CN101901556B - 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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- CN101901556B CN101901556B CN200910085771.4A CN200910085771A CN101901556B CN 101901556 B CN101901556 B CN 101901556B CN 200910085771 A CN200910085771 A CN 200910085771A CN 101901556 B CN101901556 B CN 101901556B
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- steering wheel
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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 analogue technique field, refers to especially a kind of force feedback steering and driving stimulation system of simulating steering wheel control feel.
Background technology
2008 the year end China's motor vehicles for civilian use recoverable amount reached more than 6,000 ten thousand, and just with annual more than 10% speed, rapidly increase.Along with country cancels the restriction to the economical car of small displacement, there is scholarly forecast China automobile pollution will increase faster.Along with the rapid growth of automobile pollution, motor traffic safety accident also sharply increases.
In order to reduce 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, need to spend a large amount of money and place, due to the enormous quantity of human pilot, likely need the longer time of wait could participate in similarly training and evaluation and test simultaneously.Therefore occurred a kind of interactive automobile driving case teaching and examination system and method (referring to Chinese invention patent CN101034501) of simulated automotive driving experience, 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.Although this system energy simulated automotive driving experience, but relevant very far away to real car steering impression, particularly the car steering wheel of simulation system is owing to not feeding back steering, not identical with real control feel.
Summary of the invention
The present invention proposes a kind of driving stimulation system of the feedback steering of simulating the feedback steering of steering wheel control feel and comprising this simulation steering wheel control feel, can simulate really bearing circle different stressing conditions in all cases, improve 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 steering wheel control feel, be applied in driving stimulation system, described driving stimulation 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, for analyzing the scene information of described what comes into a driver's subsystem, and according to automobile dynamics model generation the first control signal;
Main control board, for receiving the first control signal of described host computer, and resolves described the first control signal, generates the second control signal;
Control panel and control device, described control panel is used for receiving described the second control signal, and according to described the second control signal, controls the running status of described control device;
Described control device is connected with described simulation steering gear, and described control device is used for controlling described simulation steering gear, makes the stress of described simulation steering gear Reality simulation car steering wheel.
Preferably, described control device comprises:
DC brushless motor, for controlling the steering drag of described simulation steering wheel, makes the steering drag of described simulation steering wheel be directly proportional to the corner of described simulation steering wheel, and can provide unexpected steering force to described simulation steering wheel.
Preferably, described control device also comprises:
Gear set, for controlling 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, for applying feedback force to described simulation steering gear.
A kind of driving stimulation 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, the force feedback steering that also comprises simulation steering wheel control feel, the force feedback steering of described simulation steering wheel control feel comprises:
Host computer, for analyzing the scene information of described what comes into a driver's subsystem, and according to automobile dynamics model generation the first control signal;
Main control board, for receiving the first control signal of described host computer, and resolves described the first control signal, generates the second control signal;
Control panel and control device, described control panel is used for receiving described the second control signal, and according to described the second control signal, controls the running status of described control device;
Described control device is connected with described simulation steering gear, and described control device is used for controlling described simulation steering gear, makes the stress of described simulation steering gear Reality simulation car steering wheel.
Preferably, described control device comprises:
DC brushless motor, for controlling the steering drag of described simulation steering wheel, makes the steering drag of described simulation steering wheel be directly proportional to the corner of described simulation steering wheel, and can provide unexpected steering force to described simulation steering wheel.
Preferably, described control device also comprises:
Gear set, for controlling 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, for applying feedback force to described simulation steering gear.
The driving stimulation system of the force feedback steering of simulation steering wheel control feel of the present invention and the force feedback steering that comprises this simulation steering wheel control feel, by control device control simulation steering gear, make the stress of described simulation steering gear Reality simulation car steering wheel, can simulate really bearing circle different stressing conditions in all cases, improve emulation and the operation sense of simulative automobile driving.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structural drawing of a kind of driving stimulation system of prior art;
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 driving stimulation system preferred embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
For convenience of description of the invention, this first to involved in the present invention to some concepts describe.
Road element, comprises motor vehicle, bicycle, personage, road barricade, policeman traffic gestures signal, traffic signals and sign etc.
Roadbed, refers to the road that there is no movement elements, its can adopt certain mode classification be divided into urban road, minute to road, mix road, night road, rainy day road, muddy road, ice snow covered pavement, greasy weather road, mountain road, highway etc.
Road conditions, refer to road traffic condition, by road element number and closeness can be divided into simple road conditions, general road conditions, complex road condition.Simultaneously road conditions can be divided into again two kinds of conventional road conditions and dangerous situation road conditions, and so-called conventional road conditions refer to that road element is all by the requirement setting of traffic law and the road conditions of operation; Dangerous situation road conditions refer to the road conditions that are provided with the road element of illegal setting and operation in accident case.
Road spectrum, by arranging the driving-situation of the various situations that road element forms on roadbed.
As shown in the table, be illustrating of the setting of a kind of road spectrum wherein.
| Lighting condition | Well | Road type | Major urban arterial highway | Traffic control mode | Identifier marking |
| Road alignment | Straight road | Weather condition | Cloudy day | Crossing road segment classification | Three minutes cross road |
| Road surface types | Cement | Topographic condition | Plain | Track arranges transversal section | Divide to formula |
| Pavement conditions | Dry | Have a lot of social connections | 14 meters | Track is wide | 1.5 rice |
According to the various transportation conditions in upper table, selected corresponding roadbed, and can obtain corresponding Yi Tiao road spectrum add road element on roadbed after.
Below a kind of driving stimulation system of the prior art is simply introduced, as Fig. 1, described driving stimulation system of the prior art comprises vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, wherein:
Vehicle body and a shelf system, realize drive simulating for operating personnel, is wherein 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, this instrument produces corresponding indicator signal according to operating personnel to the operation of functional unit simultaneously, and described vehicle body can be true car pilothouse or other drive simulating chamber with a shelf system.
Signals collecting subsystem, operate the exercise data of each functional unit afterwards for acquisition operations personnel to vehicle body and the functional unit of shelf system, and for acquisition operations personnel's motor message; Also can be used for driving vehicle body and the instrument of a shelf system to show according to the vehicle body collecting and the exercise data of the functional unit of a shelf system simultaneously.
What comes into a driver's subsystem, for road spectrum is represented to operating personnel, and for controlling road spectrum by the motion of the operated vehicle of operating personnel according to automobile dynamics model and the exercise data that collects each functional unit, and represent to operating personnel; This is identical by the same motion that motion action produced under true environment with real vehicles by the motion of the operated vehicle of operating personnel.
With reference to Fig. 2, for the present invention is a kind of, simulate the structural drawing of the force feedback steering preferred embodiment of steering wheel control feel.The force feedback steering of described simulation steering wheel control feel is applied in driving stimulation system, described driving stimulation system comprises vehicle body and a shelf system, signals collecting subsystem, what comes into a driver's subsystem, described vehicle body have been described in detail above with each ingredients such as propping up a shelf system, signals collecting subsystem, what comes into a driver's subsystem, 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, for analyzing the scene information of described what comes into a driver's subsystem, and according to automobile dynamics model generation the first control signal.
Described scene information is preferably road spectrum signal, comprises the 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, for receiving the first control signal of described host computer, and resolves described the first control signal, generates the second control signal.
Control panel and control device, described control panel is used for receiving described the second control signal, and according to described the second control signal, controls the running status of described control device.
Described control device is connected with described simulation steering gear, and described control device is used for controlling described simulation steering gear, makes the stress of described simulation steering gear Reality simulation car steering wheel.
Wherein, described control device comprises:
DC brushless motor, for controlling the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional to 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 host computer and wheel contact condition.
The corner of described simulation steering wheel is larger, and the steering drag of simulating steering wheel described in described Brush-Less DC motor control is also just larger, and realizing steering wheel, more to turn resistance larger, thereby can simulate really steering wheel at the different stressing conditions of all angles.
Wherein, described control device also comprises:
Gear set, for controlling 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 left rotation and right rotation steering wheel is no more than two circles half, thus the emulation that improves simulation steering gear.
Wherein, described control device also comprises:
Device for force feedback, for implementing force feedback to described simulation steering gear.
When the simulated automotive in the spectrum of road runs into teat place, by described device for force feedback, to described simulation steering gear, apply feedback force, described simulation steering wheel can produce feedback force, thus the travel sensation of more real simulated automotive on road.
In the present invention, described host computer is analyzed scene informations different in what comes into a driver's subsystem and different travel conditions, and according to the first control signal of the different state of a controls of automobile dynamics model generation.When run into teat place on scene road surface, the first control signal that described host computer generates is 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 control device described in the signal controlling after resolving, thus real stressing conditions during by teat place in the way of can real simulated automotive travelling; Again for example, in the time of need to turning, the first control signal that described host computer generates is after the parsing of described main control board, described control panel can be according to the DC brushless motor in control device described in the signal controlling after resolving, and simulating steering wheel described in described Brush-Less DC motor control, more to turn resistance larger.
The force feedback steering of simulation steering wheel control feel of the present invention, by control device control simulation steering gear, make the stress of described simulation steering gear Reality simulation car steering wheel, can simulate really bearing circle different stressing conditions in all cases, improve emulation and the operation sense of simulative automobile driving.
With reference to Fig. 3, show the composition structural drawing of a kind of driving stimulation system preferred embodiment of the present invention.Described driving stimulation system comprises vehicle body and the force feedback steering of propping up 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 above 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, for analyzing the scene information of described what comes into a driver's subsystem, and according to automobile dynamics model generation the first control signal.
Described scene information is preferably road spectrum signal, comprises the 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, for receiving the first control signal of described host computer, and resolves described the first control signal, generates the second control signal.
Control panel and control device, described control panel is used for receiving described the second control signal, and according to described the second control signal, controls the running status of described control device.
Described control device is connected with described simulation steering gear, and described control device is used for controlling described simulation steering gear, makes the stress of described simulation steering gear Reality simulation car steering wheel.
Wherein, described control device comprises:
DC brushless motor, for controlling the steering drag of described simulation steering wheel, the steering drag of described simulation steering wheel is directly proportional to 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 host computer and wheel contact condition.
The corner of described simulation steering wheel is larger, and the steering drag of simulating steering wheel described in described Brush-Less DC motor control is also just larger, and realizing steering wheel, more to turn resistance larger, thereby can simulate really steering wheel at the different stressing conditions of all angles.
Wherein, described control device also comprises:
Gear set, for controlling 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 left rotation and right rotation steering wheel is no more than two circles half, thus the emulation that improves simulation steering gear.
Wherein, described control device also comprises:
Device for force feedback, for implementing force feedback to described simulation steering gear.
When the simulated automotive in the spectrum of road runs into teat place, by described device for force feedback, to described simulation steering gear, apply feedback force, described simulation steering wheel can produce feedback force, thus the travel sensation of more real simulated automotive on road.
In the present invention, different scene information and different travel conditions in described host computer what comes into a driver's subsystem, and according to the first control signal of the different state of a controls of automobile dynamics model generation.When run into teat place on scene road surface, the first control signal that described host computer generates is 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 control device described in the signal controlling after resolving, thus real stressing conditions during by teat place in the way of can real simulated automotive travelling; Again for example, in the time of need to turning, the first control signal that described host computer generates is after the parsing of described main control board, described control panel can be according to the DC brushless motor in control device described in the signal controlling after resolving, and simulating steering wheel described in described Brush-Less DC motor control, more to turn resistance larger.
Driving stimulation system of the present invention, by control device control simulation steering gear, make the stress of described simulation steering gear Reality simulation car steering wheel, can simulate really bearing circle different stressing conditions in all cases, improve emulation and the operation sense of simulative automobile driving.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. a force feedback steering of simulating steering wheel control feel, be applied in driving stimulation system, described driving stimulation 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, for analyzing the road spectrum signal of described what comes into a driver's subsystem, and according to automobile dynamics model generation the first control signal;
Main control board, for receiving the first control signal of described host computer, and resolves described the first control signal, generates the second control signal;
Control panel and control device, described control panel is used for receiving described the second control signal, and according to described the second control signal, controls the running status of described control device;
Described control device is connected with described simulation steering gear, and described control device is used for controlling described simulation steering gear, makes the stress of described simulation steering gear Reality simulation car steering wheel;
Described control device comprises:
DC brushless motor, for controlling the steering drag of described simulation steering wheel, makes the steering drag of described simulation steering wheel be directly proportional to the corner of described simulation steering wheel, and can provide unexpected steering force to described simulation steering wheel;
Gear set, for controlling left rotation and right rotation and the anglec of rotation of described simulation steering wheel,
And device for force feedback, for applying feedback force to described simulation steering gear.
2. a driving stimulation 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, described driving stimulation system also comprises the force feedback steering of simulation steering wheel control feel, and the force feedback steering of described simulation steering wheel control feel comprises:
Host computer, for analyzing the road spectrum signal of described what comes into a driver's subsystem, and according to automobile dynamics model generation the first control signal;
Main control board, for receiving the first control signal of described host computer, and resolves described the first control signal, generates the second control signal;
Control panel and control device, described control panel is used for receiving described the second control signal, and according to described the second control signal, controls the running status of described control device;
Described control device is connected with described simulation steering gear, and described control device is used for controlling described simulation steering gear, makes the stress of described simulation steering gear Reality simulation car steering wheel;
Described control device comprises:
DC brushless motor, for controlling the steering drag of described simulation steering wheel, makes the steering drag of described simulation steering wheel be directly proportional to the corner of described simulation steering wheel, and can provide unexpected steering force to described simulation steering wheel;
Gear set, for controlling left rotation and right rotation and the anglec of rotation of described simulation steering wheel,
And
Device for force feedback, for applying feedback force to described simulation steering gear.
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| 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 |
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| CN101901556B true CN101901556B (en) | 2014-03-26 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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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