CN104504957A - Car frame training system based on force feedback - Google Patents
Car frame training system based on force feedback Download PDFInfo
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- CN104504957A CN104504957A CN201410797429.8A CN201410797429A CN104504957A CN 104504957 A CN104504957 A CN 104504957A CN 201410797429 A CN201410797429 A CN 201410797429A CN 104504957 A CN104504957 A CN 104504957A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/052—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles characterised by provision for recording or measuring trainee's performance
Abstract
The invention discloses a car frame training system based on force feedback. The car frame training system comprises a display screen, a force feedback steering wheel, a clutch, a foot brake, an accelerator and a gear shift lever. The car frame training system can be used for a driving beginner to learn the driving technique under a semi-physical simulation environment, is strong in sense of immediacy and low in cost; moreover, a force feedback function is added into the steering wheel control part in an auxiliary driving module, so that the driving beginner can quickly grasp the steering wheel control technology under the guide of the force feedback function; moreover, warning signals are added into a foot brake part and a clutch control part in the auxiliary driving module to remind the beginner that how to operate according to specific road conditions, so that the beginner can learn how to regulate the foot brake and the clutch and learn the cooperation between the foot brake and the clutch more quickly according to specific conditions.
Description
Technical field
The present invention relates to a kind of vehicle frame training system based on power feel feedback.
Background technology
Along with the development of modern science and technology, automobile is no longer luxury goods concerning ordinary people, and increasing people start study and drive.China's China Automobile Industry is swift and violent, automobile pollution with annual 15% speed increase, the raising of automotive performance, the improvement of road conditions, makes automobile start to move towards family.Want that learning the people of car gets more and more, the area in practice place is but very limited, and the subject of training and examination at present arranges often, training and the cycle of examination long.This phenomenon is all very general in large, medium and small city, and due to the restriction in practice number and place, the time that beginner really learns car is not a lot, and this will have a strong impact on the quality of driving training.These situations require that people utilize more advanced means to give training driver, and this situation is complied with in the research and development based on the Vehicle driving simulator of virtual reality technology just.
Driving simulator is a kind of teaching equipment of driver training.It has gathered the advanced technologies such as virtual reality technology, mechanical transmissioning technology, computer graphics, real-time rendering technology, Computer Interface Technology, data communication technology, can according to the acceleration of driver's input, brake, the signal such as to turn to calculate the anticipatory behavior of vehicle by mathematical method, and feed back to driver by Audio and Video equipment.By means of driving simulator, can study automobile-driver-road interaction relationship, also can train human pilot.Drive simulating environment almost complete " clone " truly learns car environment, and can eliminate the feared state of mind of driving beginner, the operation of in good time specification driver is the strong help of driving school's driving training.Simultaneously, owing to having the distinguishing features such as security is high, repeatability good, exploitability is strong, cost is low, begining to learn driver utilizes this car to drive training system exercise driving technology, not only economize energy, the more important thing is that the probability had an accident in practice process reduces to zero.
At present, common car is driven training system and is divided into two classes: a class is that system driven by the car of complete matter emulation, and the telepresenc that system driven by this class car is strong, but cost is very high, and popularity rate is very low; Another kind of is that system driven by the car of complete software emulation, and the telepresenc that system driven by this kind of car is poor, really can not simulate actual driving situation, but cost is lower.Also do not have a kind of car of hardware-in-the-loop simulation to drive system at present, cost is low and telepresenc is strong.The research starting of China in driving simulator is more late, experienced by one from Introduced From Abroad product to the veryer long evolution of developing voluntarily.The exercise equipment of domestic simulative automobile driving aspect, through development in recent years, has had comparatively ripe product, just among market is universal.
But, the shortcoming that training system driven by existing car is: one, existing semi-physical driving simulation system is under prompt modes, driver changes the motion state of automobile according to the operating control of traffic environment, pavement behavior true-time operation automobile, simulator is according to operator's action, remind next step hints on operation of driver by the means such as word, sound, simulate jolting of road conditions by the vibrations of driver seat.For beginner, be familiar with operating environment, grasp operations skill, learning curve is more precipitous.In contrast, prompting means function singleness is intervened in vision, the sense of hearing etc., ageing lower, needs more efficient supplemental training mode badly.Two, the tactile impressions information of driver comprises bearing circle counter-force and vibration, gas pedal power, brake pedal force, clutch coupling counter-force and variator handle counter-force, and wherein steering wheel return positive moment and vibration are topmost information in driver's sense of touch.Steering wheel return positive moment in true driving procedure and road surface are relevant to aspects such as the inertia of the retroaction of deflecting roller, the friction force of steering mechanism and front-wheel and steering system, concrete operation process more complicated, current most simulation system simulates bearing circle counter-force by the spring in control lever physical construction, can not reflect real situation.
Summary of the invention
In order to solve above-mentioned prior art Problems existing, the object of the present invention is to provide a kind of vehicle frame training system based on power feel feedback, comprising display screen, force feedback steering wheel, clutch coupling, foot brake, throttle and shift lever.
Further, described force feedback steering wheel comprises bearing circle handle and provides the direct current generator of feedback force to described steering wheel hand, wherein, determines whether make direct current generator work according to different training modes.
Further, when described training mode is test pattern, described direct current generator quits work; When described training mode is auxiliary mode, described direct current generator work.
Further, when described training mode is auxiliary mode, described force feedback steering wheel generates repulsive force auxiliary mechanism and attractive force auxiliary mechanism according to concrete road conditions.
Further, when described auxiliary mode is bearing circle auxiliary mode, detect the distance of drive a car outline and its surrounding objects, wherein, the comparative result according to the distance detected and predetermined threshold value judges whether to produce feedback force.
Further, when the described distance detected is not more than described predetermined threshold value, produce feedback force.
Further, described display screen is 3D display screen.
Further, described display screen comprises middle form, is positioned at upper form above middle form, is positioned at lower form below middle form, is positioned at the upper left left form of middle form and is positioned at the top-right right form of middle form.
Further, when training mode is foot brake auxiliary mode, the alarm signal of display reminding driver proper operation foot brake in described lower form.
Further, when training mode is clutch coupling auxiliary mode, the alarm signal of display reminding driver proper operation clutch coupling in described lower form.
Vehicle frame training system based on power feel feedback of the present invention has following beneficial effect:
(1) can be used in begining to learn driver to learn to drive under the environment of hardware-in-the-loop simulation, telepresenc is strong, and cost is low;
(2) in-kind portion is made up of bearing circle, foot brake, clutch coupling, throttle and shift lever, can the function of each important spare part in real simulation driving environment;
(3) software section is made up of information acquisition module, virtual scene generation module, auxiliary driving module and driving test module four part, multiple functional;
(4) in auxiliary driving module, bearing circle control section adds force feedback function, enables to begin to learn driver and grasp bearing circle control technology fast under the guiding of force feedback function;
(5) in auxiliary driving module, foot brake and Clutch Control part add alarm signal, remind driver how this operates according to concrete road conditions, make it learn how to adjust as the case may be foot brake and clutch coupling and both cooperations quickly;
(6) shift lever of in-kind portion can be replaced by remote-control lever, and foot brake, clutch coupling and throttle are main component part with solid, cheap, durable pressure transducer.
Accompanying drawing explanation
The following description carried out in conjunction with the drawings, the above-mentioned and other side of embodiments of the invention, feature and advantage will become clearly, in accompanying drawing:
Fig. 1 is according to an embodiment of the invention based on the structural representation of the vehicle frame training system of power feel feedback;
Fig. 2 is the structural representation of display screen according to an embodiment of the invention;
Fig. 3 is the auxiliary mode schematic diagram of force feedback steering wheel according to an embodiment of the invention.
Embodiment
Below, embodiments of the invention are described in detail with reference to the accompanying drawings.But, the present invention can be implemented in many different forms, and the present invention should not be interpreted as being limited to the specific embodiment of setting forth here.On the contrary, provide these embodiments to be to explain principle of the present invention and practical application thereof, thus enable others skilled in the art understand various embodiment of the present invention and be suitable for the various amendments of certain expected application.
Fig. 1 is according to an embodiment of the invention based on the structural representation of the vehicle frame training system of power feel feedback.
With reference to Fig. 1, according to an embodiment of the invention based on power feel the vehicle frame training system half of feedback in kind imitated the overall process that driver drives, meticulous 3D picture real time modelling running environments.
According to an embodiment of the invention based on vehicle frame training system display screen 10, force feedback steering wheel 20, clutch coupling 30, foot brake 40, throttle (not shown) and shift lever 50 that power feel is fed back.
Display screen 10 can be such as 3D display screen, and it can provide meticulous 3D picture real time modelling running environments.In the present embodiment, display screen 10 needs to provide five forms, but the present invention is not restricted to this.With reference to Fig. 2, display screen 10 comprises the larger middle form 11 in middle, be positioned at upper form 12 above middle form, be positioned at lower form 13 below middle form, be positioned at the upper left left form 14 of middle form and be positioned at the top-right right form 15 of middle form.Wherein, the middle form 11 simulated automotive front window visual field, upper form 12 is for showing the interior mirror visual field, and lower form 13 display instrument panel comprises the alarming singal lights etc. of the speed of a motor vehicle, foot brake and clutch coupling, and left form 14 and right form 15 show left and right mirror field of view respectively.In the present embodiment, the virtual scene generation module that the vehicle frame training system fed back based on power feel according to an embodiment of the invention comprises is by the field of view information of display screen 10 real simulation driver.
Feel that the vehicle frame training system of feedback also comprises auxiliary driving module based on power according to an embodiment of the invention.Under auxiliary mode, force feedback steering wheel 20 can generate repulsive force and attractive force two kinds of auxiliary mechanisms according to concrete road conditions, helps to begin to learn driver and adapts to steering wheel operation quickly.In the present embodiment, the auxiliary auxiliary mode driving module installation comprises bearing circle auxiliary mode, foot brake auxiliary mode and clutch coupling auxiliary mode.
When auxiliary mode is bearing circle auxiliary mode, by detect institute's outline that drives a car to be adjacent on the automobile of traveling, marginal obstruction or travel can not the bee-line of the graticule that travels of cross-line etc. or the bias vector of the drive route desirable with it as the basis of generation virtual force computation.By setting up threshold values, just produce fictitious force when bee-line is not more than threshold values.Feedback force and bee-line are inversely proportional to, and distance is shorter, and feedback force is larger.This fictitious force feeds back to driver with the steering dish of pointing out driver correct by force feedback steering wheel 20, is familiar with bearing circle faster.
Bearing circle controls to be that to begin to learn driver not wield, the force feedback steering wheel 20 of the present embodiment controls based on force feedback auxiliary mechanism, so the material object design of bearing circle should have the motor providing feedback force, the present embodiment adopts the invention that combines of direct current generator and common handle handle can provide the bearing circle of feedback force.The relation of virtual feedback power and angular acceleration is as shown in Equation 1:
Formula 1M
h+ M
f+ M
e=J α
Wherein, α is angular acceleration, M
hfor driver's input torque, M
ffor feedback moment, M
efor moment of friction, the change of car body bias angle theta in the direct effect diagram 3 of change of angular acceleration.Moment of friction M
ecalculated by bearing circle reversed turning model.
As shown in Figure 3, in figure, θ represents car body drift angle to force feedback steering wheel 20 auxiliary mode schematic diagram, and car body drift angle is controlled by bearing circle; V represents automobile driving speed vector, and velocity magnitude is controlled by throttle and shift lever, and velocity reversal is controlled by bearing circle; The distance of the arest neighbors of car body barycenter and desirable driving path is d, and the drift angle of car body axis L and path tangent line is φ, feels that feedback mechanism makes the side-play amount d in path and grazing angle φ trend towards 0 as far as possible by power.
Formula 2
Force rendering mechanism can use second order elasticity damper model, as shown in Equation 2, and ratio of damping k
d, elasticity coefficient k
pcontrol the dynamic response of force rendering.In test mode, direct current generator no power, M
f=0 cuts little ice, and the change in direction relies on driver's input torque M
h.Under auxiliary mode, driver do not need deliberately controlling party to, as long as along with the motion of motor feedback moment and M
h=0, so the feedback moment that the change in direction only relies on force feedback mechanism to produce.Feedback moment Mf and driving voltage/electric current that direct current generator produces are linear, by setting driving voltage/size of current and positive and negatively determining feedback moment size and Orientation.
When auxiliary mode is foot brake auxiliary mode, by detect the bee-line of the automobile of drive a car outline and its traveling ahead, preceding object thing or red light stop line etc., in this, as the mark that alarm signal produces, by producing the correct operation foot brake of alarm signal prompting driver.Alarm signal is shown by the lower form 13 in above-mentioned virtual scene generation module, except providing video feed, also provide audible feedback.
When auxiliary mode is clutch coupling auxiliary mode, when starting automobile or converting gear owing to not stepping on clutch coupling in travelling, by producing the correct operated clutch of alarm signal prompting driver, alarm signal is shown by the lower form 13 in above-mentioned virtual scene generation module, except providing video feed, also provide audible feedback.
Feel that the vehicle frame training system of feedback also comprises information acquisition module based on power according to an embodiment of the invention.Distance, foot brake, clutch coupling and the throttle pressure sensor values etc. of the graticule that information acquisition module gathers the speed of a motor vehicle, automobile outline is adjacent or the distance of the distance of traveling ahead automobile, automobile outline and marginal obstruction, automobile outline and travel can not be crossed over or red light stop line etc.
Feel that the vehicle frame training system of feedback also comprises driving test module based on power according to an embodiment of the invention.Test module is used for arranging actual driving test pattern and driving license test test pattern.Wherein, actual test pattern of driving is that the driver begun to learn drives a car in different kinds of roads when not assisting driving model, is provided specifically drive grade and error reason by performance evaluation algorithms of driving, make the driver begun to learn grasp motor skills rapidly, can learn faster to drive.Driving license test test pattern, by test site that is virtually reality like reality, test subject and achievement generating algorithm, helps the driver begun to learn really to understand process and the judgment criteria of concrete examination, to reach the object got through the examinations sooner.In addition, in the present embodiment, when feeling that the vehicle frame training system of feedback is set to test pattern based on power according to an embodiment of the invention, then vehicle frame training system is now without auxiliary mode; And when feeling that the vehicle frame training system of feedback is set to auxiliary mode based on power according to an embodiment of the invention, vehicle frame training system is now without test pattern.Like this, the driver begun to learn can grasp motor skills rapidly by repetition training under auxiliary mode and test pattern, can learn faster to drive; By test item that is virtually reality like reality, real process and the judgment criteria understanding concrete examination, to reach the object got through the examinations sooner.
In sum, feel that the vehicle frame training system of feedback has following beneficial effect based on power according to an embodiment of the invention:
(1) can be used in begining to learn driver to learn to drive under the environment of hardware-in-the-loop simulation, telepresenc is strong, and cost is low;
(2) in-kind portion is made up of bearing circle, foot brake, clutch coupling, throttle and shift lever, can the function of each important spare part in real simulation driving environment;
(3) software section is made up of information acquisition module, virtual scene generation module, auxiliary driving module and driving test module four part, multiple functional;
(4) in auxiliary driving module, bearing circle control section adds force feedback function, enables to begin to learn driver and grasp bearing circle control technology fast under the guiding of force feedback function;
(5) in auxiliary driving module, foot brake and Clutch Control part add alarm signal, remind driver how this operates according to concrete road conditions, make it learn how to adjust as the case may be foot brake and clutch coupling and both cooperations quickly;
(6) shift lever of in-kind portion can be replaced by remote-control lever, and foot brake, clutch coupling and throttle are main component part with solid, cheap, durable pressure transducer.
Although illustrate and describe the present invention with reference to specific embodiment, but it should be appreciated by those skilled in the art that: when not departing from the spirit and scope of the present invention by claim and equivalents thereof, the various changes in form and details can be carried out at this.
Claims (10)
1. feel based on power and it is characterized in that the vehicle frame training system fed back, comprise display screen, force feedback steering wheel, clutch coupling, foot brake, throttle and shift lever.
2. vehicle frame training system according to claim 1, it is characterized in that, described force feedback steering wheel comprises bearing circle handle and provides the direct current generator of feedback force to described steering wheel hand, wherein, determines whether make direct current generator work according to different training modes.
3. vehicle frame training system according to claim 2, is characterized in that, when described training mode is test pattern, described direct current generator quits work; When described training mode is auxiliary mode, described direct current generator work.
4. the vehicle frame training system according to Claims 2 or 3, is characterized in that, when described training mode is auxiliary mode, described force feedback steering wheel generates repulsive force auxiliary mechanism and attractive force auxiliary mechanism according to concrete road conditions.
5. vehicle frame training system according to claim 4, it is characterized in that, when described auxiliary mode is bearing circle auxiliary mode, detect the distance of drive a car outline and its surrounding objects, wherein, judge whether to produce feedback force according to the comparative result of the distance detected and predetermined threshold value.
6. vehicle frame training system according to claim 5, is characterized in that, when the described distance detected is not more than described predetermined threshold value, produces feedback force.
7. vehicle frame training system according to claim 1, is characterized in that, described display screen is 3D display screen.
8. the vehicle frame training system according to claim 1 or 7, it is characterized in that, described display screen comprises middle form, be positioned at upper form above middle form, be positioned at lower form below middle form, be positioned at the upper left left form of middle form and be positioned at the top-right right form of middle form.
9. vehicle frame training system according to claim 8, is characterized in that, when training mode is foot brake auxiliary mode, and the alarm signal of display reminding driver proper operation foot brake in described lower form.
10. vehicle frame training system according to claim 8, is characterized in that, when training mode is clutch coupling auxiliary mode, and the alarm signal of display reminding driver proper operation clutch coupling in described lower form.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106448337A (en) * | 2016-09-20 | 2017-02-22 | 山西省交通科学研究院 | VR technology based automobile driving simulation device |
| CN107054155A (en) * | 2017-03-30 | 2017-08-18 | 蔡文远 | One kind is based on pure electrically driven (operated) simulation manual gear learner-driven vehicle |
| CN108538139A (en) * | 2018-04-20 | 2018-09-14 | 济南浪潮高新科技投资发展有限公司 | A kind of HWIL simulation vehicle-learning system and method |
| US10556600B2 (en) | 2015-12-09 | 2020-02-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Assessment of human driving performance using autonomous vehicles |
| CN111316342A (en) * | 2017-11-10 | 2020-06-19 | 株式会社艾洛克 | Automatic brake simulation experience device of four-wheel automobile |
| CN112435530A (en) * | 2020-12-02 | 2021-03-02 | 青岛慧拓智能机器有限公司 | Mining truck simulation driving training system |
| CN114664144A (en) * | 2022-03-21 | 2022-06-24 | 电子科技大学 | Human-computer common driving evaluation-oriented high-fidelity tactile feedback system of driving simulator |
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| US6373465B2 (en) * | 1998-11-10 | 2002-04-16 | Lord Corporation | Magnetically-controllable, semi-active haptic interface system and apparatus |
| US20060040239A1 (en) * | 2004-08-02 | 2006-02-23 | J. J. Keller & Associates, Inc. | Driving simulator having articial intelligence profiles, replay, hazards, and other features |
| CN202134125U (en) * | 2011-07-05 | 2012-02-01 | 广州钜东网络科技有限公司 | Force feedback steering wheel simulator |
| CN203465863U (en) * | 2013-08-14 | 2014-03-05 | 广州市神壬电子科技有限公司 | Automobile driving simulating trainer |
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| US10556600B2 (en) | 2015-12-09 | 2020-02-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Assessment of human driving performance using autonomous vehicles |
| 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 |
| CN106448337A (en) * | 2016-09-20 | 2017-02-22 | 山西省交通科学研究院 | VR technology based automobile driving simulation device |
| CN107054155A (en) * | 2017-03-30 | 2017-08-18 | 蔡文远 | One kind is based on pure electrically driven (operated) simulation manual gear learner-driven vehicle |
| CN111316342A (en) * | 2017-11-10 | 2020-06-19 | 株式会社艾洛克 | Automatic brake simulation experience device of four-wheel automobile |
| CN108538139A (en) * | 2018-04-20 | 2018-09-14 | 济南浪潮高新科技投资发展有限公司 | A kind of HWIL simulation vehicle-learning system and method |
| CN112435530A (en) * | 2020-12-02 | 2021-03-02 | 青岛慧拓智能机器有限公司 | Mining truck simulation driving training system |
| CN114664144A (en) * | 2022-03-21 | 2022-06-24 | 电子科技大学 | Human-computer common driving evaluation-oriented high-fidelity tactile feedback system of driving simulator |
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