CN109785709A - General vehicle and Driving Scene high-precision virtual reality intelligent driving simulator group - Google Patents

General vehicle and Driving Scene high-precision virtual reality intelligent driving simulator group Download PDF

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Publication number
CN109785709A
CN109785709A CN201910201986.1A CN201910201986A CN109785709A CN 109785709 A CN109785709 A CN 109785709A CN 201910201986 A CN201910201986 A CN 201910201986A CN 109785709 A CN109785709 A CN 109785709A
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China
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planet row
assembly
simulator
motion platform
feel
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CN109785709B (en
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张帅
郭占正
徐锐良
曹艳玲
彭巧励
孙博华
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Henan University of Science and Technology
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Henan University of Science and Technology
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Abstract

The invention discloses a kind of general vehicle and Driving Scene high-precision virtual reality intelligent driving simulator groups, it include a main vehicle simulator monomer, several special bus simulator monomers, control assembly, sensor is in ring assembly and actuator in ring assembly, wherein main vehicle simulator monomer is identical with special bus simulator monomer mechanical structure, it is fixedly connected by lower motion platform assembly with ground capital construction, several special bus simulator cyclosiloxane monomers are around main vehicle simulator single layout, it is tangent to each other that main vehicle simulator monomer and several special bus simulator monomers in the spatial movement limit of ground capital construction above section are formed by the enveloping space, control assembly respectively with main vehicle simulator monomer, several special bus simulator monomers, sensor is electrically connected in ring assembly and actuator in ring assembly, the utility model has the advantages that components respective material selects Rationally, the service life is higher；Shorten the test based on extensive road test and proving period.

Description

General vehicle and Driving Scene high-precision virtual reality intelligent driving simulator group
Technical field
The present invention relates to a kind of driving simulator group, in particular to a kind of general vehicle and Driving Scene high-precision are virtual Real intelligent driving simulator group.
Background technique
Currently, with the fast development of Vehicular intelligent technology, towards the vehicle-mounted of all multi-vehicle-types such as passenger car and commercial vehicle Intelligent unit and test and verification platform towards extensive Driving Scene are becoming grinding for international business and scientific research institutions Study carefully hot spot.Due to intelligent driving technological development and the own characteristic of test process, the test period of traditional real steering vectors means Long, at high cost, safety can not ensure etc. that key technologies bottleneck is increasingly prominent, in addition, test running environment is unpredictable, it is multiple to be difficult to System lacks flexibility, another bottleneck that traditional test defect is also the relevant technologies development such as can not automate.General vehicle and Driving Scene high-precision virtual reality intelligent driving simulator group, driver experiences when passing through simulated driving body-sensing, view Flexible, the high duplication experimental test environment of sense and feel and high-accuracy intelligent platform, while adjust automatically drives manpower Sense and feel space configuration and the main vehicle simulator monomer of assembly and more special bus simulator monomeric fashions, can be efficiently and reliable Realize the test of multi-vehicle-type vehicle mounted intelligentized unit and validation task under extensive Driving Scene in ground.
Currently, both at home and abroad for the technological reserve towards traditional vehicle component with passenger car intelligent driving simulator, Have more mature technology path and power of test, and for developing and testing towards the multi-vehicle-type under extensive Driving Scene With the technological reserve of high-precision virtual reality intelligent driving simulator group, still lacks compact and reasonable simulator group and integrate hand Section, reasonable and true to nature body-sensing and visual sense simulation means and high-precision virtual environment analogue technique, directly result in and drive on a large scale Versatility can only be lacked to each other with simulator and bring survey by examination test and each vehicle test by sailing scrnario testing and verifying Try that the test period is long, the more low problems of at high cost and precision.
Chinese patent CN200880001048.7 and CN201711368904 individually disclose a kind of structure of driving simulator The components such as type, including drive simulation external member, control system, display unit, motion controller, drive simulation motion platform composition, By drive simulation motion platform drive simulating human body sense, and pass through display unit drive simulating people's visual sense.Above-mentioned two patents It can only be simulated in driver's body-sensing compared with lower-mobility, six degree of freedom proprioceptive simulation, and visual sense simulation master can not be restored It to be completed by display, visual sense simulator is non-adjustable and simulation precision is lower, it is impossible to be used in more vehicles under extensive Driving Scene The body-sensing and visual sense of type are simulated.
Chinese patent CN201610946941.3 and CN201810602892.0 are disclosed in a manner of Patent Pool based on VR The virtual reality simulator of technology comprising rotary seat, driving motor, controller and VR visual sense analog machine.Two patents In for there is more mature technology path and test effect towards the amusement visual sense of VR simulator exploitation, and for high-precision The simulation degree of body-sensing, feel and feel is more weak, and can not be suitable for more vehicle combined simulations and test, therefore is not applied for big The exploitation and test of multi-vehicle-type intelligent functions unit under scale Driving Scene.
Summary of the invention
The purpose of the present invention is to solve current driving simulator group in use simulator lack to each other it is logical Bring that the testing experiment period is long, the more low problems of at high cost and precision and a kind of general vehicle and driver training ground provided with property Scape high-precision virtual reality intelligent driving simulator group.
General vehicle provided by the invention and Driving Scene high-precision virtual reality intelligent driving simulator group include One main vehicle simulator monomer, several special bus simulator monomers, control assembly, sensor are in ring assembly and actuator in ring Assembly, wherein main vehicle simulator monomer is identical with special bus simulator monomer mechanical structure, it is total by lower motion platform It is fixedly connected at ground capital construction, several special bus simulator cyclosiloxane monomers are around main vehicle simulator single layout, main vehicle simulator list Body and several special bus simulator monomers are formed by the enveloping space each other in the spatial movement limit of ground capital construction above section Tangent, control assembly is respectively with main vehicle simulator monomer, several special bus simulator monomers, sensor in ring assembly and execution Device is electrically connected in ring assembly, is integrated with virtual emulation module in control assembly, control assembly by virtual emulation module to Main vehicle simulator monomer, several special bus simulator monomers, sensor send in ring assembly in ring assembly and actuator and instruct.
Main vehicle simulator monomer and each special bus simulator monomer are total by upper motion platform assembly and lower motion platform In groups at upper motion platform assembly and lower motion platform assembly are bolted.
Upper motion platform assembly includes three axis locating assemblies, feel simulation assembly, hinged power planet row, impact force planet Row, upper motion platform mounting assembly, feel simulation assembly, seat, VR visual sense assembly, driver, feel simulation assembly bracket, on Motion platform upper supporting plate, collision force generator, upper motion platform lower carrier plate and hinged force generator, feel simulation assembly pass through hand Sense simulation assembly bracket is connect with three axis locating assembly bracket bolts in three axis locating assemblies, and feel simulates assembly and seat is equal It is connect with three axis locating assembly bracket bolts in three axis locating assemblies, it is equal that feel simulates assembly, feel simulation assembly and seat The adjustment of its spatial position on upper motion platform upper supporting plate is realized by three axis locating assemblies, three axis locating assemblies used are equal It is bolted with upper motion platform upper supporting plate, hinged power planet row, impact force planet row and upper motion platform lower carrier plate are under Motion platform upper supporting plate is bolted, and hinged power planet row is installed on the underface of motion platform lower carrier plate medium pore, hingedly The momentum power of medium pore and hinged force generator that the planet row output shaft of power planet row passes through upper motion platform lower carrier plate rotates The connection of bracket spline, several impact force planet rows are installed on the surrounding of hinged power planet row in the way of circumferential arrangement, collide The planet row output shaft of power planet row passes through the transverse slat hole of upper motion platform lower carrier plate and the momentum power of collision force generator rotates Bracket spline connection, several upper motion platform mounting assemblies respectively with upper motion platform upper supporting plate and upper motion platform lower carrier plate spiral shell Bolt link, the number of upper motion platform mounting assembly are twice that impact force planet row installs number, and driver connects with chair top Touching, VR visual sense assembly are worn on the eye of driver.
Hinged power planet row is identical with impact force planet row structure, includes planet row output shaft, planet row left end Lid, planet row oil sealing pressure ring, planet row stop pad, planet row oil sealing, planet row oil seal ring, planet row No.1 bearing, planet row No. two bearings, planet row planetary gear, No. three bearings of planet row, planet row output planetary frame, planet row lip-type packing, planet Arrange ring gear, planet row shell, planet row right end cap, magnetic powder driving motor, No. four planet row circlip for hole, planet row axis It holds, planet row circlip for shaft, planet row central gear, plug screw gasket and hexagonal socket head plug, four planet rows of planetary Gear uniformly distributed and planet row central gear surrounding in the way of radial 90 ° of angle, and the external tooth with planet row central gear respectively And the internal tooth of planet row ring gear is meshed, four planet row planetary gear output shafts are respectively at planet row output shaft right end disk Bolt axis connection, planet row shell and planet row ring gear right end disk be bolted, planet row ring gear right end disk and row Star row's right end cap is bolted, and planet row right end cap is bolted with magnetic powder driving motor, the motor output of magnetic powder driving motor Axis is connect after being each passed through planet row shell, planet row ring gear and planet row right end cap with planet row output planetary frame spline, Planet row lip-type packing passes through the shaft shoulder on the right side of planet row output planetary frame and connect with planet row output planetary frame face contact, row Star arranges circlip for hole and is connected in planet row right end cap centre bore oil seal groove by elastic deformation and passes through planet row output Planet carrier is connect with planet row lip-type packing right end plane-plane contact, planet row output planetary frame pass through No. three bearings of planet row with The connection of planet row central gear spline, planet row circlip for shaft pass through planet row output planetary frame and export with planet row and go The right side in shaft shoulder face connects on the left of carrier, and planet row circlip for shaft passes through deformation simultaneously and is connected to planet row left end In the oil seal groove of lid centre bore, No. four bearing centre holes of planet row are across planet row output planetary frame and elastic with planet row axis The connection of retaining ring right end plane-plane contact, centre bore and planet row of No. four bearing top circle faces of planet row also cross planet row output shaft Output shaft centre bore face contact interference fit, planet row left end cap right end periphery and planet row shell left end periphery bolt connect Connect, type be tapered roller bearing No. two bearings of planet row pass through planet row output shaft, No. two bearing right sides of planet row with The left end plane-plane contact of planet row output shaft right axle shoulder connects, and planet row left end cap centre bore passes through planet row output shaft, planet Row left end cap centre bore right side is connect with No. two left end face face contacts of planet row, and type is the planet of tapered roller bearing It arranges No.1 bearing and passes through planet row output shaft, the left side face of planet row No.1 bearing right side and planet row output shaft left axle shoulder It connects, planet row left end cap centre bore left side is connect with planet row No.1 bearing right end plane-plane contact, planet row stop Pad, planet row oil sealing, planet row oil seal ring are sequentially passed through and are connected behind planet row output shaft, planet row oil sealing pressure ring right end Face is connect with planet row stop pad left end plane-plane contact, and is bolted with planet row left end cap.
It is identical with hinged force generator structure to collide force generator, includes momentum power No.1 electric cylinder, momentum power No.1 electric cylinder base, momentum power runing rest, No. two electric cylinder bases of momentum power, No. two electric cylinders of momentum power, momentum power three Number No. three electric cylinder bases of electric cylinder and momentum power, momentum power No.1 electric cylinder, No. two electric cylinders of momentum power and momentum power three Electronic cylinder structure is identical, and momentum power No.1 electric cylinder base, No. two electric cylinder bases of momentum power and momentum power three are electronic Cylinder stand structure is identical, and momentum power No.1 electric cylinder is bolted with momentum power No.1 electric cylinder base, and momentum power two Electric cylinder is bolted with No. two electric cylinder bases of momentum power, No. three electric cylinders of momentum power and No. three electric cylinder base spiral shells of momentum power It tethers and connects, the electric cylinder output shaft axis of No. three momentum power No.1 electric cylinder, No. two electric cylinders of momentum power and momentum power electric cylinders Direction is radially arranged along momentum power runing rest centered cylinder sleeve, and is each other in hexagonal angle.
Upper motion platform mounting assembly includes mounting bracket and suspension, and mounting bracket and suspension are connected using bolt axle contact It connects.
Feel simulates the SENSO-Wheel steering force sense analog machine that assembly uses model SD-LC, including feel simulation Assembly bracket, feel assembly left support, feel assembly intermediate support, feel assembly steering wheel, feel assembly lower bracket, feel are total At right support and feel assembly motor, feel assembly lower bracket respectively at feel assembly left support, feel assembly intermediate support And feel simulation assembly bracket is bolted, feel assembly right support and feel assembly motor are bolted, and feel assembly turns to The motor output shaft of disk and feel assembly motor is keyed.
The model 12W-U0002 type of feel simulation assembly, including simulation gas pedal, simulating brake pedal and foot lever are total At bracket, gas pedal is simulated, simulating brake pedal is bolted with foot lever assembly bracket respectively.
Three axis locating assemblies are fixed including three axis locating assembly brackets, Z axis locating assembly, Z axis locating assembly connector, X-axis Position assembly and Y-axis locating assembly, Z axis locating assembly is identical with Y-axis locating assembly structure, is all made of driving motor and passes through spiral shell The master screw kind of drive, which is realized, to be axially moved, and Z axis locating assembly is transmitted motor driving force by V belt translation using driving motor It to nut screw transmission mechanism, is realized and is axially moved by the nut screw kind of drive, three axis locating assembly brackets and Z axis are fixed Position assembly is bolted, and Z axis locating assembly is bolted by Z axis locating assembly connector and the upper mounting plate of Y-axis locating assembly, Upper mounting plate of the Y-axis locating assembly respectively with two X-axis locating assemblies is bolted.
Lower motion platform assembly include lower motion platform upper supporting plate, upper everything section, lower motion platform electric cylinder, under it is universal Section, lower motion platform lower carrier plate and lower motion platform controller, lower motion platform assembly use the polycyclic parallel machine of Stewart type Structure, six upper everything sections are bolted with lower motion platform upper supporting plate respectively, six upper everything sections respectively with six under move it is flat The motor output shaft of platform electric cylinder is keyed, and six lower cardans are bolted with lower motion platform lower carrier plate respectively, under six Universal joint is bolted with six lower motion platform electric cylinders respectively, lower motion platform controller and lower motion platform lower carrier plate spiral shell It tethers and connects.
Control assembly includes industrial personal computer, data collector, MABX controller, CAN card group and hub, wherein industrial personal computer Existed respectively with main vehicle simulator monomer, several special bus simulator monomers, sensor in ring assembly and actuator by hub Ring assembly is electrically connected using industry ethernet, and MABX controller and data collector pass through CAN bus and main vehicle simulator respectively Monomer, several special bus simulator monomers, sensor are electrically connected in ring assembly and actuator in ring assembly, and sensor is in ring assembly Including camera, display, radar and radar wave generator, camera and display use contactless connection, the optical axis of camera with The display screen of display is in 90 ° of angles, and camera passes through DP video line by industry ethernet and industry control mechatronics, display With industry control mechatronics, radar and radar wave generator use contactless connection, and the induction planes face radar wave of radar is raw The waveform plane of departure grown up to be a useful person, radar are electrically connected by CAN bus with MABX controller and data collector, radar wave generator By hub using industry ethernet and industry control mechatronics, actuator includes braking system in ring assembly, steering in ring assembly Ring assembly and driving force are tied up in ring assembly, braking system is distinguished in ring assembly and driving force in ring assembly in ring assembly, steering system By CAN bus in control assembly MABX controller and data collector be electrically connected, while being adopted respectively by hub With the industry control mechatronics in industry ethernet form and control assembly.
Virtual emulation module includes operation interface, road editing machine, Scene Editor, vehicle editing machine, model library, rear place Reason module, number adopt memory field, application programming interfaces, program internal memory area and display module, model library include vehicle dynamic model, Traffic model, Major Systems sensor and intellectualized module sensor, operation interface control road editing machine, scene editor respectively Device, vehicle editing machine and model library, road editing machine, Scene Editor, vehicle editing machine and model library are connected to operation interface After control instruction, memory headroom is opened up in program internal memory area respectively, and the memory headroom is written into required result, number adopts memory Area can with program internal memory area rapid communication and collect the data segment of formulation as data acquisition results, post-processing module can be with Program internal memory area rapid communication simultaneously exports required Data Post as a result, application programming interfaces can be quick with program internal memory area Communicate and realize that the associative simulation of analog simulation module Yu other types emulation module, display module can be fast with program internal memory area Speed communicates and acquires the video data in VR visual sense assembly or exports the VR visual sense of particular video frequency data to model HTC Vive Assembly.
The working principle of the invention:
General vehicle provided by the invention and Driving Scene high-precision virtual reality intelligent driving simulator group can be used for High precision measurement and the verifying of any vehicle and any Driving Scene.
Firstly, vehicular traffic number needed for determining Driving Scene to be measured, and configure equal number of special bus simulator Monomer.MABX controller receives the motor of Z axis locating assembly, X-axis locating assembly and Y-axis locating assembly by CAN bus respectively Angular signal, MABX controller pass through CAN bus for the electricity of Z axis locating assembly, X-axis locating assembly and Y-axis locating assembly in turn Machine corner is adjusted to desired value.It is adjusted in main vehicle simulator monomer and special bus simulator monomer respectively by three axis locating assemblies Feel simulation assembly, feel simulation assembly and seat, make its relative tertiary location and the main vehicle vehicle of target detection and required The steering wheels of several vehicular traffics, gas pedal, brake pedal and seat are identical.
Each intellectualized sensor module in vehicle to be tested passes through sensor and realizes in ring assembly in ring test and verifying, Industrial personal computer acquires sensor by industry ethernet and after the output data of camera and radar, data is passed through CAN in ring assembly Card group is transferred to MABX controller using CAN bus communication mode.Each major component module in vehicle to be tested passes through execution Device is realized in ring assembly in ring test and verifying.Braking system receives the brake pedal position letter of simulating brake pedal in ring assembly Number, and then export braking system data such as pressure of wheel cylinder of braking system in ring assembly.Steering system receives feel in ring assembly The feel assembly steering wheel angle signal of assembly is simulated, and then exports steer coefficient evidence of the steering system in ring assembly.Driving force The accelerator pedal position signal of simulation gas pedal, and then output driving power engine speed in ring assembly are received in ring assembly Etc. data.
MABX controller receives feel by CAN bus and simulates feel assembly steering wheel in assembly and feel simulation assembly Pedal position signal, the sensor of steering wheel angle signal, simulation gas pedal and simulating brake pedal are provided in ring assembly In the output data of ring assembly, MABX controller solves down by calculating the output data and actuator of camera and radar The cylinder body elongation of six lower motion platform electric cylinders in motion platform assembly, MABX controller use Ethernet by hub The mode of bus moves downward platform controller and sends control signal, and lower motion platform controller respectively drives to move under six and put down Platform electric cylinder is retractable to specific length, and then realizes and drive man-powered vehicle proprioceptive simulation.MABX controller is sold by calculating to solve Feel the feel power of assembly steering wheel feedback, and then realizes the feel simulation of driver.
When there is the type of vehicle of simulation trailer converter dolly in main vehicle simulator monomer or some special bus simulator monomer, Under braking or steering situation, trailer by hinge be applied to tractor non-fully effect of contraction power and momentum bring it is hinged Power momentum body-sensing, as follows simulated implementation.Trailer is applied to tractor by hinge by CAN card group by industrial personal computer Non-fully effect of contraction power and momentum are exported by way of CAN bus into MABX controller, and MABX controller passes through simultaneously CAN bus acquires the magnetic powder driving motor current time position of output axle in hinged power planet row, and MABX controller is according to non-complete Staff cultivation active force and impulse calculation go out the active force and momentum that hinged force generator needs to export, MABX controller while basis Magnetic powder driving motor current time position of output axle calculates momentum power No.1 electric cylinder, momentum power No. two numbers in hinged force generator No. three electric cylinder current times of electric cylinder and momentum power with respect to the relative angle of magnetic powder driving motor output shaft, take relative angle most Small electric cylinder is as the non-fully trigger source of effect of contraction power and momentum.MABX controller drives magnetic powder to drive by CAN bus The motor output shaft of dynamic motor, magnetic powder driving motor drives planet row output planetary frame, and planet row output planetary frame passes through planet Row's central gear is engaged with planet row planetary gear, and planet row planetary gear is engaged with planet row ring gear simultaneously, due to planet Row's central gear and planet row ring gear are fixed by axis, so four planet row planetary gear axis detour stars arrange central gear Axis rotation, four planet row planetary gears drive planet row output shaft to make rotating motion jointly, and planet row output shaft is logical The momentum power runing rest rotary motion that spline drives hinged force generator is crossed, and then with impetus power No.1 electric cylinder, momentum No. three electric cylinder rotary motions of No. two electric cylinders of power and momentum power.MABX controller drives hinged force generator by CAN bus In the smallest electric cylinder of relative angle with magnetic powder driving motor output shaft, corresponding electric cylinder is it is expected in hinged force generator Momentum and active force stretch out the central cylindrical sleeve that output shaft hits upper motion platform upper supporting plate.It is corresponding in hinged force generator The momentum and active force that electric cylinder generates are transferred to upper motion platform mounting assembly by upper motion platform upper supporting plate, make movement Seat above platform mounting assembly is generated with flexible and damping concussion campaign, in turn relative to upper motion platform lower carrier plate Complete non-fully effect of contraction power and momentum bring momentum proprioceptive simulation that trailer is applied to tractor by hinge.Hinged power Proprioceptive simulation when momentum proprioceptive simulation and driving proprioceptive simulation are long, therefore MABX controller needs are entire in momentum proprioceptive simulation It is calculated in real time in period and controls corresponding mechanism.
When main vehicle simulator monomer or some special bus simulator monomer in virtual running environment in driving process with week When enclosing vehicle collision, collision bring is by collision vehicle to the impact force momentum for momentum and the active force generation for actively colliding vehicle Body-sensing, as follows simulated implementation.Industrial personal computer by CAN card group by by collision vehicle to actively collide the momentum of vehicle with Active force is exported by way of CAN bus into MABX controller, and pass through CAN bus acquires impact force to MABX controller simultaneously Magnetic powder driving motor current time position of output axle in planet row, MABX controller go out to be filled according to impact force and impulse calculation The several collision force generators matched need the active force and momentum exported, and MABX controller is current according to magnetic powder driving motor simultaneously Moment position of output axle calculates momentum power No.1 electric cylinder, No. two electric cylinders of momentum power and momentum power three in collision force generator Number electric cylinder current time with respect to the relative angle of magnetic powder driving motor output shaft, and then calculates magnetic powder driving motor output shaft and needs The angle and participation to be rotated realize the number of the collision force generator of impact force body-sensing and collide to be used as in force generator and trigger The number of source electric cylinder.MABX controller drives magnetic powder driving motor, the motor output shaft of magnetic powder driving motor by CAN bus Planet row output planetary frame is driven, planet row output planetary frame is engaged by planet row central gear with planet row planetary gear, Planet row planetary gear is engaged with planet row ring gear simultaneously, since planet row central gear and planet row ring gear are solid by axis It is fixed, so four planet row planetary gear axis detour stars arrange the rotary motion of central gear axis, four planet row planetary gears Common that planet row output shaft is driven to make rotating motion, planet row output shaft drives the momentum power of collision force generator to revolve by spline Turn bracket rotary motion, and then with No. three impetus power No.1 electric cylinder, No. two electric cylinders of momentum power and momentum power electric cylinder rotations Transhipment is dynamic.MABX controller is driven in corresponding collision force generator and collision force generator by CAN bus as trigger source Electric cylinder, collide in force generator corresponding electric cylinder and output shaft stretched out with desired momentum and active force to hit movement flat The Correspondent cy linder sleeve of platform upper supporting plate.Momentum and the active force that electric cylinder generation is corresponded in collision force generator are flat by upper movement Platform upper supporting plate is transferred to motion platform mounting assembly, keeps the seat above motion platform mounting assembly flat relative to upper movement Platform lower carrier plate is generated with flexible and damping concussion campaign, and then completes to collide bring by collision vehicle to actively colliding vehicle Momentum and active force generate impact force momentum body-sensing.Impact force momentum proprioceptive simulation is transient state mutation simulation, is had short When big impulse character, MABX controller need impact force momentum proprioceptive simulation in short-term in calculate in real time and control corresponding machine Structure.
The simulation of the virtual visual sense of main vehicle simulator monomer and several special bus simulator monomers is realized as follows.Root According to the operation interface tested and verified in demand operation virtual emulation module, operation interface will test required virtual road, drive The emulation details for sailing scene, main vehicle vehicle and special bus vehicle is exported respectively to road editing machine, Scene Editor, vehicle editor Device and model library, road editing machine, Scene Editor and vehicle editing machine are by virtual road, Driving Scene, main vehicle and special bus To program internal memory area, program internal memory area will need the data of acquisition and recording respectively for output after the emulation details of vehicle is modeled Output to number is adopted in memory field, and the data processed result of real-time display will be needed to export into post-processing module, will be comprising virtual Road, Driving Scene, virtual vehicle information virtual visual sense data export into display module, display module through calculating, will The virtual visual sense data of main vehicle simulator monomer and several special bus simulator monomers pass through line concentration using ethernet communication mode Device is exported respectively in the VR visual sense assembly into main vehicle simulator monomer and several special bus simulator monomers, main vehicle simulator list The manipulation of corresponding vehicle can be completed by wearing VR visual sense assembly in driver in body and several special bus simulator monomers.
The utility model has the advantages that
1) general vehicle of the present invention and Driving Scene high-precision virtual reality intelligent driving simulator group pass through The simulator group of one main vehicle simulator monomer and several special bus simulator monomer compositions, may be implemented towards each intelligence etc. The driving test of grade vehicle and the simulation of verifying scene；Synthetic operation between each assembly can be in high-precision horizontal upper maximum limit The approaching to reality traffic environment and vehicle environmental of degree.Adjusted by the poses of three axis locating assemblies, feel can be simulated assembly, Seat and feel simulation assembly are configured to the spatial positions of various expectation vehicles, so realize to components system in multi-vehicle-type or The analog simulation of functional unit is tested and evaluation；
2) general vehicle of the present invention and Driving Scene high-precision virtual reality intelligent driving simulator group pass through VR visual sense assembly realizes the driving visual sense simulation of high-precision and high-immersion, greatly improves the emulation and test effect of simulator Fruit increases the authenticity and reasonability of data acquisition.Further, since VR visual sense assembly is instead of traditional ring curtain formula assembly cloth It sets, realizes the Driving Scene simulation based on mass transportation, and greatly reduce the space hold of simulator group, reduce base Burden is built, simulator group configuration flexibility is improved, realizes the small spatialization of simulator group truly；
3) general vehicle of the present invention and Driving Scene high-precision virtual reality intelligent driving simulator group pass through Hinged power planet row and hinged force generator, the non-fully constraint that can simulate trailer converter dolly vehicle under reality environment are hinged Power bring body-sensing can be simulated under reality environment between vehicle by impact force planet row and collision force generator Low degree collides bring body-sensing, and then enhances driver's feeling of immersion, greatly improves the simulation effect of simulator, increases The just true and reasonability of data acquisition；Electric cylinder arrangement in lower motion platform assembly is polycyclic simultaneously using Stewart type Online structure has preferable dynamic response capability and higher static load ability to bear；
4) general vehicle of the present invention and Driving Scene high-precision virtual reality intelligent driving simulator group pass through Feel simulates assembly and feel and simulates assembly, can acquire and manipulation signal of the memory of driving people under different operating conditions, Jin Erke Private database is driven to form driver, data precision is high；
5) general vehicle of the present invention and Driving Scene high-precision virtual reality intelligent driving simulator group pass through DSPACE MicroAutoBox equipment turns to corresponding vehicle models, brakes and drives a variety of in the seamless connection of ring platform, reality Now for various component in ring test；By industrial personal computer can with camera in ring and radar in multiple sensors such as rings It realizes and is seamlessly connected in ring platform, realize a variety of intelligence sensor configurations and performance test；
6) general vehicle of the present invention and Driving Scene high-precision virtual reality intelligent driving simulator group structure Firm, long stroke rotating moving part intensity, rigidity are reasonable, and friction and amount of deflection are smaller, control and feedback sensor, driver It is safe and reliable, the electric signal high sensitivity of output；It greatly improves in ring test efficiency and precision, components correspond to material Rationally, the service life is higher for material selection；
7) general vehicle of the present invention and Driving Scene are very big with high-precision virtual reality intelligent driving simulator group Ground reduces real steering vectors cost and improves efficiency, shortens the test based on extensive road test and proving period.
Detailed description of the invention
Fig. 1 is simulator group overall structure diagram of the present invention.
Fig. 2 is simulator monomer structure schematic diagram of the present invention.
Fig. 3 is simulator monomer decomposition texture schematic diagram of the present invention.
Fig. 4 is lower motion platform assembly decomposition texture schematic diagram of the present invention.
Fig. 5 is upper motion platform assembly decomposition texture schematic diagram of the present invention.
Fig. 6 is impact force planet row overall structure diagram of the present invention.
Fig. 7 is impact force planet row decomposition texture schematic diagram of the present invention.
Fig. 8 is collision force generator overall structure diagram of the present invention.
Fig. 9 is collision force generator decomposition texture schematic diagram of the present invention.
Figure 10 is upper motion platform mounting assembly overall structure diagram of the present invention.
Figure 11 is upper motion platform mounting assembly decomposition texture schematic diagram of the present invention.
Figure 12 is that feel of the present invention simulates assembly overall structure diagram,
Figure 13 is that feel of the present invention simulates assembly decomposition texture schematic diagram.
Figure 14 is that feel of the present invention simulates assembly overall structure diagram.
Figure 15 is that feel of the present invention simulates assembly decomposition texture schematic diagram.
Figure 16 is three axis locating assembly overall structure diagram of the present invention.
Figure 17 is three axis locating assembly decomposition texture schematic diagram of the present invention.
Figure 18 is structure of capital construction schematic diagram in ground of the present invention.
Figure 19 is upper motion platform upper supporting plate structural schematic diagram of the present invention.
Figure 20 is planet row planetary gear construction schematic diagram of the present invention.
Figure 21 is control assembly structural schematic diagram of the present invention.
Figure 22 is virtual environment modular structure schematic diagram of the present invention.
Mark described in upper figure is as follows:
1, main vehicle simulator monomer 2, special bus simulator monomer 3, upper motion platform assembly
4, lower motion platform assembly 5, three axis locating assemblies 6, feel simulate assembly
7, ground capital construction 8, control assembly 9, hinged power planet row 10, impact force planet row 11, upper motion platform Mounting assembly 12, feel simulate assembly 13, seat
14, VR visual sense assembly 15, driver 16, lower motion platform upper supporting plate 17, upper everything section 18, lower motion platform Electric cylinder 19, lower cardan 20, lower motion platform lower carrier plate
21, lower motion platform controller 22, feel simulate assembly bracket 23, upper motion platform upper supporting plate 24, impact force Generator 25, upper motion platform lower carrier plate 26, planet row output shaft
27, planet row left end cap 28, planet row oil sealing pressure ring 29, planet row stop pad
30, planet row oil sealing 31, planet row oil seal ring 32, planet row No.1 bearing
33, No. three No. two bearings 34 of planet row, planet row planetary gear 35, planet row bearings
36, planet row output planetary frame 37, planet row lip-type packing 38, planet row ring gear 39, planet row shell 40, planet row right end cap 41, magnetic powder driving motor
42, planet row circlip for hole 43, No. four bearings 44 of planet row, planet row circlip for shaft 45, planet Arrange central gear 46, plug screw gasket 47, hexagonal socket head plug
48, momentum power No.1 electric cylinder 49, momentum power No.1 electric cylinder base 50, momentum power runing rest 51, momentum No. three No. two electric cylinder bases 52 of power, No. two electric cylinders 53 of momentum power, No. three electric cylinders 54 of momentum power, momentum power electric cylinders Base 55, mounting bracket 56, suspension
57, under feel assembly left support 58, feel assembly intermediate support 59, feel assembly steering wheel 60, feel assembly Bracket 61, feel assembly right support 62, feel assembly motor
63, gas pedal 64, simulating brake pedal 65, foot lever assembly bracket are simulated
66, three axis locating assembly brackets 67, Z axis locating assembly 68, Z axis locating assembly connector 69, X-axis positioning are total At 70, Y-axis locating assembly 71, hinged force generator
72, industrial personal computer 73, data collector 74, MABX controller 75, CAN card group
76, hub 77, camera 78, display 79, radar 80, radar wave generator 81, sensor are in ring assembly 82, braking system is in ring assembly 83, steering system in ring assembly
84, driving force is in ring assembly 85, actuator in ring assembly 86, operation interface
87, road editing machine 88, Scene Editor 89, vehicle editing machine 90, model library
91, vehicle dynamic model 92, traffic model 93, Major Systems sensor
94, intellectualized module sensor 95, post-processing module 96, number adopt memory field
97, application programming interfaces 98, program internal memory area 99, display module 100, virtual emulation module.
Specific embodiment
It please refers to shown in Fig. 1 to Figure 22:
General vehicle provided by the invention and Driving Scene high-precision virtual reality intelligent driving simulator group include One main vehicle simulator monomer 1, several special bus simulator monomers 2, control assembly 8, sensor in ring assembly 81 and execute Device is in ring assembly 85, wherein main vehicle simulator monomer 1 is identical with special bus simulator 2 mechanical structures of monomer, under passing through Motion platform assembly 4 is fixedly connected with ground capital construction 7, and several special bus simulator monomers 2 are around main 1 cloth of vehicle simulator monomer It sets, the spatial movement limit institute of main vehicle simulator monomer 1 and several special bus simulator monomers 2 in 7 above section of ground capital construction The enveloping space of formation is tangent to each other, control assembly 8 respectively with main vehicle simulator monomer 1, several special bus simulator monomers 2, sensor is electrically connected in ring assembly 81 and actuator in ring assembly 85, is integrated with virtual emulation module in control assembly 8 100, control assembly 8 passes through virtual emulation module 100 to main vehicle simulator monomer 1, several special bus simulator monomers 2, biography Sensor sends in ring assembly 85 in ring assembly 81 and actuator and instructs.
Main vehicle simulator monomer 1 and each special bus simulator monomer 2 are by upper motion platform assembly 3 and lower motion platform Assembly 4 forms, and upper motion platform assembly 3 and lower motion platform assembly 4 are bolted.
Upper motion platform assembly 3 includes three axis locating assemblies 5, feel simulation assembly 6, hinged power planet row 9, collision Lixing Star row 10, upper motion platform mounting assembly 11, feel simulate assembly 12, seat 13, VR visual sense assembly 14, driver 15, feel It is raw to simulate assembly bracket 22, upper motion platform upper supporting plate 23, collision force generator 24, upper motion platform lower carrier plate 25 and hinged power Grow up to be a useful person 71, feel simulates assembly 6 and passes through three axis locating assembly brackets in feel simulation assembly bracket 22 and three axis locating assemblies 5 66 are bolted, feel simulate assembly 12 and seat 13 with three axis locating assembly brackets, 66 bolt in three axis locating assemblies 5 Connection, feel simulate assembly 6, feel simulation assembly 12 and seat 13 and realize that it is flat in upper movement by three axis locating assemblies 5 The adjustment of spatial position on platform upper supporting plate 23, three axis locating assemblies 5 used are bolted with upper motion platform upper supporting plate 23, Hinged power planet row 9, impact force planet row 10 and upper motion platform lower carrier plate 25 connect with lower 16 bolt of motion platform upper supporting plate It connects, hinged power planet row 9 is installed on the underface of 25 medium pore of motion platform lower carrier plate, the planet row of hinged power planet row 9 Output shaft 26 passes through the medium pore of upper motion platform lower carrier plate 25 and 50 spline of momentum power runing rest of hinged force generator 71 Connection, several impact force planet rows 10 are installed on the surrounding of hinged power planet row 9, impact force planet in the way of circumferential arrangement The planet row output shaft 26 of row 10 passes through the transverse slat hole of upper motion platform lower carrier plate 25 and the momentum power of collision force generator 24 is revolved Turn 50 spline of bracket connection, several upper motion platform mounting assemblies 11 respectively with upper motion platform upper supporting plate 23 and upper motion platform The link of 25 bolt of lower carrier plate, the number of upper motion platform mounting assembly 11 are twice that impact force planet row 10 installs number, are driven People 15 and 13 face contact of seat are sailed, VR visual sense assembly 14 is worn on the eye of driver 15.
Hinged power planet row 9 is identical with 10 structure of impact force planet row, includes planet row output shaft 26, planet row Left end cap 27, planet row oil sealing pressure ring 28, planet row stop pad 29, planet row oil sealing 30, planet row oil seal ring 31, planet row one Number bearing 32, No. two bearings 33 of planet row, planet row planetary gear 34, No. three bearings 35 of planet row, planet row output planetary frame 36, planet row lip-type packing 37, planet row ring gear 38, planet row shell 39, planet row right end cap 40, magnetic powder driving motor 41, planet row circlip for hole 42, No. four bearings 43 of planet row, planet row circlip for shaft 44, planet row central gear 45, plug screw gasket 46 and hexagonal socket head plug 47, four planet row planetary gears 34 in the way of radial 90 ° of angle it is uniformly distributed with 45 surrounding of planet row central gear, and mutually nibbled with the internal tooth of the external tooth of planet row central gear 45 and planet row ring gear 38 respectively It closes, four 34 output shafts of planet row planetary gear are respectively at 26 right end disk bolt axis connection of planet row output shaft, planet row shell Body 39 and 38 right end disk of planet row ring gear be bolted, 38 right end disk of planet row ring gear and 40 spiral shell of planet row right end cap It tethers and connects, planet row right end cap 40 is bolted with magnetic powder driving motor 41, the motor output shaft difference of magnetic powder driving motor 41 Connect after planet row shell 39, planet row ring gear 38 and planet row right end cap 40 with 36 spline of planet row output planetary frame It connects, planet row lip-type packing 37 passes through the 36 right side shaft shoulder of planet row output planetary frame and connects with 36 face of planet row output planetary frame Touching connection, planet row circlip for hole 42 are connected in 40 centre bore oil seal groove of planet row right end cap and are worn by elastic deformation It crosses planet row output planetary frame 36 to connect with 37 right end plane-plane contact of planet row lip-type packing, planet row output planetary frame 36 is worn It crosses No. three bearings 35 of planet row to connect with 45 spline of planet row central gear, it is defeated that planet row circlip for shaft 44 passes through planet row Out planet carrier 36 and with the right side in 36 left side shaft shoulder face of planet row output planetary frame connect, planet row circlip for shaft 44 are connected in the oil seal groove of 27 centre bore of planet row left end cap simultaneously by deformation, and No. four 43 centre bores of bearing of planet row pass through It planet row output planetary frame 36 and is connect with 44 right end plane-plane contact of planet row circlip for shaft, outside No. four bearings 43 of planet row Disc is interference fitted also cross the centre bore and 26 centre bore face contact of planet row output shaft of planet row output shaft 26, planet row 27 right end periphery of left end cap is bolted with 39 left end periphery of planet row shell, and type is the planet row of tapered roller bearing No. two bearings 33 pass through planet row output shaft 26, the left side of planet row No. two 33 right sides of bearing and 26 right axle shoulder of planet row output shaft The connection of end face face contact, 27 centre bore of planet row left end cap pass through planet row output shaft 26, and 27 centre bore of planet row left end cap is right End face is connect with 33 left end plane-plane contact of No. two bearings of planet row, and type is that the planet row No.1 bearing 32 of tapered roller bearing is worn Cross planet row output shaft 26, the left end plane-plane contact company of 32 right side of planet row No.1 bearing and 26 left axle shoulder of planet row output shaft It connects, 27 centre bore left side of planet row left end cap is connect with 32 right end plane-plane contact of planet row No.1 bearing, planet row stop pad 29, planet row oil sealing 30, planet row oil seal ring 31 are sequentially passed through and are connected behind planet row output shaft 26, planet row oil sealing pressure 28 right side of ring is connect with 29 left end plane-plane contact of planet row stop pad, and is bolted with planet row left end cap 27.
Collide force generator 24 it is identical with hinged 71 structure of force generator, include momentum power No.1 electric cylinder 48, Momentum power No.1 electric cylinder base 49, momentum power runing rest 50, No. two electric cylinder bases 51 of momentum power, momentum power two it is electronic No. three cylinder 52, No. three electric cylinders 53 of momentum power and momentum power electric cylinder bases 54, momentum power No.1 electric cylinder 48, momentum power two Electric cylinder 52 is identical with No. three 53 structures of electric cylinder of momentum power, No. two momentum power No.1 electric cylinder base 49, momentum power electricity Dynamic cylinder base 51 is identical with No. three 54 structures of electric cylinder base of momentum power, momentum power No.1 electric cylinder 48 and momentum power No.1 Electric cylinder base 49 is bolted, and No. two electric cylinder bases 51 of No. two electric cylinders 52 of momentum power and momentum power are bolted, momentum No. three electric cylinder bases 54 of No. three electric cylinders 53 of power and momentum power are bolted, momentum power No.1 electric cylinder 48, momentum power two The electric cylinder output shaft axis direction of No. three electric cylinders 53 of electric cylinder 52 and momentum power is along 50 centered cylinder of momentum power runing rest Sleeve is radially arranged, and is each other in hexagonal angle.
Upper motion platform mounting assembly 11 includes mounting bracket 55 and suspension 56, and mounting bracket 55 and suspension 56 use bolt Axis connects.
Feel simulates assembly 6 using the SENSO-Wheel steering force sense analog machine of model SD-LC, including feel mould Under quasi- assembly bracket 22, feel assembly left support 57, feel assembly intermediate support 58, feel assembly steering wheel 59, feel assembly Bracket 60, feel assembly right support 61 and feel assembly motor 62, feel assembly lower bracket 60 respectively at the left branch of feel assembly Frame 57, feel assembly intermediate support 58 and feel simulation assembly bracket 22 are bolted, and feel assembly right support 61 and feel are total It is bolted at motor 62, the motor output shaft of feel assembly steering wheel 59 and feel assembly motor 62 is keyed.
Feel simulates the model 12W-U0002 type of assembly 12, including simulation gas pedal 63,64 and of simulating brake pedal Foot lever assembly bracket 65, simulation gas pedal 63, simulating brake pedal 64 are bolted with foot lever assembly bracket 65 respectively.
Three axis locating assemblies 5 include three axis locating assembly brackets 66, Z axis locating assembly 67, Z axis locating assembly connector 68, X-axis locating assembly 69 and Y-axis locating assembly 70, Z axis locating assembly 67 is identical with 70 structure of Y-axis locating assembly, adopts It is realized and is axially moved by the nut screw kind of drive with driving motor, Z axis locating assembly 67 passes through band using driving motor and passes It moves after motor driving force is transferred to nut screw transmission mechanism, passes through the nut screw kind of drive and realize axial movement, three axis Locating assembly bracket 66 is bolted with Z axis locating assembly 67, and Z axis locating assembly 67 passes through Z axis locating assembly connector 68 and Y The upper mounting plate of axis locating assembly 70 is bolted, the upper mounting plate bolt with two X-axis locating assemblies 69 respectively of Y-axis locating assembly 70 Connection.
Lower motion platform assembly 4 include lower motion platform upper supporting plate 16, upper everything section 17, lower motion platform electric cylinder 18, Lower cardan 19, lower motion platform lower carrier plate 20 and lower motion platform controller 21, lower motion platform assembly 4 use Stewart The polycyclic parallel institution of type, six upper everything sections 17 are bolted with lower motion platform upper supporting plate 16 respectively, six upper everything sections 17 Be keyed respectively with the motor output shaft of six lower motion platform electric cylinders 18, six lower cardans 19 respectively with lower motion platform Lower carrier plate 20 is bolted, and six lower cardans 19 are bolted with six lower motion platform electric cylinders 18 respectively, and lower movement is flat Platform controller 21 is bolted with lower motion platform lower carrier plate 20.
Control assembly 8 includes industrial personal computer 72, data collector 73, MABX controller 74, CAN card group 75 and hub 76, wherein industrial personal computer 72 by hub 76 respectively with main vehicle simulator monomer 1, several special bus simulator monomers 2, sensor It is electrically connected in ring assembly 85 using industry ethernet in ring assembly 81 and actuator, MABX controller 74 and data collector 73 divide Not Tong Guo CAN bus and main vehicle simulator monomer 1, several special bus simulator monomers 2, sensor in ring assembly 81 and actuator It being electrically connected in ring assembly 85, sensor includes camera 77, display 78, radar 79 and radar wave generator 80 in ring assembly 81, Camera 77 and display 78 use contactless connection, and the optical axis of camera 77 and the display screen of display 78 are in 90 ° of angles, phase Machine 77 is electrically connected by industry ethernet with industrial personal computer 72, and display 78 is electrically connected by DP video line with industrial personal computer 72, radar 79 use contactless connection with radar wave generator 80, and the waveform of the induction planes face radar wave generator 80 of radar 79 is sent out Plane is penetrated, radar 79 is electrically connected by CAN bus with MABX controller 74 and data collector 73, and radar wave generator 80 passes through Hub 76 is electrically connected using industry ethernet with industrial personal computer 72, actuator in ring assembly 85 including braking system in ring assembly 82, Steering system is in ring assembly 83 and driving force in ring assembly 84, and braking system is in ring assembly 82, steering system in ring assembly 83 and driving force Ring assembly 84 respectively by CAN bus in control assembly 8 MABX controller 74 and data collector 73 be electrically connected, together When pass through hub 76 respectively and be electrically connected with the industrial personal computer 72 in control assembly 8 using industry ethernet form.
Virtual emulation module 100 include operation interface 86, road editing machine 87, Scene Editor 88, vehicle editing machine 89, Model library 90, post-processing module 95, number adopt memory field 96, application programming interfaces 97, program internal memory area 98 and display module 99, mould Type library 90 includes vehicle dynamic model 91, traffic model 92, Major Systems sensor 93 and intellectualized module sensor 94, behaviour Make interface 86 and controls road editing machine 87, Scene Editor 88, vehicle editing machine 89 and model library 90, road editing machine respectively 87, after Scene Editor 88, vehicle editing machine 89 and model library 90 are connected to the control instruction of operation interface 86, respectively in program It deposits and opens up memory headroom in area 98, and the memory headroom is written into required result, number adopts memory field 96 can be with program internal memory area 98 rapid communications simultaneously collect the data segment of formulation as data acquisition results, and post-processing module 95 can be fast with program internal memory area 98 Speed communicates and exports required Data Post as a result, application programming interfaces 97 can be with 98 rapid communication of program internal memory area and real The associative simulation of existing analog simulation module 100 and other types emulation module, display module 99 can be fast with program internal memory area 98 The VR that speed communicated and acquired the video data in VR visual sense assembly 14 or exports particular video frequency data to model HTC Vive is regarded Feel assembly 14.
The working principle of the invention:
General vehicle provided by the invention and Driving Scene high-precision virtual reality intelligent driving simulator group can be used for High precision measurement and the verifying of any vehicle and any Driving Scene.
Firstly, vehicular traffic number needed for determining Driving Scene to be measured, and configure equal number of special bus simulator Monomer 2.MABX controller 74 receives Z axis locating assembly 67, X-axis locating assembly 69 and Y-axis locating assembly by CAN bus respectively 70 motor angular signal, MABX controller 74 pass through CAN bus for Z axis locating assembly 67, X-axis locating assembly 69 and Y in turn The motor corner of axis locating assembly 70 is adjusted to desired value.Main 1 He of vehicle simulator monomer is adjusted respectively by three axis locating assemblies 5 Feel simulation assembly 6, feel simulation assembly 12 and seat 13 in special bus simulator monomer 2, make its relative tertiary location with The steering wheel of the main vehicle vehicle of target detection and required several vehicular traffics, gas pedal, brake pedal and seat are identical.
Each intellectualized sensor module in vehicle to be tested is realized in ring test and is tested in ring assembly 81 by sensor Card, industrial personal computer 72 acquire sensor in ring assembly 81 after the output data of camera 77 and radar 79 by industry ethernet, will Data are transferred to MABX controller 74 using CAN bus communication mode by CAN card group 75.Each main portion in vehicle to be tested Part module is realized in ring assembly 85 in ring test and verifying by actuator.Braking system receives simulating brake pedal in ring assembly 82 64 brake pedal position signal, and then export braking system data such as pressure of wheel cylinder of braking system in ring assembly 82.Turn 59 angular signal of feel assembly steering wheel of feel simulation assembly 6 is received to ring assembly 83 is tied up to, and then exports steering system in ring Steer coefficient evidence in assembly 83.Driving force receives the accelerator pedal position signal of simulation gas pedal 63 in ring assembly 84, into And output driving power data such as engine speed in ring assembly 84.
MABX controller 74 receives feel by CAN bus and simulates feel assembly turn in assembly 6 and feel simulation assembly 12 Exist to pedal position signal, the sensor of the steering wheel angle signal of disk 59, simulation gas pedal 63 and simulating brake pedal 64 Output data of the output data and actuator of camera 77 and radar 79 that ring assembly 81 provides in ring assembly 85, MABX control Device 74 processed solves the cylinder body elongation of six lower motion platform electric cylinders 18 in lower motion platform assembly 4, MABX by calculating Controller 74 moves downward platform controller 21 in such a way that hub 76 is using industry ethernet and sends control signal, lower fortune Moving platform controller 21 respectively drives six lower motion platform electric cylinders 18 and is retractable to specific length, and then realizes and drive man-powered vehicle Proprioceptive simulation.MABX controller 74 solves the feel power of the feedback of feel assembly steering wheel 59 by calculating, and then realizes and drive The feel of people is simulated.
When the type of vehicle that there is simulation trailer converter dolly in main vehicle simulator monomer 1 or some special bus simulator monomer 2 When, under braking or steering situation, trailer is applied to the non-fully effect of contraction power and momentum bring of tractor by hinge Hinged power momentum body-sensing, as follows simulated implementation.Trailer is applied to by industrial personal computer 72 by CAN card group 75 by hinge The non-fully effect of contraction power and momentum of tractor are exported by way of CAN bus into MABX controller 74, MABX control Device 74 acquires the magnetic powder driving motor 41 current time position of output axle in hinged power planet row 9, MABX by CAN bus simultaneously Controller 74 goes out the active force and momentum that hinged force generator 71 needs to export according to non-fully effect of contraction power and impulse calculation, MABX controller 74 calculates in hinged force generator 71 according to magnetic powder driving motor 41 current time position of output axle rush simultaneously No.1 of measuring one's own ability electric cylinder 48, No. three 53 current times of electric cylinder of No. two electric cylinders 52 of momentum power and momentum power drive electricity with respect to magnetic powder The relative angle of 41 output shaft of machine takes the smallest electric cylinder of relative angle as the triggering of non-fully effect of contraction power and momentum Source.MABX controller 74 drives magnetic powder driving motor 41 by CAN bus, and the motor output shaft of magnetic powder driving motor 41 drives row Star arranges output planetary frame 36, and planet row output planetary frame 36 is nibbled by planet row central gear 45 with planet row planetary gear 34 It closes, planet row planetary gear 34 is engaged with planet row ring gear 38 simultaneously, due to planet row central gear 45 and planet row internal tooth Circle 38 is fixed by axis, so four 34 axis of planet row planetary gear are around 45 axis rotation of planet row central gear, four A planet row planetary gear 34 drives planet row output shaft 26 to make rotating motion jointly, and planet row output shaft 26 is driven by spline 50 rotary motion of momentum power runing rest of hinged force generator 71, and then with impetus power No.1 electric cylinder 48, momentum power two Number No. three 53 rotary motions of electric cylinder of electric cylinder 52 and momentum power.MABX controller 74 drives hinged power to generate by CAN bus It is corresponding electronic in hinged force generator 71 with the smallest electric cylinder of relative angle of 41 output shaft of magnetic powder driving motor in device 71 Cylinder stretches out the central cylindrical sleeve that output shaft hits upper motion platform upper supporting plate 23 with desired momentum and active force.Hinged power is raw Growing up to be a useful person, by upper motion platform upper supporting plate 23 to be transferred to upper motion platform outstanding for the momentum that electric cylinder generation is corresponded in 71 and active force Assembly 11 is set, generates the seat 13 of 11 top of motion platform mounting assembly with bullet relative to upper motion platform lower carrier plate 25 Property and damping concussion campaign, and then complete trailer and be applied to the non-fully effect of contraction power and momentum band of tractor by hinge The momentum proprioceptive simulation come.Proprioceptive simulation when hinged power momentum proprioceptive simulation and driving proprioceptive simulation are long, therefore MABX is controlled The needs of device 74 calculate in real time in momentum proprioceptive simulation whole cycle and control corresponding mechanism.
When main vehicle simulator monomer 1 or some special bus simulator monomer 2 in virtual running environment in driving process with When surrounding vehicles are collided, collision bring rushes the impact force that the momentum and active force for actively colliding vehicle generate by collision vehicle Body-sensing is measured, as follows simulated implementation.Industrial personal computer 72 by CAN card group 75 by by collision vehicle to actively colliding vehicle Momentum and active force are exported by way of CAN bus into MABX controller 74, and MABX controller 74 passes through CAN bus simultaneously The magnetic powder driving motor 41 current time position of output axle in impact force planet row 10 is acquired, MABX controller 74 is according to impact force And impulse calculation goes out the active force and momentum that the several collision force generators 24 assembled need to export, MABX controller 74 is simultaneously According to magnetic powder driving motor 41 current time position of output axle calculate collision force generator 24 in momentum power No.1 electric cylinder 48, No. three 53 current times of electric cylinder of No. two electric cylinders 52 of momentum power and momentum power are opposite with respect to 41 output shaft of magnetic powder driving motor Angle, and then calculate angle and participate in realizing that the impact force of impact force body-sensing is raw that 41 output shaft of magnetic powder driving motor needs to rotate Grow up to be a useful person 24 number and collision force generator 24 in number as trigger source electric cylinder.MABX controller 74 passes through CAN bus Magnetic powder driving motor 41 is driven, the motor output shaft of magnetic powder driving motor 41 drives planet row output planetary frame 36, and planet row is defeated Planet carrier 36 is engaged with planet row planetary gear 34 by planet row central gear 45 out, planet row planetary gear 34 and meanwhile with row Star is arranged ring gear 38 and is engaged, since planet row central gear 45 and planet row ring gear 38 are fixed by axis, so four planets 34 axis of rows of planetary gear drives row around 45 axis rotation of planet row central gear, four planet row planetary gears 34 jointly Star row's output shaft 26 makes rotating motion, and planet row output shaft 26 drives the momentum power of collision force generator 24 to rotate branch by spline 50 rotary motion of frame, and then with No. three impetus power No.1 electric cylinder 48, No. two electric cylinders 52 of momentum power and momentum power electric cylinders 53 rotary motions.MABX controller 74 is driven in corresponding collision force generator 24 and collision force generator 24 by CAN bus As the electric cylinder of trigger source, corresponding electric cylinder stretches out output shaft with desired momentum and active force in collision force generator 24 The Correspondent cy linder sleeve of motion platform upper supporting plate 23 in shock.The momentum and work of electric cylinder generation are corresponded in collision force generator 24 Upper motion platform mounting assembly 11 is firmly transferred to by upper motion platform upper supporting plate 23, is made on motion platform mounting assembly 11 The seat 13 of side is generated relative to upper motion platform lower carrier plate 25 with flexible and damping concussion campaign, and then completes collision belt The impact force momentum body-sensing that the momentum and active force for actively colliding vehicle are generated by collision vehicle come.Impact force momentum body-sensing It is modeled as transient state mutation simulation, there is big impulse character in short-term, MABX controller 74 is needed in impact force momentum proprioceptive simulation It calculates in real time in short-term and controls corresponding mechanism.
The simulation of the virtual visual sense of main vehicle simulator monomer 1 and several special bus simulator monomers 2 is realized as follows. According to the operation interface 86 tested and verified in demand operation virtual emulation module 100, operation interface 86 will test required void The emulation details for intending road, Driving Scene, main vehicle vehicle and special bus vehicle is exported respectively to road editing machine 87, scene editor Device 88, vehicle editing machine 89 and model library 90, road editing machine 87, Scene Editor 88 and vehicle editing machine 89 are by virtual road Road, Driving Scene, main vehicle and special bus vehicle emulation details modeled after output to program internal memory area 98, program internal memory The data for needing acquisition and recording are exported to number adopt in memory field 96 respectively by area 98, will need the data processed result of real-time display Output into post-processing module 95, by comprising virtual road, Driving Scene, virtual vehicle information virtual visual sense data export to In display module 99, display module 99 is by calculating, by the void of main vehicle simulator monomer 1 and several special bus simulator monomers 2 Quasi- visual sense data are exported respectively by hub 76 to main vehicle simulator monomer 1 and several special buses using ethernet communication mode Driving in VR visual sense assembly 14 in simulator monomer 2, in main vehicle simulator monomer 1 and several special bus simulator monomers 2 The manipulation of corresponding vehicle can be completed by wearing VR visual sense assembly 14 in people 15.

Claims (10)

1. a kind of general vehicle and Driving Scene high-precision virtual reality intelligent driving simulator group, it is characterised in that: including There are a main vehicle simulator monomer, several special bus simulator monomers, control assembly, sensor to exist in ring assembly and actuator Ring assembly passes through lower motion platform wherein main vehicle simulator monomer is identical with special bus simulator monomer mechanical structure Assembly is fixedly connected with ground capital construction, and several special bus simulator cyclosiloxane monomers are around main vehicle simulator single layout, main vehicle simulator Monomer and several special bus simulator monomers the spatial movement limit of ground capital construction above section be formed by the enveloping space that This is tangent, and control assembly in ring assembly and is held with main vehicle simulator monomer, several special bus simulator monomers, sensor respectively Row device is electrically connected in ring assembly, and virtual emulation module is integrated in control assembly, and control assembly passes through virtual emulation module It sends and instructs in ring assembly in ring assembly and actuator to main vehicle simulator monomer, several special bus simulator monomers, sensor.
2. a kind of general vehicle according to claim 1 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the main vehicle simulator monomer and each special bus simulator monomer by upper motion platform assembly and Lower motion platform assembly composition, upper motion platform assembly and lower motion platform assembly are bolted, upper motion platform assembly Assembly, hinged power planet row, impact force planet row, upper motion platform mounting assembly, foot are simulated including three axis locating assemblies, feel Sense simulation assembly, seat, VR visual sense assembly, driver, feel simulation assembly bracket, upper motion platform upper supporting plate, impact force are raw It grows up to be a useful person, upper motion platform lower carrier plate and hinged force generator, feel are simulated assembly and determined by feel simulation assembly bracket and three axis Three axis locating assembly bracket bolts connection in the assembly of position, feel simulate assembly and seat with three axis in three axis locating assemblies The connection of locating assembly bracket bolt, feel simulation assembly, feel simulation assembly and seat pass through three axis locating assemblies and realize it The adjustment of spatial position on upper motion platform upper supporting plate, three axis locating assemblies used with upper motion platform upper supporting plate bolt Connection, hinged power planet row, impact force planet row and upper motion platform lower carrier plate are bolted with lower motion platform upper supporting plate, Hinged power planet row is installed on the underface of motion platform lower carrier plate medium pore, and the planet row output shaft of hinged power planet row is worn The medium pore for crossing motion platform lower carrier plate is connect with the momentum power runing rest spline of hinged force generator, several collision Lixings Star arranges the surrounding that hinged power planet row is installed in the way of circumferential arrangement, and the planet row output shaft of impact force planet row passes through The transverse slat hole of upper motion platform lower carrier plate is connect with the momentum power runing rest spline of collision force generator, several upper motion platforms Mounting assembly is linked with upper motion platform upper supporting plate and upper motion platform lower carrier plate bolt respectively, upper motion platform mounting assembly Number is twice that impact force planet row installs number, driver and seat face contact, and VR visual sense assembly is worn on driver's Eye.
3. a kind of general vehicle according to claim 2 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the hinged power planet row is identical with impact force planet row structure, includes that planet row exports Axis, planet row left end cap, planet row oil sealing pressure ring, planet row stop pad, planet row oil sealing, planet row oil seal ring, planet row one Number bearing, No. two bearings of planet row, planet row planetary gear, No. three bearings of planet row, planet row output planetary frame, planet row lip Shape sealing ring, planet row ring gear, planet row shell, planet row right end cap, magnetic powder driving motor, planet round elasticity gear Circle, No. four bearings of planet row, planet row circlip for shaft, planet row central gear, plug screw gasket and hexagonal socket head plug, Four planet row planetary gears uniformly distributed and planet row central gear surrounding in the way of radial 90 ° of angle, and respectively with planet row The external tooth of central gear and the internal tooth of planet row ring gear are meshed, and four planet row planetary gear output shafts are respectively at planet row Output shaft right end disk bolt axis connection, planet row shell and planet row ring gear right end disk be bolted, planet row internal tooth Circle right end disk and planet row right end cap are bolted, and planet row right end cap is bolted with magnetic powder driving motor, magnetic powder driving The motor output shaft of motor is each passed through after planet row shell, planet row ring gear and planet row right end cap and exports row with planet row Carrier spline connection, planet row lip-type packing pass through planet row output planetary frame on the right side of the shaft shoulder and with planet row output planetary frame Face contact connection, planet row circlip for hole are connected in planet row right end cap centre bore oil seal groove and are worn by elastic deformation It crosses planet row output planetary frame to connect with planet row lip-type packing right end plane-plane contact, planet row output planetary frame passes through planet No. three bearings are arranged to connect with planet row central gear spline, planet row circlip for shaft pass through planet row output planetary frame and with The right side in shaft shoulder face connects on the left of planet row output planetary frame, and planet row circlip for shaft is clamped by deformation simultaneously In the oil seal groove of planet row left end cap centre bore, No. four bearing centre holes of planet row pass through planet row output planetary frame and with row Star arranges the connection of circlip for shaft right end plane-plane contact, and No. four bearing top circle faces of planet row are also cross in planet row output shaft Heart hole and planet row output shaft centre bore face contact are interference fitted, planet row left end cap right end periphery and planet row shell left end Periphery is bolted, type be tapered roller bearing No. two bearings of planet row pass through planet row output shaft, planet row two Bearing right side is connect with the left end plane-plane contact of planet row output shaft right axle shoulder, and planet row left end cap centre bore passes through planet row Output shaft, planet row left end cap centre bore right side are connect with No. two left end face face contacts of planet row, and type is circular cone rolling The planet row No.1 bearing of sub- bearing passes through planet row output shaft, planet row No.1 bearing right side and planet row output shaft left axle The left end plane-plane contact of shoulder connects, and planet row left end cap centre bore left side and planet row No.1 bearing right end plane-plane contact connect It connects, planet row stop pad, planet row oil sealing, planet row oil seal ring sequentially pass through to be connected behind planet row output shaft, planet Row oil sealing pressure ring right side is connect with planet row stop pad left end plane-plane contact, and is bolted with planet row left end cap.
4. a kind of general vehicle according to claim 2 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the collision force generator is identical with hinged force generator structure, includes momentum power No.1 electricity Dynamic cylinder, momentum power No.1 electric cylinder base, momentum power runing rest, No. two electric cylinder bases of momentum power, momentum power two it is electronic No. three cylinder, No. three electric cylinders of momentum power and momentum power electric cylinder bases, momentum power No.1 electric cylinder, No. two electric cylinders of momentum power and No. three electronic cylinder structures of momentum power are identical, momentum power No.1 electric cylinder base, No. two electric cylinder bases of momentum power and momentum No. three electric cylinder stand structure of power are identical, and momentum power No.1 electric cylinder is bolted with momentum power No.1 electric cylinder base, No. two electric cylinder bases of No. two electric cylinders of momentum power and momentum power are bolted, No. three electric cylinders of momentum power and No. three electricity of momentum power Dynamic cylinder base is bolted, the electric cylinder of momentum power No.1 electric cylinder, momentum power No. two electric cylinders and No. three electric cylinders of momentum power Output shaft axis direction is radially arranged along momentum power runing rest centered cylinder sleeve, and is each other in hexagonal angle.
5. a kind of general vehicle according to claim 2 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the upper motion platform mounting assembly includes mounting bracket and suspension, and mounting bracket and suspension use spiral shell Stud shaft connects.
6. a kind of general vehicle according to claim 2 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the feel simulation assembly uses the SENSO-Wheel steering force sense analog machine of model SD-LC, Assembly bracket, feel assembly left support, feel assembly intermediate support, feel assembly steering wheel, feel assembly are simulated including feel Lower bracket, feel assembly right support and feel assembly motor, feel assembly lower bracket respectively at feel assembly left support, feel Assembly intermediate support and feel simulation assembly bracket are bolted, and feel assembly right support and feel assembly motor are bolted, The motor output shaft of feel assembly steering wheel and feel assembly motor is keyed, and feel simulates the model 12W-U0002 of assembly Type, including simulation gas pedal, simulating brake pedal and foot lever assembly bracket, simulation gas pedal, simulating brake pedal difference It is bolted with foot lever assembly bracket.
7. a kind of general vehicle according to claim 2 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the three axis locating assemblies include three axis locating assembly brackets, Z axis locating assembly, Z axis locating assembly Connector, X-axis locating assembly and Y-axis locating assembly, Z axis locating assembly is identical with Y-axis locating assembly structure, is all made of drive Dynamic motor is realized by the nut screw kind of drive to be axially moved, and Z axis locating assembly will be electric by V belt translation using driving motor It after machine driving force is transferred to nut screw transmission mechanism, is realized and is axially moved by the nut screw kind of drive, the positioning of three axis is total It is bolted at bracket and Z axis locating assembly, Z axis locating assembly is upper by Z axis locating assembly connector and Y-axis locating assembly Platform is bolted, and upper mounting plate of the Y-axis locating assembly respectively with two X-axis locating assemblies is bolted.
8. a kind of general vehicle according to claim 1 or 2 and Driving Scene high-precision virtual reality intelligent driving mould Quasi- device group, it is characterised in that: the lower motion platform assembly includes that lower motion platform upper supporting plate, upper everything section, lower movement are flat Platform electric cylinder, lower cardan, lower motion platform lower carrier plate and lower motion platform controller, lower motion platform assembly use The polycyclic parallel institution of Stewart type, six upper everything sections are bolted with lower motion platform upper supporting plate respectively, six upper everything sections It is keyed respectively with the motor output shaft of six lower motion platform electric cylinders, six lower cardans are propped up under lower motion platform respectively Crab bolt connection, six lower cardans are bolted with six lower motion platform electric cylinders respectively, lower motion platform controller with Lower motion platform lower carrier plate is bolted.
9. a kind of general vehicle according to claim 1 and Driving Scene high-precision virtual reality intelligent driving simulator Group, it is characterised in that: the control assembly includes industrial personal computer, data collector, MABX controller, CAN card group and line concentration Device, wherein industrial personal computer is total in ring with main vehicle simulator monomer, several special bus simulator monomers, sensor respectively by hub At and actuator ring assembly using industry ethernet be electrically connected, MABX controller and data collector pass through CAN bus respectively It is electrically connected, passes in ring assembly in ring assembly and actuator with main vehicle simulator monomer, several special bus simulator monomers, sensor Sensor includes camera, display, radar and radar wave generator in ring assembly, and camera and display use contactless connection, The optical axis of camera and the display screen of display are in 90 ° of angles, and camera passes through industry ethernet and industry control mechatronics, display By DP video line and industry control mechatronics, radar and radar wave generator use contactless connection, the induction planes of radar The waveform plane of departure of face radar wave generator, radar are electrically connected by CAN bus with MABX controller and data collector, For radar wave generator by hub using industry ethernet and industry control mechatronics, actuator includes that braking system exists in ring assembly In ring assembly and driving force in ring assembly, braking system exists in ring assembly, steering system in ring assembly and driving force for ring assembly, steering system Ring assembly pass through respectively CAN bus in control assembly MABX controller and data collector be electrically connected, while leading to respectively Hub is crossed using the industry control mechatronics in industry ethernet form and control assembly.
10. a kind of general vehicle according to claim 1 and Driving Scene are simulated with high-precision virtual reality intelligent driving Device group, it is characterised in that: the virtual emulation module includes operation interface, road editing machine, Scene Editor, vehicle editor Device, model library, post-processing module, number adopt memory field, application programming interfaces, program internal memory area and display module, model library and include Vehicle dynamic model, traffic model, Major Systems sensor and intellectualized module sensor, operation interface control road respectively Editing machine, Scene Editor, vehicle editing machine and model library, road editing machine, Scene Editor, vehicle editing machine and model library After being connected to the control instruction of operation interface, memory headroom is opened up in program internal memory area respectively, and it is interior that this is written in required result Deposit space, number adopt memory field can with program internal memory area rapid communication and collect the data segment of formulation as data acquisition results, Post-processing module can be with Data Post needed for program internal memory area rapid communication and output as a result, application programming interfaces can With program internal memory area rapid communication and realize the associative simulation of analog simulation module Yu other types emulation module, display module energy Enough and program internal memory area rapid communication simultaneously acquires the video data in VR visual sense assembly or output particular video frequency data to model The VR visual sense assembly of HTC Vive.
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