CN104504957B - A kind of vehicle frame training system feeling feedback based on power - Google Patents
A kind of vehicle frame training system feeling feedback based on power Download PDFInfo
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- CN104504957B CN104504957B CN201410797429.8A CN201410797429A CN104504957B CN 104504957 B CN104504957 B CN 104504957B CN 201410797429 A CN201410797429 A CN 201410797429A CN 104504957 B CN104504957 B CN 104504957B
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/052—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles characterised by provision for recording or measuring trainee's performance
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- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention discloses a kind of vehicle frame training system feeling feedback based on power, including display screen, force feedback steering wheel, clutch, foot brake, throttle and gear lever.The present invention can be used in novice driver and learns to drive in the environment of HWIL simulation, and telepresenc is strong, low cost；And drive addition force feedback function in steering wheel control section in module in auxiliary, enable novice driver quick grasp steering wheel control technology under the guiding of force feedback function；And foot brake and clutch control part add alarm signal in auxiliary driving module, remind driver how this operates so as to quickly learn how to adjust foot brake and clutch and both cooperations as the case may be according to concrete road conditions.
Description
Technical field
The present invention relates to a kind of vehicle frame training system feeling feedback based on power.
Background technology
With the development of modern science and technology, automobile has been no longer luxury goods for ordinary people, and increasing people start
Study is driven.China's China Automobile Industry is swift and violent, automobile pollution with annual 15% speed increase, the raising of automotive performance,
The improvement of road conditions is so that automobile starts to move towards family.Want that the people learning car gets more and more, the area in practice place but extremely has
Limit, and the subject setting of training and examination at present is relatively more, and training and examination cycle are long.This phenomenon is in big-and-middle small city all
Very universal, due to the restriction of practice number and place, the time that abecedarian really learns car is not a lot, and this will have a strong impact on
The quality of driving training.These situations require people using more advanced means, driver to be giveed training, based on virtual existing
This situation is exactly complied with the research and development of the Vehicle driving simulator of real technology.
Driving simulator is a kind of teaching equipment of driver training.It gathered virtual reality technology, mechanical transmissioning technology,
The advanced technologies such as computer graphicss, real-time rendering technology, Computer Interface Technology, data communication technology, can basis drive
The signals such as the acceleration of the person's of sailing input, brake, steering are calculated the expected behavior of vehicle by mathematical method, and pass through video and audio frequency
Equipment feeds back to driver.By means of driving simulator, driver's road interaction relationship can be studied,
Also human pilot can be trained.Drive simulating environment almost complete " clone " true car environment, can eliminate driving just
The feared state of mind of scholar, the operation of in good time specification driver, is the strong help of driving school's driving training.Simultaneously as having peace
Quan Xinggao, repeatability are good, exploitability is strong, the low distinguishing feature of cost, and novice driver drives training system exercise using this car
Driving technology, not only energy saving is it is often more important that the probability having an accident during practice is reduced to zero.
At present, common car is driven training system and is divided into two classes：One class is that system driven by the car of complete matter emulation, this class car
The telepresenc driving system is strong, but cost is very high, and popularity rate is very low；Another kind of is that system driven by the car that complete software emulates, this kind of
Car drives the telepresenc difference of system it is impossible to real simulate actual driving situation, but cost is relatively low.There is presently no a kind of half real
System driven by the car of thing emulation, low cost and telepresenc is strong.Research starting ratio in terms of driving simulator for the China is later, experienced
One from Introduced From Abroad product to the veryer long evolution voluntarily developed.The training of domestic simulative automobile driving aspect sets
Standby had more ripe product through development in recent years, just among the popularization of market.
However, the shortcoming that training system driven by existing car is：First, existing semi-physical driving analog systemss are in prompt modes
Under, driver changes the kinestate of automobile according to the manipulation device of traffic environment, pavement behavior real-time operation automobile, simulation
Device, according to operator's action, reminds driver's next step hints on operation by means such as word, sound, by the shake of driver seat
Dynamic model intends jolting of road conditions.For abecedarian, operating environment to be familiar with, grasp operations skill, learning curve is steeper
High and steep.In contrast, prompting means single function is intervened in vision, audition etc., ageing relatively low, needs highly efficient supplemental training badly
Mode.2nd, the tactile impressions information of driver includes steering wheel counter-force and vibration, gas pedal power, brake pedal force, clutch counter-force
And variator handle counter-force, wherein steering wheel return positive moment and vibration are topmost information in driver's sense of touch.Truly drive
Steering wheel return positive moment during sailing and road surface are to the retroaction of deflecting roller, the frictional force of steering mechanism and front-wheel and steering system
The aspect such as inertia relevant, concrete operation process is more complicated, and most analog systemss pass through action bars frame for movement at present
In spring to simulate steering wheel counter-force, real situation can not be reflected.
Content of the invention
In order to solve the problems, such as above-mentioned prior art, it is an object of the invention to provide a kind of feel feedback based on power
Vehicle frame training system, including display screen, force feedback steering wheel, clutch, foot brake, throttle and gear lever.
Further, described force feedback steering wheel includes steering wheel grip and provides feedback force to described steering wheel grip
Direct current generator, wherein, decide whether to make direct current generator to work according to different training modes.
Further, in the case that described training mode is test pattern, described direct current generator quits work；Described
In the case that training mode is auxiliary mode, described direct current generator work.
Further, in the case that described training mode is auxiliary mode, described force feedback steering wheel is according to concrete road
Condition generates repulsive force auxiliary mechanism and captivation auxiliary mechanism.
Further, described auxiliary mode be steering wheel auxiliary mode in the case of, detection drive a car outline with
The distance of object about, wherein, judges whether to produce feedback force according to the comparative result of the distance detecting and predetermined threshold value.
Further, when the described distance detecting is not more than described predetermined threshold value, produce feedback force.
Further, described display screen is 3D display screen.
Further, described display screen includes middle form, the upper form above middle form, is located at middle form
The lower form of lower section, it is located at middle form upper left left view window and is located at the middle top-right right form of form.
Further, in the case that training mode is for foot brake auxiliary mode, in described lower form, display reminding is driven
The person of sailing correctly operates the alarm signal of foot brake.
Further, in the case that training mode is for clutch auxiliary mode, in described lower form, display reminding is driven
The person of sailing correctly operates the alarm signal of clutch.
The present invention is had the advantages that based on the vehicle frame training system that power feels feedback：
(1) can be used in novice driver to learn to drive in the environment of HWIL simulation, telepresenc is strong, cost
Low；
(2) in-kind portion is made up of steering wheel, foot brake, clutch, throttle and gear lever, being capable of true drive simulating
The function of each important spare part in environment；
(3) software section is driven module and is driven test mould by information acquisition module, virtual scene generation module, auxiliary
Block four part forms, multiple functional；
(4) drive steering wheel control section in module in auxiliary and add force feedback function, enable novice driver in power
Quick grasp steering wheel control technology under the guiding of feedback function；
(5) drive foot brake and clutch control part in module in auxiliary and add alarm signal, according to concrete road conditions
Remind driver this how to operate so as to quickly learn how to adjust as the case may be foot brake and clutch and both
Cooperation；
(6) gear lever of in-kind portion can be replaced by remote-control lever, and foot brake, clutch and throttle are with solid, honest and clean
Valency, durable pressure transducer are main component part.
Brief description
By combining the following description that accompanying drawing is carried out, above and other aspect of embodiments of the invention, feature and advantage
Will become clearer from, in accompanying drawing：
Fig. 1 is the structural representation feeling the vehicle frame training system of feedback according to an embodiment of the invention based on power；
Fig. 2 is the structural representation of display screen according to an embodiment of the invention；
Fig. 3 is the auxiliary mode schematic diagram of force feedback steering wheel according to an embodiment of the invention.
Specific embodiment
Hereinafter, with reference to the accompanying drawings to describing embodiments of the invention in detail.However, it is possible to come real in many different forms
Apply the present invention, and the present invention should not be construed as limited to the specific embodiment that illustrates here.On the contrary, these enforcements are provided
Example is to explain the principle of the present invention and its practical application, so that others skilled in the art are it will be appreciated that the present invention
Various embodiments and be suitable for the various modifications of specific intended application.
Fig. 1 is the structural representation feeling the vehicle frame training system of feedback according to an embodiment of the invention based on power.
With reference to Fig. 1, according to an embodiment of the invention based on power feel the vehicle frame training system half of feedback in kind imitate
The overall process that driver drives, fine 3D picture real-time Simulation running environments.
Feel vehicle frame training system display screen 10, the force feedback steering wheel of feedback according to an embodiment of the invention based on power
20th, clutch 30, foot brake 40, throttle (not shown) and gear lever 50.
Display screen 10 can be for example 3D display screen, and it can provide fine 3D picture real-time Simulation running environments.In this reality
Apply in example, display screen 10 needs to provide five forms, but the present invention is not restricted to this.With reference to Fig. 2, display screen 10 includes hitting exactly
Between larger middle form 11, be located at upper form 12 above middle form, be located at lower form 13 below middle form, be located at
The upper left left view window 14 of middle form and be located at the middle top-right right form 15 of form.Wherein, middle form 11 is simulated
The car windscreen visual field, upper form 12 is used for showing the interior mirror visual field, and lower form 13 display instrument panel includes speed, foot
Alarming singal lights of braking and clutch etc., left view window 14 and right form 15 show left and right mirror field of view respectively.In this enforcement
In example, passed through based on the virtual scene generation module that the vehicle frame training system that power feels feedback includes according to an embodiment of the invention
The field of view information of the true drive simulating person of display screen 10.
According to an embodiment of the invention auxiliary is also included based on the vehicle frame training system that power feels feedback and drive module.Auxiliary
Help under pattern, force feedback steering wheel 20 can generate repulsive force and two kinds of auxiliary mechanisms of captivation according to concrete road conditions, helps begin to learn
Driver quickly adapts to steering wheel operation.In the present embodiment, the auxiliary mode of auxiliary driving module setting includes steering wheel
Auxiliary mode, foot brake auxiliary mode and clutch auxiliary mode.
When auxiliary mode is for steering wheel auxiliary mode, it is adjacent the vapour of traveling by detecting driven a car outline
Be unable on car, marginal obstruction or travel cross-line traveling the beeline of graticule etc. or with its preferable drive route
Bias vector as produce virtual force computation basis.By setting up threshold values, just produce when beeline is not more than threshold values
Fictitious force.Feedback force is inversely proportional to beeline, and distance is shorter, and feedback force is bigger.This fictitious force passes through force feedback steering wheel 20
Feed back to driver to point out driver correctly to manipulate steering wheel, be familiar with steering wheel faster.
It is that novice driver is difficult to grasp that steering wheel controls, and it is based on power that the force feedback steering wheel 20 of the present embodiment controls
Feedback auxiliary mechanism, so the design in kind of steering wheel should have the motor providing feedback force, the present embodiment adopts unidirectional current
Machine and common handle handle combine and invent the steering wheel being provided that feedback force.The relation of virtual feedback power and angular acceleration is such as
Shown in formula 1：
Formula 1Mh+Mf+Me=J α
Wherein, α is angular acceleration, MhFor driver's input torque, MfFor feedback moment, MeFor moment of friction, angular acceleration
The change of α directly affects the change of car body bias angle theta in Fig. 3.Moment of friction MeCalculated by steering wheel reversed turning model.
Force feedback steering wheel 20 auxiliary mode schematic diagram as shown in figure 3, in figure θ represents car body drift angle, pass through by car body drift angle
Steering wheel controls；V represents automobile driving speed vector, and velocity magnitude is controlled by throttle and gear lever, and velocity attitude passes through direction
Disk controls；Car body barycenter is d with the distance of the arest neighbors of preferable driving path, and car body axis L is φ with the drift angle of path tangent line,
Feel that feedback mechanism makes side-play amount d in path and angle of contingence φ trend towards 0 as far as possible by power.
Formula 2
Force rendering mechanism can use second order elasticity damper model, as shown in Equation 2, damped coefficient kd, coefficient of elasticity kpControl
The dynamic response of force rendering processed.In test mode, direct current generator no power, Mf=0 cuts little ice, the change in direction
Rely on driver input torque Mh.Under auxiliary mode, driver does not need deliberately control direction, as long as with motor feedback moment
Motion is Mh=0, so the change in direction relies only on the feedback moment of force feedback mechanism generation.The feedback force that direct current generator produces
Square Mf is linear with driving voltage/electric current, by setting driving voltage/size of current and positive and negative big to determine feedback moment
Little and direction.
When auxiliary mode is for foot brake auxiliary mode, by detecting the vapour of driven a car outline and its traveling ahead
The beeline of car, preceding object thing or red light stop line etc., the mark producing in this, as alarm signal, warned by producing
Signal prompt driver correctly operates foot brake.The lower form 13 that alarm signal passes through in above-mentioned virtual scene generation module shows
Show, in addition to video feed is provided, also provides audible feedback.
When auxiliary mode is for clutch auxiliary mode, is starting automobile or becoming due to not stepping on clutch in travelling
During gearshift position, driver is pointed out correctly to operate clutch by producing alarm signal, alarm signal passes through above-mentioned virtual scene
Lower form 13 in generation module shows, also provides audible feedback in addition to providing video feed.
According to an embodiment of the invention information acquisition module is also included based on the vehicle frame training system that power feels feedback.Information
Acquisition module gathers speed, automobile outline is adjacent or the distance of traveling ahead automobile, automobile outline and roadside obstacle
On the distance of thing, automobile outline and travel not across graticule or the distance of red light stop line etc., foot brake, clutch
Device and throttle pressure sensor values etc..
Also include driving test module based on the vehicle frame training system that power feels feedback according to an embodiment of the invention.Test
Module is used for arranging actual driving test pattern and driving license test test pattern.Wherein, actual test pattern of driving is that do not having
During auxiliary driving model, the driver begining to learn drives a car in different kinds of roads, shows evaluation algorithms by driving and is given specifically
Drive grade and error reason, make the driver begining to learn grasp motor skills rapidly, can learn faster to drive.Driving license is examined
Examination test pattern passes through to simulate real test site, test subject and achievement generating algorithm, helps the driver begining to learn true
Just understanding process and the judgment criteria of concrete examination, to reach the purpose faster passing through to take an examination.Additionally, in the present embodiment,
When according to an embodiment of the invention based on power feel feedback vehicle frame training system be arranged to test pattern, then vehicle frame now
Training system no auxiliary mode；And ought be arranged to based on the vehicle frame training system that power feels feedback according to an embodiment of the invention
During auxiliary mode, vehicle frame training system no test pattern now.So, the driver begining to learn passes through in auxiliary mode and test
Under pattern, repetition training can grasp motor skills rapidly, can learn faster to drive；By simulating real test item,
The real process understanding concrete examination and judgment criteria, to reach the purpose faster passing through to take an examination.
In sum, according to an embodiment of the invention following beneficial effect is had based on the vehicle frame training system that power feels feedback
Really：
(1) can be used in novice driver to learn to drive in the environment of HWIL simulation, telepresenc is strong, cost
Low；
(2) in-kind portion is made up of steering wheel, foot brake, clutch, throttle and gear lever, being capable of true drive simulating
The function of each important spare part in environment；
(3) software section is driven module and is driven test mould by information acquisition module, virtual scene generation module, auxiliary
Block four part forms, multiple functional；
(4) drive steering wheel control section in module in auxiliary and add force feedback function, enable novice driver in power
Quick grasp steering wheel control technology under the guiding of feedback function；
(5) drive foot brake and clutch control part in module in auxiliary and add alarm signal, according to concrete road conditions
Remind driver this how to operate so as to quickly learn how to adjust as the case may be foot brake and clutch and both
Cooperation；
(6) gear lever of in-kind portion can be replaced by remote-control lever, and foot brake, clutch and throttle are with solid, honest and clean
Valency, durable pressure transducer are main component part.
Although illustrate and describing the present invention with reference to specific embodiment, it should be appreciated by those skilled in the art that：
In the case of without departing from the spirit and scope of the present invention being limited by claim and its equivalent, can here carry out form and
Various change in details.
Claims (7)
1. a kind of vehicle frame training system based on power feel feedback is it is characterised in that include display screen, force feedback steering wheel, clutch
Device, foot brake, throttle and gear lever；
The direct current generator that described force feedback steering wheel includes steering wheel grip and provides feedback force to described steering wheel grip, its
In, decide whether to make direct current generator work according to different training modes；
In the case that described training mode is auxiliary mode, it is auxiliary that described force feedback steering wheel generates repulsive force according to concrete road conditions
Help mechanism and captivation auxiliary mechanism；
In the case that described auxiliary mode is steering wheel auxiliary mode, detection drive a car outline and object about away from
From, wherein, according to the comparative result of the distance detecting and predetermined threshold value judge whether produce feedback force.
2. vehicle frame training system according to claim 1 is it is characterised in that be the feelings of test pattern in described training mode
Under condition, described direct current generator quits work；In the case that described training mode is auxiliary mode, described direct current generator work.
3. vehicle frame training system according to claim 1 is it is characterised in that the distance that ought described detect is no more than described
During predetermined threshold value, produce feedback force.
4. vehicle frame training system according to claim 1 is it is characterised in that described display screen is 3D display screen.
5. the vehicle frame training system according to claim 1 or 4 is it is characterised in that described display screen includes middle form, position
Upper form above the middle form, be located at lower form below middle form, be located at middle form upper left left view window with
And it is located at the middle top-right right form of form.
6. vehicle frame training system according to claim 5 is it is characterised in that be foot brake auxiliary mode in training mode
In the case of, in described lower form, display reminding driver correctly operates the alarm signal of foot brake.
7. vehicle frame training system according to claim 5 is it is characterised in that be clutch auxiliary mode in training mode
In the case of, in described lower form, display reminding driver correctly operates the alarm signal of clutch.
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US10556600B2 (en) | 2015-12-09 | 2020-02-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Assessment of human driving performance using autonomous vehicles |
| CN105894889B (en) * | 2016-05-09 | 2018-06-12 | 合肥工业大学 | A kind of multidimensional adjustable automobile handling maneuver simulation and the what comes into a driver's control method of test system |
| CN106448337A (en) * | 2016-09-20 | 2017-02-22 | 山西省交通科学研究院 | VR technology based automobile driving simulation device |
| CN107054155A (en) * | 2017-03-30 | 2017-08-18 | 蔡文远 | One kind is based on pure electrically driven (operated) simulation manual gear learner-driven vehicle |
| JP7075741B2 (en) * | 2017-11-10 | 2022-05-26 | 株式会社アイロック | Autobrake simulation experience device for four-wheeled vehicles |
| CN108538139A (en) * | 2018-04-20 | 2018-09-14 | 济南浪潮高新科技投资发展有限公司 | A kind of HWIL simulation vehicle-learning system and method |
| CN112435530B (en) * | 2020-12-02 | 2023-07-04 | 青岛慧拓智能机器有限公司 | Mining truck simulated driving training system |
| CN114664144A (en) * | 2022-03-21 | 2022-06-24 | 电子科技大学 | Human-computer common driving evaluation-oriented high-fidelity tactile feedback system of driving simulator |
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