CN106205273A - A kind of Vehicle driving simulator based on VR analogue technique and method - Google Patents

A kind of Vehicle driving simulator based on VR analogue technique and method Download PDF

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Publication number
CN106205273A
CN106205273A CN201610836599.1A CN201610836599A CN106205273A CN 106205273 A CN106205273 A CN 106205273A CN 201610836599 A CN201610836599 A CN 201610836599A CN 106205273 A CN106205273 A CN 106205273A
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driver
simulation
driving
feedback
data
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姜鑫
王文君
庞夺峰
多文英
陶健
殷传峰
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Shanxi Province Transport Science Research Institute
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Shanxi Province Transport Science Research Institute
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Priority to CN201610836599.1A priority Critical patent/CN106205273A/en
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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
    • G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
    • 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

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Processing Or Creating Images (AREA)

Abstract

The present invention relates to a kind of Vehicle driving simulator based on VR analogue technique and method, compared with prior art, the present invention in simulating driving procedure not only driver behavior to driver have feedback but also produce vehicle body action corresponding when driving in real time, driver status in dynamic monitoring simulating driving procedure is as the reference of driving behavior analysis result simultaneously, additionally, VR analogue technique is used to replace plane display drive simulation scene, and virtual scene and the road conditions of corresponding angle are generated in real time according to the sight line of driver, allow driver have experience more really, thus can reflect the operation intention of driver and the actual response under different road conditions more realistically, improve in simulating driving procedure the accuracy gathering data to a great extent, driving behavior to detection and research driver has the highest reference value.

Description

A kind of Vehicle driving simulator based on VR analogue technique and method
Technical field
The invention belongs to drive simulation field, it particularly relates to a kind of driving simulation based on VR analogue technique System and method.
Background technology
Along with the development of auto industry, automobile progresses into the life of people and popularity rate improves, year by year in order to detect With the driving behavior of research driver, driving simulator also arises at the historic moment, and current driving simulator has simply installed several driving additional Sail the important component of operation, then record the operation of driver in simulation process with computer, so only have simple operation, Feedback to operator when not operating, does not has the vehicle body action of correspondence yet, then has the simulation to Driving Scene Being based only on the display of plane, such driving experience is the most untrue, nor can reflect the operation of driver truly It is intended to and actual response under different road conditions, the data accuracy gathered in simulating driving procedure so will certainly be allowed to beat greatly Discount, the driving behavior to detection and research driver is the most unfavorable.
Therefore, how more real pseudo-experience environment can be provided for driver, it has also become be badly in need of now asking of solution Topic.
Summary of the invention
The technical problem to be solved is that the experience environment that current drive simulating provides is the most true to nature.
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is to provide a kind of based on VR analogue technique Vehicle driving simulator, including the wear-type VR equipment being all connected with control unit with data process, touching display screen, driving Action collecting unit, driver status collecting unit, driver behavior feedback unit, vehicle body action feedback unit, memory module, report Alert module and supply module:
Described wear-type VR equipment, the virtual driving scene produced for display system, and follow the tracks of the sight line rail of driver The Driving Scene of mark display respective angles, the virtual driving scene that system produces includes whole car steering position and corresponding instrument Dish, console, also have the road scene seen through front windshield, door and window, rearview mirror, side mirror etc.；
Described touching display screen, has system input/output function and human-computer interaction interface concurrently, for selecting system to prestore Collection data during all kinds of Driving Scenes, self-editing combination Driving Scene, in real time display drive simulation and feedback data, playback Driver's perspective images and driving locus, display system analysis result；
Described driver behavior collecting unit, for gathering the driver behavior of driver；
Described driver status acquisition module, including rhythm of the heart sensor, respiratory frequen and body temperature trans, respectively The rhythm of the heart, respiratory frequency and temperature data during collection driver；
Described driver behavior feedback unit, for producing the driver behavior feedback force of simulation；
Described vehicle body action feedback unit, for producing the vehicle body action of simulation；
Described memory module, for storing the real time record number of system runs program, drive simulation scene, simulation process According to, generate driving locus data；
Described alarm module, reports to the police for the system failure and abnormal conditions；
Described supply module, for the power supply of whole system each electricity consumption part；
Described data process and control unit, each several part coupled in control system, including receiving data, place Reason data, transmission data, transmission control signal, to ensure system components work normally and efficiently；
Described driver behavior collecting unit, including steering wheel sensor, clutch pedal sensor, gear position sensor, acceleration Pedal sensor and brake pedal sensor, gather turning to during driver respectively, hang shelves, accelerate, brake driving Operation related data.
Further, described wear-type VR equipment, also include eye tracking sensor, for tracking and monitoring driver During eye motion and sight line track；
Described driver behavior feedback unit, including steering wheel feedback device, clutch pedal device for force feedback, accelerator pedal Device for force feedback and brake pedal device for force feedback, produce the analog feedback power of appropriate section respectively；
Described vehicle body action feedback unit, hangs down including vehicle body crosswise movement executor, vehicle body longitudinal direction actuator, vehicle body Hanging actuator and driver's seat vibrations generator to actuator, vehicle body, the vehicle body producing simulation respectively laterally moves Make the seismaesthesia under power, longitudinal action force, vertical action force, suspension action and the various state of automobile.
The present invention is also claimed a kind of control method being applied to said system, peculiar is, the method includes following Step:
S101, system start-up, bring into operation self-check program and initialization, and as self-inspection is passed through, whole system is opened after initializing Beginning to run, as self-inspection is not passed through, the trouble light of alarm module lights, and voice message trouble unit and type, and touch-control shows simultaneously Display screen shows concrete trouble location and releases the concrete steps of fault, pending fault release after system initialization bringing into operation；
S102, by the human-computer interaction interface of touching display screen, selects this from all kinds of Driving Scenes that system prestores The concrete scene of drive simulation, it is possible to the most freely revise design parameter or combination Driving Scene, generate self-defining mould Intending scene, after determining selection, system starts to load drive simulation program；
S103, after system detects that driver enters analog systems and is ready to, each several part is started working, wear-type VR Equipment starts the virtual driving scene that display system produces, and follows the tracks of the driver training ground of the sight line track display respective angles of driver Scape, driver behavior collecting unit and driver status collecting unit start the concrete driver behavior gathering driver with in real time simultaneously Status information, the information real-time Transmission of collection to data processes and control unit；
S104, data process and control unit receive the driver of driver behavior collecting unit transmission and turn to, accelerate, subtract After the operation data such as speed, gearshift, after the calculation process of drive simulation program, generate three part control signals simultaneously, and divide Supplementary biography transports to driver behavior feedback unit, vehicle body action feedback unit and wear-type VR equipment；
S105, driver behavior feedback unit produces the analog feedback power of each operation part, car by control signal requirement simulation Body action feedback unit produces vehicle body crosswise movement power, longitudinal action force, vertical action force, suspension by control signal requirement simulation Seismaesthesia under action and the various state of automobile, wear-type VR equipment is by control signal requirement and combines pilot's line of vision track mould Intend producing start, turn to, accelerate, slow down, jolt, roll, break away, the road scene such as collision, driver behavior feedback now Unit, vehicle body action feedback unit and wear-type VR equipment accept control signal simultaneously, and synchronization produces respective feedback force, vehicle body moves Make and road scene；
S106, whole drive simulation process repeats step S103 to S105 always, adopts in real time during drive simulation meanwhile The driver operational data of collection, driver status information, driver behavior feedback data, the driving locus data of generation all store In system memory module, and shown in real time, until simulation process terminates by touching display screen；
S107, after drive simulation terminates, system is that driver carries out comprehensive grading according to each item data in driving procedure, Appraisal result and analysis result are shown in touching display screen, by operation touching display screen, can check drive simulation mistake in detail The operations of driver and specifically marking, also by playback driver's perspective images and driving locus labor in journey This time driving behavior of simulation；
S108, sends the instruction of " pass closed system " by operation touching display screen to system, and system performs system and closes journey Sequence, substep closes modules, unit, unit, last supply module power-off, whole system closedown.
Compared with prior art, the present invention in simulating driving procedure not only driver behavior to driver have feedback but also Producing vehicle body action corresponding when driving also in real time, the driver status in dynamic monitoring simulating driving procedure is as driving simultaneously The reference of behavior analysis result, it addition, use VR analogue technique to replace plane display drive simulation scene, and in real time according to driving The sight line of member generates virtual scene and the road conditions of corresponding angle, allows driver have and experiences more really, thus can be truer The operation intention of ground reflection driver and the actual response under different road conditions, improve drive simulating mistake to a great extent Gathering the accuracy of data in journey, the driving behavior to detection and research driver has the highest reference value.
Accompanying drawing explanation
Fig. 1: the structural representation of a kind of Vehicle driving simulator based on VR analogue technique；
Fig. 2: the control method flow chart of a kind of Vehicle driving simulator based on VR analogue technique.
Detailed description of the invention
Below by specific embodiment, the invention will be further described, and following example are illustrative, is not limit Qualitatively, it is impossible to limit protection scope of the present invention with this.
As it is shown in figure 1, the present invention is claimed a kind of Vehicle driving simulator based on VR analogue technique, including all with Data process the wear-type VR equipment that is connected with control unit, touching display screen, driver behavior collecting unit, driver status are adopted Collection unit, driver behavior feedback unit, vehicle body action feedback unit, memory module, alarm module and supply module；
The virtual driving scene that described wear-type VR equipment produces for display system, and follow the tracks of the sight line track of driver The Driving Scene of display respective angles, the virtual driving scene that system produces includes whole car steering position and corresponding instrument Dish, console etc., also have the road scene seen through front windshield, door and window, rearview mirror, side mirror etc.；
Described touching display screen has system input/output function and human-computer interaction interface concurrently, each for select system to prestore Collection data and feedback data, playback during class Driving Scene, self-editing combination Driving Scene, in real time display drive simulation are driven The person's of sailing perspective images and driving locus, display system analysis result etc.；
Described driver behavior collecting unit is for gathering the driver behavior of driver；
Described driver status acquisition module, including rhythm of the heart sensor, respiratory frequen and body temperature trans, respectively The rhythm of the heart, respiratory frequency and temperature data during collection driver；
Described driver behavior feedback unit is for producing the driver behavior feedback force of simulation；
Described vehicle body action feedback unit is for producing the vehicle body action of simulation；
Described memory module for store system runs program, drive simulation scene, the real-time recorded data of simulation process, The data such as the driving locus generated；
Described alarm module is reported to the police for the system failure and abnormal conditions；
Described supply module is for the power supply of whole system each electricity consumption part；
Described data process each several part coupled in control system with control unit, including receiving data, place Reason data, transmission data, transmission control signal etc., to ensure system components work normally and efficiently；
Described driver behavior collecting unit includes that steering wheel sensor, clutch pedal sensor, gear position sensor, acceleration are stepped on Plate sensor and brake pedal sensor, gather respectively turning to during driver, hang shelves, accelerate, braking etc. is driven Operation related data, such as operating force, actuating length, angular displacement, angular velocity, acceleration etc..
Described wear-type VR equipment also includes eye tracking sensor, the eye during tracking and monitoring driver Portion's action and sight line track.
Described driver behavior feedback unit includes steering wheel feedback device, clutch pedal device for force feedback, accelerator pedal Device for force feedback and brake pedal device for force feedback, produce the analog feedback power of appropriate section respectively.
Described vehicle body action feedback unit includes that vehicle body crosswise movement executor, vehicle body longitudinal direction actuator, vehicle body hang down Hanging actuator and driver's seat vibrations generator to actuator, vehicle body, the vehicle body producing simulation respectively laterally moves Make the seismaesthesia under power, longitudinal action force, vertical action force, suspension action and the various state of automobile.
In the middle of an alternative embodiment of the invention, a kind of control method that be applied to said system, the party are claimed Method comprises the following steps:
S101, system start-up, bring into operation self-check program and initialization, and as self-inspection is passed through, whole system is opened after initializing Beginning to run, as self-inspection is not passed through, the trouble light of alarm module lights, and voice message trouble unit and type, and touch-control shows simultaneously Display screen shows concrete trouble location and releases the concrete steps of fault, pending fault release after system initialization bringing into operation；
S102, by the human-computer interaction interface of touching display screen, selects this from all kinds of Driving Scenes that system prestores The concrete scene of drive simulation, it is possible to the most freely editing (amendment design parameter) or combination Driving Scene, generation is made by oneself The simulated scenario of justice, after determining selection, system starts to load drive simulation program；
S103, after system detects that driver enters analog systems and is ready to, each several part is started working, wear-type VR Equipment starts the virtual driving scene that display system produces, and follows the tracks of the driver training ground of the sight line track display respective angles of driver Scape, simultaneously driver behavior collecting unit and driver status collecting unit start to gather driver concrete driver behavior (start, Turn to, accelerate, slow down, gearshift etc.) and real-time status (rhythm of the heart, body temperature, respiratory frequency etc.) information, the information real-time Transmission of collection Process and control unit to data；
S104, data process and control unit receive the driver of driver behavior collecting unit transmission and turn to, accelerate, subtract After operation data such as speed, gearshift (such as operating force, actuating length, angular displacement, angular velocity, acceleration etc.), through drive simulation After the calculation process of program, generate three part control signals simultaneously, and be transmitted separately to driver behavior feedback unit, vehicle body action Feedback unit and wear-type VR equipment；
S105, driver behavior feedback unit produces the analog feedback power of each operation part, car by control signal requirement simulation Body action feedback unit produces vehicle body crosswise movement power, longitudinal action force, vertical action force, suspension by control signal requirement simulation Seismaesthesia under action and the various state of automobile, wear-type VR equipment is by control signal requirement and combines pilot's line of vision track mould Intend producing start, turn to, accelerate, slow down, jolt, roll, break away, the road scene such as collision, driver behavior feedback now Unit, vehicle body action feedback unit and wear-type VR equipment accept control signal simultaneously, and synchronization produces respective feedback force, vehicle body moves Make and road scene；
S106, whole drive simulation process repeats step S103 to S105 always, adopts in real time during drive simulation meanwhile The driver operational data of collection, driver status information, driver behavior feedback data, the data such as driving locus of generation are all deposited Store up in system memory module, and shown in real time, until simulation process terminates by touching display screen；
S107, after drive simulation terminates, system is that driver carries out comprehensive grading according to each item data in driving procedure, Appraisal result and analysis result are shown in touching display screen, by operation touching display screen, can check drive simulation mistake in detail The operations of driver and specifically marking, also by playback driver's perspective images and driving locus labor in journey This time driving behavior of simulation；
S108, sends the instruction of " pass closed system " by operation touching display screen to system, and system performs system and closes journey Sequence, substep closes modules, unit, unit, last supply module power-off, whole system closedown.
The present invention apply specific embodiment principle and the embodiment of the present invention are set forth, above example Method and the core concept thereof being only intended to help to understand the present invention is described, one of ordinary skill in the art is not being done Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of the protection of the present invention.

Claims (3)

1. a Vehicle driving simulator based on VR analogue technique, including all processing, with data, the head being connected with control unit Wear Formula V R equipment, touching display screen, driver behavior collecting unit, driver status collecting unit, driver behavior feedback unit, car Body action feedback unit, memory module, alarm module and supply module, it is characterised in that:
Described wear-type VR equipment, the virtual driving scene produced for display system, and the sight line track following the tracks of driver show Show the Driving Scene of respective angles, the virtual driving scene that system produces include whole car steering position and corresponding instrumental panel, Console, also has the road scene seen through front windshield, door and window, rearview mirror, side mirror etc.；
Described touching display screen, has system input/output function and human-computer interaction interface concurrently, all kinds of for select system to prestore Collection data and feedback data, playback during Driving Scene, self-editing combination Driving Scene, in real time display drive simulation are driven Member's perspective images and driving locus, display system analysis result；
Described driver behavior collecting unit, for gathering the driver behavior of driver；
Described driver status acquisition module, including rhythm of the heart sensor, respiratory frequen and body temperature trans, gathers respectively The rhythm of the heart, respiratory frequency and temperature data during driver；
Described driver behavior feedback unit, for producing the driver behavior feedback force of simulation；
Described vehicle body action feedback unit, for producing the vehicle body action of simulation；
Described memory module, for storing system runs program, drive simulation scene, the real-time recorded data of simulation process, life The driving locus data become；
Described alarm module, reports to the police for the system failure and abnormal conditions；
Described supply module, for the power supply of whole system each electricity consumption part；
Described data process and control unit, each several part coupled in control system, including receiving data, processing number According to, transmission data, send control signal, to ensure system components work normally and efficiently；
Described driver behavior collecting unit, including steering wheel sensor, clutch pedal sensor, gear position sensor, accelerator pedal Sensor and brake pedal sensor, gather turning to during driver respectively, hang shelves, accelerate, brake driver behavior Related data.
2. the system as claimed in claim 1, it is characterised in that described wear-type VR equipment, also includes eye tracking sensor, Eye motion during tracking and monitoring driver and sight line track；
Described driver behavior feedback unit, anti-including steering wheel feedback device, clutch pedal device for force feedback, accelerator pedal power Feedback device and brake pedal device for force feedback, produce the analog feedback power of appropriate section respectively；
Described vehicle body action feedback unit, vertical dynamic including vehicle body crosswise movement executor, vehicle body longitudinal direction actuator, vehicle body Make executor, vehicle body hang actuator and driver's seat vibrations generator, produce respectively simulation vehicle body crosswise movement power, Seismaesthesia under longitudinal action force, vertical action force, suspension action and the various state of automobile.
3. being applied to a control method for system as claimed in claim 1 or 2, peculiar be, the method comprises the following steps:
S101, system start-up, bring into operation self-check program and initialization, and as self-inspection is passed through, whole system starts fortune after initializing OK, as self-inspection is not passed through, the trouble light of alarm module lights, and voice message trouble unit and type, touching display screen simultaneously Show concrete trouble location and release the concrete steps of fault, pending fault release after system initialization bringing into operation；
S102, by the human-computer interaction interface of touching display screen, selects this to drive from all kinds of Driving Scenes that system prestores The concrete scene of simulation, it is possible to the most freely revise design parameter or combination Driving Scene, generate self-defining simulation yard Scape, after determining selection, system starts to load drive simulation program；
S103, after system detects that driver enters analog systems and is ready to, each several part is started working, wear-type VR equipment Start the virtual driving scene that display system produces, and the sight line track following the tracks of driver show the Driving Scene of respective angles, Driver behavior collecting unit and driver status collecting unit start to gather the concrete driver behavior of driver and real-time shape simultaneously State information, the information real-time Transmission of collection to data processes and control unit；
S104, data process with control unit receive the driver of driver behavior collecting unit transmission turn to, accelerate, slow down, After the operation data such as gearshift, after the calculation process of drive simulation program, generate three part control signals simultaneously, and pass respectively Transport to driver behavior feedback unit, vehicle body action feedback unit and wear-type VR equipment；
S105, driver behavior feedback unit produces the analog feedback power of each operation part by control signal requirement simulation, and vehicle body moves Make feedback unit and produce vehicle body crosswise movement power, longitudinal action force, vertical action force, suspension action by control signal requirement simulation And the seismaesthesia under the various state of automobile, wear-type VR equipment is by control signal requirement and combines pilot's line of vision trace simulation product Raw start, turn to, accelerate, slow down, jolt, roll, break away, the road scene such as collision, driver behavior feedback unit now, car Body action feedback unit and wear-type VR equipment accept control signal simultaneously, synchronize to produce respective feedback force, vehicle body action and Road scene；
S106, whole drive simulation process repeats step S103 to S105, meanwhile, Real-time Collection during drive simulation always Driver operational data, driver status information, driver behavior feedback data, the driving locus data of generation all store and are In system memory module, and shown in real time, until simulation process terminates by touching display screen；
S107, after drive simulation terminates, system is that driver carries out comprehensive grading according to each item data in driving procedure, scoring Result and analysis result are shown in touching display screen, by operation touching display screen, during can checking drive simulation in detail The operations of driver and specifically marking, also by playback driver's perspective images and driving locus labor this time The driving behavior of simulation；
S108, sends the instruction of " pass closed system " by operation touching display screen to system, and system performs system bolt down procedure, point Step closes modules, unit, unit, last supply module power-off, and whole system is closed.
CN201610836599.1A 2016-09-20 2016-09-20 A kind of Vehicle driving simulator based on VR analogue technique and method Pending CN106205273A (en)

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Application publication date: 20161207