Research and application of 3D simulation of truck formation based on Unreal Engine

Abstract

In order to show the transport conditions of goods on different roads and provide more real and three-dimensional transport information for situation inference users, this paper proposes a simple and PID controlled three-dimensional simulation method for truck formation based on Unreal Engine. Firstly, based on the basic theory of automatic control [1] , the longitudinal lollipop controller and the transverse PID controller are designed respectively based on the lollipop control and PID control ideas, and the perception-decision framework is combined to realize the automatic driving of the truck along the spline line on the road. On this basis, a truck controller is designed to realize the truck formation driving with high recovery degree based on the leader-follower strategy. The results show that the truck based on PID control can accurately drive along the road line. With the cooperation of truck formation controller, the whole process of formation, maintenance and driving of truck formation can be basically restored.