CN101901556A - Force feedback steering system for emulating control feel of steering wheel and emulated driving system of automobile - Google Patents
Force feedback steering system for emulating control feel of steering wheel and emulated driving system of automobile Download PDFInfo
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- CN101901556A CN101901556A CN2009100857714A CN200910085771A CN101901556A CN 101901556 A CN101901556 A CN 101901556A CN 2009100857714 A CN2009100857714 A CN 2009100857714A CN 200910085771 A CN200910085771 A CN 200910085771A CN 101901556 A CN101901556 A CN 101901556A
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Abstract
The invention discloses a force feedback steering system for emulating control feel of steering wheel and an emulated driving system of an automobile. The force feedback steering system comprises an upper computer, a master control circuit board, a control board and a control device, wherein the upper computer is used for analyzing scene information of a visual scene subsystem and generating a first control signal in accordance with an automobile dynamical model; the master control circuit board is used for receiving the first control signal and analyzing the first control signal to generate a second control signal; the control board is used for receiving the second control signal and controlling a running state of the control device in accordance with the second control signal; and the control device is connected with an emulating steering device and is used for controlling the emulating steering device, so that the emulating steering device emulates a stress state of a real automobile steering wheel, thereby being capable of really emulating different stress states of the steering wheel under the various conditions and improving emulation and control feel of the automobile emulated driving.
Description
Technical field
The present invention relates generally to the analogue technique field, is meant a kind of force feedback steering and simulative automobile driving system of simulating the steering wheel control feel especially.
Background technology
2008 the year end China's motor vehicles for civilian use recoverable amount reached more than 6,000 ten thousand, and just rapidly increase with annual speed more than 10%.Along with the restriction of country's cancellation, there is scholarly forecast China automobile pollution will increase faster to the economical car of little discharge capacity.Along with the rapid growth of automobile pollution, the motor traffic safety accident also sharply increases.
In order to reduce the motor traffic safety accident, improve the skill level of driving, human pilot is necessary to carry out certain training and evaluation and test, if yet all carry out actual training and evaluation and test, then need to spend a large amount of money and place, simultaneously because the enormous quantity of human pilot might need to wait for that the time of length could be participated in similarly training and evaluation and test.Therefore interactive automobile driving case teaching and examination system and method (referring to Chinese invention patent CN101034501) that a kind of simulated automotive driving experience occurred, described interactive automobile driving case teaching and examination system comprise vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem.Though this system's energy simulated automotive driving experience, but relevant very far away with real car steering impression, particularly the motor turning dish of simulation system is not owing to feeding back steering, with real control feel and inequality.
Summary of the invention
The present invention proposes a kind of simulative automobile driving system of simulating the feedback steering of steering wheel control feel and comprising the feedback steering of this simulation steering wheel control feel, can the real simulated bearing circle different stressing conditions in all cases, improved the emulation and the operation sense of simulative automobile driving.
Technical scheme of the present invention is achieved in that
A kind of feedback steering of simulating the steering wheel control feel, be applied in the simulative automobile driving system, described simulative automobile driving system comprises vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, described vehicle body includes the simulation steering gear of simulating steering wheel with a shelf system, and the feedback steering of described simulation steering wheel control feel comprises:
Host computer is used to analyze the scene information of described what comes into a driver's subsystem, and generates first control signal according to the automobile dynamics model;
Main control board is used to receive first control signal of described host computer, and resolves described first control signal, generates second control signal;
Control panel and control device, described control panel are used to receive described second control signal, and control the running status of described control device according to described second control signal;
Described control device links to each other with described simulation steering gear, and described control device is used to control described simulation steering gear, makes described simulation steering gear simulate the stress of true motor turning dish.
Preferably, described control device comprises:
Dc brushless motor is used to control the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional with the corner of described simulation steering wheel, and can provides unexpected steering force to described simulation steering wheel.
Preferably, described control device also comprises:
Gear set is used to control the left rotation and right rotation and the anglec of rotation of described simulation steering wheel.
Preferably, described control device also comprises:
Device for force feedback is used for applying feedback force to described simulation steering gear.
A kind of simulative automobile driving system, comprise vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, described vehicle body includes the simulation steering gear of simulating steering wheel with a shelf system, also comprise the force feedback steering of simulation steering wheel control feel, the force feedback steering of described simulation steering wheel control feel comprises:
Host computer is used to analyze the scene information of described what comes into a driver's subsystem, and generates first control signal according to the automobile dynamics model;
Main control board is used to receive first control signal of described host computer, and resolves described first control signal, generates second control signal;
Control panel and control device, described control panel are used to receive described second control signal, and control the running status of described control device according to described second control signal;
Described control device links to each other with described simulation steering gear, and described control device is used to control described simulation steering gear, makes described simulation steering gear simulate the stress of true motor turning dish.
Preferably, described control device comprises:
Dc brushless motor is used to control the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional with the corner of described simulation steering wheel, and can provides unexpected steering force to described simulation steering wheel.
Preferably, described control device also comprises:
Gear set is used to control the left rotation and right rotation and the anglec of rotation of described simulation steering wheel.
Preferably, described control device also comprises:
Device for force feedback is used for applying feedback force to described simulation steering gear.
The force feedback steering of simulation steering wheel control feel of the present invention and comprise the simulative automobile driving system of the force feedback steering of this simulation steering wheel control feel, by control device control simulation steering gear, make described simulation steering gear simulate the stress of true motor turning dish, can the real simulated bearing circle different stressing conditions in all cases, improved the emulation and the operation sense of simulative automobile driving.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural drawing of a kind of simulative automobile driving of prior art system;
Fig. 2 is a kind of structural drawing of simulating the force feedback steering preferred embodiment of steering wheel control feel of the present invention;
Fig. 3 is the structural drawing of a kind of simulative automobile driving optimum system choosing of the present invention embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
For making things convenient for description of the invention, this earlier to involved in the present invention to some notions describe.
Road element comprises motor vehicle, bicycle, personage, road barricade, policeman traffic gestures signal, traffic signals and sign etc.
Roadbed is meant the road that does not have movement elements, and it can adopt certain mode classification that it is divided into urban road, divides to road, mixes road, night road, rainy day road, muddy road, ice snow covered pavement, greasy weather road, mountain road, highway etc.
Road conditions are meant road traffic condition, what of road element can be divided into simple road conditions, general road conditions, complex road condition with closeness by.Simultaneously road conditions can be divided into two kinds of conventional road conditions and dangerous situation road conditions again, and so-called conventional road conditions are meant that road element is all by the requirement setting of traffic law and the road conditions of operation; The dangerous situation road conditions are meant the road conditions that are provided with the road element of illegal setting and operation in the accident case.
Road spectrum is by being provided with the driving-situation of the various situations that road element constitutes on roadbed.
As shown in the table, be illustrating of the setting of wherein a kind of road spectrum.
| Lighting condition | Well | Road type | Major urban arterial highway | The traffic control mode | Identifier marking |
| Road alignment | Straight road | Weather condition | Cloudy day | The crossing road segment classification | Three branch cross road |
| Road surface types | Cement | Topographic condition | The Plain | The track is provided with the transversal section | Divide to formula |
| Pavement conditions | Dry | Have a lot of social connections | 14 meters | The track is wide | 1.5 rice |
According to the various transportation conditions in the last table, selected corresponding roadbed, and after adding road element on the roadbed, can obtain a corresponding road spectrum.
Below a kind of simulative automobile driving of the prior art system is simply introduced, as Fig. 1, described simulative automobile driving of the prior art system comprises vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, wherein:
A vehicle body and a shelf system are used for operating personnel and realize drive simulating, wherein are provided with various functional units, if any simulation steering gear, clutch pedal assembly and the gas pedal assembly etc. of simulation steering wheel; Also comprise various instrument simultaneously, this instrument is according to the operation generation corresponding indicator signal of operating personnel to functional unit, and described vehicle body can be true car pilothouse or other drive simulating chamber with a shelf system.
The signals collecting subsystem is used for the acquisition operations personnel vehicle body and the functional unit of a shelf system is operated the exercise data of each functional unit of back, and is used for acquisition operations personnel's motor message; Also can be used for simultaneously showing according to the vehicle body that collects and the exercise data driving vehicle body of the functional unit of a shelf system and the instrument of a shelf system.
The what comes into a driver's subsystem is used for the road spectrum is represented to operating personnel, and is used for being operated the motion of the operated vehicle of personnel according to automobile dynamics model and the exercise data control road spectrum that collects each functional unit, and represents to operating personnel; This motion that is operated the operated vehicle of personnel is identical by the same motion that motion action produced under true environment with real vehicles.
With reference to Fig. 2, simulate the structural drawing of the force feedback steering preferred embodiment of steering wheel control feel for the present invention is a kind of.The force feedback steering of described simulation steering wheel control feel is applied in the simulative automobile driving system, described simulative automobile driving system comprises vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, described vehicle body has been described in detail in front with each ingredients such as a shelf system, signals collecting subsystem, what comes into a driver's subsystems, do not repeat them here, wherein, described vehicle body includes the simulation steering gear of simulating steering wheel with a shelf system.
The force feedback steering of described simulation steering wheel control feel comprises:
Host computer is used to analyze the scene information of described what comes into a driver's subsystem, and generates first control signal according to the automobile dynamics model.
Described scene information is preferably the road spectrum signal, comprises information such as various road conditions, and described host computer can be the device that computing machine etc. has information processing capability.
Main control board is used to receive first control signal of described host computer, and resolves described first control signal, generates second control signal.
Control panel and control device, described control panel are used to receive described second control signal, and control the running status of described control device according to described second control signal.
Described control device links to each other with described simulation steering gear, and described control device is used to control described simulation steering gear, makes described simulation steering gear simulate the stress of true motor turning dish.
Wherein, described control device comprises:
Dc brushless motor, be used to control the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional with the corner of described simulation steering wheel, and produces unexpected steering force according to the result of calculation of virtual three-dimensional road ground in the host computer and wheel contact condition.
The corner of described simulation steering wheel is big more, and the steering drag that described dc brushless motor is controlled described simulation steering wheel is also just big more, and it is big more to realize that steering wheel changes resistance more, thereby energy real simulated steering wheel is at the different stressing conditions of all angles.
Wherein, described control device also comprises:
Gear set is used to control the left rotation and right rotation and the anglec of rotation of described simulation steering wheel.
For example, the anglec of rotation that described gear set is controlled described simulation steering wheel is no more than 900, and promptly the left rotation and right rotation steering wheel is no more than two circles half, thus the emulation that improves the simulation steering gear.
Wherein, described control device also comprises:
Device for force feedback is used for implementing force feedback to described simulation steering gear.
When the simulated automotive on the road spectrum runs into the teat place, apply feedback force by described device for force feedback to described simulation steering gear, described simulation steering wheel can produce feedback force, thus the travel sensation of real simulated automobile on road more.
In the present invention, described host computer is analyzed scene informations different in the what comes into a driver's subsystem and different travel conditions, and generates first control signal of different state of a controls according to the automobile dynamics model.When running into the teat place on the scene road surface, first control signal that described host computer generates is through after the parsing of described main control board, described control panel can be implemented force feedback to described simulation steering gear according to the device for force feedback in the described control device of signal controlling after resolving, thus real stressing conditions during by the teat place in can real simulated running car way; Again for example, when needing to turn, first control signal that described host computer generates is through after the parsing of described main control board, described control panel can be according to the dc brushless motor in the described control device of signal controlling after resolving, and described dc brushless motor is controlled described simulation steering wheel, and to change resistance more big more.
The force feedback steering of simulation steering wheel control feel of the present invention, by control device control simulation steering gear, make described simulation steering gear simulate the stress of true motor turning dish, can the real simulated bearing circle different stressing conditions in all cases, improved the emulation and the operation sense of simulative automobile driving.
With reference to Fig. 3, show the composition structural drawing of a kind of simulative automobile driving optimum system choosing of the present invention embodiment.Described simulative automobile driving system comprises the force feedback steering of vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem and simulation steering wheel control feel, described vehicle body includes the simulation steering gear of simulating steering wheel with a shelf system, described vehicle body is described in detail in front with a shelf system, signals collecting subsystem, what comes into a driver's subsystem, does not repeat them here.
The force feedback steering of described simulation steering wheel control feel comprises:
Host computer is used to analyze the scene information of described what comes into a driver's subsystem, and generates first control signal according to the automobile dynamics model.
Described scene information is preferably the road spectrum signal, comprises information such as various road conditions, and described host computer can be the device that computing machine etc. has information processing capability.
Main control board is used to receive first control signal of described host computer, and resolves described first control signal, generates second control signal.
Control panel and control device, described control panel are used to receive described second control signal, and control the running status of described control device according to described second control signal.
Described control device links to each other with described simulation steering gear, and described control device is used to control described simulation steering gear, makes described simulation steering gear simulate the stress of true motor turning dish.
Wherein, described control device comprises:
Dc brushless motor, be used to control the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional with the corner of described simulation steering wheel, and produces unexpected steering force according to the result of calculation of virtual three-dimensional road ground in the host computer and wheel contact condition.
The corner of described simulation steering wheel is big more, and the steering drag that described dc brushless motor is controlled described simulation steering wheel is also just big more, and it is big more to realize that steering wheel changes resistance more, thereby energy real simulated steering wheel is at the different stressing conditions of all angles.
Wherein, described control device also comprises:
Gear set is used to control the left rotation and right rotation and the anglec of rotation of described simulation steering wheel.
For example, the anglec of rotation that described gear set is controlled described simulation steering wheel is no more than 900, and promptly the left rotation and right rotation steering wheel is no more than two circles half, thus the emulation that improves the simulation steering gear.
Wherein, described control device also comprises:
Device for force feedback is used for implementing force feedback to described simulation steering gear.
When the simulated automotive on the road spectrum runs into the teat place, apply feedback force by described device for force feedback to described simulation steering gear, described simulation steering wheel can produce feedback force, thus the travel sensation of real simulated automobile on road more.
In the present invention, different scene information and different travel conditions in the described host computer what comes into a driver's subsystem, and generate first control signal of different state of a controls according to the automobile dynamics model.When running into the teat place on the scene road surface, first control signal that described host computer generates is through after the parsing of described main control board, described control panel can be implemented force feedback to described simulation steering gear according to the device for force feedback in the described control device of signal controlling after resolving, thus real stressing conditions during by the teat place in can real simulated running car way; Again for example, when needing to turn, first control signal that described host computer generates is through after the parsing of described main control board, described control panel can be according to the dc brushless motor in the described control device of signal controlling after resolving, and described dc brushless motor is controlled described simulation steering wheel, and to change resistance more big more.
Simulative automobile driving of the present invention system, by control device control simulation steering gear, make described simulation steering gear simulate the stress of true motor turning dish, can the real simulated bearing circle different stressing conditions in all cases, improved the emulation and the operation sense of simulative automobile driving.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. force feedback steering of simulating the steering wheel control feel, be applied in the simulative automobile driving system, described simulative automobile driving system comprises vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, described vehicle body includes the simulation steering gear of simulating steering wheel with a shelf system, it is characterized in that the force feedback steering of described simulation steering wheel control feel comprises:
Host computer is used to analyze the scene information of described what comes into a driver's subsystem, and generates first control signal according to the automobile dynamics model;
Main control board is used to receive first control signal of described host computer, and resolves described first control signal, generates second control signal;
Control panel and control device, described control panel are used to receive described second control signal, and control the running status of described control device according to described second control signal;
Described control device links to each other with described simulation steering gear, and described control device is used to control described simulation steering gear, makes described simulation steering gear simulate the stress of true motor turning dish.
2. the force feedback steering of simulation steering wheel control feel according to claim 1 is characterized in that, described control device comprises:
Dc brushless motor is used to control the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional with the corner of described simulation steering wheel, and can provides unexpected steering force to described simulation steering wheel.
3. the force feedback steering of simulation steering wheel control feel according to claim 2 is characterized in that, described control device also comprises:
Gear set is used to control the left rotation and right rotation and the anglec of rotation of described simulation steering wheel.
4. the force feedback steering of simulation steering wheel control feel according to claim 3 is characterized in that, described control device also comprises:
Device for force feedback is used for applying feedback force to described simulation steering gear.
5. simulative automobile driving system, comprise vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, described vehicle body includes the simulation steering gear of simulating steering wheel with a shelf system, it is characterized in that, also comprise the force feedback steering of simulation steering wheel control feel, the force feedback steering of described simulation steering wheel control feel comprises:
Host computer is used to analyze the scene information of described what comes into a driver's subsystem, and generates first control signal according to the automobile dynamics model;
Main control board is used to receive first control signal of described host computer, and resolves described first control signal, generates second control signal;
Control panel and control device, described control panel are used to receive described second control signal, and control the running status of described control device according to described second control signal;
Described control device links to each other with described simulation steering gear, and described control device is used to control described simulation steering gear, makes described simulation steering gear simulate the stress of true motor turning dish.
6. simulative automobile driving according to claim 5 system is characterized in that described control device comprises:
Dc brushless motor is used to control the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional with the corner of described simulation steering wheel, and can provides unexpected steering force to described simulation steering wheel.
7. simulative automobile driving according to claim 6 system is characterized in that described control device also comprises:
Gear set is used to control the left rotation and right rotation and the anglec of rotation of described simulation steering wheel.
8. simulative automobile driving according to claim 7 system is characterized in that described control device also comprises:
Device for force feedback is used for applying feedback force to described simulation steering gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910085771.4A CN101901556B (en) | 2009-05-31 | 2009-05-31 | Force feedback steering system for emulating control feel of steering wheel and emulated driving system of automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910085771.4A CN101901556B (en) | 2009-05-31 | 2009-05-31 | Force feedback steering system for emulating control feel of steering wheel and emulated driving system of automobile |
Publications (2)
| Publication Number | Publication Date |
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| CN101901556A true CN101901556A (en) | 2010-12-01 |
| CN101901556B CN101901556B (en) | 2014-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910085771.4A Expired - Fee Related CN101901556B (en) | 2009-05-31 | 2009-05-31 | Force feedback steering system for emulating control feel of steering wheel and emulated driving system of automobile |
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| CN (1) | CN101901556B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102663919A (en) * | 2012-04-18 | 2012-09-12 | 北京宣爱智能模拟技术有限公司 | Simulation steering system of automotive driving simulator |
| CN105006185A (en) * | 2015-07-16 | 2015-10-28 | 江汉大学 | Double-motor steering wheel returning device and double-motor steering wheel returning method |
| CN105894889A (en) * | 2016-05-09 | 2016-08-24 | 合肥工业大学 | Multi-dimensional adjustable automobile steering operation simulation and test system and visual control method thereof |
| CN107256655A (en) * | 2017-08-06 | 2017-10-17 | 深圳市中智仿真科技有限公司 | A kind of driving simulator steering wheel reponse system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5044956A (en) * | 1989-01-12 | 1991-09-03 | Atari Games Corporation | Control device such as a steering wheel for video vehicle simulator with realistic feedback forces |
| CN1097884A (en) * | 1994-06-09 | 1995-01-25 | 李占武 | The driving simulation system of training vehicle driver |
| US6557662B1 (en) * | 2000-11-22 | 2003-05-06 | Visteon Global Technologies, Inc. | Magneto-rheological simulated steering feel system |
| JP3935409B2 (en) * | 2002-08-27 | 2007-06-20 | 富士重工業株式会社 | Electric power steering device |
| JP4581660B2 (en) * | 2004-12-02 | 2010-11-17 | 日産自動車株式会社 | Vehicle steering system |
| CN101034500B (en) * | 2006-12-29 | 2011-05-25 | 北京宣爱智能模拟技术有限公司 | Active automobile driving case teaching and examination system and method |
-
2009
- 2009-05-31 CN CN200910085771.4A patent/CN101901556B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102663919A (en) * | 2012-04-18 | 2012-09-12 | 北京宣爱智能模拟技术有限公司 | Simulation steering system of automotive driving simulator |
| CN102663919B (en) * | 2012-04-18 | 2014-03-05 | 北京宣爱智能模拟技术股份有限公司 | Simulation steering system of automotive driving simulator |
| CN105006185A (en) * | 2015-07-16 | 2015-10-28 | 江汉大学 | Double-motor steering wheel returning device and double-motor steering wheel returning method |
| CN105894889A (en) * | 2016-05-09 | 2016-08-24 | 合肥工业大学 | Multi-dimensional adjustable automobile steering operation simulation and test system and visual control method thereof |
| CN105894889B (en) * | 2016-05-09 | 2018-06-12 | 合肥工业大学 | A kind of multidimensional adjustable automobile handling maneuver simulation and the what comes into a driver's control method of test system |
| CN107256655A (en) * | 2017-08-06 | 2017-10-17 | 深圳市中智仿真科技有限公司 | A kind of driving simulator steering wheel reponse system |
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| Publication number | Publication date |
|---|---|
| CN101901556B (en) | 2014-03-26 |
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