CN106940942A - The driving training simulator and method of self-adaptative adjustment Training scene - Google Patents
The driving training simulator and method of self-adaptative adjustment Training scene Download PDFInfo
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- CN106940942A CN106940942A CN201710332198.7A CN201710332198A CN106940942A CN 106940942 A CN106940942 A CN 106940942A CN 201710332198 A CN201710332198 A CN 201710332198A CN 106940942 A CN106940942 A CN 106940942A
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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
Abstract
The present invention provides a kind of driving training simulator of self-adaptative adjustment Training scene, including drives motion simulator, the computer for being provided with virtual views software, data acquisition device, self-adapting adjusting apparatus；Self-adapting adjusting apparatus includes alert module, alarm module, virtual views acquisition module, virtual views insertion module；Alert module in response to can not driving instruction, generate caution signal；Alarm module generates alarm signal in response to abnormal driving instruction；Virtual views acquisition module gathers current virtual what comes into a driver's scene in response to caution signal and/or alarm signal；The virtual views insertion module adaptively inserts the virtual views scene gathered several times in follow-up virtual views scene.The present invention targetedly can be inserted in follow-up Training scene repeatedly occur abnormal transport condition or can not transport condition virtual views scene, user is obtained more preferable training effect with higher efficiency and shorter time.
Description
Technical field
Field is trained the present invention relates to drive simulation, in particular to a kind of driving mould of self-adaptative adjustment Training scene
Intend training system and method.
Background technology
Vehicle and the place for being presently available for training are all very limited, and student usually requires to spend larger cost to go study to drive
Sail, and the training under some extreme terrains or environmental condition can not deploy at all, and the student without largely training is operating
The problem of also easily triggering larger during vehicle even injures and deaths, potential safety hazard is poor, if putting into a large amount of vehicles is used to train, vehicle
Cost and maintenance cost are at a relatively high, while can also produce larger noise pollution and exhaust emission.It is existing to drive instruction for summary
Practice and there is the limitation such as high cost, high-risk, lack of space.
In addition, mistake occurs unavoidably in training in student, if trained with real vehicle, generally there are two kinds of selections, one is anti-
It is multiple that real vehicle is transferred to former scene, then operated by student；Two be to repeat current whole scene segment, to increase exercise mistake
The number of times of scape.The former time and effort consuming is, it is necessary to which professional assists real vehicle being transferred to former scene at any time, and the latter will expend too much
Time in the scene skillfully grasped, student cannot get special training.
The content of the invention
Present invention aims at the driving training simulator and method for providing a kind of self-adaptative adjustment Training scene, record
The abnormal transport condition that occurs in driving procedure of analysis user and can not transport condition, targetedly in follow-up Training scene
Middle insertion repeatedly occur abnormal transport condition or can not transport condition virtual views scene, make user with higher efficiency and
The shorter time obtains more preferable training effect.
The above-mentioned purpose of the present invention realized by the technical characteristics of independent claims, and dependent claims are with alternative or have
The mode of profit develops the technical characteristic of independent claims.
To reach above-mentioned purpose, the present invention proposes the driving training simulator of self-adaptative adjustment Training scene, including drives
Sail motion simulator, the computer for being provided with virtual views software, data acquisition device, self-adapting adjusting apparatus；
The driving motion simulator includes carrier, motion simulation platform and position control loop；
The motion simulation platform includes the upper mounting plate and lower platform being parallel to each other, and lower platform is fixed on the ground, upper flat
A servo-actuating device is connected between platform and lower platform；
Several seats, the executor for simulating real vehicles operation, display unit, carrier are installed in the carrier
It is fixedly mounted on the upper mounting plate of motion simulation platform；
The virtual views software includes virtual views generation module, model and simplifies module, virtual views memory module, void
Intend what comes into a driver's processing module, virtual views setting module, virtual views playing module；
The virtual views generation module is simplified to generate virtual views scene, the virtual views scene of generation through model
Module is stored in virtual views memory module after simplifying, every kind of virtual views scene be respectively provided with its independent numbering, terrain parameter,
Ambient parameter；
The virtual views setting module chooses any one from virtual views memory module to allow user by numbering
Plant or a variety of virtual views scenes, it is combined into a kind of Training scene, virtual views playing module is sent to；
The virtual views playing module is connected with display unit, by the Training scene received by display unit to show
Show to user；
The data acquisition device includes installing is used for the pressure sensing that real-time detection seat bears pressure on the seat
Device, the executor collecting unit for gathering current executor operating parameter, the scene for gathering current virtual what comes into a driver's scene
Collecting unit；
The data acquisition device is connected with virtual views processing module, and the operation of the current executor collected is joined
Pressure and current virtual what comes into a driver's scene that number, seat are born, are sent to virtual views processing module, virtual views processing in real time
The information that module analysis processing is received, judges current empty under the pressure condition that current executor operating parameter and seat are born
Intend the change that what comes into a driver's scene is produced, generate new virtual views scene, and be sent to virtual views playing module, virtual views are broadcast
Amplification module is by display unit to be shown to user；
The broadcasting priority of the new virtual views scene of the virtual views processing module generation is set higher than virtual views
The virtual views scene do not played in cover half block；
The operating parameter and current virtual what comes into a driver's scene of the current executor of the data acquisition device collection are sent out simultaneously
Position control loop is given, after position control loop analyzes and processes it, generation current virtual what comes into a driver's scene and executor operation
The motion state instruction of motion simulation platform under Parameter Conditions, and motion state is instructed to the fortune for being parsed into servo-actuating device
Dynamic instruction；
The servo-actuating device is connected with position control loop, in response to the movement instruction of position control loop, driving
Upper mounting plate is acted, and makes to be fixed on the motion state phase that the motion state of the carrier on upper mounting plate is specified with motion state
Together；
Make the carrier produce grazing, break away, trackslip, the motion state instruction of balleting state is defined as abnormal row
Sail instruction；
The carrier is produced to stop working, leave current virtual what comes into a driver's scene, the motion state of collision movement state instruction quilt
Being defined as can not driving instruction；
Instruct the motion state of the carrier held stationary transport condition and be defined as normally travel instruction；
The self-adapting adjusting apparatus includes being used to generate the alert module of caution signal, the police for generating alarm signal
Show module, the virtual views acquisition module for gathering current virtual what comes into a driver's scene, for inserting the virtual of virtual views scene
What comes into a driver's inserts module；
The alert module in response to can not driving instruction, generate caution signal；
The alarm module generates alarm signal in response to abnormal driving instruction；
The virtual views acquisition module is connected with alert module, alarm module, is believed in response to caution signal and/or warning
Number, current virtual what comes into a driver's scene is gathered, and the virtual views scene of collection is sent to virtual views insertion module；
The virtual views insertion module is adaptively inserted in response to caution signal in follow-up virtual views scene
The virtual views scene of M collection；
The virtual views insertion module is adaptively inserted in response to alarm signal in follow-up virtual views scene
The virtual views scene of n times collection；
Described M, N are the positive integer more than zero.
Based on the driving training simulator of foregoing self-adaptative adjustment Training scene, the application further mentions a kind of self adaptation and adjusted
The drive simulation training method of whole Training scene, this method includes：
Step 1, the one or more kinds of virtual views scenes of selection, compound training scene, user's operation drive simulation training
System simulation is travelled in the Training scene；
Step 2, the terrain parameter in data acquisition device collection current virtual what comes into a driver's scene and ambient parameter, executor behaviour
Make parameter, the pressure suffered by seat, send it to position control loop and virtual views processing module；
Step 3, position control loop and virtual views processing module binding kineticses model carry out dynamic analysis, judge
Go out vehicle transport condition in the present case and what comes into a driver's change, while carrying out following two operations：1) position control loop is given birth to
Into motion state instruction, driving servo-actuating device motion, the motion that the motion state and motion state for making carrier are specified
State is identical, 2) virtual views processing module generates new virtual views scene, and by it by display unit to be shown to
User；
Step 4, analysis judge any one in the property of motion state instruction, the following three kinds of situations of selection：
1) if can not driving instruction, generate caution signal, self-adapting adjusting apparatus is in response to caution signal, self adaptation
Ground inserts M current virtual what comes into a driver's scene in follow-up virtual views scene；
2) if abnormal driving instruction, generate corresponding alarm signal, self-adapting adjusting apparatus in response to alarm signal,
N times current virtual what comes into a driver's scene is adaptively inserted in follow-up virtual views scene；
3) if normally travel is instructed, any signal is not generated, continues to train in current Training scene.
By above technical scheme, compared with existing, its significant beneficial effect is：
Abnormal transport condition that record analysis user occurs in driving procedure and can not transport condition, targetedly rear
Inserted in continuous Training scene repeatedly occur abnormal transport condition or can not transport condition virtual views scene, make user with
Higher efficiency and shorter time obtain more preferable training effect.
As long as it should be appreciated that all combinations of aforementioned concepts and the extra design described in greater detail below are at this
A part for the subject matter of the disclosure is can be viewed as in the case that the design of sample is not conflicting.In addition, required protect
All combinations of the theme of shield are considered as a part for the subject matter of the disclosure.
Can be more fully appreciated with from the following description with reference to accompanying drawing present invention teach that foregoing and other aspect, reality
Apply example and feature.The feature and/or beneficial effect of other additional aspects such as illustrative embodiments of the present invention will be below
Description in it is obvious, or by according to present invention teach that embodiment practice in learn.
Brief description of the drawings
Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each identical or approximately uniform group shown in each figure
It can be indicated by the same numeral into part.For clarity, in each figure, not each part is labeled.
Now, by example and the embodiments of various aspects of the invention will be described in reference to the drawings, wherein：
Fig. 1 is the structural representation of the driving training simulator of the self-adaptative adjustment Training scene of the present invention.
Fig. 2 is the structural representation of the position control loop of the present invention.
Fig. 3 is the structural representation of the driving motion simulator of the present invention.
Fig. 4 is the structural representation of the motion simulation platform of the present invention.
Fig. 5 is the flow chart of the drive simulation training method of the self-adaptative adjustment Training scene of the present invention.
Embodiment
In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.
Each side with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure must not be intended to include all aspects of the invention.It should be appreciated that a variety of designs presented hereinbefore and reality
Apply example, and those designs described in more detail below and embodiment can in many ways in any one come real
Apply, because design disclosed in this invention and embodiment are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined be used with disclosed by the invention.
The present invention refers to a kind of driving training simulator of self-adaptative adjustment Training scene, except can be from vision and body
In sense simultaneously reproduce drive true panzer when operation sense, additionally it is possible to record analysis user it is unskilled in driving procedure or
The scene easily malfunctioned, the scene adaptive is inserted among follow-up scene, makes user obtain having necessarily targetedly
Training.
The driving training simulator includes driving motion simulator 100, is provided with the calculating of virtual views software 200
Machine, data acquisition device 300 and self-adapting adjusting apparatus 400.
Driving motion simulator 100 is used for the motion state change of simulated implementation vehicle, user is experienced from body-sensing
The operation of real vehicles, driving motion simulator 100 includes carrier 101, motion simulation platform 102 and position control loop
103。
Carrier 101 is, with reference to real vehicle structure, to reduce or only choose operator seat being formed in proportion.Certainly, carrier
101 can also be with real vehicles same structure, and to reach the validity of maximum, but such a scheme cost is higher.
Carrier 101 is arranged on motion simulation platform 102, and motion simulation platform can realize being moved through for six degree of freedom
Journey, thus carries the motion that carrier 101 disposed thereon realizes six degree of freedom.
An executor 101b is provided with carrier 101 where user, similar with carrier 101, executor 101b can be selected
Select the configuration as real vehicles or reach maximum as far as possible using the simulation executor with body-sensing backfeed loop
Operate the sense of reality.
Also there is an instrument pack, instrument pack to show current executor 101b operating parameters in real time in carrier 101
And the skimulated motion parameter of carrier 101.
By any of the above structural member, make user in terms of two in vision and body-sensing while feeling just operating real vehicle
Traveling is in real scene.
Motion simulation platform 102 includes the upper mounting plate 102b and lower platform 102a being parallel to each other, and lower platform 102a is fixed on
On ground, or a pedestal is first fixedly installed on the ground, lower platform 102b is installed on the base, movement easy to disassemble and day
Often maintenance.
A servo-actuating device 102c is connected between upper mounting plate 102b and lower platform 102a, passes through the servo-drive
Mechanism 102c makes upper mounting plate realize the motion process of six degree of freedom.
Carrier 101 is arranged on upper mounting plate 102b, follows upper mounting plate 102b to move.
Several seats, the executor 101b for simulating real vehicles operation are provided with carrier 101, for showing void
The display unit 101a of plan what comes into a driver's scene, carrier 101 and executor 101b structure have been noted above preceding, no longer go to live in the household of one's in-laws on getting married herein
State, this place only illustrates display unit 101a related setting.It should be appreciated that in order to reach most real effect, display unit
101a is generally using the close or identical display with real vehicles vision, and entering due to virtual reality technology in recent years
Step, herein, we can also use the display device based on virtual reality technology, such as wear-type virtual reality display device
Deng reaching more preferable display effect.
Servo-actuating device 102c has diversity, and we can be put down using the six-freedom motion mentioned by prior art
Platform, can also construct most suitable motion simulation platform according to the traveling characteristics adjusting parameter of vehicle.
It is below one of example of a servo-actuating device 102c, servo-actuating device 102c includes should with reference to Fig. 4, Fig. 5
Example but it is not limited only to this.
Servo-drive structure 102c includes the first electric cylinder, the second electric cylinder, the 3rd electric cylinder, the 4th electric cylinder, the 5th
Electric cylinder, the 6th electric cylinder, one end of foregoing all electric cylinders are arranged on upper mounting plate by Hooke's hinge, and the other end passes through Hooke
Hinge is arranged on lower platform 102a.
First electric cylinder is defined as A points, the hinge of the second electric cylinder and lower platform 102a with lower platform 102a pin joint
Contact is defined as A ' points, A points and A ' point infinite approachs.
3rd electric cylinder is defined as B points, the hinge of the 4th electric cylinder and lower platform 102a with lower platform 102a pin joint
Contact is defined as B ' points, B points and B ' point infinite approachs.
5th electric cylinder is defined as C points, the hinge of the 6th electric cylinder and lower platform 102a with lower platform 102a pin joint
Contact is defined as C ' points, C points and C ' point infinite approachs.
Vertical corresponding position is also laid with a points adjacent to one another and a ' points, b to upper mounting plate 102b one by one with lower platform 102a
Point and b ' points, c points and c ' points, wherein, a points are corresponding with A points, and b points are corresponding with B points, and c points are corresponding with C points, a ' points and A ' points pair
Should, b ' points are corresponding with B ' points, and c ' points are put corresponding with C '.
First electric cylinder is b points with upper mounting plate 102b pin joint, and the second electric cylinder is c with upper mounting plate 102b pin joint
Point.
The pin joint of 3rd electric cylinder and upper mounting plate 102b is a points, and the pin joint of the 4th electric cylinder and upper mounting plate 102b is
C ' points.
The pin joint of 5th electric cylinder and upper mounting plate 102b is a ' points, and the pin joint of the 6th electric cylinder and upper mounting plate 102b is
B ' points.
Lower platform 102a is included by A points, B points, C points one triangle of formation, the circumcircle of the triangle.
Position control loop 103 can use position control loop of the prior art with servo-actuating device 102c,
Parameter therein can be adjusted so that it is more suitable for the athletic posture of vehicle, the following is one of which position control loop 103
Example：
With reference to Fig. 3, position control loop 103 includes main control computer 103a, D/A converting unit 103b, controller 103c, sensing
Device group 103d, A/D converting unit 103e.
Main control computer 103a, D/A converting unit 103b, controller 103c, servo-actuating device 102c are sequentially connected, sensor
Group 103d, A/D converting unit 103e, main control computer 103a are sequentially connected.
Main control computer 103a generation motion state instructions, it are parsed into servo-actuating device 102c movement instruction, moved
Instruction sends to controller 103c, controller 103c after being changed through D/A converting units 103b and driven according to the movement instruction received
Dynamic servo-actuating device 102c actions, make the motion state of carrier 101 identical with the motion state that motion state is specified.
Sensor group 103d is arranged on carrier 101, the motion state and posture of real-time detection carrier 101, and will
Result of detection feeds back to main control computer 103a after being changed through A/D converting units 103e.Main control computer 103a is by the sensor group received
The result of 103d feedbacks is compared with motion state instruction, and generation error instruction, error instruction is changed through D/A converting units 103b
After send to controller 103c.
Sensor group 103d can use 3-axis acceleration sensor and three-axis gyroscope.
With reference to the servo-actuating device 102c in above-mentioned example and position control loop 103, we illustrate lower the application institute
The motion process of the driving motion simulator 100 referred to.
Position control loop 103 carries out dynamic analysis with kinetic model, judges generation one motion state instruction, then
Backwards calculation goes out the corresponding position of each joint link lever of motion simulation platform and speed, and this turns into kinematic synthesis or kinematic reverse
Problem.Need to set different coordinate systems, determine transformation matrix of coordinates, derive kinematical equation, set up system mathematic model
(Eulerian angles theorem), this is to realize the key issue that analog motion platform is automatically controlled.X, Y, Z, α can be used herein, and beta, gamma is sat
Mark system, wherein, X is represented and moved horizontally, and Y is represented and vertically moved, and above and below Z representatives, α represents the angle of pitch, and β represents angle of heel, γ generations
Table steering angle.
Position control loop 103 needs to send the movement instruction of foregoing six electric cylinders in real time, while detecting carrier 101
Actual attitude (speed, positional information etc.), constitutes to the digital closed-loop control of motion simulation platform 102, six is ensured by calculating
The coordination of electric cylinder and control accuracy.
It may be otherwise and use digital cylinder, just can so eliminate foregoing electric cylinder, the conversion of sensor group 103d, A/D
All too many levels such as 103e and D/A conversions 103b, it is all to accomplish sensor, digital valve etc. inside oil cylinder, forms automatic position
Put feedback and velocity feedback.Digital cylinder can directly receive the digital pulse signal that computer sends and reliably be worked.
Virtual views software 200 includes virtual views generation module 201, model and simplifies module 202, virtual views storage mould
Block 203, virtual views processing module 204, virtual views setting module 205, virtual views playing module 206.
Virtual views generation module 201 is simplified to generate virtual views scene, the virtual views scene of generation through model
Module 202 is stored in virtual views memory module 203 after simplifying, every kind of virtual views scene be respectively provided with its independent numbering,
Shape parameter, ambient parameter, can provide some keywords herein, such as mountain region, grade of jolting, wind direction, wind scale, sleet
Level, road dimensions etc..
Virtual views setting module 205 is to allow user from virtual views memory module 203 by numbering or crucial
Selected ci poem takes any one or a variety of virtual views scenes, and it is combined into a kind of Training scene, is sent to virtual views broadcasting
Module 206, is realized with this and targetedly train.
Virtual views playing module 206 is connected with display unit 101a, and the Training scene received is passed through into display unit
101a is to be shown to user.
And the change of the body-sensing in foregoing drive simulation training method and visible change are realized, this driving training simulator
Also need to set a data acquisition device 300, including scenario parameters, executor parameter, carrier with collection contains the letter such as people's situation
Breath, the information of collection is more, and the authenticity of simulation is stronger, but simultaneously, it is necessary to which the process of computing is also longer, amount of calculation is bigger.
With reference to Fig. 2, information and arithmetic speed are considered, the data acquisition device 300 that the application is set includes peace
Dress is used for real-time detection seat and bears the pressure sensor 301 of pressure, for gathering current executor operation ginseng on the seat
Several executor collecting units 302, the scene collecting unit 303 for gathering current virtual what comes into a driver's scene.
Data acquisition device 300 is connected with virtual views processing module 205, and the operation of the current executor collected is joined
Pressure and current virtual what comes into a driver's scene that number, seat are born, are sent to virtual views processing module 205, virtual views in real time
Processing module 205 analyzes and processes the information received, judges the pressure condition born in current executor operating parameter and seat
The change that lower current virtual what comes into a driver's scene is produced, generates new virtual views scene, and be sent to virtual views playing module
206, virtual views playing module 206 is by display unit to be shown to user.
As it was previously stated, the broadcasting priority for the new virtual views scene that virtual views processing module 205 is generated is higher than void
Intend the virtual views scene do not played in what comes into a driver's setting module 204.
The operating parameter and current virtual what comes into a driver's scene for the current executor that data acquisition device 300 is gathered are sent out simultaneously
Position control loop 103 is given, after position control loop 103 analyzes and processes it, generation current virtual what comes into a driver's scene and manipulation
The motion state instruction of motion simulation platform 102 under the conditions of device operating parameter, and motion state instruction is parsed into servo drive
Motivation structure 102c movement instruction.
Servo-actuating device 102c is connected with position control loop 103, and the motion in response to position control loop 103 refers to
Order, driving upper mounting plate 102b is acted, and the motion state for the carrier 101 being fixed on upper mounting plate 102b is referred to motion state
Make the motion state specified identical.
On the basis of aforementioned structure, we set a self-adapting adjusting apparatus in addition on the driving training simulator
400, self-adapting adjusting apparatus 400 includes being used to generate the alert module 401 of caution signal, the warning for generating alarm signal
Module 402, the virtual views acquisition module 403 for gathering current virtual what comes into a driver's scene, for inserting virtual views scene
Virtual views insert module 404.
Before the operation principle of description self-adapting adjusting apparatus 400, we first generate aforementioned location control device 103
Motion state instruction do a classification, it is divided into three classes：
The first kind, abnormal driving instruction, it includes all simulating vehicles and occurs abnormal traveling, but be not off traveling or
The motion state instruction of current virtual what comes into a driver's scene is left, such as grazing, breakking away, trackslip, jolt.
Equations of The Second Kind, it is impossible to driving instruction, it includes all simulating vehicles and stops travelling or having been moved off current virtual regarding
Scape scene, the motion state instruction that Training scene can not continue, such as stopping working, leave current scene, collision.
3rd class, normally travel instruction, it includes the motion state instruction of all simulating vehicle held stationary transport conditions.
And the operation principle of self-adapting adjusting apparatus 400 is based on differentiating three type games status commands above, judge to use
Whether exception is occurred in that when family is by the scene, if there is exception, then capture current virtual what comes into a driver's scene, then adaptively insert
Enter in follow-up Training scene, make user have an opportunity to obtain more instructions on its weakness in the training of same Training scene
Practice.
Implement principle as follows：
Alert module 401 in response to can not driving instruction, generate caution signal；Alarm module 402 is in response to abnormal traveling
Instruction, generates alarm signal；When motion state instruction is normally travel instruction, any signal is not generated, and vehicle, which continues to press, works as
The layout exercise of preceding Training scene.
Virtual views acquisition module 403 is connected with alert module 401, alarm module 402, in response to caution signal and/or
Alarm signal, gathers current virtual what comes into a driver's scene, and the virtual views scene collected is sent into virtual views insertion module
404。
Virtual views insert module 404 in response to caution signal, adaptively insert M in follow-up virtual views scene
The virtual views scene of secondary collection.
Virtual views insert module 404 in response to alarm signal, adaptively insert N in follow-up virtual views scene
The virtual views scene of secondary collection.
M, N are the positive integer more than zero herein.Usual M is configured to be more than N, and this is also in that what caution signal was represented
It is that exercise number of times is increased more, it is necessary to which more conscientious treats, corrects the problem of occurring in that more serious in training process.
Certainly, the definition of above motion state instruction can separately be set.
For example, in previous example, trackslip, breakking away is counted as abnormal traveling, can also it is artificially defined into can not travel or
Person's normally travel, remaining transport condition similarly thus, voluntarily set as needed by administrative staff or user.
Administrative staff or user can also generate caution signal or police according to the motion state of carrier 101 as benchmark
Show signal, such as the attitude of the carrier 101 fed back by data acquisition device 300, position judge.
Self-adapting adjusting apparatus also has a logging modle 405, and the logging modle 405 is to record user in detail once
The type and quantity of the transport condition occurred in Training scene, help user to grasp the training of oneself.
In order to recognize different users, self-adapting adjusting apparatus also has an identification module 406, and the identification method can
To select fingerprint, swipe the card, log in the various identifications such as password and confirm modules.
It is well known that in the traveling operating process of panzer, some audios, such as engine work can be produced
As when reach driver Er Nei sound etc., for most real reduction vehicle practical operation experience, the application is also provided with using
The sound sensation analogue means advanced and operated in simulating vehicle.
The audio that sound sensation analogue means includes the acoustics unit being arranged in carrier and installed in a computer stores mould
Block, audio effect processing module.
The several audio produced when audio memory module is to store operation real vehicles, the several audio is with manipulating
The operational motion of device is corresponded.
Data acquisition device 300 sends current executor 101b operating parameter to audio effect processing module, audio effect processing
Module transfers corresponding audio by acoustics unit to play in response to the feedback result of the data acquisition device 300 received
To user.
By above-mentioned sound sensation analogue means, user can be allowed to experience car from sound sensation when operating driving training simulator
Operation, rapidly and accurately grasp vehicle operation when sound, reach more preferable training effect.
Based on the driving training simulator of foregoing self-adaptative adjustment Training scene, the application proposes a kind of self-adaptative adjustment
The drive simulation training method of Training scene, this method includes：
Step 1, the one or more kinds of virtual views scenes of selection, compound training scene, user's operation drive simulation training
System simulation is travelled in the Training scene；
Step 2, the terrain parameter in the collection current virtual what comes into a driver's scene of data acquisition device 300 and ambient parameter, manipulation
Pressure suffered by device 101b operating parameters, seat, sends it to position control loop 103 and virtual views processing module 205；
Step 3, position control loop 103 and the binding kineticses model of virtual views processing module 205 carry out power credit
Analysis, judges vehicle transport condition in the present case and what comes into a driver's change, while carrying out following two operations：1) position is controlled
The generation of loop 103 motion state instruction, driving servo-actuating device 102c motions make the motion state and motion shape of carrier 101
The motion state that state is specified is identical, and 2) virtual views processing module 205 generates new virtual views scene, and it is led to
Display unit 101a is crossed to be shown to user；
Step 4, analysis judge any one in the property of motion state instruction, the following three kinds of situations of selection：
1) if can not driving instruction, generate caution signal, self-adapting adjusting apparatus 400 in response to caution signal, from
M current virtual what comes into a driver's scene is inserted adaptively in follow-up virtual views scene；
2) if abnormal driving instruction, generates alarm signal, self-adapting adjusting apparatus 400 is in response to alarm signal, certainly
N times current virtual what comes into a driver's scene is inserted adaptively in follow-up virtual views scene；
3) if normally travel is instructed, any signal is not generated, continues to train in current Training scene.
It is foregoing that current virtual what comes into a driver's scene is adaptively inserted in follow-up virtual views scene, refer to every
Set and a current virtual what comes into a driver's scene is inserted after operating range.
Foregoing setting operating range can be by setting a setting module artificially to set, it is preferred that is set to 2 public
In, it is also an option that to be randomly provided, increasing the uncontrollability of training, improve user's training effect.
So as to which the present invention refers to the driving training simulator and method of a kind of self-adaptative adjustment Training scene, record point
The abnormal transport condition that occurs in driving procedure of analysis user and can not transport condition, targetedly in follow-up Training scene
Insertion repeatedly occur abnormal transport condition or can not transport condition virtual views scene, make user with higher efficiency and compared with
The short time obtains more preferable training effect.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Skill belonging to of the invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. a kind of driving training simulator of self-adaptative adjustment Training scene, it is characterised in that including driving motion simulation dress
The computer that put, is provided with virtual views software, data acquisition device, self-adapting adjusting apparatus；
The driving motion simulator includes carrier, motion simulation platform and position control loop；
The motion simulation platform includes the upper mounting plate and lower platform that are parallel to each other, and lower platform is fixed on the ground, upper mounting plate and
A servo-actuating device is connected between lower platform；
Several seats, the executor for simulating real vehicles operation, display unit are installed, carrier is fixed in the carrier
On the upper mounting plate of motion simulation platform；
The virtual views software includes virtual views generation module, model and simplifies module, virtual views memory module, virtually regards
Scape processing module, virtual views setting module, virtual views playing module；
The virtual views generation module simplifies module to generate virtual views scene, the virtual views scene of generation through model
Virtual views memory module is stored in after simplifying, every kind of virtual views scene is respectively provided with its independent numbering, terrain parameter, environment
Parameter；
The virtual views setting module to allow user from virtual views memory module by number choose any one or
The a variety of virtual views scenes of person, are combined into a kind of Training scene by it, are sent to virtual views playing module；
The virtual views playing module is connected with display unit, by the Training scene received by display unit to be shown to
User；
The data acquisition device, which includes installing, to be born the pressure sensor of pressure for real-time detection seat on the seat, uses
Executor collecting unit in the current executor operating parameter of collection, the scene collection for gathering current virtual what comes into a driver's scene are single
Member；
The data acquisition device is connected with virtual views processing module, by the operating parameter of the current executor collected, seat
Pressure and current virtual what comes into a driver's scene that chair is born, are sent to virtual views processing module, virtual views processing module in real time
The information received is analyzed and processed, judges that current virtual is regarded under the pressure condition that current executor operating parameter and seat are born
The change that scape scene is produced, generates new virtual views scene, and is sent to virtual views playing module, and virtual views play mould
Block is by display unit to be shown to user；
The broadcasting priority of the new virtual views scene of the virtual views processing module generation sets mould higher than virtual views
The virtual views scene do not played in block；
The operating parameter and current virtual what comes into a driver's scene of the current executor of the data acquisition device collection are sent to simultaneously
Position control loop, after position control loop analyzes and processes it, generation current virtual what comes into a driver's scene and executor operating parameter
Under the conditions of motion simulation platform motion state instruction, and motion state instructed be parsed into the motion of servo-actuating device and refer to
Order；
The servo-actuating device is connected with position control loop, in response to the movement instruction of position control loop, is put down in driving
Platform is acted, and the motion state for making to be fixed on carrier on upper mounting plate is identical with the motion state that motion state is specified；
Make the carrier produce grazing, break away, trackslip, the motion state instruction of balleting state is defined as abnormal traveling and referred to
Order；
The carrier is produced to stop working, leave current virtual what comes into a driver's scene, the instruction of the motion state of collision movement state and be defined
Into can not driving instruction；
Instruct the motion state of the carrier held stationary transport condition and be defined as normally travel instruction；
The self-adapting adjusting apparatus includes being used to generate the alert module of caution signal, the warning mould for generating alarm signal
Block, the virtual views acquisition module for gathering current virtual what comes into a driver's scene, the virtual views for inserting virtual views scene
Insert module；
The alert module in response to can not driving instruction, generate caution signal；
The alarm module generates alarm signal in response to abnormal driving instruction；
The virtual views acquisition module is connected with alert module, alarm module, in response to caution signal and/or alarm signal,
Current virtual what comes into a driver's scene is gathered, and the virtual views scene of collection is sent to virtual views insertion module；
The virtual views insertion module is adaptively inserted M times in response to caution signal in follow-up virtual views scene
The virtual views scene of collection；
The virtual views insert module in response to alarm signal, adaptively insert n times in follow-up virtual views scene
The virtual views scene of collection；
Described M, N are the positive integer more than zero.
2. the driving training simulator of self-adaptative adjustment Training scene according to claim 1, it is characterised in that described
Self-adapting adjusting apparatus has an identification module.
3. the driving training simulator of self-adaptative adjustment Training scene according to claim 1, it is characterised in that described
Self-adapting adjusting apparatus has a logging modle.
4. the driving training simulator of self-adaptative adjustment Training scene according to claim 1, it is characterised in that described
Driving training simulator also has a sound sensation analogue means；
The audio that the sound sensation analogue means includes the acoustics unit being arranged in carrier and installed in a computer stores mould
Block, audio effect processing module；
The several audio that the audio memory module is produced when operating true panzer to store, the several audio and behaviour
The operational motion of vertical device is corresponded；
The data acquisition device sends the operating parameter of current executor to audio effect processing module, the response of audio effect processing module
In the feedback result of the data acquisition device received, transfer corresponding audio by acoustics unit to play to user.
5. the driving training simulator of self-adaptative adjustment Training scene according to claim 1, it is characterised in that described
Servo-drive structure includes the first electric cylinder, the second electric cylinder, the 3rd electric cylinder, the 4th electric cylinder, the 5th electric cylinder, the 6th electricity
Dynamic cylinder, one end of foregoing all electric cylinders is arranged on upper mounting plate by Hooke's hinge, and the other end is arranged on lower flat by Hooke's hinge
On platform；
The pin joint of first electric cylinder and lower platform is defined as A points, and the pin joint of the second electric cylinder and lower platform is determined
Justice puts infinite approach into A ' points, A points and A '；
The pin joint of 3rd electric cylinder and lower platform is defined as B points, and the pin joint of the 4th electric cylinder and lower platform is determined
Justice puts infinite approach into B ' points, B points and B '；
The pin joint of 5th electric cylinder and lower platform is defined as C points, and the pin joint of the 6th electric cylinder and lower platform is determined
Justice puts infinite approach into C ' points, C points and C '；
Vertical corresponding position is also laid with a points adjacent to one another and a ' points, b points and b ' to the upper mounting plate one by one with lower platform
Point, c points and c ' points, wherein, a points are corresponding with A points, and b points are corresponding with B points, and c points are corresponding with C points, and a ' points put corresponding, b ' points with A '
Corresponding with B ' points, c ' points are put corresponding with C '；
The pin joint of first electric cylinder and upper mounting plate is b points, and the pin joint of the second electric cylinder and upper mounting plate is c points；It is described
The pin joint of 3rd electric cylinder and upper mounting plate is a points, and the pin joint of the 4th electric cylinder and upper mounting plate is c ' points；Described 5th is electronic
The pin joint of cylinder and upper mounting plate is a ' points, and the pin joint of the 6th electric cylinder and upper mounting plate is b ' points；
Lower platform is included by the A points, B points, C points one triangle of formation, the circumcircle of the triangle.
6. the driving training simulator of self-adaptative adjustment Training scene according to claim 1, it is characterised in that described
Position control loop includes main control computer, D/A converting units, controller, sensor group, A/D converting units；
The main control computer, D/A converting units, controller, servo-actuating device are sequentially connected, sensor group, A/D converting units,
Main control computer is sequentially connected；
Main control computer generation motion state instruction, it is parsed into the movement instruction of servo-actuating device, movement instruction is changed through D/A
Sent after cell translation to controller, controller is acted according to the movement instruction driving servo-actuating device received, makes carrier
Motion state it is identical with the motion state that motion state is specified；
The sensor group is arranged on carrier, the motion state and posture of real-time detection carrier, and result of detection is passed through
Main control computer is fed back to after the conversion of A/D converting units；
The main control computer compares the result that the sensor group received is fed back with motion state instruction, generation error instruction,
Error instruction is sent to controller after being changed through D/A converting units；
The sensor group includes 3-axis acceleration sensor and three-axis gyroscope.
7. the driving training simulator of self-adaptative adjustment Training scene according to claim 1, it is characterised in that described
Also there is an instrument pack, instrument pack is used to the simulation fortune for showing current executor operating parameter and carrier in real time in carrier
Dynamic parameter.
8. a kind of driving training simulator of the self-adaptative adjustment Training scene described in use claim 1-7 any one
Self-adaptative adjustment Training scene drive simulation training method, it is characterised in that this method includes：
Step 1, the one or more kinds of virtual views scenes of selection, compound training scene, user's operation driving training simulator
Simulated driving is in the Training scene；
Step 2, the terrain parameter in data acquisition device collection current virtual what comes into a driver's scene and ambient parameter, executor operation ginseng
Pressure suffered by number, seat, sends it to position control loop and virtual views processing module；
Step 3, position control loop and virtual views processing module binding kineticses model carry out dynamic analysis, judge car
Transport condition in the present case and what comes into a driver's change, while carrying out following two operations：1) position control loop generation fortune
Dynamic status command, driving servo-actuating device motion, the motion state that the motion state and motion state for making carrier are specified
Identical, 2) virtual views processing module generates new virtual views scene, and by it by display unit to be shown to user；
Step 4, analysis judge any one in the property of motion state instruction, the following three kinds of situations of selection：
1) if can not driving instruction, generate caution signal, self-adapting adjusting apparatus adaptively exists in response to caution signal
M current virtual what comes into a driver's scene is inserted in follow-up virtual views scene；
2) if abnormal driving instruction, generates corresponding alarm signal, self-adapting adjusting apparatus is adaptive in response to alarm signal
Should ground insertion n times current virtual what comes into a driver's scene in follow-up virtual views scene；
3) if normally travel is instructed, any signal is not generated, continues to train in current Training scene.
9. the drive simulation training method of self-adaptative adjustment Training scene according to claim 8, it is characterised in that foregoing
Adaptively in follow-up virtual views scene insert current virtual what comes into a driver's scene, refer to every setting operating range
A current virtual what comes into a driver's scene is inserted afterwards.
10. the drive simulation training method of self-adaptative adjustment Training scene according to claim 9, it is characterised in that institute
State and set operating range as 2 kilometers.
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