汽车驾驶模拟器视觉系统传输延迟补偿

摘要

In order to decrease the influence of transport delay on driving simulator,a compensator forvision system was built combining the Current Statistical (CS) model and Adaptive Kalman Predictor(AKP) to predict vehicle's position.A simulation model of the driver-driving simulator was proposed.The influence of transport delay on driving behavior was analyzed with this simulation model.Also acomparison between the compensator based on CS model and other two representative compensators,the National Advanced Driving Simulator and an improved McFarland compensator,was done with theproposed model.The results show that the compensator based on CS model has a better compensationeffect.The effectiveness of this compensator was also verified on the ASCL driving simulator.%为了减小视觉系统的传输延迟对汽车驾驶模拟器的影响,应用机动目标跟踪理论中的当前统计(CS)模型并结合自适应卡尔曼预测方法,对汽车驾驶模拟器中车辆的位置进行预测,形成针对驾驶模拟器视觉系统传输延迟的当前统计模型补偿器.建立了驾驶员-驾驶模拟器仿真模型,分析了传输延迟对驾驶行为的影响,对比了当前统计模型补偿器与美国国家先进驾驶模拟器(NADS)的补偿器、改进的McFarland补偿器的补偿效果,结果表明当前统计模型补偿器具有更好的补偿效果,并在ASCL开发型汽车驾驶模拟器上对该补偿器进行了验证.