CN106971644A - Driving training simulator with Cooperative Engagement Capability - Google Patents
Driving training simulator with Cooperative Engagement Capability Download PDFInfo
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- CN106971644A CN106971644A CN201710332183.0A CN201710332183A CN106971644A CN 106971644 A CN106971644 A CN 106971644A CN 201710332183 A CN201710332183 A CN 201710332183A CN 106971644 A CN106971644 A CN 106971644A
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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
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
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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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Abstract
The present invention provides a kind of driving training simulator with Cooperative Engagement Capability, including command centre's analog subsystem, communication for command subsystem, N number of drive simulation training subsystem；Data acquisition device acquisition operations parameter and kinematic parameter, after being handled through virtual views processing module united analysis：1) on the basis of the current virtual what comes into a driver's scene of total Training scene, analysis judges its change that will be produced, the new total virtual views scene of generation, by the second display device to show, 2) on the basis of 1) on the basis of each drive simulation training subsystem, analysis judges the change that every sub- Training scene will be produced, the new sub- virtual views scene of generation, and corresponding drive simulation training subsystem is sent it to, by the first display device to show.The present invention can simulate the cooperation of real command centre and multiple vehicles from vision, body-sensing, communication, help student quickly to grasp the technique and tactics knowledge of cooperation.
Description
Technical field
Field is trained the present invention relates to drive simulation, in particular to a kind of drive simulation with Cooperative Engagement Capability
Training system.
Background technology
Such a case is deposited at present, it is necessary to vehicle composition formation cooperation or traveling, such as mechanization portion
Team, fleet's performance with displaying property etc., this requirement to vehicle operating than independent driving when it is higher, for example, to machinery
For change army, if it is to determine that can quickly judge landform, accurately operation vehicle and realization and the sincere cooperation of companion
The key of battlefield existence.
However, training some extreme terrains or environmental condition under all very limited available for the vehicle of training and place
It can not deploy at all, the problem of student without largely training also easily triggers larger when operating vehicle even injures and deaths, safety
Hidden danger is poor, if putting into a large amount of vehicles is used to train, cost and maintenance cost are at a relatively high, while can also produce larger noise pollution
And exhaust emission.For summary, there is the limitation such as high cost, high-risk, lack of space in existing vehicle drive training.
Simultaneously as existing real vehicle training method has foregoing a variety of limitations, actual task commander also result in
Coorinated training is difficult to, and student trains the state of separation also in coorinated training and practical operation, and cooperative ability is poor, it is impossible to
The quick technique and tactics knowledge for grasping cooperation.
The content of the invention
Present invention aims at providing a kind of driving training simulator with Cooperative Engagement Capability, can from vision,
The cooperation of real command centre and multiple vehicles is simulated in body-sensing, communication, helps student quickly to grasp cooperation
Technique and tactics knowledge.
The above-mentioned purpose of the present invention realized by the technical characteristics of independent claims, and dependent claims are with alternative or have
The mode of profit develops the technical characteristic of independent claims.
To reach above-mentioned purpose, the present invention proposes a kind of driving training simulator with Cooperative Engagement Capability, including
Command centre's analog subsystem, communication for command subsystem, N number of drive simulation training subsystem；
Drive simulation training subsystem include driving motion simulator, the first display device, data acquisition device,
First network attachment means for drive simulation to be trained to subsystem access network, each drive simulation training subsystem has
There are its independent panzer numbering and model；
Command centre's analog subsystem include master server, the second display device, command centre's carrier, for that will refer to
Wave the second network connection device of center analog subsystem access network；
The first network attachment means and the second network connection device be used to setting up command centre's analog subsystem with it is N number of
Data communication link between drive simulation training subsystem；
The master server is provided with virtual views software, and virtual views software includes virtual views generation module, model
Simplify module, virtual views memory module, virtual views processing module, virtual views setting module；
The virtual views generation module is simplified to generate virtual views scene, the virtual views scene of generation through model
Module is stored in virtual views memory module after simplifying, every kind of virtual views scene is respectively provided with its independent scene numbering, landform
Parameter, ambient parameter；
The virtual views setting module is appointed to allow user to be chosen from virtual views memory module by scene numbering
The one or more kinds of virtual views scenes of meaning, by a kind of Training scene of combination producing；
The virtual views setting module is additionally operable to the initial position that default N number of drive simulation trains subsystem, and it is connected
Training scene with combination producing is sent to virtual views processing module together；
N number of drive simulation is trained the model of subsystem to be synthesized by default initial position by the virtual views processing module
Into selected virtual views scene, total Training scene is generated, by the second display device to show；
The virtual views processing module is on the basis of each drive simulation training subsystem, generation and each drive simulation
The corresponding sub- Training scene of subsystem is trained, and sends it to corresponding drive simulation training subsystem, then it is aobvious by first
Showing device is to show；
All data acquisition devices are used to gather the affiliated operating parameter for driving motion simulator and motion in real time
Parameter, it is unified to send to virtual views processing module, after the processing of virtual views processing module united analysis, carry out following two sides
The operation in face：
1) on the basis of the current virtual what comes into a driver's scene of total Training scene, analysis judges its change that will be produced, and generates
New total virtual views scene, by the second display device to show,
2) on the basis of 1) on the basis of each drive simulation training subsystem, analysis judges every sub- Training scene i.e.
By the change of generation, the new sub- virtual views scene of generation, and corresponding drive simulation training subsystem is sent it to, then led to
The first display device is crossed to show；
The communication for command subsystem includes command centre's communication customer end, N number of vehicle communication client and Control on Communication
Server end；
The communication control server end, which has, to be used for the 3rd network connection of communication control server end access network
Device；
Command centre's communication customer end is arranged in command centre's analog subsystem, is connected with the second network connection device
Connect, the second network connection device is used to set up command centre's communication customer end and the data communication chain at communication control server end
Road；
N number of vehicle communication client distribution is in N number of drive simulation training subsystem, with respective the first affiliated net
Network attachment means are connected, and first network attachment means are used to set up vehicle communication client and the data at communication control server end
Communication link.
Further, the driving motion simulator includes carrier, motion simulation platform and position control loop；
The motion simulation platform includes the upper mounting plate and lower platform being parallel to each other, and lower platform is fixed on the ground, upper flat
A servo-actuating device is connected between platform and lower platform；
Several seats, executor, display unit for simulating true panzer operation are installed in the carrier, carried
Tool is fixedly mounted on the upper mounting plate of motion simulation platform；
The operating parameter and current virtual what comes into a driver's scene of the current executor of the data acquisition device collection are sent out simultaneously
Position control loop is given, after position control loop analyzes and processes it, generation current virtual what comes into a driver's scene and executor operation
The motion state instruction of motion simulation platform under Parameter Conditions, and motion state is instructed to the fortune for being parsed into servo-actuating device
Dynamic instruction；
The servo-actuating device is connected with position control loop, in response to the movement instruction of position control loop, driving
Upper mounting plate is acted, and makes to be fixed on the motion state phase that the motion state of the carrier on upper mounting plate is specified with motion state
Together.
Further, the data acquisition device includes installing bears pressure for real-time detection seat on the seat
Pressure sensor, the executor collecting unit for gathering current executor operating parameter, for gathering current virtual what comes into a driver's
The scene collecting unit of scape.
Further, the communication control server end is provided with authority module.
Further, the virtual views processing module trains the corresponding drive simulation that each data acquisition device feeds back
In operating parameter and traveling parameter synthesis to total Training scene of subsystem.
Further, a total manipulation device is provided with command centre's analog subsystem, itself and the second network connection
Device is connected；
Executor in the drive simulation training subsystem is connected with respective affiliated first network attachment means；
Total manipulation device by network with assign control instruction to each drive simulation train subsystem executor；
The executor has authority module, and total manipulation device has highest authority.
Further, also there is an instrument pack, instrument pack to show current executor behaviour in real time in the carrier
Make parameter and the skimulated motion parameter of carrier.
By above technical scheme, compared with existing, its significant beneficial effect is that it is possible to from vision, body
The cooperation of real command centre and multiple panzers is simulated in sense, communication, helps student quickly to grasp cooperation
Technique and tactics knowledge.
As long as it should be appreciated that all combinations of aforementioned concepts and the extra design described in greater detail below are at this
A part for the subject matter of the disclosure is can be viewed as in the case that the design of sample is not conflicting.In addition, required protect
All combinations of the theme of shield are considered as a part for the subject matter of the disclosure.
Can be more fully appreciated with from the following description with reference to accompanying drawing present invention teach that foregoing and other aspect, reality
Apply example and feature.The feature and/or beneficial effect of other additional aspects such as illustrative embodiments of the present invention will be below
Description in it is obvious, or by according to present invention teach that embodiment practice in learn.
Brief description of the drawings
Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each identical or approximately uniform group shown in each figure
It can be indicated by the same numeral into part.For clarity, in each figure, not each part is labeled.
Now, by example and the embodiments of various aspects of the invention will be described in reference to the drawings, wherein：
Fig. 1 is the structural representation of the driving training simulator with Cooperative Engagement Capability of the present invention.
Fig. 2 is the specific modular structure schematic diagram of the driving training simulator with Cooperative Engagement Capability of the present invention.
Fig. 3 is the structural representation of the communication for command subsystem of the present invention.
Fig. 4 is the structural representation of the driving motion simulator of the present invention.
Fig. 5 is the structural representation of the motion simulation platform of the present invention.
Fig. 6 is the structural representation of the position control loop of the present invention.
Embodiment
In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.
Each side with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
It is not intended to cover all aspects of the invention for embodiment of the disclosure.It should be appreciated that a variety of designs presented hereinbefore and reality
Apply example, and those designs described in more detail below and embodiment can in many ways in any one come real
Apply, because design disclosed in this invention and embodiment are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined be used with disclosed by the invention.
The present invention refers to a kind of driving training simulator with Cooperative Engagement Capability, it is therefore an objective to set up in a commander
Heart analog subsystem and several drive simulations train subsystem, and the interaction and collaboration for simulating many chassis and command centre are made
War ability.
With reference to Fig. 1, Fig. 2, driving training simulator includes command centre's analog subsystem 2, N number of drive simulation training
System 1 and the communication for command subsystem 3 for realizing the interaction of data communication between the two.
Drive simulation training subsystem 1 includes driving motion simulator 100, the first display device 200, data acquisition dress
Put 300, the first network attachment means for drive simulation to be trained to the access network of subsystem 1, each drive simulation training
System 1 has its independent panzer numbering and model.
Driving motion simulator 100 is used for the motion state change of simulated implementation vehicle, user is experienced from body-sensing
The operation of real vehicles, driving motion simulator 100 includes carrier 101, motion simulation platform 102 and position control loop
103。
With reference to Fig. 4, Fig. 5, carrier 101 is, with reference to real vehicle structure, to reduce in proportion or only choose operator seat shape
Into.Certainly, carrier 101 can also with real vehicles same structure, with reach maximum validity, but such a scheme cost compared with
It is high.
Carrier 101 is arranged on motion simulation platform 102, and motion simulation platform 102 can realize the motion of six degree of freedom
Process, thus carries the motion that carrier 101 disposed thereon realizes six degree of freedom.
An executor 1011 is provided with carrier 101 where user, similar with carrier 101, executor 1011 can be selected
Select the configuration as real vehicles or reach maximum as far as possible using the simulation executor with body-sensing backfeed loop
Operate the sense of reality.
Also there is an instrument pack, instrument pack to show the current operating parameter of executor 1011 in real time in carrier 101
And the skimulated motion parameter of carrier 101.
Motion simulation platform 102 includes the upper mounting plate 1021 and lower platform 1022 being parallel to each other, and lower platform 1022 is fixed on
On ground, or a pedestal is first fixedly installed on the ground, lower platform 1022 is installed on the base, movement easy to disassemble and day
Often maintenance.
A servo-actuating device 1023 is connected between upper mounting plate 1021 and lower platform 1022, passes through the servo-drive
Mechanism 1023 makes upper mounting plate realize the motion process of six degree of freedom.
Carrier 101 is arranged on upper mounting plate 1021, follows upper mounting plate 1021 to move.
Several seats, the executor 1011 for simulating real vehicles operation are provided with carrier 101, for showing void
The structure of first display device 200 of plan what comes into a driver's scene, carrier 101 and executor 1011 has been noted above preceding, herein no longer
Repeat, this place only illustrates the related setting of the first display device 200.It should be appreciated that in order to reach most real effect, first shows
Showing device 200 is generally using the close or identical display with real vehicles vision, and due to virtual reality technology in recent years
Progress, herein, we can also use the display device based on virtual reality technology, for example wear-type virtual reality, which is shown, sets
It is standby etc., reach more preferable display effect.
By any of the above structural member, make user in terms of two in vision and body-sensing while feeling just operating real vehicle
Traveling is in real scene.
Servo-actuating device 1023 has diversity, and we can be put down using the six-freedom motion mentioned by prior art
Platform, can also construct most suitable motion simulation platform according to the traveling characteristics adjusting parameter of vehicle.
It is below one of example of a servo-actuating device 1023, servo-actuating device 1023 includes should with reference to Fig. 4, Fig. 5
Example but it is not limited only to this.
Servo-actuating device 1023 includes the first electric cylinder, the second electric cylinder, the 3rd electric cylinder, the 4th electric cylinder, the 5th
Electric cylinder, the 6th electric cylinder, one end of foregoing all electric cylinders are arranged on upper mounting plate by Hooke's hinge, and the other end passes through Hooke
Hinge is arranged on lower platform 1022.
The pin joint of first electric cylinder and lower platform 1022 is defined as A points, the hinge of the second electric cylinder and lower platform 1022
Contact is defined as A ' points, A points and A ' point infinite approachs.
The pin joint of 3rd electric cylinder and lower platform 1022 is defined as B points, the hinge of the 4th electric cylinder and lower platform 1022
Contact is defined as B ' points, B points and B ' point infinite approachs.
The pin joint of 5th electric cylinder and lower platform 1022 is defined as C points, the hinge of the 6th electric cylinder and lower platform 1022
Contact is defined as C ' points, C points and C ' point infinite approachs.
Vertical corresponding position is also laid with a points adjacent to one another and a ' points, b to upper mounting plate 1021 one by one with lower platform 1022
Point and b ' points, c points and c ' points, wherein, a points are corresponding with A points, and b points are corresponding with B points, and c points are corresponding with C points, a ' points and A ' points pair
Should, b ' points are corresponding with B ' points, and c ' points are put corresponding with C '.
The pin joint of first electric cylinder and upper mounting plate 1021 is b points, and the pin joint of the second electric cylinder and upper mounting plate 1021 is c
Point.
The pin joint of 3rd electric cylinder and upper mounting plate 1021 is a points, and the pin joint of the 4th electric cylinder and upper mounting plate 1021 is
C ' points.
The pin joint of 5th electric cylinder and upper mounting plate 1021 is a ' points, and the pin joint of the 6th electric cylinder and upper mounting plate 1021 is
B ' points.
Lower platform is included by A points, B points, C points one triangle of formation, the circumcircle of the triangle.
Position control loop 103 can use position control loop of the prior art with servo-actuating device 1023,
Parameter therein can be adjusted so that it is more suitable for the athletic posture of vehicle, the following is one of which position control loop 103
Example：
With reference to Fig. 3, position control loop 103 includes main control computer 1031, D/A converting units 1032, controller 1033, sensing
Device group 1034, A/D converting units 1035.
Main control computer 1031, D/A converting units 1032, controller 1033, servo-actuating device 1023 are sequentially connected, sensor
Group 1034, A/D converting units 1035, main control computer 1031 are sequentially connected.
The generation motion state instruction of main control computer 1031, it is parsed into the movement instruction of servo-actuating device 1023, moved
Instruction is sent after being changed through D/A converting units 1032 to controller 1033, and controller 1033 drives according to the movement instruction received
Dynamic servo-actuating device 1023 is acted, and makes the motion state of carrier 101 identical with the motion state that motion state is specified.
Sensor group 1034 is arranged on carrier 101, the motion state and posture of real-time detection carrier 101, and will
Result of detection feeds back to main control computer 1031 after being changed through A/D converting units 1035.Main control computer 1031 is by the sensor group received
The result of 1034 feedbacks is compared with motion state instruction, and generation error instruction, error instruction is changed through D/A converting units 1032
After send to controller 1033.
Sensor group 1034 can use 3-axis acceleration sensor and three-axis gyroscope.
With reference to the servo-actuating device 1023 in above-mentioned example and position control loop 103, we illustrate lower the application institute
The motion process of the driving motion simulator 100 referred to.
Position control loop 103 carries out dynamic analysis with kinetic model, judges generation one motion state instruction, then
Backwards calculation goes out the corresponding position of each joint link lever of motion simulation platform and speed, and this turns into kinematic synthesis or kinematic reverse
Problem.Need to set different coordinate systems, determine transformation matrix of coordinates, derive kinematical equation, set up system mathematic model
(Eulerian angles theorem), this is to realize the key issue that analog motion platform is automatically controlled.X, Y, Z, α can be used herein, and beta, gamma is sat
Mark system, wherein, X is represented and moved horizontally, and Y is represented and vertically moved, and above and below Z representatives, α represents the angle of pitch, and β represents angle of heel, γ generations
Table steering angle.
Position control loop 103 needs to send the movement instruction of foregoing six electric cylinders in real time, while detecting carrier 101
Actual posture (speed, positional information etc.), constitutes to the digital closed-loop control of motion simulation platform 102, six is ensured by calculating
The coordination of electric cylinder and control accuracy.
It may be otherwise and use digital cylinder, just can so eliminate foregoing electric cylinder, the conversion of sensor group 103d, A/D
1035 and D/A changes all too many levels such as 1032, and it is all to accomplish sensor, digital valve etc. inside oil cylinder, forms automatic position
Put feedback and velocity feedback.Digital cylinder can directly receive the digital pulse signal that computer sends and reliably be worked.
With reference to Fig. 1, Fig. 2, command centre's simulation subsystem 2 includes master server 600, the second display device 500, command centre
Carrier 400, for by the second network connection device of command centre's analog subsystem access network.
By first network attachment means, the second network connection device and network, command centre's analog subsystem 1 is set up
With the data link between command centre analog subsystem 2,
Similar to carrier 101, command centre's carrier 400 reduces or only in proportion with reference to real command centre's structure
Its part-structure is chosen to be formed.It can also select to use real command centre's structure, to reach the validity of maximum, equally,
This scheme cost is higher.
Master server 600 is provided with virtual views software, and virtual views software includes virtual views generation module 601, mould
Type simplifies module 602, virtual views memory module 603, virtual views processing module 605, virtual views setting module 604.
Virtual views generation module 601 is simplified to generate virtual views scene, the virtual views scene of generation through model
Module 602 is stored in virtual views memory module 603 after simplifying, every kind of virtual views scene be respectively provided with its independent numbering,
Shape parameter, ambient parameter, can provide some keywords herein, such as mountain region, grade of jolting, wind direction, wind scale, sleet
Level, road dimensions etc..
604 points of virtual views setting module is two parts, and a part is to allow user from virtual views memory module 603
Any one or a variety of virtual views scenes are chosen by scene numbering, by a kind of Training scene of combination producing, another portion
Dividing then is used to preset the initial position that N number of drive simulation trains subsystem 1.
After the initial position setting of foregoing Training scene and drive simulation training subsystem 1 is finished, virtual views setting mould
One of general of block 604, which rises, delivers to virtual views processing module 605.
N number of drive simulation is trained the model of subsystem 1 to be synthesized by default initial position by virtual views processing module 605
Into selected virtual views scene, total Training scene is generated, by the second display device 500 to be shown to command centre's carrier
User's viewing in 400.
Understand, in total Training scene herein, it can be seen that the picture and drive simulation training of whole Training scene
System 1 is located at the position on Training scene.
Virtual views processing module 605 is also on the basis of each drive simulation training subsystem 1, and generation drives mould with each
Intend the corresponding sub- Training scene of training subsystem 1, and send it to corresponding drive simulation training subsystem 1, then pass through the
One display device 200 is watched with the user being shown in carrier 101.
It is the training that corresponding each drive simulation trains that the people in subsystem 1 can see in sub- Training scene herein
The partial picture of scene, than total Training scene, range of observation diminishes, but details describe it is apparent.
The different pictures of command centre and drive simulation training subsystem show, exactly cooperation when command centre and car
Difference between, this driving training simulator by generating total Training scene and sub- Training scene respectively, more really
The visual experience of command centre and each vehicle is reproduced.
Two kinds of foregoing computings can be carried out simultaneously, can also be separated and be carried out, for example, first carry out the generation of total Training scene,
The generation of the sub- Training scene of correspondence is carried out again.
And when drive simulation training subsystem 1 starts training, operations parameter and kinematic parameter are being continually changing, this
Plant Parameters variation and affect total Training scene and sub- Training scene simultaneously.
We train the data acquisition device 300 on subsystem using drive simulation and moved to gather to drive belonging to it herein
The operating parameter and kinematic parameter of analogue means 100, by unification send to virtual views processing module 605.
Virtual views processing module 605 receives the parameter that all drive simulation training subsystems 1 of synchronization feed back, and uses
Kinetic model is carried out after dynamic analysis, carries out the operation of two aspects：
1) on the basis of the current virtual what comes into a driver's scene of total Training scene, analysis judges its change that will be produced, and generates
New total virtual views scene, is watched by the second display device 500 with the user being shown in command centre's carrier 400.
2) on the basis of 1), on the basis of each drive simulation training subsystem 1, analysis judges every sub- Training scene
The change that will be produced, generates new sub- virtual views scene, and sends it to corresponding drive simulation and train subsystem 1,
Watched by the first display device 200 with the user being shown in carrier 101.
It is newly-generated total virtually to regard under the influence of this parameter for example, the car speed in left side is accelerated to surmount the vehicle on right side
In scape scene, left side vehicle will be shown in right side vehicle front, and right side vehicle institute it is observed that sub- virtual views field
Jing Zhong, it will the model picture of left side vehicle occur.
The corresponding drive simulation training subsystem that virtual views processing module 605 can also feed back each data acquisition device
In the operating parameter and traveling parameter synthesis to total Training scene of system 1, in order to commanding's palm in command centre's carrier 400
Actual conditions are held, are allocated.
In addition to display picture, the application also solves communication for command aspect by adding a communication for command subsystem 3
Research on Interactive Problem.
Communication for command subsystem 3 includes command centre's communication customer end 700, N number of vehicle communication client 800 and communication control
Control server end 900.
Communication control server end 900, which has, to be used to connect on the 3rd network of the access network of communication control server end 900
Connection device.
Command centre's communication customer end 700 is arranged in command centre's analog subsystem 2, is connected with the second network connection device
Connect, the second network connection device is used to set up command centre's communication customer end 700 and the data at communication control server end 900 are led to
Believe link.
N number of vehicle communication client 800 is distributed in N number of drive simulation training subsystem 1, with respective the first affiliated net
Network attachment means are connected, and first network attachment means are used to set up vehicle communication client 800 and communication control server end 900
Data link.
By arrangement above, command centre's communication customer end 700 and N number of vehicle communication client 800 will by network
Data message is sent to communication control server end 900, and communication control server end 900 is further according to setting authority by corresponding number
It is believed that breath is sent to specified client.Generally, N number of vehicle communication client 800 can be with command centre's communication customer end
700 contacts, in order to which command centre's communication customer end 700 is gone and found out what's going on and assigns control instruction.
But in order to prevent information clutter, we set an authority module at communication control server end 900, and command centre leads to
Letter client 700 has the highest authority operated to the authority module.
In addition, being additionally provided with a total manipulation device in command centre's analog subsystem 3, it connects with the second network connection device
Connect, with access network, at the same time, executor 1011 in each drive simulation training subsystem 1 and each described first
Network connection device is connected.
By aforementioned structure, total manipulation device can train the behaviour of subsystem 1 to each drive simulation by network
Vertical device 1011 assigns control instruction, and executor 1011 has authority module, and total manipulation device has highest authority to it.
When a certain drive simulation training subsystem 1 goes wrong, subsystem by command centre can be simulated by preceding method
System 2 takes over drive simulation training subsystem 1.
So as to which the present invention can simulate real command centre from vision, body-sensing, communication and the collaboration of multiple vehicles is made
War, helps student quickly to grasp the technique and tactics knowledge of cooperation.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Skill belonging to of the invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (9)
1. a kind of driving training simulator with Cooperative Engagement Capability, it is characterised in that simulate subsystem including command centre
System, communication for command subsystem, N number of drive simulation training subsystem；
Drive simulation training subsystem includes driving motion simulator, the first display device, data acquisition device, is used for
Drive simulation is trained to the first network attachment means of subsystem access network, each drive simulation training subsystem is respectively provided with it
Independent car number and model；
Command centre's analog subsystem include master server, the second display device, command centre's carrier, for will commander in
Second network connection device of heart analog subsystem access network；
The first network attachment means and the second network connection device are used to set up command centre's analog subsystem and N number of driving
Data communication link between simulated training subsystem；
The master server is provided with virtual views software, and virtual views software includes virtual views generation module, model and simplified
Module, virtual views memory module, virtual views processing module, virtual views setting module；
The virtual views generation module simplifies module to generate virtual views scene, the virtual views scene of generation through model
Be stored in virtual views memory module after simplifying, every kind of virtual views scene be respectively provided with its independent scene numbering, terrain parameter,
Ambient parameter；
The virtual views setting module is to allow user to choose any one by scene numbering from virtual views memory module
Kind or a variety of virtual views scenes, by a kind of Training scene of combination producing；
The virtual views setting module is additionally operable to the initial position that default N number of drive simulation trains subsystem, by it together with group
Symphysis into Training scene send together to virtual views processing module；
The model of N number of drive simulation training subsystem is blended into choosing by the virtual views processing module by default initial position
In fixed virtual views scene, total Training scene is generated, by the second display device to show；
The virtual views processing module is on the basis of each drive simulation training subsystem, and generation is trained with each drive simulation
The corresponding sub- Training scene of subsystem, and corresponding drive simulation training subsystem is sent it to, then filled by the first display
Put to show；
All data acquisition devices are used to gather the affiliated operating parameter and kinematic parameter for driving motion simulator in real time,
It is unified to send to virtual views processing module, after the processing of virtual views processing module united analysis, carry out following two aspects
Operation：
1) on the basis of the current virtual what comes into a driver's scene of total Training scene, analysis judges its change that will be produced, and generates newly
Total virtual views scene, by the second display device to show,
2) on the basis of 1) on the basis of each drive simulation training subsystem, analysis judges that every sub- Training scene will be produced
Raw change, the new sub- virtual views scene of generation, and send it to corresponding drive simulation training subsystem, then pass through the
One display device is to show；
The communication for command subsystem includes command centre's communication customer end, N number of vehicle communication client and Control on Communication service
Device end；
The communication control server end, which has, to be used for the 3rd network connection device of communication control server end access network；
Command centre's communication customer end is arranged in command centre's analog subsystem, is connected with the second network connection device,
Second network connection device is used to set up command centre's communication customer end and the data link at communication control server end；
N number of vehicle communication client distribution connects in N number of drive simulation training subsystem with the first network belonging to each
Connection device is connected, and first network attachment means are used to set up vehicle communication client and the data communication at communication control server end
Link.
2. the driving training simulator according to claim 1 with Cooperative Engagement Capability, it is characterised in that described to drive
Sailing motion simulator includes carrier, motion simulation platform and position control loop；
The motion simulation platform includes the upper mounting plate and lower platform that are parallel to each other, and lower platform is fixed on the ground, upper mounting plate and
A servo-actuating device is connected between lower platform；
Several seats, the executor for simulating real vehicles operation are installed, carrier is fixedly mounted on fortune in the carrier
On the upper mounting plate of dynamic analog platform；
The operating parameter and current virtual what comes into a driver's scene of the current executor of the data acquisition device collection are sent to simultaneously
Position control loop, after position control loop analyzes and processes it, generation current virtual what comes into a driver's scene and executor operating parameter
Under the conditions of motion simulation platform motion state instruction, and motion state instructed be parsed into the motion of servo-actuating device and refer to
Order；
The servo-actuating device is connected with position control loop, in response to the movement instruction of position control loop, is put down in driving
Platform is acted, and the motion state for making to be fixed on carrier on upper mounting plate is identical with the motion state that motion state is specified.
3. the driving training simulator according to claim 2 with Cooperative Engagement Capability, it is characterised in that the number
Include installing according to harvester and bear the pressure sensor of pressure, for gathering currently for real-time detection seat on the seat
The executor collecting unit of executor operating parameter, the scene collecting unit for gathering current virtual what comes into a driver's scene.
4. the driving training simulator according to claim 1 with Cooperative Engagement Capability, it is characterised in that described logical
Letter control server end is provided with authority module.
5. the driving training simulator according to claim 1 with Cooperative Engagement Capability, it is characterised in that the void
Intend operating parameter and traveling that what comes into a driver's processing module trains the corresponding drive simulation that each data acquisition device feeds back subsystem
In parameter synthesis to total Training scene.
6. the driving training simulator according to claim 1 with Cooperative Engagement Capability, it is characterised in that the finger
Wave and a total manipulation device is provided with the analog subsystem of center, it is connected with the second network connection device；
Executor in the drive simulation training subsystem is connected with respective affiliated first network attachment means；
Total manipulation device by network with assign control instruction to each drive simulation train subsystem executor；
The executor has authority module, and total manipulation device has highest authority to it.
7. the driving training simulator according to claim 2 with Cooperative Engagement Capability, it is characterised in that described to watch
Taking driving structure includes the first electric cylinder, the second electric cylinder, the 3rd electric cylinder, the 4th electric cylinder, the 5th electric cylinder, the 6th electronic
Cylinder, one end of foregoing all electric cylinders is arranged on upper mounting plate by Hooke's hinge, and the other end is arranged on lower platform by Hooke's hinge
On；
The pin joint of first electric cylinder and lower platform is defined as A points, and the pin joint of the second electric cylinder and lower platform is determined
Justice puts infinite approach into A ' points, A points and A '；
The pin joint of 3rd electric cylinder and lower platform is defined as B points, and the pin joint of the 4th electric cylinder and lower platform is determined
Justice puts infinite approach into B ' points, B points and B '；
The pin joint of 5th electric cylinder and lower platform is defined as C points, and the pin joint of the 6th electric cylinder and lower platform is determined
Justice puts infinite approach into C ' points, C points and C '；
Vertical corresponding position is also laid with a points adjacent to one another and a ' points, b points and b ' to the upper mounting plate one by one with lower platform
Point, c points and c ' points, wherein, a points are corresponding with A points, and b points are corresponding with B points, and c points are corresponding with C points, and a ' points put corresponding, b ' points with A '
Corresponding with B ' points, c ' points are put corresponding with C '；
The pin joint of first electric cylinder and upper mounting plate is b points, and the pin joint of the second electric cylinder and upper mounting plate is c points；
The pin joint of 3rd electric cylinder and upper mounting plate is a points, and the pin joint of the 4th electric cylinder and upper mounting plate is c ' points；
The pin joint of 5th electric cylinder and upper mounting plate is a ' points, and the pin joint of the 6th electric cylinder and upper mounting plate is b ' points；
Lower platform is included by the A points, B points, C points one triangle of formation, the circumcircle of the triangle.
8. the driving training simulator according to claim 2 with Cooperative Engagement Capability, it is characterised in that institute's rheme
Putting control loop includes main control computer, D/A converting units, controller, sensor group, A/D converting units；
The main control computer, D/A converting units, controller, servo-actuating device are sequentially connected, sensor group, A/D converting units,
Main control computer is sequentially connected；
Main control computer generation motion state instruction, it is parsed into the movement instruction of servo-actuating device, movement instruction is changed through D/A
Sent after cell translation to controller, controller is acted according to the movement instruction driving servo-actuating device received, makes carrier
Motion state it is identical with the motion state that motion state is specified；
The sensor group is arranged on carrier, the motion state and posture of real-time detection carrier, and result of detection is passed through
Main control computer is fed back to after the conversion of A/D converting units；
The main control computer compares the result that the sensor group received is fed back with motion state instruction, generation error instruction,
Error instruction is sent to controller after being changed through D/A converting units；
The sensor group includes 3-axis acceleration sensor and three-axis gyroscope.
9. the driving training simulator according to claim 2 with Cooperative Engagement Capability, it is characterised in that the load
Also there is an instrument pack, instrument pack is used to the skimulated motion for showing current executor operating parameter and carrier in real time in tool
Parameter.
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| CN109785709A (en) * | 2019-03-18 | 2019-05-21 | 河南科技大学 | General vehicle and Driving Scene high-precision virtual reality intelligent driving simulator group |
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| CN114333494A (en) * | 2021-12-31 | 2022-04-12 | 江苏普旭科技股份有限公司 | Multi-degree-of-freedom parallel motion platform control system and method for driving simulator |
| CN114333494B (en) * | 2021-12-31 | 2023-01-13 | 江苏普旭科技股份有限公司 | Multi-degree-of-freedom parallel motion platform control system and method for driving simulator |
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