transfer process between the advanced traffic driving simulator (KMRTS) and the micro-traffic simulation software VISSIM, but the process is to first conduct traffic simulation in VISSIM and export the results to a file, and then import the above traffic simulation when the driving simulator is simulating result file. In this method, the simulation results of the driving simulator cannot be applied to the results of the traffic simulation, and the joint simulation of the driving simulator and the traffic simulator cannot be fully realized.
现有技术的缺点：驾驶模拟器与交通仿真器进行联合仿真的方法目前刚刚兴起，已出现的仿真平台大多还处于功能实现阶段，但当交通仿真的区域较大、仿真车辆数量也较大时对于如何从交通仿真器的大量仿真数据中快速提取有效信息，保证声响、显示等效果的实时性，以提高仿真性能还少有研究。Disadvantages of the existing technology: the method of co-simulation between driving simulators and traffic simulators has just emerged, and most of the existing simulation platforms are still in the stage of function realization. However, when the traffic simulation area is large and the number of simulated vehicles is large There is still little research on how to quickly extract effective information from a large amount of simulation data of traffic simulators, ensure the real-time performance of sound and display effects, and improve simulation performance.
发明内容Contents of the invention
本发明的目的是提供一种驾驶模拟器获得交通环境信息的快速截取引擎，为了提高驾驶模拟器中利用交通仿真来模拟交通环境信息时的仿真性能，保证当驾驶模拟器与大规模交通仿真器进行联合仿真时，能够实时、准确地截取出驾驶模拟器所代表的车辆周围一定范围内的交通仿真车辆，为视觉、听觉、触觉等驾驶模拟器交互式系统的计算提供简洁、有效的数据。同时，该引擎也可以单纯在交通仿真中为交通车辆获取周围信息提供支持。The purpose of the present invention is to provide a fast interception engine for driving simulator to obtain traffic environment information, in order to improve the simulation performance when traffic simulation is used to simulate traffic environment information in the driving simulator, to ensure that when the driving simulator and large-scale traffic simulator When performing co-simulation, traffic simulation vehicles within a certain range around the vehicle represented by the driving simulator can be accurately intercepted in real time, providing concise and effective data for the calculation of the interactive system of the driving simulator such as vision, hearing, and touch. At the same time, the engine can also provide support for traffic vehicles to obtain surrounding information purely in traffic simulation.
本发明所采用的技术方案是，一种驾驶模拟器获得交通环境信息的快速截取引擎，定位服务模块与被截取仿真对象数据存储空间连接，被截取仿真对象数据存储空间分别与仿真对象定位算法模块、仿真范围截取算法模块连接，仿真对象定位算法模块与仿真场景空间划分模块连接，仿真场景空间划分模块与仿真范围截取算法模块连接，仿真范围截取算法模块与截取服务模块连接，截取服务模块与模拟器子系统数据存储空间连接，模拟器子系统数据存储空间与仿真范围截取算法模块连接，被截取仿真对象与定位服务模块连接，驾驶模拟器各子系统与截取服务模块连接。The technical scheme adopted in the present invention is, a driving simulator obtains the fast interception engine of traffic environment information, the positioning service module is connected with the data storage space of the intercepted simulation object, and the data storage space of the intercepted simulation object is respectively connected with the simulation object positioning algorithm module , The simulation range interception algorithm module is connected, the simulation object positioning algorithm module is connected with the simulation scene space division module, the simulation scene space division module is connected with the simulation range interception algorithm module, the simulation range interception algorithm module is connected with the interception service module, and the interception service module is connected with the simulation The data storage space of the simulator subsystem is connected, the data storage space of the simulator subsystem is connected with the simulation range interception algorithm module, the intercepted simulation object is connected with the positioning service module, and each subsystem of the driving simulator is connected with the interception service module.
本发明的有益效果是，解决当与驾驶模拟器进行联合仿真的交通仿真器仿真区域较大、仿真对象数量也较大时，难以实时、准确、全面的提取驾驶员周围一定范围内交通仿真对象信息的问题，从而提高了驾驶模拟器的逼真度，为利用驾驶模拟器进行各类与交通相关的研究奠定了基础。而且，本发明具有布置方案灵活的特点，当仿真场景很大、参与交通仿真的车辆数很多时，可以选择将快速截取引擎独立在交通仿真器和驾驶模拟器之外，在一台单独的计算机上运行，以提高运行速度；当交通仿真车辆数较多时，可以选择将使快速引擎集成在在交通仿真器上运行，以减小交通仿真器的通信开销，提高数据传输效率；此外也可以选择将快速截取引擎集成在驾驶模拟器内部运行。The beneficial effect of the present invention is to solve the problem that it is difficult to extract traffic simulation objects within a certain range around the driver in a real-time, accurate and comprehensive manner when the simulation area of the traffic simulator that is jointly simulated with the driving simulator is large and the number of simulation objects is also large. Information problems, thereby improving the fidelity of the driving simulator, and laying the foundation for the use of driving simulators for various traffic-related research. Moreover, the present invention has the characteristics of flexible layout. When the simulation scene is very large and the number of vehicles participating in the traffic simulation is large, the fast interception engine can be selected to be independent from the traffic simulator and the driving simulator. run on the traffic simulator to increase the running speed; when there are many traffic simulation vehicles, you can choose to integrate the fast engine to run on the traffic simulator to reduce the communication overhead of the traffic simulator and improve the data transmission efficiency; in addition, you can also choose Integrate the fast interception engine to run inside the driving simulator.
附图说明Description of drawings
图1是本发明的结构框图。Fig. 1 is a structural block diagram of the present invention.
图2是本发明与驾驶模拟器、交通仿真器的布置方案示意图。Fig. 2 is a schematic diagram of the layout of the present invention, driving simulator and traffic simulator.
a为快速截取引擎集成在交通仿真器中；b为快速截取引擎独立在交通仿真器和驾驶模拟器之外；c为快速截取引擎集成在驾驶模拟器中。a: The fast intercept engine is integrated in the traffic simulator; b: The fast intercept engine is independent of the traffic simulator and driving simulator; c: The fast intercept engine is integrated in the driving simulator.
图3是为本发明的仿真场景空间划分模块对仿真场景空间进行二维网格化的过程示意图。Fig. 3 is a schematic diagram of the process of two-dimensional gridding of the simulation scene space for the simulation scene space division module of the present invention.
图4为本发明的仿真对象定位算法模块确定仿真对象所处网格的过程示意图。Fig. 4 is a schematic diagram of the process of determining the grid where the simulation object is located by the simulation object positioning algorithm module of the present invention.
图5为本发明的定位服务为被截取的仿真对象提供的三种功能与快速截取引擎内的被截取仿真对象数据存储空间之间的关系。FIG. 5 shows the relationship between the three functions provided by the positioning service of the present invention for the intercepted simulation object and the data storage space of the intercepted simulation object in the fast interception engine.
图6为本发明的仿真范围截取算法模块确定调用对象截取范围所覆盖网格过程示意图。FIG. 6 is a schematic diagram of the process of determining the grid covered by the interception range of the calling object by the simulation range interception algorithm module of the present invention.
图7为本发明的截取服务为驾驶模拟器子系统提供的四种功能与快速截取引擎内的模拟器子系统数据存储空间之间的关系。FIG. 7 shows the relationship between the four functions provided by the interception service of the present invention for the driving simulator subsystem and the data storage space of the simulator subsystem in the fast interception engine.
图中，1.快速截取引擎，2.定位服务模块，3.截取服务模块，4.仿真对象定位算法模块，5.仿真场景空间划分模块，6.仿真范围截取算法模块，7.被截取仿真对象数据存储空间，8.模拟器子系统数据存储空间，9.被截取仿真对象，10.驾驶模拟器各子系统。In the figure, 1. Fast interception engine, 2. Positioning service module, 3. Interception service module, 4. Simulation object positioning algorithm module, 5. Simulation scene space division module, 6. Simulation range interception algorithm module, 7. Intercepted simulation Object data storage space, 8. Simulator subsystem data storage space, 9. Intercepted simulation objects, 10. Subsystems of the driving simulator.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
一种驾驶模拟器获得交通环境信息的快速截取引擎1，结构如图1所示，包括定位服务模块2、截取服务模块3、仿真对象定位算法模块4、仿真场景空间划分模块5、仿真范围截取算法模块6共5个模块，还包括被截取仿真对象数据存储空间7、模拟器子系统数据存储空间8共2个数据存储空间。A fast interception engine 1 for a driving simulator to obtain traffic environment information. The structure is shown in FIG. Algorithm module 6 consists of 5 modules in total, and also includes 2 data storage spaces in total of intercepted simulation object data storage space 7 and simulator subsystem data storage space 8 .
定位服务模块2与被截取仿真对象数据存储空间7连接，被截取仿真对象数据存储空间7分别与仿真对象定位算法模块4、仿真范围截取算法模块6连接，仿真对象定位算法模块4与仿真场景空间划分模块5连接，仿真场景空间划分模块5与仿真范围截取算法模块6连接，仿真范围截取算法模块6与截取服务模块3连接，截取服务模块3与模拟器子系统数据存储空间8连接，模拟器子系统数据存储空间8与仿真范围截取算法模块6连接，被截取仿真对象9与定位服务模块2连接，驾驶模拟器各子系统10与截取服务模块3连接。The positioning service module 2 is connected with the intercepted simulation object data storage space 7, and the intercepted simulation object data storage space 7 is respectively connected with the simulation object positioning algorithm module 4 and the simulation range interception algorithm module 6, and the simulation object positioning algorithm module 4 is connected with the simulation scene space The division module 5 is connected, the simulation scene space division module 5 is connected with the simulation range interception algorithm module 6, the simulation range interception algorithm module 6 is connected with the interception service module 3, the interception service module 3 is connected with the simulator subsystem data storage space 8, and the simulator The subsystem data storage space 8 is connected to the simulation range interception algorithm module 6 , the intercepted simulation object 9 is connected to the positioning service module 2 , and each subsystem 10 of the driving simulator is connected to the interception service module 3 .
定位服务模块2，负责为交通仿真器向快速截取引擎1传递数据提供服务，交通仿真器中需要被截取的仿真对象称为被截取仿真对象，每一个被截取仿真对象9在快速截取引擎中都对应有一段被截取仿真对象数据存储空间7，保存了仿真对象定位算法模块4和驾驶模拟器所需要的被截取仿真对象9的数据。定位服务模块2为被截取仿真对象9提供了注册、注销、更新三个功能，其中注册功能在被截取仿真对象9希望加入驾驶模拟器场景时在引擎中为其创建相应的被截取仿真对象数据存储空间7，同时创建访问该存储空间的句柄并初始化数据；注销功能在被截取仿真对象9希望退出驾驶模拟器场景时在引擎中销毁所创建的数据存储空间和句柄；更新功能负责将每次被截取仿真对象9的计算结果写入引擎中对应的被截取仿真对象数据存储空间7中。The positioning service module 2 is responsible for providing services for the traffic simulator to transmit data to the fast interception engine 1. The simulated object that needs to be intercepted in the traffic simulator is called the intercepted simulation object, and each intercepted simulation object 9 is in the fast interception engine. Correspondingly, there is an intercepted simulation object data storage space 7, which stores the data of the intercepted simulation object 9 required by the simulation object positioning algorithm module 4 and the driving simulator. The positioning service module 2 provides three functions of registration, logout and update for the intercepted simulation object 9, wherein the registration function creates corresponding intercepted simulation object data in the engine when the intercepted simulation object 9 wishes to join the driving simulator scene storage space 7, create a handle to access the storage space and initialize data; the logout function destroys the created data storage space and handle in the engine when the intercepted simulation object 9 wishes to exit the driving simulator scene; the update function is responsible for The calculation result of the intercepted simulation object 9 is written into the corresponding intercepted simulation object data storage space 7 in the engine.
截取服务模块3，负责为驾驶模拟器与快速截取引擎1之间传递数据提供服务，驾驶模拟器中每一个需要应用截取功能的子系统对应为图1中驾驶模拟器各子系统10中的一个，每一个驾驶模拟器各子系统10在快速截取引擎1中都对应有一段模拟器子系统数据存储空间8，保存了仿真范围截取算法模块6所需要的数据。截取服务模块3为驾驶模拟器各子系统10提供了注册、注销、更新、反馈四个功能，其中注册功能在驾驶模拟器各子系统10希望利用引擎的截取功能时在引擎中为其创建相应的模拟器子系统数据存储空间8，同时创建访问该存储空间的句柄并初始化数据；注销功能在驾驶模拟器各子系统10不再需要利用引擎的截取功能时在引擎中销毁所创建的数据存储空间和句柄；更新功能负责将驾驶模拟器各子系统10每次截取计算时需要更新的数据写入引擎中对应的模拟器子系统数据存储空间8中；反馈功能负责将仿真范围截取算法模块6的计算结果反馈给驾驶模拟器各子系统10。The interception service module 3 is responsible for providing services for data transmission between the driving simulator and the fast interception engine 1, and each subsystem in the driving simulator that needs to apply the interception function corresponds to one of the subsystems 10 of the driving simulator in Figure 1 Each subsystem 10 of each driving simulator corresponds to a section of simulator subsystem data storage space 8 in the fast interception engine 1, which stores the data required by the simulation range interception algorithm module 6. The interception service module 3 provides four functions of registration, logout, update and feedback for each subsystem 10 of the driving simulator, wherein the registration function creates a corresponding Simultaneously create a handle to access the storage space and initialize data; the logout function destroys the created data storage in the engine when each subsystem 10 of the driving simulator no longer needs to utilize the interception function of the engine Space and handle; the update function is responsible for writing the data that needs to be updated when each subsystem 10 of the driving simulator intercepts calculations into the corresponding simulator subsystem data storage space 8 in the engine; the feedback function is responsible for intercepting the simulation range algorithm module 6 The calculation results are fed back to the subsystems 10 of the driving simulator.
仿真场景空间划分模块5，负责根据仿真场景在惯性坐标系下x，y方向的最大尺寸，将仿真场景划分为一组分别沿x、y方向的连续二维正方形网格，并为每一个划分后的网格创建、维护若干个链表，每个链表中记录了处于该网格内的相同类型的关于被截取仿真对象9的句柄，该句柄在被截取仿真对象9向引擎注册时由定位服务模块2创建，并指向了一段被截取仿真对象数据存储空间7，通过该句柄可以获得该被截取仿真对象9为驾驶模拟器提供的仿真数据。为每一个网格维护链表的过程包括，将处于当前网格内的被截取仿真对象9的句柄写入链表，将不再处于当前网格的被截取仿真对象9的句柄从链表中删除，输出链表中的被截取仿真对象9的句柄，在仿真过程中对链表的读、写保护机制。读、写保护机制是指保证满足以下要求的一系列过程：(1)每一个链表在同一时刻只能有一个被截取仿真对象9的句柄被写入或删除，并且此时不能进行读链表操作；(2)每一个链表在同一时刻可以有多个访问者从中读取被截取仿真对象9的句柄。所述的被截取仿真对象9可以是交通仿真器中的交通仿真车辆、行人、动态信息指示牌等动态对象，也可以是路障、交通标志牌等静态对象。The simulation scene space division module 5 is responsible for dividing the simulation scene into a group of continuous two-dimensional square grids along the x and y directions according to the maximum size of the simulation scene in the x and y directions in the inertial coordinate system, and for each division The subsequent grid creates and maintains several linked lists, and each linked list records the same type of handle about the intercepted simulation object 9 in the grid, and the handle is used by the positioning service when the intercepted simulation object 9 registers with the engine. The module 2 creates and points to a section of the intercepted simulation object data storage space 7, through which the simulation data provided by the intercepted simulation object 9 for the driving simulator can be obtained. The process of maintaining the linked list for each grid includes writing the handle of the intercepted simulation object 9 in the current grid into the linked list, deleting the handle of the intercepted simulation object 9 no longer in the current grid from the linked list, and outputting The handle of the intercepted simulation object 9 in the linked list is a read and write protection mechanism for the linked list during the simulation process. The read and write protection mechanism refers to a series of processes to ensure that the following requirements are met: (1) only one handle of the intercepted simulation object 9 can be written or deleted in each linked list at the same time, and the linked list cannot be read at this time ; (2) Each linked list can have multiple visitors at the same time to read the handle of the intercepted simulation object 9 therefrom. The intercepted simulated objects 9 may be dynamic objects such as traffic simulation vehicles, pedestrians, and dynamic information signs in the traffic simulator, or static objects such as roadblocks and traffic signs.
仿真对象定位算法模块4，负责为被截取仿真对象9提供一种定位算法，该算法能够根据仿真场景空间划分模块5所划分的网格，以及被截取仿真对象9的轮廓、位置、姿态确定被截取仿真对象9当前所处的网格，该算法执行过程中所需要的被截取仿真对象9的数据由定位服务模块2为该对象所创建的被截取仿真对象数据存储空间7中获得。被截取仿真对象9当前所处的网格是指，利用表示被截取仿真对象二维轮廓的矩形与仿真场景中的正方形网格进行计算机图形学意义上的相交检测计算，所有与上述矩形发生相交的正方形网格，都认为是被截取仿真对象9当前所处的网格，因此被截取仿真对象9当前所处的网格数是1至4个。The simulated object positioning algorithm module 4 is responsible for providing a positioning algorithm for the intercepted simulated object 9, which can determine the intercepted simulated object 9 according to the grid divided by the simulation scene space division module 5, and the outline, position, and posture of the intercepted simulated object 9. The grid where the simulated object 9 is currently located is intercepted, and the data of the intercepted simulated object 9 required during the execution of the algorithm is obtained from the intercepted simulated object data storage space 7 created for the object by the positioning service module 2 . The grid where the intercepted simulation object 9 is currently located refers to the intersection detection calculation in the sense of computer graphics using the rectangle representing the two-dimensional outline of the intercepted simulation object and the square grid in the simulation scene, and all intersections with the above rectangle The square grids are considered to be the grids where the intercepted simulation object 9 is currently located, so the number of grids where the intercepted simulation object 9 is currently located is 1 to 4.
仿真范围截取算法模块6，负责根据仿真场景空间划分模块5所划分的网格，以及调用该模块的驾驶模拟器各子系统10当前设定的位置、截取范围，计算出该截取范围所覆盖的正方形网格，然后从被覆盖的正方形网格所创建的链表中提取被截取仿真对象9在引擎中所对应的被截取仿真对象数据存储空间7的句柄，该算法执行过程中所需要的驾驶模拟器各子系统10的数据由截取服务模块3为驾驶模拟器各子系统10所创建的模拟器子系统数据存储空间8中获得。该仿真范围截取算法模块6可以通过正方形网格所创建的链表中存储的被截取仿真对象9的句柄，访问被截取仿真对象9所对应的被截取仿真对象数据存储空间7，从而获得被截取仿真对象9的仿真参数、仿真结果等信息。调用仿真范围截取算法模块6的驾驶模拟器各子系统10可以是图像显示系统、声响模拟系统，它们通过被覆盖的网格所创建的链表获得截取范围以内交通仿真车辆的显示状态、声响状态等所需状态，并通过驾驶模拟器的成像设备、声响设备、运动模拟设备呈现给驾驶员。同时，调用仿真范围截取算法模块6的也可以是自行开发的交通仿真器中需要进行一定区域内交通车辆信息统计的其他对象，比如每一个交通仿真车辆，通过该算法模块可以获得自己周围一定范围内其他交通仿真车辆的信息，作为自身驾驶决策的输入。截取范围所覆盖的正方形网格，是指利用表示截取范围的简单几何图形(如圆形、矩形、等腰三角形等)与仿真场景中的正方形网格进行计算机图形学意义上的相交检测计算，与上述简单几何图形发生相交的正方形网格，都认为是截取范围所覆盖的正方形网格。The simulation range interception algorithm module 6 is responsible for calculating the area covered by the interception range according to the grids divided by the simulation scene space division module 5, and the current set position and interception range of each subsystem 10 of the driving simulator that calls the module. square grid, and then extract the handle of the intercepted simulation object data storage space 7 corresponding to the intercepted simulation object 9 in the engine from the linked list created by the covered square grid, and the driving simulation required in the algorithm execution process The data of each subsystem 10 of the driving simulator is obtained from the simulator subsystem data storage space 8 created by the interception service module 3 for each subsystem 10 of the driving simulator. The simulation range interception algorithm module 6 can access the intercepted simulation object data storage space 7 corresponding to the intercepted simulation object 9 through the handle of the intercepted simulation object 9 stored in the linked list created by the square grid, thereby obtaining the intercepted simulation object Information such as simulation parameters and simulation results of the object 9. Each subsystem 10 of the driving simulator that calls the simulation range interception algorithm module 6 can be an image display system and a sound simulation system, and they obtain the display status and sound status of traffic simulation vehicles within the interception range through the linked list created by the covered grid. The desired state is presented to the driver through the imaging equipment, sound equipment, and motion simulation equipment of the driving simulator. At the same time, calling the simulation range interception algorithm module 6 can also be other objects in the self-developed traffic simulator that need to carry out traffic vehicle information statistics in a certain area, such as each traffic simulation vehicle, through which the algorithm module can obtain a certain range around itself The information of other traffic simulation vehicles in the vehicle is used as the input of its own driving decision. The square grid covered by the interception range refers to the intersection detection calculation in the sense of computer graphics using simple geometric figures (such as circles, rectangles, isosceles triangles, etc.) representing the interception range and the square grid in the simulation scene. The square grids that intersect with the above simple geometric figures are all considered as the square grids covered by the interception range.
如图1、2所示，快速截取引擎作为驾驶模拟器与交通仿真器之间的信息传递媒介，省略了对整个场景中的所有交通仿真对象进行遍历的过程，而是只需要进行少量的、简单的相交检测计算就可以获得所需范围的交通仿真对象数据，因此能够大大提高驾驶模拟器中各个子系统从交通仿真器中获得交通仿真对象信息的运行速度，从而达到提高驾驶模拟器与交通仿真器联合仿真的性能的目的。并可以根据不同的情况，为快速截取引擎选择不同的布置方案，本实施例选择如图2所示的a布置方案。As shown in Figures 1 and 2, the fast interception engine is used as the information transmission medium between the driving simulator and the traffic simulator, which omits the process of traversing all the traffic simulation objects in the entire scene, but only needs a small amount of, Simple intersection detection calculation can obtain traffic simulation object data in the required range, so it can greatly improve the running speed of each subsystem in the driving simulator to obtain traffic simulation object information from the traffic simulator, so as to improve the relationship between the driving simulator and traffic simulation. Simulator co-simulation for performance purposes. And according to different situations, different layout schemes can be selected for the fast interception engine. In this embodiment, the layout scheme a as shown in FIG. 2 is selected.
本实施例采用面向对象的C++语言编程实现，本发明设计了截取引擎类CCullingEngine Class作为快速截取引擎1和仿真场景空间划分模块5的实现对象，该类完成了根据仿真空间的尺寸和划分网格的大小对仿真空间进行网格划分的工作，同时，该类负责创建、管理其他类的实例对象。如图3所示，本发明设计了空间网格类CCell Class作为空间划分后的每一个网格实例对象，空间网格类CCell Class中包括了针对不同类型被截取仿真对象9所建立的链表，链表利用C++标准模板库的list实现，从而实现了对链表的读写保护机制。链表中保存了属于该网格的被截取仿真对象9对应的被截取仿真对象数据存储空间7的句柄，空间网格类CCell Class还提供了向各个链表中写入上述句柄、从各个链表中删除句柄、从各个链表中提取出句柄的成员函数，所有代表网格的空间网格类CCell Class实例构成的二维数组由截取引擎类CCullingEngine Class来管理。The present embodiment adopts object-oriented C++ language programming to realize, and the present invention has designed interception engine class CCullingEngine Class as the realization object of fast interception engine 1 and simulation scene space division module 5, and this class has completed according to the size of simulation space and division grid The size of the grid divides the simulation space. At the same time, this class is responsible for creating and managing instance objects of other classes. As shown in Figure 3, the present invention designs the spatial grid class CCell Class as each grid instance object after the space division, and the spatial grid class CCell Class includes linked lists for different types of intercepted simulation objects 9, The linked list is implemented by using the list of the C++ standard template library, thereby realizing the read and write protection mechanism for the linked list. The handle of the intercepted simulation object data storage space 7 corresponding to the intercepted simulation object 9 belonging to the grid is stored in the linked list, and the spatial grid class CCell Class also provides the functions for writing the above handles into each linked list and deleting them from each linked list. The handle, the member function to extract the handle from each linked list, and the two-dimensional array composed of all instances of the spatial grid class CCell Class representing the grid are managed by the interception engine class CCullingEngine Class.
本实施例设计了被截取对象类CObjectToCull Class，交通仿真器输出的每一个需要被截取的仿真对象在快速截取引擎1中都由一个被截取对象类CObjectToCull Class的实例来代表，被截取对象类CObjectToCull Class的成员变量保存了该交通仿真对象的轮廓、位置、姿态信息，其在空间网格类CCell Class中应该所属的链表信息，以及其当前所属的网格个数、网格的索引值，被截取对象类CObjectToCull Class的成员函数实现了仿真对象定位算法模块4的功能，能够根据仿真对象的轮廓、位置、姿态确定其所处的网格。所有被截取对象类CObjectToCull Class实例，都存储在被截取对象数据存储空间7中。This embodiment designs the intercepted object class CObjectToCull Class, and each simulated object that needs to be intercepted by the traffic simulator output is represented by an instance of the intercepted object class CObjectToCull Class in the fast interception engine 1, and the intercepted object class CObjectToCull The member variable of Class saves the outline, position, and attitude information of the traffic simulation object, the linked list information it should belong to in the spatial grid class CCell Class, the number of grids it currently belongs to, and the index value of the grid, which are The member functions of the intercepted object class CObjectToCull Class realize the function of the simulation object positioning algorithm module 4, and can determine the grid where the simulation object is located according to the outline, position, and posture of the simulation object. All instances of the intercepted object class CObjectToCull Class are stored in the intercepted object data storage space 7 .
如图4所示，本实施例中仿真对象定位算法采用了计算机图形学中的相交检测算法，交通仿真对象的轮廓利用有向包围盒(Oriented Bounding Box，OBB)表示，仿真场景空间划分后的网格则用正方形表示，二者之间的求交计算通过计算机图形学中的标准算法实现，所有与OBB发生相交的正方形网格，都认为是交通仿真对象当前所处的网格，图4中发生相交的正方形网格已用网格线纹理标出，图中为清楚表示相交关系，将仿真车辆的尺寸进行了适当的放大。As shown in Figure 4, the simulation object positioning algorithm in this embodiment adopts the intersection detection algorithm in computer graphics, and the outline of the traffic simulation object is represented by an Oriented Bounding Box (OBB). The grid is represented by a square, and the intersection calculation between the two is realized by the standard algorithm in computer graphics. All the square grids that intersect with the OBB are considered to be the current grid of the traffic simulation object, as shown in Figure 4 The intersecting square grids in .
如图5所示，被截取对象类CObjectToCull Class实例的数据存储空间由定位服务负责管理，定位服务的注册功能实现类的构造，注销功能实现类的析构，更新功能实现对类成员变量的更新。As shown in Figure 5, the data storage space of the intercepted object class CObjectToCull Class instance is managed by the location service, the registration function of the location service realizes the construction of the class, the logout function realizes the destruction of the class, and the update function realizes the update of the class member variables .
本实施例设计了截取模型类CCullingModel Class，驾驶模拟器中每一个需要对交通仿真对象进行截取的子系统在快速截取引擎中都由一个截取模型类CCullingModel Class实例来代表，截取模型类CCullingModel Class的成员变量保存了该驾驶模拟器子系统所要截取的范围信息、当前所要截取的位置信息、所要截取的交通仿真对象类型信息，截取模型类CCullingModelClass成员函数实现了仿真范围截取算法模块6的功能，能够根据驾驶模拟器子系统的截取范围、当前位置信息确定截取到的网格。This embodiment designs the interception model class CCullingModel Class, each subsystem in the driving simulator that needs to intercept the traffic simulation object is represented by an interception model class CCullingModel Class instance in the fast interception engine, and the interception model class CCullingModel Class The member variables store the range information to be intercepted by the driving simulator subsystem, the current position information to be intercepted, and the type information of the traffic simulation object to be intercepted. The intercepted grid is determined according to the intercepting range and current position information of the driving simulator subsystem.
本实施例中涉及到的驾驶模拟器子系统包括声响系统和图像显示系统，如图6所示，它们的截取范围都用圆形来表示，范围截取算法模块在进行圆形与表示仿真场景空间划分后网格的正方形之间的求交计算时，通过计算机图形学中的标准算法实现，所有与圆形发生相交的正方形网格，都认为是驾驶模拟器子系统需要提取信息的网格。The driving simulator subsystem involved in this embodiment includes a sound system and an image display system, as shown in Figure 6, their interception ranges are represented by circles, and the range interception algorithm module is performing circles and representing the simulation scene space The intersection calculation between the squares of the divided grid is realized by the standard algorithm in computer graphics. All the square grids that intersect with the circle are considered to be the grids that the driving simulator subsystem needs to extract information from.
如图7所示，截取模型类CCullingModel Class实例的数据存储空间由截取服务负责管理，截取服务的注册功能实现类的构造，注销功能实现类的析构，更新功能实现对类成员变量的更新，反馈功能实现将仿真范围截取算法的计算结果反馈给驾驶模拟器。As shown in Figure 7, the data storage space of the interception model class CCullingModel Class instance is managed by the interception service. The registration function of the interception service realizes the construction of the class, the cancellation function realizes the destruction of the class, and the update function realizes the update of the class member variables. The feedback function is used to feed back the calculation results of the simulation range interception algorithm to the driving simulator.
快速截取引擎的工作流程分为以下几步：The workflow of the quick capture engine is divided into the following steps:
步骤1、仿真程序初始化阶段，利用截取引擎类CCullingEngine Class对仿真空间进行划分，并为每一个划分后的网格创建和初始化一个空间网格类CCell Class实例，生成空间网格类CCell Class实例的二维数组。Step 1. In the initialization stage of the simulation program, use the interception engine class CCullingEngine Class to divide the simulation space, and create and initialize a space grid class CCell Class instance for each divided grid, and generate the spatial grid class CCell Class instance Two-dimensional array.
步骤2、驾驶模拟器中的图像子系统、声响子系统向截取服务提交注册申请，截取服务的注册功能在引擎中为两个子系统分别创建与之对应的截取模型类CCullingModel Class实例，并确定两个子系统的截取范围、分别需要对交通仿真器中的哪些交通仿真对象进行截取，本发明中两个子系统均只需对交通仿真车辆进行截取。Step 2. The image subsystem and sound subsystem in the driving simulator submit registration applications to the interception service. The registration function of the interception service creates corresponding interception model class CCullingModel Class instances for the two subsystems in the engine, and determines the two The intercepting scope of each subsystem, which traffic simulation objects in the traffic simulator need to be intercepted respectively, in the present invention, both subsystems only need to intercept the traffic simulation vehicles.
步骤3、交通仿真器中每一个希望加入到驾驶模拟器场景中的交通仿真对象向定位服务提交注册申请，定位服务为每一个交通仿真对象(本发明只有交通仿真车辆)在引擎中建立与之对应的被截取对象类CObjectToCullClass实例，并初始化类的成员变量。Step 3, each traffic simulation object wishing to be added in the driving simulator scene in the traffic simulator submits a registration application to the positioning service, and the positioning service is established in the engine for each traffic simulation object (the present invention only has traffic simulation vehicles) The corresponding intercepted object class CObjectToCullClass instance, and initialize the member variables of the class.
步骤4、交通仿真器输出的每一个交通仿真车辆通过定位服务的更新功能为引擎中的被截取对象类CObjectToCull Class实例更新交通仿真对象的位置、姿态等成员变量，类实例通过成员函数执行仿真对象定位算法，确定其所处的仿真空间网格，并将自身句柄写入到所处网格的空间网格类CCellClass实例的链表中。Step 4. Each traffic simulation vehicle output by the traffic simulator updates member variables such as the position and attitude of the traffic simulation object for the intercepted object class CObjectToCull Class instance in the engine through the update function of the positioning service, and the class instance executes the simulation object through member functions The positioning algorithm determines the simulation space grid it is in, and writes its own handle into the linked list of the space grid class CCellClass instance of the grid it is in.
步骤5、驾驶模拟器图像子系统通过截取服务的更新功能为引擎中的截取模型类CCullingModel Class实例更新驾驶员所在的截取位置等成员变量，类实例通过成员函数执行仿真范围截取算法确定截取范围所覆盖的网格，并提取出网格所包含的交通仿真对象信息，然后通过定位服务的反馈功能反馈给驾驶模拟器的图像子系统，由图像子系统实现对这些交通车辆在驾驶模拟器场景中的显示。驾驶模拟器声响子系统截取交通仿真车辆并对其声响效果进行播放的过程与之类似。Step 5. The image subsystem of the driving simulator uses the update function of the interception service to update member variables such as the interception position of the driver for the interception model class CCullingModel Class instance in the engine. The class instance executes the simulation range interception algorithm through the member function to determine the interception range. The overlaid grid, and extract the traffic simulation object information contained in the grid, and then feed back to the image subsystem of the driving simulator through the feedback function of the positioning service, and the image subsystem realizes these traffic vehicles in the driving simulator scene display. The process of the driving simulator sound subsystem intercepting the traffic simulation vehicle and playing its sound effect is similar.
步骤6、在驾驶模拟器与交通仿真器进行联合仿真的过程中由截取引擎类CCullingEngine Class控制，分别并发循环执行上述第4、5步。Step 6. During the joint simulation process of the driving simulator and the traffic simulator, it is controlled by the interception engine class CCullingEngine Class, and the above steps 4 and 5 are executed concurrently and cyclically.
步骤7、在结束仿真时，驾驶模拟器的图像、声响系统通过截取服务的注销功能从引擎中退出；交通仿真器的被截取仿真对象通过定位服务的注销功能从引擎中退出；在全部截取模型类CCullingModel Class实例和被截取对象类CObjectToCull Class实例成功析构后，将空间网格类CCell Class实例数组中的实例析构，退出截取引擎。Step 7, when ending the simulation, the image and sound system of the driving simulator exit from the engine through the logout function of the interception service; the intercepted simulation objects of the traffic simulator exit from the engine through the logout function of the location service; After the class CCullingModel Class instance and the intercepted object class CObjectToCull Class instance are successfully destroyed, the instances in the space grid class CCell Class instance array are destroyed and the interception engine exits.
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| US20120083960A1 (en)* | 2010-10-05 | 2012-04-05 | Google Inc. | System and method for predicting behaviors of detected objects |
| CN103236084A (en)* | 2013-05-15 | 2013-08-07 | 中南大学 | Dynamic modeling method of large-scale track lines |
| CN204680002U (en)* | 2015-04-30 | 2015-09-30 | 吉林大学 | A kind of driving simulator obtains the quick intercepting engine of traffic environment information |
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| CN110337690A (en)* | 2017-03-03 | 2019-10-15 | 三菱电机株式会社 | Engine sound control device, engine sound control method, and engine sound control program |
| CN110337690B (en)* | 2017-03-03 | 2022-11-18 | 三菱电机株式会社 | Engine sound control device, engine sound control method, and computer-readable storage medium |
| CN110673636A (en)* | 2019-09-30 | 2020-01-10 | 上海商汤临港智能科技有限公司 | Unmanned simulation test system and method, and storage medium |
| CN110673636B (en)* | 2019-09-30 | 2023-01-31 | 上海商汤临港智能科技有限公司 | Unmanned simulation test system and method, and storage medium |
| CN111539112A (en)* | 2020-04-27 | 2020-08-14 | 吉林大学 | Scene modeling method for automatically driving vehicle to quickly search traffic object |
| CN111539112B (en)* | 2020-04-27 | 2022-08-05 | 吉林大学 | A scene modeling method for fast finding traffic objects for autonomous vehicles |
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