中文摘要：

提出了自主车仿真系统的基本思想,并针对视觉导航的需求建立了自主车行驶的虚拟环境及典型障碍物模型;根据自主车和云台的运动学特性,实现了自主车场景漫游及云台控制功能,同时结合车体及云台位姿解算完成地形匹配及车载摄像机位姿确定;最后,对实际摄像机参数及成像噪声特性进行分析,进而给出了相应的视觉传感器仿真部分的实现。实验结果表明,该视觉仿真部分具有良好的真实感和实时性。

英文摘要：

In this paper,the basic idea of ALV Simulation System was proposed.And the virtual environment was established according to the requirements of visual navigation.Then the roaming and control functionality was designed based on the kinematics characteristics of ALV and the pan/tilt set,and terrain match and camera posture were determined by calculating the position and orientation of the vehicle and pan/tilt set.Finally,the visual simulation part was realized according to actual camera parameters and noise characteristics.The simulation results showed that the visual simulation subsystem was capable to generate realistic images in real time.