Design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components

A technology of physics engine and simulation analysis, which is applied in the design field of vehicle terrain passability simulation analysis components, can solve the problems of long cycle, low research efficiency, and large consumption of manpower, material and financial resources, etc., to achieve short cycle, wide coverage, and economical The effect of preparation time

Active Publication Date: 2015-12-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing technology needs to consume a lot of manpower, material resources and financial resources, and the re

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  • Design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components
  • Design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components
  • Design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components

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specific Embodiment approach 1

[0039] Specific embodiment one: the design method of a kind of vehicle terrain passability simulation analysis component based on ODE physics engine of this embodiment is specifically prepared according to the following steps:

[0040] Step 1. On the VisualStudio platform, use the GDAL function library to read the terrain elevation data represented by the SEDRIS standard; wherein, reading the terrain elevation data represented by the SEDRIS standard includes .dt1 files, .aux files and .rrd files;

[0041] .dt1 files are used to store elevation data;

[0042]The .aux file is a file used to save the auxiliary information that the raster file itself cannot save. The .aux file and the raster file are stored in the same directory, and the file name is consistent with the raster file;

[0043] The .rrd file is an image pyramid file. If an image pyramid has been created for a raster dataset, the aux file also saves the pointer to the save path of the .rrd file;

[0044] Step 2. Util...

specific Embodiment approach 2

[0066] Specific embodiment two: the difference between this embodiment and specific embodiment one is: in step one, read the terrain elevation data represented by the SEDRIS standard as follows:

[0067] (1), using the open source library GDAL for operating raster format and the open source library GDAL for vector geographic data format to read terrain elevation data;

[0068] (2) Use the GDALRasterBand::RasterIO function (read band data function) in the GDAL function library to read the terrain elevation data stored in the .aux file. Since the elevation data is a zero-order single-item digital landform model, it will be read The retrieved terrain elevation data is stored in the established two-dimensional array for subsequent terrain construction.

specific Embodiment approach 3

[0069] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that in step two, the ODE physics engine is used to construct a dynamic simulation model, and the specific process of constructing a three-dimensional terrain model by reading terrain elevation data in the dynamic simulation model :

[0070] (1), the triangle mesh (trimesh) class and the heightfield (heightfield) class in the ODE physics engine can be used to represent the three-dimensional terrain; because the instability of the trimesh class and the incompatibility to the convex body, so the present invention adopts ODE internal The Highland class represents a 3D terrain model;

[0071] (2) Use the Triangulated Irregular Network algorithm (TIN) to read the terrain elevation data of the SEDRIS standard, and construct a three-dimensional terrain model according to the terrain elevation data in the dynamic simulation model, as shown in Figure 3(a) and Figure 3(b) ) sh...

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Abstract

The invention discloses a design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components, and relates to a design method of the vehicle terrain trafficability simulating and analyzing components and aims at solving the problems that a large amount of manpower, material resources and financial resources are consumed in the prior art and the research efficiency is low and the period is long in the prior art. The method comprises the following steps: step one, reading terrain elevation data expressed by the SEDRIS (synthetic environment data representation and interchange specification) standard; step two, building a three-dimensional terrain model by reading the terrain elevation data; step three, building a vehicle model for simulating a real vehicle; step four, finishing analyzing the trafficability of the vehicle according to the basic parameters of a vehicle model of the real vehicle; step five, encapsulating the vehicle trafficability analyzing procedure as a trafficability effect component by utilizing a resource encapsulating tool of HIT-TENA. The design method is applied to the design field of the vehicle terrain trafficability simulating and analyzing components.

Description

technical field [0001] The invention relates to a design method of a vehicle terrain passability simulation analysis component, in particular to a design method of a vehicle terrain passability simulation analysis component based on an ODE physics engine. Background technique [0002] In order to meet the needs of modeling and simulation technology in the defense and military fields, the US Department of Defense developed the Test and Training Enabling Architecture (TENA). Based on the reference of TENA, Harbin Institute of Technology proposed a general experimental training system structure HIT-TENA that conforms to the domestic research status. figure 1 The HIT-TENA architecture is shown, and the colored part in the figure is the application of environmental resources. Environmental resources include comprehensive natural environments such as terrain, ocean, space, and atmosphere, as well as artificial technological and tactical environments such as sound, electromagnetic...

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 许永辉杨京礼魏长安毛一农
Owner HARBIN INST OF TECH
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