CN101770707A - Camera based virtual vehicle driving system and virtual driving method - Google Patents
Camera based virtual vehicle driving system and virtual driving method Download PDFInfo
- Publication number
- CN101770707A CN101770707A CN201010013738A CN201010013738A CN101770707A CN 101770707 A CN101770707 A CN 101770707A CN 201010013738 A CN201010013738 A CN 201010013738A CN 201010013738 A CN201010013738 A CN 201010013738A CN 101770707 A CN101770707 A CN 101770707A
- Authority
- CN
- China
- Prior art keywords
- information
- control
- module
- vehicle
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a camera based virtual vehicle driving system and a virtual driving method. The driving system comprises calibration paper, a camera, a controller, a parameter set unit and a display, wherein the calibration paper has a plurality of vehicle control information patterns to be touched by virtual drivers and can be controlled by rotating; the camera can shoot state information of the vehicle control information patterns on the calibration paper in real time; the controller identifies and analyzes the state information shot by the camera; and the parameter set unit is connected with the controller. The method comprises the steps of driving preparation, calibration paper control, visual information acquisition, visual information interaction and driving control, which is to carry out control of speed changing, honking, turning, braking and backing on a vehicle by controlling the calibration paper. The system has novel and reasonable design, low investment cost, simple and convenient use and operation, good virtual driving effect and strong operability, and realizes virtual driving on the virtual vehicle by using the camera as an interaction mode and controlling the calibration paper in an actual environment.
Description
Technical field
The invention belongs to the technical field of information interaction in the mixed reality field, especially relate to a kind of virtual car control loop and virtual driving method based on camera.
Background technology
Nowadays, automobile has become requisite a kind of vehicles in people's daily life, and along with improving constantly of living standard, increasing people has added the ranks of car steering, yet be subjected to many effects limit such as time, place, expense, driving simulation system receives that numerous crowds like.At present, more common driving simulation system can be divided into two classes: a class is the simulative automobile driving system that needs additional hardware equipment to be used, and another kind of is pure software and do not have the simulative automobile driving system that uses any hardware device.Though the former can be close with real driving environment, cost is higher, is not easy to popularize.And the latter only is a software, controls automobile by keyboard and mouse, thereby operability is not strong.
Summary of the invention
Technical matters to be solved by this invention is at above-mentioned deficiency of the prior art, provides few, intelligent degree height of low, the required hardware device of a kind of cost and virtual driving the effective virtual car control loop based on camera.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of virtual car control loop based on camera, it is characterized in that: comprise that iso-surface patch has multiple confession virtual driving personnel to put the vehicle control information pattern that touches and can arbitrarily be rotated the demarcation paper of controlling, the real-time camera that the status information of demarcating vehicle control information pattern on the paper is absorbed, join with camera and the status information that camera absorbs the vehicle control information pattern is discerned and carried out the controller that corresponding analysis is handled, parameter set unit of joining with controller and the display that the analysis processing result of controller is shown synchronously, described controller and display join, and camera is laid in demarcates the paper top; Described vehicle control information pattern comprise be plotted in demarcate five kinds on the paper gears control patterns of representing gear respectively, turn to, blow a whistle, brake and moveing backward, turn to the control pattern, the control pattern of blowing a whistle, brake control pattern and reversing control pattern.
The shape of described vehicle control information pattern is square.
Mouse and the keyboard of described parameter set unit for joining with controller respectively, and described controller, display, mouse and keyboard are the PC that is assembled into one.
The quantity of described gear control pattern is 5, and 5 gear control patterns are represented 5 different road speed gears respectively; Describedly turn to the control pattern, the quantity of the control pattern of blowing a whistle, brake control pattern and reversing control pattern is 1.
The described control pattern that turns to is laid in demarcation paper center upper portion, described 5 gears control pattern is a vertical setting of types and is laid in demarcation paper left side, described brake control pattern is laid in demarcates the paper right side, and the described reversing control pattern and the control pattern one the first from left right side of blowing a whistle are laid in demarcates the paper bottom.
Simultaneously, the present invention also provide a kind of use easy and simple to handle, to drive control simple and synchronism good, the virtual driving effect true, operability is very strong carries out the method for virtual driving based on the virtual car control loop of camera, it is characterized in that this method may further comprise the steps:
201, demarcating paper controls: demarcate controlling of paper and mainly comprise a little touching and be plotted in the gear control pattern of demarcating on the paper, the control pattern of blowing a whistle, brake control pattern and reversing control pattern and five kinds of steer mode of left rotation and right rotation demarcation paper respectively;
202, visual information is obtained: the status information of camera real time shooting vehicle control information pattern also is uploaded to controller synchronously with the status information of being absorbed;
203, visual information is mutual: the administration module in the controller calls the visual interactive module processing is caught and discerned to the status information that camera transmitted, and will to discern result be that the control information synchronous driving is to administration module;
204, drive control: described administration module according to the control information that the visual interactive module transmitted corresponding call speed Control module, the control module of blowing a whistle, the control module of braking, the control module of moveing backward respectively and turn to control module to the vehicle transferring and drive carry out speed Control, the control of blowing a whistle, brake control, reversing controls and turns to control; Drive in the control procedure, administration module with the information of vehicles transferred in described control information and the step 1 and three-dimensional scene information synchronous driving to physical simulation module and three-dimensional vision module, administration module calls the physical simulation module earlier and according to the control information that is transmitted the information of vehicles and the three-dimensional scene information that are transmitted is carried out the physical simulation computing, and with the synchronous driving of physical simulation operation result to the three-dimensional vision module; Afterwards, the physical simulation operation result that the three-dimensional vision module of administration module calling is again transmitted the physical simulation module carries out analyzing and processing and demonstration synchronously and carries out real-time update according to the information of vehicles and the three-dimensional scene information of the control information that is transmitted after to the physical simulation computing, realizes by the three-dimensional vision module driving the purpose that travel condition of vehicle in the control procedure and peripheral three-dimensional scenic dynamically reach demonstration directly perceived.
During the status information of the camera real time shooting vehicle control information pattern described in the above-mentioned steps 202, absorb and be uploaded to controller status information be gear control pattern, the control pattern of blowing a whistle, brake control pattern or reversing control pattern covered information and demarcate paper whether whether by left rotation and right rotation and the angle information of demarcating the paper left rotation and right rotation.
Administration module described in the step 204 calls the physical simulation module earlier when the three-dimensional scene information that is transmitted is carried out the physical simulation computing, with the three-dimensional scene information that is transmitted be divided into building construction, mobiles class and road and bridge category information;
Wherein said administration module calls the physical simulation module when building construction information is carried out the physical simulation computing, and its physical simulation calculating process may further comprise the steps:
(a) from the building construction information that is transmitted, obtain the dependency structure parameter of processed building construction;
(b) according to the dependency structure parameter of the processed building construction that is obtained, calculate the bounding box size of surrounding described processed building construction from the space;
(c) the three-dimensional location coordinates information of the described processed building construction of calculating;
(d) the dependency structure parameter of the processed building construction that will obtain and calculate, bounding box size and three-dimensional location coordinates information synchronization are sent to the three-dimensional vision module;
When described administration module called the physical simulation module category information carries out the physical simulation computing to road and bridge, its physical simulation calculating process may further comprise the steps:
(I) obtain the dependency structure parameter of processed road and bridge the category information from the road and bridge of being transmitted, and described processed road and bridge are divided into a plurality of spatial triangles;
(II) calculate the number of vertices of described processed road and bridge and form the spatial triangle numbers of described processed road and bridge;
(III) all vertex information of processed road and bridge described in the obtaining step (II) and all spatial triangle information of forming described processed road and bridge;
(IV) according to all vertex information of being obtained in the step 3 and all spatial triangle information of forming described processed road and bridge, set up the mesh grid of described processed road and bridge;
(V) calculate the three-dimensional location coordinates information of described processed road and bridge;
(VI) the three-dimensional location coordinates information synchronization with processed road and bridge of being calculated in the mesh grid datas of the processed road and bridge of setting up in the step (IV) and the step (V) is sent to the three-dimensional vision module.
Administration module described in the above-mentioned steps 204 calls the physical simulation module earlier when the information of vehicles that is transmitted is carried out the physical simulation computing, and its physical simulation calculating process may further comprise the steps:
(i) from the information of vehicles that is transmitted, obtain the dependency structure parameter of processed vehicle;
(ii), calculate the encirclement radius of a ball that surrounds described processed vehicle from the space according to the dependency structure parameter of the processed vehicle that is obtained;
(iii) calculate the three-dimensional location coordinates information of described processed vehicle;
(iv), calculate the center of gravity of described processed vehicle according to the dependency structure parameter of the processed vehicle that is obtained in the step (i);
(quality and the engine related work parameter of processed vehicle are set v);
(vi) the dependency structure parameter of the processed vehicle that will obtain and calculate, the encirclement radius of a ball, three-dimensional location coordinates information, quality and engine related work parameter synchronization are sent to the three-dimensional vision module.
The present invention compared with prior art has the following advantages:
1, hardware device is simple and input cost is very low.
2, modern design, employing is demarcated paper and is demarcated control and adopt camera as the information interaction means, can control virtual car accurately also really, reach the purpose of drive simulating, specifically be to read the information of demarcating on the paper and cooperate camera to carry out information interaction, realize virtual car is carried out drive simulating by camera.
3, the demarcation paper structure is simple, processing and fabricating is convenient, only needing to print corresponding required several Control information pattern on a conventional cards gets final product, employed demarcation paper specific design is to comprise gear, turn to, blow a whistle, brake and move backward the card of five kinds of information among the present invention, moves accordingly with Control of Automobile.
4, virtual driving is effective and use easy and simple to handlely, and the present invention is the virtual car control loop based on camera, can be by control the driving virtual car to what demarcate paper in actual environment.
5, select for use and demarcate the simulation " pilothouse " of paper as vehicle, it is very cheap to need the simulative automobile of additional hardware equipment to drive system's price, and has portable advantage; Than the simulative automobile driving system of pure software, improved the operability of simulative automobile driving.
6, transmit after the demarcation paper information Recognition that the technology of utilizing augmented reality in the mixed reality is obtained camera, physical simulation engine part specifically is the physical impacts effect of physical simulation module simulation automobile, and above information is shown in virtual three-dimensional scenic in real time.
In sum, the present invention is rationally novel in design, cost of investment is low, use easy and simple to handle and virtual driving is effective, workable, it combines the pros and cons of various drive manners in the common drive simulating, a kind of brand-new drive simulating mode has been proposed, specifically be in actual environment, to control to demarcating paper by a camera and a demarcation paper that prints, simultaneously obtain information and be passed to PC through camera, reach the control virtual car, realize the purpose of drive simulating, thereby the present invention is interactive mode with the camera, by controlling of virtual car being reached the purpose of drive simulating in actual environment.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is the structural representation of virtual car control loop of the present invention with demarcation paper.
Fig. 2 is the hardware configuration synoptic diagram of virtual car control loop of the present invention.
Fig. 3 is the fundamental diagram of virtual car control loop of the present invention with controller.
Method flow diagram when Fig. 4 carries out virtual driving for the present invention.
Fig. 5 carries out the method flow diagram of visual information when mutual for the present invention.
Method flow diagram when Fig. 6 carries out the physical simulation computing for administration module among the present invention calls the physical simulation module to building construction information.
Method flow diagram when Fig. 7 calls the physical simulation module category information carries out the physical simulation computing to road and bridge for administration module among the present invention.
Method flow diagram when Fig. 8 carries out the physical simulation computing for administration module among the present invention calls the physical simulation module to information of vehicles.
Description of reference numerals:
1-demarcates paper; 1-1-gear control pattern; 1-2-turns to the control pattern;
The 1-3-control pattern of blowing a whistle; 1-4-brake control pattern; 1-5-reversing control pattern;
The 2-camera; The 3-PC machine; The 3-1-controller;
The 3-11-administration module; 3-12-three-dimensional vision module; 3-13-speed Control module;
The 3-14-control module of blowing a whistle; The 3-15-control module of braking; The 3-16-control module of moveing backward;
3-17-turns to control module; 3-18-visual interactive module; 3-19-physical simulation module;
The 3-2-display; The 3-3-mouse; The 3-4-keyboard;
The 4-scene library; 5-vehicle storehouse.
Embodiment
As Fig. 1, Fig. 2 and shown in Figure 3, a kind of virtual car control loop of the present invention based on camera, comprise that iso-surface patch has multiple confession virtual driving personnel to put the vehicle control information pattern that touches and can arbitrarily be rotated the demarcation paper of controlling 1, the real-time camera 2 that the status information of demarcating vehicle control information pattern on the paper 1 is absorbed, the controller 3-1 that joins and the status information of the camera 2 vehicle control information pattern that absorbs is discerned and carried out the corresponding analysis processing with camera 2, parameter set unit of joining with controller 3-1 and the display 3-2 that the analysis processing result of controller 3-1 is shown synchronously, described controller 3-1 and display 3-2 join, and camera 2 is laid in demarcates paper 1 top.Described vehicle control information pattern comprise be plotted in demarcate five kinds on the paper 1 gears control pattern 1-1 that represent gear respectively, turn to, blow a whistle, brake and move backward, turn to control pattern 1-2, control pattern 1-3, brake control pattern 1-4 and reversing control pattern 1-5 blow a whistle.
In the present embodiment, the shape of described vehicle control information pattern is square.Mouse 3-3 and the keyboard 3-4 of described parameter set unit for joining with controller 3-1 respectively, and described controller 3-1, display 3-2, mouse 3-3 and keyboard 3-4 are the PC 3 that is assembled into one.Described camera 2 is laid in demarcates paper 1 side top.
And the quantity of described gear control pattern 1-1 is 5, and 5 gear control pattern 1-1 represent 5 different road speed gears respectively.Describedly turn to control pattern 1-2, the quantity of blow a whistle control pattern 1-3, brake control pattern 1-4 and reversing control pattern 1-5 is 1.The described control pattern 1-2 that turns to is laid in demarcation paper 1 center upper portion, described 5 gears control pattern 1-1 is a vertical setting of types and is laid in demarcation paper 1 left side, described brake control pattern 1-4 is laid in and demarcates paper 1 right side, and the described reversing control pattern 1-5 and the control pattern 1-3 one the first from left right side of blowing a whistle are laid in demarcates paper 1 bottom.
A kind of virtual car drive manner based on camera as shown in Figure 4 may further comprise the steps:
201, demarcating paper 1 controls: demarcate controlling of paper 1 and mainly comprise a little touching and be plotted in the gear control pattern 1-1 that demarcates on the paper 1, blow a whistle control pattern 1-3, brake control pattern 1-4 and reversing control pattern 1-5 and 1 five kinds of steer mode of left rotation and right rotation demarcation paper respectively.
202, visual information is obtained: the status information of camera 2 real time shooting vehicle control information patterns also is uploaded to controller 3-1 synchronously with the status information of being absorbed.In the present embodiment.During the status information of described camera 2 real time shooting vehicle control information patterns, absorb and be uploaded to controller 3-1 status information be gear control pattern 1-1, the whether covered information and demarcate paper 1 of control pattern 1-3, brake control pattern 1-4 or reversing control pattern 1-5 of blowing a whistle whether by left rotation and right rotation and the angle information of demarcating paper 1 left rotation and right rotation.
203, visual information is mutual: the administration module 3-11 among the controller 3-1 calls visual interactive module 3-18 processing is caught and discerned to the status information that camera 2 is transmitted, and will to discern result be that the control information synchronous driving is to administration module 3-11.
In conjunction with Fig. 5, in the present embodiment, administration module 3-11 calls status information that visual interactive module 3-18 transmitted camera 2, and to catch and discern the process of processing as follows: at first to call the vision signal that the video capture function absorbed camera 2 be that status information is caught to visual interactive module 3-18, and administration module 3-11 recalls information recognition function carries out signal identification to the vision signal of being caught again afterwards.
204, drive control: the control information that described administration module 3-11 is transmitted according to visual interactive module 3-18 is corresponding call speed Control module 3-13, the control module of blowing a whistle 3-14, brake control module 3-15, reversing control module 3-16 respectively and turn to control module 3-17 to the vehicle transferring and drive carry out speed Control, the control of blowing a whistle, brake control, reversing controls and turns to control; Drive in the control procedure, administration module 3-11 with the information of vehicles transferred in described control information and the step 1 and three-dimensional scene information synchronous driving to physical simulation module 3-19 and three-dimensional vision module 3-12, administration module 3-11 calls physical simulation module 3-19 earlier and according to the control information that is transmitted the information of vehicles and the three-dimensional scene information that are transmitted is carried out the physical simulation computing, and with the synchronous driving of physical simulation operation result to three-dimensional vision module 3-12; Afterwards, administration module 3-11 calls physical simulation operation result that three-dimensional vision module 3-12 transmitted physical simulation module 3-19 again to carry out analyzing and processing and demonstration synchronously and carries out real-time update according to the information of vehicles and the three-dimensional scene information of the control information that is transmitted after to the physical simulation computing, realizes by three-dimensional vision module 3-12 driving the purpose that travel condition of vehicle in the control procedure and peripheral three-dimensional scenic dynamically reach demonstration directly perceived.
In conjunction with Fig. 6 and Fig. 7, described administration module 3-11 calls physical simulation module 3-19 earlier when the three-dimensional scene information that is transmitted is carried out the physical simulation computing, with the three-dimensional scene information that is transmitted be divided into building construction, mobiles class and road and bridge category information;
Wherein said administration module 3-11 calls physical simulation module 3-19 when building construction information is carried out the physical simulation computing, and its physical simulation calculating process may further comprise the steps:
(a) from the building construction information that is transmitted, obtain the dependency structure parameter of processed building construction;
(b) according to the dependency structure parameter of the processed building construction that is obtained, calculate the bounding box size of surrounding described processed building construction from the space;
(c) the three-dimensional location coordinates information of the described processed building construction of calculating;
(d) the dependency structure parameter of the processed building construction that will obtain and calculate, bounding box size and three-dimensional location coordinates information synchronization are sent to three-dimensional vision module 3-12.
When described administration module 3-11 called physical simulation module 3-19 category information carries out the physical simulation computing to road and bridge, its physical simulation calculating process may further comprise the steps:
(I) obtain the dependency structure parameter of processed road and bridge the category information from the road and bridge of being transmitted, and described processed road and bridge are divided into a plurality of spatial triangles;
(II) calculate the number of vertices of described processed road and bridge and form the spatial triangle numbers of described processed road and bridge;
(III) all vertex information of processed road and bridge described in the obtaining step (II) and all spatial triangle information of forming described processed road and bridge;
(IV) according to all vertex information of being obtained in the step 3 and all spatial triangle information of forming described processed road and bridge, set up the mesh grid of described processed road and bridge;
(V) calculate the three-dimensional location coordinates information of described processed road and bridge;
(VI) the three-dimensional location coordinates information synchronization with processed road and bridge of being calculated in the mesh grid datas of the processed road and bridge of setting up in the step (IV) and the step (V) is sent to three-dimensional vision module 3-12.
In conjunction with Fig. 8, described administration module 3-11 calls physical simulation module 3-19 earlier when the information of vehicles that is transmitted is carried out the physical simulation computing, and its physical simulation calculating process may further comprise the steps:
(i) from the information of vehicles that is transmitted, obtain the dependency structure parameter of processed vehicle;
(ii), calculate the encirclement radius of a ball that surrounds described processed vehicle from the space according to the dependency structure parameter of the processed vehicle that is obtained;
(iii) calculate the three-dimensional location coordinates information of described processed vehicle;
(iv), calculate the center of gravity of described processed vehicle according to the dependency structure parameter of the processed vehicle that is obtained in the step (i);
(quality and the engine related work parameter of processed vehicle are set v);
(vi) the dependency structure parameter of the processed vehicle that will obtain and calculate, the encirclement radius of a ball, three-dimensional location coordinates information, quality and engine related work parameter synchronization are sent to three-dimensional vision module 3-12.
To sum up, mainly be provided with administration module 3-11, three-dimensional vision module 3-12, physical simulation module 3-19, visual interactive module 3-18 and speed Control module 3-13, the control module of blowing a whistle 3-14, brake control module 3-15, reversing control module 3-16 and turn to control module 3-17 among the described controller 3-1.In the actual use, described administration module 3-11, three-dimensional vision module 3-12, physical simulation module 3-19, four modules of visual interactive module 3-18 are separate and information data is transmitted between above-mentioned four modules mutually.Particularly: described visual interactive module 3-18 is responsible for vision signal in the system and promptly demarcates obtaining and discerning of control information on the paper 1, administration module 3-11 manages the co-ordination of various data runs and each intermodule, the physical characteristics of physical simulation module 3-19 simulation virtual car and three-dimensional scenic, comprise physical parameter, collision detection of automobile etc., three-dimensional vision module 3-12 is responsible for the real-time demonstration of three-dimensional scene information and information of vehicles.During real work, camera 2 at first is that control information passes to visual interactive module 3-18 with the status information data of being absorbed, visual interactive module 3-18 passes to administration module 3-11 to transmitting after the control information that comes is obtained and discerned again, administration module 3-11 is corresponding to be read scene information and reads information of vehicles and the scene information that read and information of vehicles are transmitted the control information that comes with visual interactive module 3-18 from vehicle storehouse 5 and pass to physical simulation module 3-19 and three-dimensional vision module 3-12 together from scene library 4, after physical simulation module 3-19 carries out the physical simulation computing, the physical simulation operation result also is delivered to three-dimensional vision module 3-12, three-dimensional vision module 3-12 receives after the information of administration module 3-11 and physical simulation module 3-19 transmission, and is dynamic in the display window of display 3-2, show travel condition of vehicle and peripheral three-dimensional scenic intuitively.
When described visual interactive module 3-18 discerns the status information of demarcating paper 1, when human pilot finger covers in that some square frames are gear control pattern 1-1 in five square frames demarcating paper 1 left side vertical array and represent five road speed gears respectively, the video information of 2 pairs of this moments of camera is absorbed and visual interactive module 3-18 catches and discerns (when specifically discerning the video information that this moment, camera 2 was absorbed simultaneously, visual interactive module 3-18 is sent to administration module 3-11 with the covered data message of a certain square frame that is identified, administration module 3-11 compares to the data message analyzing and processing that received and with predefined velocity information, access the pairing pre-set velocity numerical value of predefined this covering square frame) and the corresponding instruction corresponding that identifies, administration module 3-11 is corresponding at this moment adjusts the physical engine partial parameters of automobile automatically by physical simulation module 3-19, realizes controlling with this steering order the purpose of the road speed that driven a car.What turning on the described demarcation paper 1 controlled i.e. " Wheel " box indicating of pattern 1-2 is automobile steering wheel, the corner that define system recognizes " Wheel " square frame when demarcating paper 1 for the first time is 0 degree, demarcate when paper 1 rotates in the plane and can produce differential seat angle, the demarcation paper 1 that this moment, visual interactive module 3-18 was absorbed camera 2 turn to and rotational angle is sent to administration module 3-11 after discerning, administration module 3-11 is that rotational angle numerical value is provided with the corner that is driven a car according to the angle difference that calculates again, thereby realizes motor turning." S " square frame on the described demarcation paper 1 control pattern 1-3 that promptly blows a whistle represents to blow a whistle, and in like manner, after covering in this square frame, administration module 3-11 is according to the recognition result of visual interactive module 3-18, and the corresponding file that plays sound that calls is automatically blown a whistle." B " square frame among the figure on the described demarcation paper 1 control pattern 1-4 that promptly brakes represents brake, after covering in this square frame, administration module 3-11 adjusts the physical engine partial parameters that is driven a car by physical simulation module 3-19 automatically according to the recognition result of visual interactive module 3-18 is corresponding, for automobile applies an acting force, make the speed of automobile be reduced to 0 gradually, thereby realize the automobile stop motion." R " square frame on the described demarcation paper 1 control pattern 1-5 that promptly moves backward represents reversing, in like manner, after covering in this square frame, administration module 3-11 is according to the recognition result of visual interactive module 3-18, correspondingly the physical engine partial parameters of automobile is adjusted automatically by physical simulation module 3-19, the road speed negative sense of automobile is increased, thereby realize that automobile carries out the opposite direction motion.
In sum, after the present invention obtains the calibration information of demarcating on the paper 1 and is control information by camera 2, correspondingly again identify corresponding operational order by visual interactive module 3-18, administration module 3-11 is according to the speed of a motor vehicle of this operational order command calculations virtual car afterwards, controlled variable such as steering angle, and the controlled variable that calculates is delivered to physical simulation module 3-19 and three-dimensional vision module 3-12, physical simulation module 3-19 receives after the above-mentioned controlled variable that physical engine partial parameters to automobile adjusts accordingly and corresponding control institute drives a car does corresponding motion, and physical simulation module 3-19 is delivered to this motion result among the three-dimensional vision module 3-12, has just formed the whole simulating driving procedure to virtual car.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.
Claims (9)
1. virtual car control loop based on camera, it is characterized in that: comprise that iso-surface patch has multiple confession virtual driving personnel to put the vehicle control information pattern that touches and can arbitrarily be rotated the demarcation paper of controlling (1), go up the camera (2) that the status information of vehicle control information pattern is absorbed to demarcating paper (1) in real time, the controller (3-1) that joins and the status information of camera (2) the vehicle control information pattern that absorbs is discerned and carried out the corresponding analysis processing with camera (2), parameter set unit of joining with controller (3-1) and the display (3-2) that the analysis processing result of controller (3-1) is shown synchronously, described controller (3-1) joins with display (3-2), and camera (2) is laid in demarcates paper (1) top; Described vehicle control information pattern comprise be plotted in demarcate five kinds on the paper (1) the gears control patterns (1-1) of representing gear respectively, turn to, blow a whistle, brake and moveing backward, turn to control pattern (1-2), the control pattern (1-3) of blowing a whistle, brake control pattern (1-4) and reversing control pattern (1-5).
2. according to the described a kind of virtual car control loop based on camera of claim 1, it is characterized in that: the shape of described vehicle control information pattern is square.
3. according to claim 1 or 2 described a kind of virtual car control loops based on camera, it is characterized in that: mouse (3-3) and the keyboard (3-4) of described parameter set unit for joining with controller (3-1) respectively, and described controller (3-1), display (3-2), mouse (3-3) and keyboard (3-4) they are the PC (3) that is assembled into one.
4. according to claim 1 or 2 described a kind of virtual car control loops based on camera, it is characterized in that: the quantity of described gear control pattern (1-1) is 5, and 5 gear control patterns (1-1) are represented 5 different road speed gears respectively; The quantity that describedly turn to control pattern (1-2), pattern (1-5) is controlled in blow a whistle control pattern (1-3), brake control pattern (1-4) and reversing is 1.
5. according to the described a kind of virtual car control loop of claim 4 based on camera, it is characterized in that: the described control pattern (1-2) that turns to is laid in demarcation paper (1) center upper portion, described 5 gears control patterns (1-1) are a vertical setting of types and are laid in demarcation paper (1) left side, described brake control pattern (1-4) is laid in demarcates paper (1) right side, and the described reversing control pattern (1-5) and control pattern (1-3) the first from left right side of blowing a whistle are laid in demarcates paper (1) bottom.
6. one kind is utilized that claim 1 is described carries out the method for virtual driving based on the virtual car control loop of camera, it is characterized in that this method may further comprise the steps:
Step 1, driving are prepared: at first, will demarcate paper (1) and ajust also smooth being laid on the operating platform; Afterwards, start-up control device (3-1) and used type of vehicle and residing three-dimensional scenic type when setting driving by described parameter set unit, administration module (3-11) in the controller (3-1) is again according to corresponding information of vehicles and the three-dimensional scene information of transferring correspondence respectively from the scene library (4) set up in advance and vehicle storehouse (5) with the three-dimensional scenic type of the type of vehicle that sets, while administration module (3-11) calls three-dimensional vision module (3-12) and by display (3-2) information of vehicles and the three-dimensional scene information of being transferred is shown synchronously, and the corner that turn to control pattern (1-2) to be in the original state and the automobile that calls this moment is 0 °;
Step 2, demarcate paper (1) by controlling, the vehicle of being transferred in the step 1 is carried out virtual driving, and corresponding realization is to the control of carrying out speed change, blow a whistle, turn to, brake and move backward of the vehicle transferring and drive, its virtual driving process is as follows:
201, demarcating paper (1) controls: demarcate controlling of paper (1) and mainly comprise a little touching and be plotted in the gear control pattern of demarcating on the paper (1) (1-1), the control pattern (1-3) of blowing a whistle, brake control pattern (1-4) and reversing respectively and control pattern (1-5) and (1) five kind of steer mode of left rotation and right rotation demarcation paper;
202, visual information is obtained: the status information of camera (2) real time shooting vehicle control information pattern also is uploaded to controller (3-1) synchronously with the status information of being absorbed;
203, visual information is mutual: the administration module (3-11) in the controller (3-1) calls visual interactive module (3-18) processing is caught and discerned to the status information that camera (2) is transmitted, and will to discern result be that the control information synchronous driving is to administration module (3-11);
204, drive control: the control information that described administration module (3-11) is transmitted according to visual interactive module (3-18) is corresponding calls speed Control module (3-13), the control module of blowing a whistle (3-14), brake control module (3-15), reversing control module (3-16) respectively and turns to control module (3-17) that the vehicle transferring and drive is carried out speed Control, the control of blowing a whistle, brake control, moves backward and control and turn to control; Drive in the control procedure, administration module (3-11) with the information of vehicles transferred in described control information and the step 1 and three-dimensional scene information synchronous driving to physical simulation module (3-19) and three-dimensional vision module (3-12), administration module (3-11) calls physical simulation module (3-19) earlier and according to the control information that is transmitted the information of vehicles and the three-dimensional scene information that are transmitted is carried out the physical simulation computing, and with the synchronous driving of physical simulation operation result to three-dimensional vision module (3-12); Afterwards, the physical simulation operation result that the three-dimensional vision module (3-12) of administration module (3-11) calling is again transmitted physical simulation module (3-19) carries out analyzing and processing and demonstration synchronously and carries out real-time update according to the information of vehicles and the three-dimensional scene information of the control information that is transmitted after to the physical simulation computing, realizes the purpose that the travel condition of vehicle in the driving control procedure and peripheral three-dimensional scenic is dynamically reached demonstration directly perceived by three-dimensional vision module (3-12).
7. according to the described a kind of virtual car drive manner of claim 6 based on camera, it is characterized in that: during the status information of the camera described in the step 202 (2) real time shooting vehicle control information pattern, absorb and be uploaded to controller (3-1) status information be gear control pattern (1-1), the control pattern (1-3) of blowing a whistle, brake control pattern (1-4) or reversing control pattern (1-5) covered information and demarcate paper (1) whether whether by left rotation and right rotation and the angle information of demarcating paper (1) left rotation and right rotation.
8. according to claim 6 or 7 described a kind of virtual car drive manners based on camera, it is characterized in that: the administration module described in the step 204 (3-11) calls physical simulation module (3-19) earlier when the three-dimensional scene information that is transmitted is carried out the physical simulation computing, with the three-dimensional scene information that is transmitted be divided into building construction, mobiles class and road and bridge category information;
Wherein said administration module (3-11) calls physical simulation module (3-19) when building construction information is carried out the physical simulation computing, and its physical simulation calculating process may further comprise the steps:
(a) from the building construction information that is transmitted, obtain the dependency structure parameter of processed building construction;
(b) according to the dependency structure parameter of the processed building construction that is obtained, calculate the bounding box size of surrounding described processed building construction from the space;
(c) the three-dimensional location coordinates information of the described processed building construction of calculating;
(d) the dependency structure parameter of the processed building construction that will obtain and calculate, bounding box size and three-dimensional location coordinates information synchronization are sent to three-dimensional vision module (3-12);
When described administration module (3-11) called physical simulation module (3-19) category information carries out the physical simulation computing to road and bridge, its physical simulation calculating process may further comprise the steps:
(I) obtain the dependency structure parameter of processed road and bridge the category information from the road and bridge of being transmitted, and described processed road and bridge are divided into a plurality of spatial triangles;
(II) calculate the number of vertices of described processed road and bridge and form the spatial triangle numbers of described processed road and bridge;
(III) all vertex information of processed road and bridge described in the obtaining step (II) and all spatial triangle information of forming described processed road and bridge;
(IV) according to all vertex information of being obtained in the step 3 and all spatial triangle information of forming described processed road and bridge, set up the mesh grid of described processed road and bridge;
(V) calculate the three-dimensional location coordinates information of described processed road and bridge;
(VI) the three-dimensional location coordinates information synchronization with processed road and bridge of being calculated in the me s h grid datas of the processed road and bridge of setting up in the step (IV) and the step (V) is sent to three-dimensional vision module (3-12).
9. according to the described a kind of virtual car drive manner of claim 8 based on camera, it is characterized in that: the administration module described in the step 204 (3-11) calls physical simulation module (3-19) earlier when the information of vehicles that is transmitted is carried out the physical simulation computing, and its physical simulation calculating process may further comprise the steps:
(i) from the information of vehicles that is transmitted, obtain the dependency structure parameter of processed vehicle;
(ii), calculate the encirclement radius of a ball that surrounds described processed vehicle from the space according to the dependency structure parameter of the processed vehicle that is obtained;
(iii) calculate the three-dimensional location coordinates information of described processed vehicle;
(iv), calculate the center of gravity of described processed vehicle according to the dependency structure parameter of the processed vehicle that is obtained in the step (i);
(quality and the engine related work parameter of processed vehicle are set v);
(vi) the dependency structure parameter of the processed vehicle that will obtain and calculate, the encirclement radius of a ball, three-dimensional location coordinates information, quality and engine related work parameter synchronization are sent to three-dimensional vision module (3-12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100137383A CN101770707B (en) | 2010-01-15 | 2010-01-15 | Camera based virtual vehicle driving system and virtual driving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100137383A CN101770707B (en) | 2010-01-15 | 2010-01-15 | Camera based virtual vehicle driving system and virtual driving method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101770707A true CN101770707A (en) | 2010-07-07 |
| CN101770707B CN101770707B (en) | 2011-07-20 |
Family
ID=42503550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010100137383A Expired - Fee Related CN101770707B (en) | 2010-01-15 | 2010-01-15 | Camera based virtual vehicle driving system and virtual driving method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101770707B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184655A (en) * | 2011-05-03 | 2011-09-14 | 四川省绵阳西南自动化研究所 | Portable processing platform of false or true scene signals |
| CN102929387A (en) * | 2012-09-25 | 2013-02-13 | 长安大学 | Man-machine interaction method and man-machine interaction system based on common paper and pen |
| WO2018098744A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Data processing method and system based on virtual driving |
| CN109936834A (en) * | 2017-12-19 | 2019-06-25 | 通用汽车环球科技运作有限责任公司 | Augmented reality vehicle user interface |
| CN112289125A (en) * | 2020-11-16 | 2021-01-29 | 株洲壹星科技股份有限公司 | Vehicle MR simulation driving practical training method and practical training device |
| CN113813597A (en) * | 2020-06-19 | 2021-12-21 | 丰田自动车株式会社 | Information processing device, information processing system, program, and vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100589148C (en) * | 2007-07-06 | 2010-02-10 | 浙江大学 | Method for implementing automobile driving analog machine facing to disciplinarian |
| CN101533571A (en) * | 2009-04-24 | 2009-09-16 | 昆明理工大学 | Simulated experiment system for driving in environment with people, vehicles and roads |
| CN101587658A (en) * | 2009-06-16 | 2009-11-25 | 长安大学 | Graphics rendering engine and physics engine-based three-dimension automobile driving simulation device |
| CN201576364U (en) * | 2010-01-15 | 2010-09-08 | 长安大学 | Virtual automobile driving system based on camera |
-
2010
- 2010-01-15 CN CN2010100137383A patent/CN101770707B/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102184655A (en) * | 2011-05-03 | 2011-09-14 | 四川省绵阳西南自动化研究所 | Portable processing platform of false or true scene signals |
| CN102929387A (en) * | 2012-09-25 | 2013-02-13 | 长安大学 | Man-machine interaction method and man-machine interaction system based on common paper and pen |
| CN102929387B (en) * | 2012-09-25 | 2015-06-10 | 长安大学 | Man-machine interaction method and man-machine interaction system based on common paper and pen |
| WO2018098744A1 (en) * | 2016-11-30 | 2018-06-07 | 深圳益强信息科技有限公司 | Data processing method and system based on virtual driving |
| CN109936834A (en) * | 2017-12-19 | 2019-06-25 | 通用汽车环球科技运作有限责任公司 | Augmented reality vehicle user interface |
| CN109936834B (en) * | 2017-12-19 | 2022-06-07 | 通用汽车环球科技运作有限责任公司 | Augmented reality vehicle user interface |
| CN113813597A (en) * | 2020-06-19 | 2021-12-21 | 丰田自动车株式会社 | Information processing device, information processing system, program, and vehicle |
| CN112289125A (en) * | 2020-11-16 | 2021-01-29 | 株洲壹星科技股份有限公司 | Vehicle MR simulation driving practical training method and practical training device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101770707B (en) | 2011-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101770707B (en) | Camera based virtual vehicle driving system and virtual driving method | |
| CN1073454C (en) | Driving game machine | |
| CN110097799B (en) | Virtual driving system based on real scene modeling | |
| JP4598117B2 (en) | Method and apparatus for providing a gearing effect to an input based on one or more visual, acoustic, inertial and mixed data | |
| CN104851330B (en) | A kind of parking simulated training method and system | |
| CN110427682A (en) | A kind of traffic scene simulation experiment platform and method based on virtual reality | |
| CN104732835B (en) | A kind of intelligent miniature vehicle instructional device in stadium | |
| CN103279191B (en) | A kind of 3D virtual interacting method based on Gesture Recognition and system | |
| CN110197036B (en) | Intelligent driving evaluation system and evaluation method | |
| CN110109552B (en) | Virtual driving scene modeling method based on real environment | |
| CN104036668A (en) | Intelligent automobile simulating driving device | |
| CN101954191B (en) | Intelligent entertainment mobile robot | |
| CN107671857A (en) | For service robot operation demonstration and the three-dimensional artificial platform of proof of algorithm | |
| KR20200004875A (en) | Virtual reality removable pods | |
| CN109615969A (en) | Automobile assembling experiment porch based on virtual reality technology | |
| CN201576364U (en) | Virtual automobile driving system based on camera | |
| CN206541476U (en) | Traffic driver training instrument based on VR glasses | |
| CN109961670A (en) | A kind of pilot instrument based on VR technology | |
| CN108922307A (en) | Drive simulating training method, device and driving simulation system | |
| KR20150101284A (en) | Unmanned booth type sensible motion riding system and operating method thereof | |
| CN202534194U (en) | Yacht driving simulation system | |
| CN111714865B (en) | Virtual riding simulation environment synchronization method and platform and virtual riding synchronization system | |
| CN209717726U (en) | A kind of remote replacement robot used in grain depot garden | |
| US11559750B2 (en) | Dynamic projection mapping for morphing set pieces | |
| CN215298537U (en) | Motor vehicle driving intelligent training system based on MR technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110720 Termination date: 20130115 |