【作者】 李华；

【导师】 严新平；

【作者基本信息】 武汉理工大学 ， 载运工具运用工程， 2004， 硕士

【摘要】 近年来自动公路系统(Automated Highway System，AHS)，作为智能运输系统的子系统之一越来越受到重视。以日本和美国为代表的国家十分重视自动公路系统的研究，由于自动公路系统研究需要大量实验工作，耗费大量的人力、物力和时间，往往不能很好地、迅速地获得理想的实验数据：同时天气等因素给实验带来一定困难和影响。因此对自动公路系统进行仿真研究越来越迫切。而自动公路模拟器是进行该领域仿真的有效手段之一，该平台不但可以有针对性地进行实验，减少人力、物力和时间的耗费；同时能直观生动地显示实验过程和结果。因此，本文选取自动公路系统中的视景为研究对象开展了研究工作。 本文在介绍了驾驶模拟器及模拟器视景系统、自动公路系统的国内外研究现状的基础上，阐述了对自动公路系统模拟器研究的意义，分析了视景仿真系统视景仿真基础和优化技术，选用三维建模软件Creator和视景驱动软件Vega作为视景开发平台，介绍了系统框架和关键技术。实现了基于Creator的视景数据库的建立过程和基于Vega的实时视景驱动程序。阐述了基于粒子系统的自然现象(如雾、雨、雪等)模拟的原理和实现方法。最后介绍了碰撞检测在视景仿真系统中的应用。尤其利用“隐形墙”技术设计了基于磁性导航的磁道钉系统的碰撞检测算法，并在视景系统中得到应用。 通过上述研究，取得了以下成果： (1)建立了两套三维场景模型——城市交通环境和虚拟试验场。城市交通环境场景是以武汉市余家头区域的部分路网为基础，包括道路、建筑物、信号灯、车辆、行人和建筑物等。 (2)利用视景驱动软件实现了信号灯的周期控制、车辆的行驶；并实现了自然现象(包括雾、雨、雪等)的模拟。 (3)实现了动态物体和静态物体的碰撞检测，并提示相应信息；在虚拟试验场场景中实现了对车辆相对于磁道钉位置的检测模拟，以利于后续自动控制模型的处理。 (4)编写了一个简易的场景漫游系统，实现了三维场景的漫游显示、观察者视点的选择、键盘控制漫游参数等功能。更多还原

【Abstract】 Automated Highway System (AHS) is recently regarded as one subsystem of Intelligent Transport System (ITS). The research of AHS is developed actively in some country, such as Japan and United States. There are many experiments in the research of AHS, so more people should take part in it and more money and time is consumed. But these experiments don’t get good results quickly, and some other factors bring about certain difficulties and bad influences. So it is very exigent to perform research on AHS simulation. And AHS simulator is one of effective ways of this research. If the experiments were developed after they had been done in the simulators, there would be advantageous to reduce labor, money and time. And it will take on the process and results of experiments in an intuitionistic and vivid display. The scene system of the AHS simulator was selected as my research in the dissertation.The development of driving simulators, scene simulation and automated highway system at home and aboard is introduced in the dissertation. The significance of AHS simulators is expatiated. The foundation and optimizing technology of scene simulation in real-time simulation system is analysized. Creator, 3D-modeling software and Vega, real-time simulation software are used as the developing tool of real-time simulation. The functions of these softwares and key technology are analyzed. The upbuilding process of 3D models is realized based on Creator and the real-time simulation is developed based on Vega. Theory of modeling based on particles system is analyzed and used to simulate natural phenomena such as rain and snow. The method of intersection tests and the concept of "Transparent Wall" are introduced in detail, which is used in perform intersection tests between a player and static object such as parterres or guard boards on roads. The simulation of getting the front and back offsets and driving angel between the selected vehicle and the line composed ofmagnetic markers. A roaming system of virtual simulation has been developed based on above-mentioned models and modeling technologies.The arithmetic method of intersection tests in an AHS simulation system based on magnetic-marker navigation, using the way named by "transparent walls". And this method is put into use in the virtual scene system now.Through the above-mentioned research, the work done are listed as follows:(1) Two virtual scene models are built up, an urban transport scene and a virtual trailing ground. There are roads, traffic signs, signal lamps, vehicles and pedestrians, building and so on in the urban transport scene.(2) The signal lamps’ phase changing, vehicles’ running, and pedestrians’ walking are realized. And some natural phenomena such as fog, snow and rain are simulated.(3) The intersection tests of dynamic objects and static ones in the scene such as the bump between a car and the parterre on the roadside are developed, and the clues is given on the screen. And testing a vehicle’s position related to the line of magnetic marks in the virtual trailing ground is simulated in favor of successive control models.(4) A simple roaming system is developed to realize cruising the 3D virtual scenes.更多还原