论文标题
在循环驾驶模拟器中的高速仿真
High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator
论文作者
论文摘要
渲染准确的多感官反馈对于确保驱动模拟器中的自然用户行为至关重要。在这项工作中，我们提出了一个基于虚拟现实（VR）的循环（VIL）模拟器，可在高速驾驶条件下为驾驶员提供视觉，前庭和触觉反馈。在四轮转向车辆周围设计我们的模拟器，使我们能够模仿比测试车辆快得多的车辆动力学，并将相应的触觉转向反馈传输到驾驶员。通过通过VR视觉效果，车辆动力学和方向盘力反馈的组合来扩展测试车的速度，我们可以在有限的驾驶空间内安全有效地运行实验至高速公路速度。在双车道变更和高速公路编织实验中，我们的高速仿真方法跟踪人类感知限制内的偏航运动，并提供与手动驱动的同一动作相当的感觉反馈。
Rendering accurate multisensory feedback is critical to ensure natural user behavior in driving simulators. In this work, we present a virtual reality (VR)-based Vehicle-in-the-Loop (ViL) simulator that provides visual, vestibular, and haptic feedback to drivers in high speed driving conditions. Designing our simulator around a four-wheel steer-by-wire vehicle enables us to emulate the dynamics of a vehicle traveling significantly faster than the test vehicle and to transmit corresponding haptic steering feedback to the driver. By scaling the speed of the test vehicle through a combination of VR visuals, vehicle dynamics emulation, and steering wheel force feedback, we can safely and immersively run experiments up to highway speeds within a limited driving space. In double lane change and highway weaving experiments, our high speed emulation method tracks yaw motion within human perception limits and provides sensory feedback comparable to the same maneuvers driven manually.
