CN106960612A - One kind sees car and test ride simulation system and method based on VR - Google Patents
One kind sees car and test ride simulation system and method based on VR Download PDFInfo
- Publication number
- CN106960612A CN106960612A CN201710375620.7A CN201710375620A CN106960612A CN 106960612 A CN106960612 A CN 106960612A CN 201710375620 A CN201710375620 A CN 201710375620A CN 106960612 A CN106960612 A CN 106960612A
- Authority
- CN
- China
- Prior art keywords
- signal
- seat
- automobile
- car
- user
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- 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
Abstract
Car and test ride simulation system and method seen based on VR the invention discloses a kind of, it is related to and sees car and test ride simulation field, the application aim to solve the problem that the interaction that VR is produced in user's test run and test ride can not quantify caused by interaction effect it is inaccurate caused by poor user experience the problem of, the technical scheme that the application is used for：Skeleton information is gathered based on acquisition terminal module under same reference frame and the control signal and scene signals and people's posture signal of automobile is obtained, and corresponding driving vision model of place and flight deck seat model are set up based on these signals, and these real-time signal input models are generated into corresponding visual scene effect and haptic effect and seat variation effect.By using this programme so that user realizes quantization in the interaction that test run or test ride process are carried out using VR, while realize realizes test run with driving under the same coordinate system so that the experience of user is truer.The present invention is applied to VR practical application association area.
Description
Technical field
The present invention relates to car and test ride simulation field is seen, it particularly relates to which a kind of see car based on VR and simulate test ride
System and method.
Background technology
Virtual reality (virtual reality, VR) be a kind of simulation people in natural environment depending on, listen, the behavior such as move
Advanced human-computer interaction technology, can be simulated and the identical 3-D view world in reality for user.In the last few years, VR technologies
Quickly grow, the production of people and life also exigence VR technologies bring it is various convenient.In automobile industry, " VR sees car "
Into a big important need instantly." VR sees car " can solve the problems such as people's " car is seen at scene " hardly possible and " test ride high cost ".
Car requirement hotel owner's vehicle various styles are seen at scene, and this is a high cost and long time-consuming process for businessman.Also, it is true
Test ride, due to the limitation in time and space, Consumer's Experience content is limited.However, user can be by VR test rides in a short time
Experience various different Driving Scenes, such as fine day, rainy day, ice and snow day, urban road and backroad etc..Therefore, VR sees car
Not only the test ride experience sense of user can also be improved, with wide application value with cost-effective.
But some existing VR see that car and drive simulating are simple to divert VR technologies to seeing that car simulates test ride
Field, it is impossible to the real quantization for realizing interactive information so that interaction accuracy is poor, so as to cause the VR experience effects of user not
Good, seller's vehicle can not really not shown；The interaction accuracy that VR is seen in car commissioning process so how is improved, is improved
Consumer's Experience, as the further heavy difficult point for improving VR in the application in test ride field.
Also there are technology barriers when test run is with seeing car in prior art, user is the difference that stand and be seated, if with
Family is from car is seen to during test run, and existing VR is difficult to realize the linking of this transition process and causes user's sensory effect
Difference, is experienced untrue；So how to distinguish user using image recognition is seeing car still in test ride and how in uniform coordinate
That VR is realized under system sees that car and test ride are urgent problems to be solved.
The content of the invention
It is an object of the invention to：Due to existing based on VR see that car test run field has interaction and can not realized for above-mentioned
Interaction accuracy is not high caused by quantization and then causes user to see the problem of car test run effect is not good, and the invention provides one kind
Realize interaction quantify so that improve interaction accuracy lifting Consumer's Experience based on VR see car and simulate test ride system and method.
Car and simulation test ride system are seen based on VR this application provides one kind, specific technical scheme includes：
Acquisition terminal, high in the clouds, haptic feedback module, VR helmets module, drive simulation cabin control module and flight deck seat
Performing module；
Described acquisition terminal, gathers the RGB-D data of human body and encodes transmission to high in the clouds；
Described VR helmet modules, detect human body head posture information and send the automobile that user's selection is sent to high in the clouds
Three-dimensional model information and scene information, receive visual signal and display automobile threedimensional model and automobile three-dimensional that high in the clouds is sent
The visual scene of model；
Drive simulation cabin control module, obtains vehicle control signal and sends to high in the clouds；
The high in the clouds, receives automobile three-dimensional model information and scene information that VR helmets module is sent, human body head position
Appearance information, the RGB-D data (namely skeleton positional information) that acquisition terminal is sent carry out calculating generation seat pose letter
Number, test run visual signal, see car visual signal and haptic signal；
The flight deck seat performing module, receives the seat pose signal of distal end transmission and controls seat to produce test ride
Changed accordingly during simulation (include the change at the angle of inclination of seat, seat jolt)；
The haptic feedback module, the haptic signal and generation for receiving high in the clouds transmission sees that being used for during car simulation stimulates human body
The signal of reaction.
Specifically, high in the clouds receives RGB-D data and decodes calculating skeleton positional information and receive automobile threedimensional model
Information simultaneously carries out esthesiometer and calculates haptic signal and to send to haptic feedback module, receives human body head posture information and simultaneously combines vapour
Car three-dimensional modeling data and skeleton positional information progress vision, which are calculated, to be seen car visual signal and sends to VR helmet modules,
Receive human body head posture information and combine automobile three-dimensional modeling data and skeleton positional information and scene information progress
Vision calculates test run visual signal and sent to VR helmet modules, receives scene information and vehicle control signal is calculated
Seat pose signal is simultaneously sent to flight deck seat performing module.
Specifically, the acquisition terminal gathers 4 ZED Stereo of the RGB-D data of human body using alignment human body
Camera；Drive simulation cabin control module includes seat, steering wheel, throttle, brake, clutch, selector, driving cabin shape
State performs device；The VR helmets module includes the VR helmets；The haptic feedback module uses the tactile with piezoelectric actuator
Feedback glove；The high in the clouds is using server (having calculating disposal ability equipment, it is not limited to server)；The VR heads
Helmet is included for the Position and attitude sensor for detecting human body head pose signal, car model select button, for display automobile three-dimensional
The display of model.
Specifically, the Position and attitude sensor of the VR helmets uses gyroscope and accelerometer.
Car analogy method is seen based on VR this application provides one kind, specific technical scheme is：
Step one, automobile threedimensional model is generated
Automobile threedimensional model is generated based on user's request and sets up reference frame centered on automobile threedimensional model and obtains
Take automobile threedimensional model coordinate (xj,yj,zj) (wherein j is the different automobile part of expression)
Step 2, gathers the pose signal on the skeleton positional information of user and the head of user
The pose signal on the skeleton positional information of user and the head of user is obtained based on reference frame；
Step 3, generation haptic signal and visual signal
Skeleton positional information (x based on familyi,yi,zi) (i is corresponding skeleton point) and automobile threedimensional model coordinate
(xj,yj,zj) generation haptic signal, regarded based on skeleton positional information and automobile threedimensional model and head pose signal generation
Feel signal；
Step 4, produces haptic effect and visual effect
User's haptic effect is produced based on the haptic signal in step 3, user is produced based on the visual signal in step 3
Visual effect.
Specifically, haptic effect is produced in step 4 is specially：Automobile threedimensional model includes the space coordinate of automobile profile
Information, skeleton point includes the skeleton point spatial coordinated information of partes corporis humani minute, as skeleton space of points coordinate value (xi,
yi,zi) reach automobile dummy model profile space coordinate value (xj,yj,zj) when, pressure feedback is produced, user experiences tactile effect
Really.
User need to select to intend the car category of viewing by the VR helmets " car model select button ", so that it is determined that automobile
Threedimensional model；Acquisition terminal gathers RGB-D data in real time, by itself and camera parameter together coding transmission to high in the clouds (wherein, phase
Machine parameter is obtained by the demarcation of camera)；High in the clouds is decoded the data received, and RGB-D data and camera are joined after decoding
Number calculating obtains skeleton position；High in the clouds combines the threedimensional model of automobile and skeleton position carries out tactile calculating, that is, works as
The position of human hand and virtual car model calculate when overlapping and produce corresponding tactile；Result " the tactile that high in the clouds calculates tactile
Signal " is transferred to haptic feedback devices；(usual haptic feedback module uses touch feedback gloves to human body, so the i.e. hand of human body
Experience haptic effect in portion) experience haptic effect by haptic feedback devices.
The tactile that user is seen during car obtains principle:
Vision obtains principle first half and determines automobile threedimensional model with tactile acquisition principle, i.e. system and obtain human body bone
Bone position, additionally includes the position and posture signal that high in the clouds obtains head by " Position and attitude sensor ", skeleton position is used for
Man-machine interaction；Man-machine interaction includes but is not limited to：The position position of human hand and automobile threedimensional model door handle position are overlapped, triggering
Opening door operation；The position position of human hand and automobile threedimensional model boot button position are overlapped, and boot operation is opened in triggering；Finger
Position and the position of automobile threedimensional model button are overlapped, and trigger the operation that touches the button.
VR test ride analogy methods are based on this application provides one kind, specific technical scheme is：
Step one, automobile threedimensional model is generated
Automobile threedimensional model is generated based on user's request and reference frame is set up centered on automobile threedimensional model；
Step 2, obtains Driving Scene signal and human body head pose signal
Based on reference frame and customer requirement retrieval Driving Scene signal s, and obtain human body head pose signal p；
Step 3, obtains vehicle drive control signal
The control letter of throttle, brake, clutch, steering wheel and the selector of vehicle drive is obtained based on reference frame
Number；
Step 4, generates corresponding driving vision model and flight deck seat model
Driving vision model F is set up by learning training based on human body head pose signal p and vehicle drive control signal
(a, b, c, d, g, p, s) and driving cabin seat is generated by learning training based on Driving Scene signal s and vehicle drive control signal
Chair model G (a, b, c, d, g, s)；
Step 5, generates real-time visual scene effect and seat pose effect
Regarded based on the driving in the human body head pose signal p and vehicle drive control signal input step four gathered in real time
Feel that model F (a, b, c, d, g, p, s) calculates generation visual signal, receive visual signal and generate the visual scene effect of correspondence user
Really, based on the flight deck seat model G in the Driving Scene signal s and vehicle drive control signal input step four gathered in real time
(a, b, c, d, g, s) calculates generation seat pose signal, receives seat pose signal and produces seat variation effect.
Specifically, visual signal includes the visual angle of switch speed and the every frame picture of output of the output per frame picture；Seat
Chair pose signal includes the inclined angle value of seat.
User simulation test ride during driving vision generate idiographic flow be：
User selects Driving Scene by VR helmets button, and " scene signals " (s) is transmitted to the driving mould in high in the clouds by the VR helmets
Type, while the VR helmets obtain human body head position and posture by Position and attitude sensor, and is transmitted to regarding for high in the clouds by " pose signal " (p)
Feel model of place F (a, b, c, d, g, p, s)；Driving cabin passes through the throttle control gathered in real time, brake controller, clutch control
Device processed, steering wheel controller and selector controller obtain control signal, and control signal (a, b, c, d, g) is transmitted to cloud by driving cabin
End；High in the clouds calculates according to visual scene model F (a, b, c, d, g, p, s) and the signal (a, b, c, d, g, p, s) received and obtained
Visual signal, and the display by visual signal transmission to the VR helmets；Human body obtains the visual effect of simulation by display.
User simulation test ride during seat pose generate idiographic flow be：
User selects Driving Scene by VR helmets button, and " scene signals " (s) is transmitted to the driving mould in high in the clouds by the VR helmets
Type；Driving cabin is obtained by throttle control, brake controller, clutch controller, steering wheel controller and selector controller
Control signal is taken, control signal (a, b, c, d, g) is transmitted to high in the clouds by driving cabin；High in the clouds according to seat pose model G (a, b, c, d,
G, s) and the signal (a, b, c, d, g, s) that receives calculate and obtain seat pose signal, and by seat pose signal transmission to being driven
Sail cabin seat；Human body obtains the seat pose signal performed by flight deck seat.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1. the application sets up corresponding driving vision model F (a, b, c, d, g, p, s) and driving cabin by model learning
Seat model G (a, b, c, d, g, s), and reference frame is set up, realize the amount of interaction of the user when seeing car and test run
Change, so as to more accurately find the mapping relations between true driving data and visual signal or flight deck seat position so that
The interaction that user is carried out using VR when car is seen in test run is more true to nature accurate, and the impression of picture and body that user sees more accurately is forced
Very, and then Consumer's Experience is improved；
2. prior art, which also has technology barriers, is how that distinguishing user using image recognition is seeing car still in test ride
And how realizing that VR's sees car and test ride under unified coordinate system, the application is by the introducing of acquisition terminal, and with automobile three
Dimension module be reference frame and set up driving vision model F (a, b, c, d, g, p, s) and flight deck seat model G (a, b,
C, d, g, s), the function of seeing car and test ride that VR is realized under unified coordinate system is realized, realizes and sees between car and test run
Transformation experience, overcomes existing technology barriers；
3. experiencer's hand strap pressure sensitivity gloves, the sensation of automobile can be touched with impression on the spot in person, makes interactive feel deeper.Example
Such as：Experiencer can simulate opening and closing arrangements for automotive doors, touch the button for pressing automobile, and either on or off car light and operation automobile are shown
Screen, allows and sees that car experience content is truer, interesting and abundant；
4. experiencer can simulate test ride automobile, simulated automotive in different scenes (such as：Different time, place and weather)
Driving situation, allows test ride experience content to enrich, and solves the problem of traditional test ride scene type is single；
5. the application provides to experiencer and virtually sees car, experiencer is not only facilitated to watch all kinds of vehicles, and car is sold in reduction
See the cost of car.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.By shown in accompanying drawing, above and other purpose of the invention, feature and advantage will become apparent from.
Fig. 1 is the flow chart of the invention that see car simulation system based on VR；
Fig. 2 is to see vehicle model schematic diagram；
Fig. 3 is skeleton schematic diagram；
Fig. 4 is the flow chart of the test ride simulation system of the invention based on VR；
Fig. 5 is driving cabin schematic diagram；
Fig. 6 is the schematic diagram of seat pose model；
Fig. 7 is driving vision model and flight deck seat model generation schematic diagram；
Marked in figure：1- throttle controls；2- brake controllers；3- clutch controllers；4- steering wheel controllers；5- is changed
Lug-latch controller；6- driving cabin state performs devices；A- throttle control signals；B- brake control signals；C- clutch controls are believed
Number；D- steering wheel control signals；G- selector control signals；S- scene signals；P- pose signals.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The present invention is elaborated with reference to Fig. 1 to Fig. 7.
Embodiment one
Present embodiments provide one kind and car simulation system and method are seen based on VR, acquisition terminal selects ZED Stereo
Camera, to obtain RGB-D data.The Position and attitude sensor of the VR helmets selects gyroscope and accelerometer, so as to provide head
Angle information.Haptic feedback devices select the touch feedback gloves with piezoelectric actuator.Such as Fig. 2 institutes in terms of Ground arrangement
Show that four ZED Stereo Camera of selection are arranged in four angles that VR sees parking lot ground, vertical height is 1m, i.e. phase
Machine C1, C2, C3 and C4 three dimensional space coordinate are respectively (0,0,1), (10,0,1), (0,10,1) and (10,10,1), virtual vapour
The bottom surface geometric center of vehicle model is placed on plane coordinates (5,5,0) place.
As described in Figure 1, user sees the place of the system of car into VR to specific flow, and takes the VR helmets and tactile is anti-
Present gloves；The car category that user checks needed for being selected by the button on the VR helmets；System passes through ZED Stereo Camera
Obtain the RGB-D data of partes corporis humani point.System calculates human skeleton positional information by RGB-D data and camera parameter,
Skeleton point is as shown in Figure 3；Tactile calculating is carried out according to automobile threedimensional model and skeleton position；According to automobile threedimensional model,
Skeleton position and user's head pose carry out display content calculating.
(1) display content is calculated
System is according to skeleton position, automobile threedimensional model and the corresponding display content of head position signal of change.Example
Such as, head is rotated up and down, then visual signal also has corresponding rotation.When the hand of user reaches door handle position, it is
System performs driving door operation.
Interactive portion embodiment is：
A. when the hand of user reaches door handle position, system performs driving door operation；
B. the hand of user reaches the button position of boot, and system, which is performed, opens boot operation；
C. when the hand of user reaches button position, corresponding push-botton operation is performed, such as " igniting starts ", " opening car light ",
" operation multimedia display screen "；
Wherein, the position of user's hand is the spatial value (x of skeleton point 1,2,3,4,5 and 6i,yi,zi), i is correspondence
Skeleton point；The door handle of automobile, in-car button and boot button have corresponding spatial value (xj,yj,zj), j tables
Show different automobile positions.
(2) tactile is calculated
Space coordinate of the automobile threedimensional model comprising automobile profile believes that skeleton point includes each several part of human hands
Skeleton point spatial coordinated information.As user's hand skeleton point spatial value (xi,yi,zi) (i is point 1,2,3,4,5,6) arrival
Automobile dummy model profile space coordinate value (xj,yj,zj) when (j represents different automobile positions), pressure sensitivity gloves produce pressure it is anti-
Feedback, simulates the sensation of touching.
Embodiment two
The present embodiment provides a kind of test ride simulation system and method based on VR：
As shown in fig. 7, collection truth under automobile in different scenes (such as：Different time, place, weather) and different controls
The data of signal (throttle, brake, clutch, steering wheel and selector) processed, temporal information is divided into the different moons, day and hour；
Place is divided into urban road, backroad, highway and hill path；Weather is divided into snowy day, rainy day, fine day and cloudy day., pass through depth
Learning network model is spent, study obtains driving model, respectively visual scene model F (a, b, c, d, g, p, s) and seat pose
Model G (a, b, c, d, g, s).
Test ride mode treatment flow：
The controller of driving cabin is throttle a, brake b, clutch c, steering wheel d and selector g, in addition, driving cabin is held
Row device is " the driving cabin state performs device " under seat.
First, user is sat on flight deck seat, the scene for selecting to drive by the button on the VR helmets.System enters mould
The visual angle intended on test ride pattern, the display screen of the VR helmets enters.For example, the scene of user's selection is " morning 9:00+ fine days+mountain
Road ", the then parameter s that system is obtained is " morning 9:00+ fine days+hill path ".
The handling process of system is made up of the controlling cycle repeated one by one, and it is 5ms that we, which set a controlling cycle,.
In one controlling cycle, first, user is by operating throttle control 1, brake controller 2, clutch controller 3, steering wheel
Controller 4, selector controller 5 sequentially inputs control signal (a, b, c, d, g) to system.In addition, system passes through the VR helmets
Gyroscope and accelerometer obtain the head pose parameter p of user；The visual scene model F (a, b, c, d, g, p, s) in high in the clouds and
Seat pose model G (a, b, c, d, g, s) calculates corresponding vision respectively by parameter (a, b, c, d, g, p, s) achieved above
Signal and flight deck seat signal.Thus the calculating of a controlling cycle terminates, into next controlling cycle.
Parameter is directly inputted into seat pose model G (a, b, c, d, g, s).As shown in Fig. 6 spherical coordinate systems, function G's is defeated
It is exactly the inclined angle of seat to go out, i.e.,With two angles of θ.According toWith θ value, seat is tilted to all directions, and simulation is true
In the case of driving, go up a slope, descending and seat position and posture when jolting etc..
For example, when the head rotation of user, system perceives head pose by position sensor, allows the displays of the VR helmets
Device makes corresponding visual angle change.When road conditions is go up a slope, seat is tilted backwards；When road conditions are descending, seat is tilted backwards；
When Uneven road, seat is performed and jolted accordingly.
Claims (8)
1. one kind sees car and test ride simulation system based on VR, it is characterised in that including：
Acquisition terminal, high in the clouds, haptic feedback module, VR helmets module, drive simulation cabin control module and flight deck seat are performed
Module；
The acquisition terminal, gathers the RGB-D data of human body and encodes transmission to high in the clouds；
The VR helmets module, detects human body head posture information and sends to high in the clouds, sends the three-dimensional mould of automobile of user's selection
Type information and scene information, receive visual signal that high in the clouds sends and display automobile threedimensional model and automobile threedimensional model
Visual scene；
Drive simulation cabin control module, obtains vehicle control signal and sends to high in the clouds；
The high in the clouds, receives automobile three-dimensional model information and scene information that VR helmets module is sent, human body head pose letter
Breath, the RGB-D data that acquisition terminal is sent carry out calculating generation seat pose signal, test run visual signal, see car visual signal
And haptic signal；
The flight deck seat performing module, receives the seat pose signal of distal end transmission and controls seat to produce test ride simulation
When change accordingly；
The haptic feedback module, the haptic signal and generation for receiving high in the clouds transmission sees that being used for during car simulation stimulates human response
Signal.
2. one kind as claimed in claim 1 sees car and test ride simulation system based on VR, it is characterised in that high in the clouds receives RGB-D
Data simultaneously decode calculating skeleton positional information and receive automobile three-dimensional model information and carry out esthesiometer and calculate to obtain haptic signal
And send to haptic feedback module, receive human body head posture information and combine automobile three-dimensional modeling data and skeleton position
Information progress vision, which is calculated, to be seen car visual signal and sends to VR helmet modules, is received human body head posture information and is simultaneously combined vapour
Car three-dimensional modeling data and skeleton positional information and scene information carry out vision and calculate test run visual signal and send
To VR helmet modules, receive scene information and vehicle control signal is carried out calculating seat pose signal and sent to driving cabin seat
Chair performing module.
3. one kind as claimed in claim 1 sees car and test ride simulation system based on VR, it is characterised in that the acquisition terminal is adopted
With 4 ZED Stereo Camera of the RGB-D data of alignment human body collection human body；The drive simulation cabin control module bag
Include seat, steering wheel, throttle, brake, clutch, selector, driving cabin state performs device；The VR helmets module includes VR
The helmet；The haptic feedback module uses the touch feedback gloves with piezoelectric actuator；The high in the clouds uses server；It is described
The VR helmets are included for the Position and attitude sensor for detecting human body head pose signal, car model select button, for display automobile
The display of threedimensional model.
4. a kind of simulation system that car and test ride are seen based on VR as claimed in claim 3, it is characterised in that the pose of the VR helmets
Sensor uses gyroscope and accelerometer.
5. one kind sees car analogy method based on VR, it is characterised in that comprise the following steps：
Step one, automobile threedimensional model is generated
Automobile threedimensional model is generated based on user's request and reference frame is set up centered on automobile threedimensional model and vapour is obtained
Car threedimensional model coordinate (xj,yj,zj)；
Step 2, gathers the pose signal on the skeleton positional information of user and the head of user
The pose signal on the skeleton positional information of user and the head of user is obtained based on reference frame；
Step 3, generation haptic signal and visual signal
Skeleton positional information (x based on familyi,yi,zi) and automobile threedimensional model coordinate (xj,yj,zj) generation haptic signal,
Based on skeleton positional information and automobile threedimensional model and head pose signal generation visual signal；
Step 4, produces haptic effect and visual effect
User's haptic effect is produced based on the haptic signal in step 3, user's vision is produced based on the visual signal in step 3
Effect.
6. a kind of method that car simulation is seen based on VR as claimed in claim 5, it is characterised in that tactile effect is produced in step 4
It is specially really：Automobile threedimensional model includes the spatial coordinated information of automobile profile, and skeleton point includes the bone of partes corporis humani minute
Bone space of points coordinate information, as skeleton space of points coordinate value (xi,yi,zi) reach automobile dummy model profile space coordinate
It is worth (xj,yj,zj) when, pressure feedback is produced, user experiences haptic effect.
7. one kind is based on VR test ride analogy methods, it is characterised in that comprise the following steps：
Step one, automobile threedimensional model is generated
Automobile threedimensional model is generated based on user's request and reference frame is set up centered on automobile threedimensional model；
Step 2, obtains Driving Scene signal and human body head pose signal
Based on reference frame and customer requirement retrieval Driving Scene signal s, and obtain human body head pose signal p；
Step 3, obtains vehicle drive control signal
The control signal of throttle, brake, clutch, steering wheel and the selector of vehicle drive is obtained based on reference frame；
Step 4, generates corresponding driving vision model and flight deck seat model
Based on human body head pose signal p and vehicle drive control signal by learning training set up driving vision model F (a, b,
C, d, g, p, s) and learning training is passed through based on Driving Scene signal s and vehicle drive control signal generate flight deck seat model
G(a,b,c,d,g,s)；
Step 5, generates real-time visual scene effect and seat pose effect
Based on the driving vision mould in the human body head pose signal p and vehicle drive control signal input step four gathered in real time
Type F (a, b, c, d, g, p, s) calculates generation visual signal, receives visual signal and generates the visual scene effect of correspondence user,
Based in the Driving Scene signal s and vehicle drive control signal input step four gathered in real time flight deck seat model G (a,
B, c, d, g, s) generation seat pose signal is calculated, receive seat pose signal and produce seat variation effect.
8. it is as claimed in claim 7 a kind of based on VR test ride analogy methods, it is characterised in that visual signal includes output per frame
The visual angle of the switch speed of picture and every frame picture of output；Seat pose signal includes the inclined angle value of seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375620.7A CN106960612B (en) | 2017-05-24 | 2017-05-24 | One kind seeing vehicle and test ride simulation system and method based on VR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375620.7A CN106960612B (en) | 2017-05-24 | 2017-05-24 | One kind seeing vehicle and test ride simulation system and method based on VR |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106960612A true CN106960612A (en) | 2017-07-18 |
| CN106960612B CN106960612B (en) | 2019-08-16 |
Family
ID=59482470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710375620.7A Active CN106960612B (en) | 2017-05-24 | 2017-05-24 | One kind seeing vehicle and test ride simulation system and method based on VR |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106960612B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591113A (en) * | 2017-09-27 | 2018-01-16 | 张四清 | A kind of multiple-azimuth automobile sale displaying platform |
| CN107945604A (en) * | 2017-12-07 | 2018-04-20 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of traffic safety immersion experiencing system based on virtual reality technology |
| CN108039084A (en) * | 2017-12-15 | 2018-05-15 | 郑州日产汽车有限公司 | Automotive visibility evaluation method and system based on virtual reality |
| CN108091203A (en) * | 2017-12-07 | 2018-05-29 | 中国航空工业集团公司西安航空计算技术研究所 | It is a kind of based on virtual reality technology stress traffic scene driving training system |
| CN108492008A (en) * | 2018-03-02 | 2018-09-04 | 上汽通用汽车有限公司 | A kind of passenger car appraisal procedure, electronic equipment and storage medium |
| CN109377565A (en) * | 2018-10-25 | 2019-02-22 | 广州星唯信息科技有限公司 | One kind simulating true driving vision method based on three dimensional spatial scene map |
| CN109448130A (en) * | 2018-10-24 | 2019-03-08 | 成都旸谷信息技术有限公司 | Track emergency event experiencing system based on VR and BIM |
| CN110488979A (en) * | 2019-08-23 | 2019-11-22 | 北京枭龙科技有限公司 | A kind of automobile showing system based on augmented reality |
| CN111861666A (en) * | 2020-07-21 | 2020-10-30 | 上海仙豆智能机器人有限公司 | Vehicle information interaction method and device |
| CN111984853A (en) * | 2019-05-22 | 2020-11-24 | 北京车和家信息技术有限公司 | Test driving report generation method and cloud server |
| CN113178112A (en) * | 2021-04-26 | 2021-07-27 | 重庆电子工程职业学院 | Artificial intelligence VR device |
| CN113946259A (en) * | 2021-09-18 | 2022-01-18 | 北京城市网邻信息技术有限公司 | Vehicle information processing method and device, electronic equipment and readable medium |
| US11257391B2 (en) | 2020-04-27 | 2022-02-22 | Nithin S Senthil | System and a method for virtual learning of driving a vehicle |
| CN114397113A (en) * | 2021-12-28 | 2022-04-26 | 重庆长安汽车股份有限公司 | Automobile CMF model evaluation system and method based on VR technology |
| CN114860082A (en) * | 2022-05-30 | 2022-08-05 | 歌尔股份有限公司 | Handle control method, device and computer readable storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001061672A1 (en) * | 2000-02-18 | 2001-08-23 | Prima Industries Establishment | Virtual reality testdrive system |
| KR20030029360A (en) * | 2001-10-08 | 2003-04-14 | 현대자동차주식회사 | Driving simulator system |
| CN103479138A (en) * | 2013-08-08 | 2014-01-01 | 罗轶 | Interactive virtual reality car show platform |
| DE102014010309A1 (en) * | 2014-07-11 | 2016-01-14 | Audi Ag | View additional content in a virtual scenery |
| WO2016110488A1 (en) * | 2015-01-08 | 2016-07-14 | Avl List Gmbh | Method for operating a driving simulator |
| 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 |
| CN106530891A (en) * | 2017-01-03 | 2017-03-22 | 刘晨 | Driving simulation system based on VR technology |
| CN106548679A (en) * | 2016-02-03 | 2017-03-29 | 北京易驾佳信息科技有限公司 | A kind of intelligent driving training system |
-
2017
- 2017-05-24 CN CN201710375620.7A patent/CN106960612B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001061672A1 (en) * | 2000-02-18 | 2001-08-23 | Prima Industries Establishment | Virtual reality testdrive system |
| KR20030029360A (en) * | 2001-10-08 | 2003-04-14 | 현대자동차주식회사 | Driving simulator system |
| CN103479138A (en) * | 2013-08-08 | 2014-01-01 | 罗轶 | Interactive virtual reality car show platform |
| DE102014010309A1 (en) * | 2014-07-11 | 2016-01-14 | Audi Ag | View additional content in a virtual scenery |
| WO2016110488A1 (en) * | 2015-01-08 | 2016-07-14 | Avl List Gmbh | Method for operating a driving simulator |
| CN106548679A (en) * | 2016-02-03 | 2017-03-29 | 北京易驾佳信息科技有限公司 | A kind of intelligent driving training 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 |
| CN106530891A (en) * | 2017-01-03 | 2017-03-22 | 刘晨 | Driving simulation system based on VR technology |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591113A (en) * | 2017-09-27 | 2018-01-16 | 张四清 | A kind of multiple-azimuth automobile sale displaying platform |
| CN107945604A (en) * | 2017-12-07 | 2018-04-20 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of traffic safety immersion experiencing system based on virtual reality technology |
| CN108091203A (en) * | 2017-12-07 | 2018-05-29 | 中国航空工业集团公司西安航空计算技术研究所 | It is a kind of based on virtual reality technology stress traffic scene driving training system |
| CN108039084A (en) * | 2017-12-15 | 2018-05-15 | 郑州日产汽车有限公司 | Automotive visibility evaluation method and system based on virtual reality |
| CN108492008A (en) * | 2018-03-02 | 2018-09-04 | 上汽通用汽车有限公司 | A kind of passenger car appraisal procedure, electronic equipment and storage medium |
| CN108492008B (en) * | 2018-03-02 | 2021-06-04 | 上汽通用汽车有限公司 | Passenger car evaluation method, electronic equipment and storage medium |
| CN109448130A (en) * | 2018-10-24 | 2019-03-08 | 成都旸谷信息技术有限公司 | Track emergency event experiencing system based on VR and BIM |
| CN109377565A (en) * | 2018-10-25 | 2019-02-22 | 广州星唯信息科技有限公司 | One kind simulating true driving vision method based on three dimensional spatial scene map |
| CN111984853A (en) * | 2019-05-22 | 2020-11-24 | 北京车和家信息技术有限公司 | Test driving report generation method and cloud server |
| CN111984853B (en) * | 2019-05-22 | 2024-03-22 | 北京车和家信息技术有限公司 | Test driving report generation method and cloud server |
| CN110488979A (en) * | 2019-08-23 | 2019-11-22 | 北京枭龙科技有限公司 | A kind of automobile showing system based on augmented reality |
| US11257391B2 (en) | 2020-04-27 | 2022-02-22 | Nithin S Senthil | System and a method for virtual learning of driving a vehicle |
| CN111861666A (en) * | 2020-07-21 | 2020-10-30 | 上海仙豆智能机器人有限公司 | Vehicle information interaction method and device |
| CN113178112A (en) * | 2021-04-26 | 2021-07-27 | 重庆电子工程职业学院 | Artificial intelligence VR device |
| CN113946259A (en) * | 2021-09-18 | 2022-01-18 | 北京城市网邻信息技术有限公司 | Vehicle information processing method and device, electronic equipment and readable medium |
| CN113946259B (en) * | 2021-09-18 | 2023-04-07 | 北京城市网邻信息技术有限公司 | Vehicle information processing method and device, electronic equipment and readable medium |
| CN114397113A (en) * | 2021-12-28 | 2022-04-26 | 重庆长安汽车股份有限公司 | Automobile CMF model evaluation system and method based on VR technology |
| CN114860082A (en) * | 2022-05-30 | 2022-08-05 | 歌尔股份有限公司 | Handle control method, device and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106960612B (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106960612B (en) | One kind seeing vehicle and test ride simulation system and method based on VR | |
| CN108939418B (en) | VR body-building interaction system based on unity3D | |
| WO2015180497A1 (en) | Motion collection and feedback method and system based on stereoscopic vision | |
| CN110162163B (en) | Virtual fire-fighting exercise method and system based on somatosensory and VR technology | |
| CN105807922A (en) | Implementation method, device and system for virtual reality entertainment driving | |
| CN206558037U (en) | A kind of pilot instrument based on VR technologies | |
| CN106621324A (en) | Interactive operation method of VR game | |
| CN107728792A (en) | A kind of augmented reality three-dimensional drawing system and drawing practice based on gesture identification | |
| CN105045379B (en) | A kind of data processing method of riding of virtual body-building bicycle of riding | |
| CN202171880U (en) | A three-dimensional visual simulation driving system | |
| Deligiannidis et al. | The vr scooter: Wind and tactile feedback improve user performance | |
| CN109961670A (en) | A kind of pilot instrument based on VR technology | |
| CN108922307A (en) | Drive simulating training method, device and driving simulation system | |
| CN107621880A (en) | A kind of robot wheel chair interaction control method based on improvement head orientation estimation method | |
| EP3591503B1 (en) | Rendering of mediated reality content | |
| CN114022565A (en) | Alignment method and alignment device for display equipment and vehicle-mounted display system | |
| CN107272908A (en) | A kind of gesture identifying device, system and gesture identification method | |
| CN110930811B (en) | System suitable for unmanned decision learning and training | |
| CN112669671B (en) | Mixed reality flight simulation system based on physical interaction | |
| CN207337401U (en) | A kind of automobile cabin human-computer interaction assessment system | |
| CN102508563B (en) | Stereo interactive method and operated device | |
| CN104272365A (en) | Method to render global 6 DoF motion effect with multiple local force-feedback | |
| CN206505585U (en) | A kind of multi-purpose type VR driver's cabs | |
| CN108744528A (en) | Body-sensing advertisement interactive approach, device and computer readable storage medium | |
| CN110363841A (en) | Hand exercise tracking in a kind of virtual driving environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |