CN103050028A - Driving simulator with stereoscopic vision follow-up function - Google Patents
Driving simulator with stereoscopic vision follow-up function Download PDFInfo
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- CN103050028A CN103050028A CN2012105819015A CN201210581901A CN103050028A CN 103050028 A CN103050028 A CN 103050028A CN 2012105819015 A CN2012105819015 A CN 2012105819015A CN 201210581901 A CN201210581901 A CN 201210581901A CN 103050028 A CN103050028 A CN 103050028A
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Abstract
The invention relates to a driving simulator with a stereoscopic vision follow-up function. The driving simulator comprises a computer, a simulated driving platform, a projector and a vision follow-up device, wherein the computer is provided with driving simulation software, an output signal of the simulated driving platform is input to the computer, the vision follow-up device comprises a sight monitoring device, a rotating holder and a stepping motor which is used for driving the rotating holder to rotate, the sight monitoring device comprises a rotating-angle sensor which is used for monitoring the head rotation of a driver, an output signal of the sight monitoring device is input to the computer, the projector is arranged on the rotating holder, the stepping motor is controlled by the computer, and the output signal of the sight monitoring device can be used for changing an angle between a virtual camera and a virtual vehicle through the computer. According to the driving simulator disclosed by the invention, stereoscopic vision is supplied for the driver in the driving simulator, and the stereoscopic vision is not in distortion.
Description
Technical field
The present invention relates to a kind of driving simulator, particularly have the driving simulator of vision lag function.
Background technology
At present three-dimensional film employing vision is to come photographed scene with photographer's angle, but it is indoor at drive simulating to think highly of the driver in simulation, constantly motion, vision constantly changes, the object that the driver sees has different sight equations, but the fixed-analog utensil all has same sight equation to all object visions, if adopt the vision fixed not reach preferably stereoeffect.Because people's vision is in the process of observing, the visual rotating that exists, pupil focal length variations cause viewing distance to change, and the present invention adopts sensor to the tracking of driver's head movement, the subtense angle of visual pattern is adjusted in the variation of the focusing of pupil, improves and immerses sensation.At present, the vehicle driving simulator mode of employing is experienced driving emulation, but the stereoscopic vision that adopts all is to take in the dead ahead as visual object, causes the health mechanics perceived effect that immerses true not.Relatively common monocular vision simulator, make user's images of left and right eyes see two width of cloth plane pictures that parallax is arranged, and in brain, they are synthesized and the perception of generation stereoscopic vision, can strengthen the stereo display technique of the virtual environment sense of reality, still, if head movement, two ocular vision objects change, and the vision end point also changes, if in the process of emulation 3-D view, all be changeless visual object and vision end point, obtaining stereoscopic vision will distortion.
Summary of the invention
Technical matters to be solved by this invention is: a kind of driving simulator with stereoscopic vision lag function is provided, it for driver in the driving simulator provides stereoscopic vision can distortion.
The present invention solves the problems of the technologies described above the technical scheme that adopts:
Driving simulator with stereoscopic vision lag function, it comprises computing machine, drive simulating platform, the projector with driving simulation software, the output signal of simulator bridge is inputted described computing machine;
Described projector is a pair of projector, and a polarizer is set respectively before the camera lens of each projector, and the polarization of two polarizers in a pair of projector is orthogonal; Described driving simulator comprises also that be used to the polarising glass of watching the polarization of two eyeglasses of polarising glass is orthogonal, and the polarization direction of one of them eyeglass is consistent with the polarization direction of a polarizer of projector;
In the driving simulation software of described computing machine, a pair of virtual video camera is set, two virtual video cameras arrange about in the Virtual Space, and the virtual scene image that collects is respectively by two projector outputs in a pair of projector;
Described driving simulator also comprises the vision hunting gear, and the vision hunting gear comprises sight line monitoring device, rotary head, is used for driving the stepper motor of rotary head rotation; The sight line monitoring device comprises that the output signal of sight line monitoring device is inputted described computing machine for the rotary angle transmitter of monitoring driver head rotation, and projector is arranged on the rotary head, and stepper motor is by computer control;
The signal of described sight line monitoring device output is by the angle between computing machine change virtual video camera and the virtual vehicle.
In the such scheme, described rotary angle transmitter is electronic compass or the electronic gyroscope that is fixed on driver's head.
In the such scheme, vision monitor also comprises the semi-transparent reflection mirror that is fixed on the polarising glass and is fixed on the camera of driver's head, the semi-transparent reflection mirror is installed in the front of polarising glass, camera is by the variation of semi-transparent reflection mirror acquisition eyeball and pupil, and the output signal input computing machine of camera also passes through the computer monitoring pilot's line of vision.
In the such scheme, described rotary angle transmitter and semi-transparent reflection mirror are fixed on the polarising glass.
In order to improve stereoeffect, the present invention adopts a kind of vision hunting gear, so that the servo-actuated rendering image effect of stereo-picture, obtains the subtense angle that relatively is coupled with the driver, obtain not can distortion stereoeffect.
In addition, at driver's head or glasses are installed a rotary angle transmitter or image is processed the scene that the corner that obtains head and eye pupil comes the emulation driver to observe, can obtain more realistic subtense angle.
Description of drawings
Fig. 1 is the structural representation of driving simulator of the present invention.
Fig. 2 is the structured flowchart of driving simulator of the present invention.
Fig. 3 is the scheme of installation of projector.
Fig. 4-6 is the fundamental diagram of vision monitor.
Fig. 7,8 is the fundamental diagram of camera.
Fig. 9-11 obtains the fundamental diagram of eyeball and pupil variation for camera.
Figure 12 is the structural representation of driving simulator duty of the present invention.
Among the figure: a1, a2 are virtual video camera, and A1, A2 are projector, and 3 is polarising glass, and 4 is polarizer, and 5 is the drive simulating platform, and 6 are screen, and 7 is rotary angle transmitter, and 8 is eyeball, and 9 is head, and 10 is eye socket, and 11 is camera, and 12 is the semi-transparent reflection mirror.
Embodiment
The present invention as shown in Figure 1 has the driving simulator embodiment of stereoscopic vision lag function, and it comprises computing machine, drive simulating platform 5, projector, a screen 6 with driving simulation software; The output signal input computing machine of simulator bridge, computing machine is by the projector output image.
Described projector comprises a pair of projector A1, A2, and a polarizer 4 is set respectively before the camera lens of each projector, and the polarization of two polarizers in a pair of projector is orthogonal;
In the driving simulation software of described computing machine, a pair of virtual video camera a1, a2 are set, two virtual video cameras arrange about in the Virtual Space in a pair of virtual video camera, and the position of virtual driving platform is fixed relatively, the virtual scene image that collects is by after the Computer Processing, by two projector outputs among a pair of projector A1, the A2, project in the same screen 6 respectively.
Described driving simulator comprises that also be used to the polarising glass 3 of watching, the polarization of two eyeglasses of polarising glass is orthogonal, and the polarization direction of one of them eyeglass is consistent with the polarization direction of a polarizer of projector.
As shown in Figure 2, the simulator bridge comprises the simulative automobile driving platform, and the simulative automobile driving platform is provided with depth transducer, gear position sensor, key sensor, parking brake sensor, clutch sensor, service brake state sensor and the steering wheel angle sensor of throttle; Described driving simulation software is automobile driving simulation software.
The driver operates at the simulator bridge, the objects such as the depth transducer of change throttle in operation, gear position sensor, key sensor, parking brake sensor, clutch sensor, service brake state, steering wheel angle, sensor transfers signals to the data-interface of computing machine, computing machine is according to kinetic model, control virtual emphasis vehicle car, change horizontal change amount in the scene, vertically variable quantity, vertical change amount, course variable quantity, angle of depression variable quantity, sidewinder the variable such as variable quantity.On the other hand, two virtual video camera a1 and a2 are laid in the position according to two eyes of driver that is positioned at pilothouse, and at two angle acquisition video images, and video image outputed to two video camera A1 and A2, then, through mutual vertical polarization device, project in the same screen, the driver watches the screen driving simulator with the three-dimensional polarising glass of upward consistent with polaroid polarization direction.
Described driving simulator system adopts the Creator modeling, carries out under the VC++ environment that secondary development based on the Vega instrument realizes.
What comes into a driver's in the virtual environment that the driver sees in the place ahead, the behavior of travelling of simulator is realized by the dynamics simulation module, it is the basic function of driving simulator, utilize the Vega software emulation to realize traffic environment, the what comes into a driver's car must travel according to the traffic rules of reality, and travels and meet the characteristic of traffic flow in the real traffic environment, and main car is as a car in the traffic environment, also can exert an influence simultaneously to travelling of vehicle in the what comes into a driver's, with car in the what comes into a driver's mutual behavior occur.The demonstration of whole simulated effect is realized by the what comes into a driver's driver module.This module be the situation with driver's operation be sensor gather to analog signals, digital information, the formula by kinetic model converts and obtains travel variations of main car in what comes into a driver's, soon driver's operation is reflected as the behavior of main car in the what comes into a driver's.Can see that by this module Vehicle Driving Cycle finally is to realize by the position coordinates that changes vehicle.
Simulation system is utilized dynamics of vehicle, kinematics of mechanism, computer technology, under the support of the technology such as electronics, hydraulic pressure and control, overall performance from " people's one vehicle, one road (environment) " closed-loop system, driving process to vehicle carries out comprehensive emulation, make the driver under the simulated environment of vehicle movement process, obtain and drive on actual road surface same impression and operation training.Hardware interface module is responsible for gathering driver's various operations, and with unified form offer the operation emulation module calculate.According to the difference of hardware device, the Data Source of collection can be keyboard, game stearing wheel, driving cabin or other equipment.
As shown in Figure 3, described driving simulator also comprises the vision hunting gear, and the vision hunting gear comprises sight line monitoring device, rotary head, is used for driving the stepper motor of rotary head rotation; The sight line monitoring device comprises that the output signal of sight line monitoring device is inputted described computing machine for the rotary angle transmitter of monitoring driver head rotation, and projector is arranged on the rotary head, and stepper motor is by computer control;
The signal of described sight line monitoring device output is by the angle between computing machine change virtual video camera and the virtual vehicle.
Described rotary angle transmitter is electronic compass or the electronic gyroscope that is fixed on driver's head.
As shown in Figure 7, vision monitor also comprises the semi-transparent reflection mirror 12 that is fixed on the polarising glass and the camera 11 that is fixed on driver's head, the semi-transparent reflection mirror is installed in the front of polarising glass, camera is by the variation of semi-transparent reflection mirror acquisition eyeball and pupil, and the output signal input computing machine of camera also passes through the computer monitoring pilot's line of vision.As shown in Figure 8, camera also can be arranged on the simulative automobile driving platform, and camera points to driver's head.
The principle of work of vision monitor of the present invention is: shown in Fig. 4,5,6, described rotary angle transmitter 7 and semi-transparent reflection mirror 12 are fixed on the polarising glass 3.The visual angle conversion, utilize rotary angle transmitter 7 and image processing method to measure head 9 steering angle α and eyeball 8 steering angle β, and this steering angle is transported in the emulating image process computer processes, computing machine is according to kinetic model, the object of computing machine eyes aiming carries out image rendering by virtual video camera to the object of observing, and by the computer drives stepper motor, drive rotary head, change the angle of two projector.
Principle by camera, computer monitoring pilot's line of vision is:
Shown in Fig. 7-11, the semi-transparent reflection mirror reflexes to the variation of eyeball 8 and eye socket 10 on the camera on next door, camera with the variation transmission of video images of eyeball in computing machine, computing machine is by calculating the angle of eyeball, then head deflection angle α and eyeball limit corner α sum φ are input to virtual views scene computer data interface, the virtual scene of emulation is according to the spatial relationship of electronic gyroscope and real simulation device, change the angle between virtual video camera and the virtual vehicle, gather the image of virtual scene, be transported in the projector.
Computing machine is the variation from the distance in front to the distance of side of two horizontal point of fixity of head, according to formula:
Convert driver's steering angle according to the change of distance of eye socket, formula is:
α=arcos(L
i/L)
The eye socket image of head is carried out the image processing, according to eyeball and eye socket relative position, according to formula
General proportions β
i=kx, wherein K is with individual relevant, the mm of x unit, k roughly 7-10 (°/mm),
The eye socket image of head is carried out image process, according to eyeball and eye socket relative position, according to formula:
It is smaller to look up and overlook scope, and error ratio is larger, θ
i=C*y, C=20-30 (°/mm).
Upward view angle θ is input to virtual views scene computer data interface, the virtual scene of emulation is according to the spatial relationship of electronic gyroscope and real simulation device, as shown in figure 12, change the angle between virtual video camera and the virtual vehicle, gather the image of virtual scene, be transported in the projector, computing machine changes the angle of projector, obtain the subtense angle that relatively is coupled with the driver, obtain not can distortion stereoeffect.
Claims (4)
1. the driving simulator that has the stereoscopic vision lag function, it comprises computing machine, drive simulating platform, the projector with driving simulation software, the output signal of simulator bridge is inputted described computing machine;
It is characterized in that:
Described projector is a pair of projector, and a polarizer is set respectively before the camera lens of each projector, and the polarization of two polarizers in a pair of projector is orthogonal; Described driving simulator comprises also that be used to the polarising glass of watching the polarization of two eyeglasses of polarising glass is orthogonal, and the polarization direction of one of them eyeglass is consistent with the polarization direction of a polarizer of projector;
In the driving simulation software of described computing machine, a pair of virtual video camera is set, two virtual video cameras arrange about in the Virtual Space, and the virtual scene image that collects is respectively by two projector outputs in a pair of projector;
Described driving simulator also comprises the vision hunting gear, and the vision hunting gear comprises sight line monitoring device, rotary head, is used for driving the stepper motor of rotary head rotation; The sight line monitoring device comprises that the output signal of sight line monitoring device is inputted described computing machine for the rotary angle transmitter of monitoring driver head rotation, and projector is arranged on the rotary head, and stepper motor is by computer control;
The signal of described sight line monitoring device output is by the angle between computing machine change virtual video camera and the virtual vehicle.
2. driving simulator according to claim 1, it is characterized in that: described rotary angle transmitter is electronic compass or the electronic gyroscope that is fixed on driver's head.
3. driving simulator according to claim 2, it is characterized in that: vision monitor also comprises the semi-transparent reflection mirror that is fixed on the polarising glass and is fixed on the camera of driver's head, the semi-transparent reflection mirror is installed in the front of polarising glass, camera is by the variation of semi-transparent reflection mirror acquisition eyeball and pupil, and the output signal input computing machine of camera also passes through the computer monitoring pilot's line of vision.
4. driving simulator according to claim 3, it is characterized in that: described rotary angle transmitter and semi-transparent reflection mirror are fixed on the polarising glass.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103745627A (en) * | 2013-12-16 | 2014-04-23 | 北京交控科技有限公司 | Three-dimension visual simulation method and three-dimension visual simulation system for driving simulation |
| CN104036668A (en) * | 2014-05-15 | 2014-09-10 | 北海市鑫业智能科技有限公司 | Intelligent automobile simulating driving device |
| CN105575048A (en) * | 2016-02-25 | 2016-05-11 | 京东方科技集团股份有限公司 | Head lowering and head turning reminding device, control method thereof and helmet |
| CN105810039A (en) * | 2016-05-27 | 2016-07-27 | 福州大学 | Three-dimensional driving test simulation system based on immersive VR and implementation method of three-dimensional driving test simulation system |
| CN106530891A (en) * | 2017-01-03 | 2017-03-22 | 刘晨 | Driving simulation system based on VR technology |
| CN107572385A (en) * | 2017-09-13 | 2018-01-12 | 徐州重型机械有限公司 | Crane |
| CN108830942A (en) * | 2018-06-29 | 2018-11-16 | 成都博士信智能科技发展有限公司 | Display methods and display system |
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| CN109927733A (en) * | 2019-01-18 | 2019-06-25 | 驭势（上海）汽车科技有限公司 | A kind of bootstrap technique of interactive device, HMI computer system and vehicle |
| CN112270864A (en) * | 2020-11-05 | 2021-01-26 | 中电海康集团有限公司 | Driving training teaching method and system based on first-person sight position adjustment |
| CN113432843A (en) * | 2021-08-27 | 2021-09-24 | 江西佳铭特实业有限公司 | Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof |
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| CN105810039A (en) * | 2016-05-27 | 2016-07-27 | 福州大学 | Three-dimensional driving test simulation system based on immersive VR and implementation method of three-dimensional driving test simulation system |
| CN106530891A (en) * | 2017-01-03 | 2017-03-22 | 刘晨 | Driving simulation system based on VR technology |
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| CN109243336A (en) * | 2018-08-08 | 2019-01-18 | 江苏莱普林斯生物科技有限公司 | A kind of analog simulation electric wheelchair and its working method |
| CN109927733A (en) * | 2019-01-18 | 2019-06-25 | 驭势（上海）汽车科技有限公司 | A kind of bootstrap technique of interactive device, HMI computer system and vehicle |
| CN112270864A (en) * | 2020-11-05 | 2021-01-26 | 中电海康集团有限公司 | Driving training teaching method and system based on first-person sight position adjustment |
| CN112270864B (en) * | 2020-11-05 | 2022-06-21 | 中电海康集团有限公司 | Driving training teaching method and system based on first-person sight position adjustment |
| CN113432843A (en) * | 2021-08-27 | 2021-09-24 | 江西佳铭特实业有限公司 | Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof |
| CN113888907A (en) * | 2021-09-30 | 2022-01-04 | 潍坊学院 | Mobile projection type fine class video recording sight guiding system |
| CN113640318A (en) * | 2021-10-19 | 2021-11-12 | 四川京龙光电科技有限公司 | Four mirror surface intellectual detection system equipment of monocular |
| CN113640318B (en) * | 2021-10-19 | 2022-08-23 | 四川京龙光电科技有限公司 | Four mirror surface intellectual detection system equipment of monocular |
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