[[alternative]]Construction of Input Equipment and Firmware of Virtual Reality and Vehicle Dynamics Based Driving Simulator

碩士機電工程學系[[abstract]]本研究的目的是建構一套車輛駕駛模擬系統的輸入設備以及軟硬體之間溝通介面的開發。此系統中的虛擬實境 (Virtual Reality, VR) 場景與車輛物件均使用 Superscape VRT 虛擬實境軟體來建立，同時利用 MATLAB 軟體完成車輛動力學理論公式之模擬分析，並利用 Visual MATCOM 軟體將完成的 MATLAB 檔案轉換成具有相同功能之 C++ 程式碼，最後編譯成動態連結函式庫 (Dynamic-Link Library, DLL) 之檔案格式，加進 VR 系統中，供 SCL (Superscape Control Language) 呼叫產生 VR 中車輛物件的動態特性。 此系統使用Logitech 公司的 WingMan Formula 賽車式搖桿作為輸入設備。搖桿本身包括了方向盤、油門與煞車以及換檔按鈕。搖桿所產生的訊號會被搖桿驅動程式所偵測，此搖桿驅動程式是利用 SDK (Superscape Developers Kit) 搭配 Visual C++ 所完成，同樣編譯成 DLL 格式，加進 VR 系統中以供 SCL 呼叫，達成利用搖桿控制 VR 場景中車輛物件的目的。[[abstract]]The purpose of this research is to develop the input equipment of a Virtual Reality (VR) and vehicle dynamics based driving simulator. The VR environment and vehicle object are constructed by Superscape VRT. The vehicle dynamics equations are derived and programmed by MATLAB, transferred into C++ code by Visual MATCOM, compiled into Dynamic-Link Library (DLL) format and embedded in the VR system to be called by Superscape Control Language (SCL) to produce vehicle dynamic behaviors of the vehicle object in the VR environment. A Logitech WingMan Formula racing-car joystick is adopted as the input device. The joystick includes a steering wheel, pedals and gear-shifting buttons. The signals produced by the joystick are detected by a device driver built by Superscape Developers Kit (SDK) with the integrated development environment of Microsoft Visual C++. The device driver is also compiled into the DLL format to be called by SCL to input the kinematics parameters into the VR environment and maneuver the vehicle object. The constructed system can achieve the designed simulation functionality and will be further integrated with fuzzy control algorithm to form an automatic vehicle control system proposed in another thesis in the same laboratory