CN110245365A - Based on manipulation dynamics High Precision Simulation simulator and with its simulation model - Google Patents
Based on manipulation dynamics High Precision Simulation simulator and with its simulation model Download PDFInfo
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- CN110245365A CN110245365A CN201810186027.2A CN201810186027A CN110245365A CN 110245365 A CN110245365 A CN 110245365A CN 201810186027 A CN201810186027 A CN 201810186027A CN 110245365 A CN110245365 A CN 110245365A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G06F30/00—Computer-aided design [CAD]
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- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
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- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
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Abstract
The present invention propose it is a kind of based on manipulation dynamics High Precision Simulation simulator and with its simulation model, be related to vehicles analogue technique field；The High Precision Simulation simulator based on manipulation dynamics, including but not limited to: control device experiences simulator；The control device includes but is not limited to: precision controlling unit, for but not limited to: the control to simulator is experienced；Experiencing simulator includes: proprioceptive simulation device；Proprioceptive simulation device is included in: touching simulation device；Touching simulation device includes but is not limited to: resistance generating means, control simulation device；The resistance generating means are connect with the control device, the control simulation device respectively；The resistance generating means are controlled by the control device, and the resistance generating means are to the control simulation device output resistance；The present invention is used to improve the manipulation dynamics and manipulation precision, raising driving ability of the true vehicles of user experience.
Description
Technical field
The present invention relates to vehicles analogue technique fields, more particularly to the High Precision Simulation based on manipulation dynamics simulates dress
It sets and with its simulation model.
Background technique
1. existing driving school learner-driven vehicle and student are disproportionate, inexperienced accumulation that the practical driving time of student is insufficient causes
Student is only capable of reaching and can just drive in the environment of no vehicle/few vehicle, encounters emergency and is at a loss, can not cope with existing multiple
Miscellaneous traffic environment；
2. the vehicle that the vehicle of driving school student practice and its later period really drive is in different automobile types, dynamics and manipulation precision are manipulated
It requires onto road voluntarily to adapt to, leaves too many security risk；
3. many drivers do not drive for a long time, the current environment in existing city can not be adapted to when causing to drive again；
4. many drivers buy new cars/change trains, because not matching adaptation environment, not yet done to the function button of new car
Know cause spirit sneak away/it is absent-minded, behind upper road because of misoperation/maloperation/it is absent-minded caused by traffic accident can be found everywhere；
5. existing vehicles simulator majority uses " force feedback system ", user is needed first to issue power further according to force feedback
System acquisition related data adjusts the model in the reaction etc. of virtual world, be easy to cause the false judgment of user: true
Traffic passage environment, reply emergency, solution of emergent event driver only have an opportunity, and will not issue because of driver
Power does not judge chance to giving driver second again.
In conclusion how to allow student pilot/driver/test drive personnel/game experiencing person etc. experience true
It is that those skilled in the art/traffic has that the vehicles, which manipulate dynamics with manipulation precision, raising driving ability, reduction accident rate,
Pass department technical problem urgently to be resolved.
Summary of the invention
In order to overcome the defects of the prior art described above, the present invention is directed at least solve the technical problems existing in the prior art
One of.For this purpose, the present invention proposes a kind of High Precision Simulation simulator based on manipulation dynamics；
It also proposed a kind of simulation model with the High Precision Simulation simulator based on manipulation dynamics；
It is mainly used for improving the manipulation dynamics of the true vehicles of user experience and manipulation precision, the driving ability for improving user.
(the signified user of the present invention includes but is not limited to: student pilot, driver, test drive personnel, game experiencing
Person, other be suitable for one of present invention or two or more user；
The signified vehicles of the invention include but is not limited to: aircraft, automobile, electric vehicle, motor vehicle, military vehicle, special purpose vehicle
, two wheeler, tricycle, four-wheeled vehicle, other non-motor vehicles, the battlefield vehicles, other be suitable for traffic of the invention
One of tool is two or more；
It is described by taking four-wheeled vehicle, automobile as an example below.
The connection that the present invention refers to includes but is not limited to: communication connection, electric connection, physical connection, mechanical connection, other
Suitable for one of connection of the invention or two or more；
Wherein, the communication includes but is not limited to: mobile communication, satellite communication, internet communication, radio communication, wireless
Communication, wire communication, other be suitable for one of communication of the invention or two or more；
Wherein, the wire communication completes connection work by using the cable to match with connecting object/data line；
The wireless communication includes but is not limited to: WiFi communication, Bluetooth communication, infrared communication, other be suitable for nothing of the invention
It is extremely one or two kinds of or two or more in line communication.)
In order to achieve the above object, the technical solution adopted by the present invention is that:
A kind of simulation model with the High Precision Simulation simulator based on manipulation dynamics, including but not limited to: based on manipulation
The High Precision Simulation simulator of dynamics；
Wherein, the High Precision Simulation simulator based on manipulation dynamics, including but not limited to: control device experiences mould
Quasi- device；
The simulator of experiencing is mounted on the emulation with the High Precision Simulation simulator based on manipulation dynamics
On model, the control device is mounted on including but not limited to: described has the High Precision Simulation mould based on manipulation dynamics
On the simulation model of quasi- device, in addition to the simulation model with the High Precision Simulation simulator based on manipulation dynamics
Position, other be suitable for one of installation site of the present invention or two or more；
The control device connect and controls it with the impression simulator；The impression simulator by
The control device control provides a user corresponding impression service；The control device and the impression simulator
Control mode includes but is not limited to: feedforward control/control in advance further includes but is not limited to: reaction type control.
Control device
The control device includes but is not limited to: computer/processor, programmable controller/device/component/device/soft
Part；The control device connect and controls it with the impression simulator；
Wherein, the computer for but not limited to: calculate and/or processing with manipulate related data information；
Programmable controller/device/component/device/the software is completed relevant for but not limited to: coupled computer
Programming and/or control work.
Precision controlling unit
The control device includes but is not limited to: precision controlling unit；The precision controlling unit for but not limited to: it is right
Experience the control of simulator, the control to proprioceptive simulation device, the control to touching simulation device, to visual simulation device
Control, the control to auditory simulation device, the control to sense of taste simulator, the control to gearshift, other be suitable for this hair
One of bright precision controlling unit use is two or more.
Experience simulator
The impression simulator includes but is not limited to: proprioceptive simulation device；Described experiences simulator and the control
Device processed is connected and is controlled by it, and provides a user corresponding impression service.
Proprioceptive simulation device
The proprioceptive simulation device includes but is not limited to: touching simulation device, for but not limited to: provide a user tactile side
The impression service in face；
Wherein, the touching simulation device includes but is not limited to: resistance generating means, control simulation device；The resistance
Generating means are connect with the control device, the control simulation device respectively；The resistance generating means are by described
Control device control；The resistance generating means are to the control simulation device output resistance；The control simulation
Device includes but is not limited to: it one of connect with the control device, connect with the control device or two kinds,
The control simulation device connect with the resistance generating means and receives the resistance of its output；
It is existing to simulate that the resistance generating means for but not limited to the control simulation device of: Xiang Suoshu export corresponding resistance
The manipulation dynamics of the true vehicles and/or manipulation precision and/or manipulation are experienced, are simulated to user under respective conditions in real environment
It is positive force/forward force of the affiliated manipulation device of the true vehicles of respective conditions lower-pilot in actual environment, existing to user's simulation
Opposition/opposite force of the affiliated manipulation device of the true vehicles of respective conditions lower-pilot in real environment, other be suitable for this
One of invention resistance generating means purposes is two or more；
Wherein, the resistance generating means include but is not limited to: brake/brake apparatus, other be suitable for the present invention for giving birth to
One of device at resistance is two or more.
The control simulation device includes but is not limited to: steering wheel simulation device, accelerates clutch pedal simulator
Pedal simulator, brake pedal simulator, gear lever simulator, parking brake handle grip simulator, function button mould
Quasi- device, other be suitable for one of control simulation device of the invention or two or more；The manipulation mould
Quasi- device for but not limited to: simulate the manipulation device of the true vehicles；
Wherein, the function button simulator includes but is not limited to: touch-screen type function button simulator, radium-shine virtual
Keyboard/laser dummy keyboard, matrix keyboard, other be suitable for the present invention for simulating the mould of true vehicle function key
One of quasi- device is two or more.
Visual simulation device, auditory simulation device, sense of taste simulator
The impression simulator further includes but is not limited to: visual simulation device, auditory simulation device, in sense of taste simulator
Kind or two or more；
The visual simulation device connect and is controlled by it with the control device, provides a user corresponding vision clothes
Business；
The auditory simulation device connect and is controlled by it with the control device, provides a user corresponding sense of hearing clothes
Business；
The sense of taste simulator connect and is controlled by it with the control device, provides a user corresponding sense of taste clothes
Business；
Wherein, the visual simulation device includes but is not limited to: front what comes into a driver's visual simulation device, rear what comes into a driver's visual simulation
Device, left side what comes into a driver's visual simulation device, right side what comes into a driver's visual simulation device, other be suitable for visual simulation device of the invention in
It is one or two kinds of or two or more；
Wherein, the rear what comes into a driver's includes but is not limited to: left back what comes into a driver's, it is right after what comes into a driver's, it is interior after what comes into a driver's/in after what comes into a driver's, rear wind
Keep off glass what comes into a driver's, the acquisition of video sensing device/imaging sensor rear what comes into a driver's, other are suitable in rear what comes into a driver's of the invention
It is one or two kinds of or two or more；
The visual simulation device includes but is not limited to: display device；The display device and the control device connect
It connects and is controlled by it；The display device is for but not limited to display corresponding with real world simulated scenario；
Wherein, the display device includes but is not limited to: flat display apparatus, 3 d display device, projection display equipment, VR
Display device, other be suitable for one of display device of the invention or two or more.
Gearshift
The impression simulator is also connected with but is not limited to: gearshift, sensing device；
Wherein, the gearshift for but not limited to: it is mobile that there is the High Precision Simulation simulator based on manipulation dynamics
Correspondence reaction/position of the true vehicles of simulation of simulation model, the mobile High Precision Simulation simulation based on manipulation dynamics
Correspondence reaction/position of the true vehicles is simulated in the position of device, true traffic is simulated in the mobile position for experiencing simulator
The position of proprioceptive simulation device described in the corresponding position relationship of tool, adjustment, the position simulation of mobile operating simulator are true
Auditory simulation described in the position of visual simulation device described in corresponding position/corresponding relationships of the real vehicles, adjustment, adjustment
The position of function button simulator described in the position of device, adjustment, the current impression of the true traffic passing road of simulation, mould
Intend the true vehicles occur the related impression of traffic accident, the related impression that the true vehicles of simulation break down, other
Suitable for one of gearshift purposes of the present invention or two or more；The gearshift and the control
Device connection, and be controlled by it；The gearshift connect with the described object that is adjusted and carries out position and/or angle to it
Degree control；
Wherein, the position includes but is not limited to: two-dimensional space position, three-dimensional space position, space-time position, other are suitable
In one of spatial position of the invention or two or more；
The object that is adjusted includes but is not limited to: having the emulation mould of the High Precision Simulation simulator based on manipulation dynamics
Type, the High Precision Simulation simulator based on manipulation dynamics experience simulator, proprioceptive simulation device, control simulation device, view
Feel simulator, auditory simulation device, function button simulator, other be suitable for gearshift of the present invention control devices in
It is one or two kinds of or two or more.
Sensing device
The sensing device includes but is not limited to: displacement sensing apparatus, moment sensor, force sensing device, power sensing
Device, load cell, acceleration sensor, angular movement detection device, angular transducer, obliquity sensor, other be suitable for the present invention
One of sensing device or two or more；
The sensing device is connect with the control device, and the control device of Xiang Suoshu provides corresponding acquisition data letter
Breath；
The sensing device for but not limited to: simulate dress to the associated sensed of the gearshift, to the impression
The associated sensed set, the associated sensed to the resistance generating means, the associated sensed to the control simulation device, its
He is suitable for one of sensing device purposes of the present invention or two or more；
The sensing device is connect with the sensed object contact formula and/or contactless connection, and to the quilt
It senses object and carries out relevant sensing work.
As described above, the present invention realizes the actual experience to the vehicles true in actual environment manipulation impression, helps
User improves driving efficiency.
Detailed description of the invention
Fig. 1 is connection schematic diagram of the invention；
Fig. 2 is another connection schematic diagram of the invention.
Specific embodiment
Below by specific embodiment and in conjunction with attached drawing, the technical solutions of the present invention will be further described.
(connection that the present invention refers to belongs to the prior art and is not related to the improvement to the part, therefore no longer separately states.)
Embodiment one:
Referring to Figure 1, there is the simulation model of the High Precision Simulation simulator based on manipulation dynamics, including but not limited to: peace
The High Precision Simulation simulator based on manipulation dynamics on the simulation model；The high-precision based on manipulation dynamics
Analogue simulation device, including but not limited to: the control device being mounted on the simulation model；
The control device includes but is not limited to: precision controlling unit, connect with the impression simulator and to its into
Row control；
The impression simulator includes but is not limited to: proprioceptive simulation device, visual simulation device, auditory simulation device, taste
Feel simulator, connect and be controlled by it with the control device respectively；The impression simulator is mounted on the emulation
On model；
Wherein, the proprioceptive simulation device includes but is not limited to: touching simulation device；Wherein, the touching simulation device
Including but not limited to: resistance generating means, control simulation device；The resistance generating means respectively with the control device
And/or the precision controlling unit, the control simulation device connection, the resistance generating means are by the control
Device and/or precision controlling unit control；
Or the input terminal of the resistance generating means connect and is controlled by it with the output end of the control device, it is described
The output ends of resistance generating means connect with the control simulation device；The resistance generating means are in advance to described
Control simulation device generates resistance identical with real vehicles respective conditions lower-pilot device, for simulating actual environment pair
(manipulation dynamics and/or manipulation precision) is experienced in the manipulation of manipulation device described in the true vehicles under the conditions of answering；
The resistance generating means can also be connected with sensing device；
The control simulation device is connected with sensing device, the sensing device connect with the control device and to its
Collected sensing data are provided；The control device receives the sensing data that the sensing device provides, and is computed/locates
The visual simulation device and/or auditory simulation device and/or sense of taste simulator are controlled after reason/conversion carries out corresponding mould
Quasi- work, the driving skill for improving and simulating the fidelity of real traffic scene, help user's true vehicles of raising/adaptation as early as possible
Art；
Wherein, the visual simulation can be two-dimensional plane display effect, may be three-dimensional/thinking stereo display effect,
It is preferred that: 3 D stereo outdoor scene shows the current environment of real traffic.
Embodiment two:
Fig. 2 is referred to, the control device includes but is not limited to: a central controller and several controller/terminal controls
Device connection, the central controller includes but is not limited to: identity recognizing unit, Truck type choice unit, environmental data unit, white silk
Practise selecting unit, precision controlling unit, drive evaluation unit, be connected with but be not limited to: programmable controller/PLC, storage are single
Member；
Central controller is used as " general headquarters ", may be mounted at the ground such as traffic control department/driving school；Described has based on manipulation dynamics
The simulation model of High Precision Simulation simulator may be mounted at driving school/examination hall/common game experience region etc.；
Wherein, the storage unit includes but is not limited to: cloud storage system, storage server, other are suitable for of the invention depositing
One of storage device is two or more；
Controller/terminal control unit is mounted on the emulation mould with the High Precision Simulation simulator based on manipulation dynamics
In type, resource can be saved in this way, reduces cost；The central controller is by described having based on manipulation with being mounted on
Controller/terminal control unit connection on the simulation model of the High Precision Simulation simulator of dynamics, to control described in installation
Have based on manipulation dynamics High Precision Simulation simulator simulation model on touching simulation device, visual simulation dress
It sets, auditory simulation device, sense of taste simulator；The identity recognizing unit for but not limited to: identify user identity believe
Breath, difference user and its driving technology evaluation result, other be suitable for identity recognizing unit of the present invention one of purposes or
It is two or more；The identification can be through but not limited to: being mounted on described has based on manipulation dynamics
High Precision Simulation simulator simulation model on/around image collecting device carry out image recognition, electronic driving license identity
Identification, fingerprint identification device carry out fingerprint recognition, IC card type driving license reading device identifies IC card type license information, other are suitable for
One of identification mode of the invention is two or more；If it is student pilot the rest may be inferred carry out
Identification.
The Truck type choice unit for but not limited to: select favorite vehicle for user, select the following phase for user
Hope the vehicle driven, target vehicle that practice is selected for user, difference different automobile types and drive related manipulation data information and/
Or manipulation precision and/or manipulation are experienced, other are suitable for one of Truck type choice unit use of the present invention or two kinds or two
Kind or more；
The environmental data unit includes but is not limited to: GIS geographic information data unit, Changes in weather data cell, traffic
Current environmental data unit, time data cell, sound data units, other be suitable for the present invention and the current related data of traffic
One of unit is two or more；The environmental data unit is for but not limited to: analog subscriber existing
The position in the real world, the environment for simulating real world, other be suitable for one of environmental data unit use of the present invention or two
Kind is two or more；
Wherein, the Changes in weather data cell includes but is not limited to: the impression data information information-related with climatic data,
Vision data information related with climatic information, vision data information related with weather information, vision related with visibility
Data information, other be suitable for one of Changes in weather data information of the present invention or two or more；The day
Gas delta data unit is for but not limited to simulation real world related with weather environment；
The current environmental data unit of the traffic includes but is not limited to: means of transportation data information, pass through with traffic it is related
Building data information, the data information of mark related to traffic, traffic passing rules data information, the related of each section are believed
Breath, relevant information, crossroad and its relevant information in every lane, traffic mark and its relevant information, people's row zebra stripes
And its relevant information, overpass and its relevant information, lane and/or tunnel limit for height and/or limit for width situation and its relevant information,
Means of transportation and its relevant information, bridge and its relevant information, greenbelt and its relevant information, curbstone (kerbstone) position and its related letter
Breath, electric pole and its relevant information, clump and its relevant information, lamp stand and its relevant information, carriageway type, parking lot/stop
Parking stall, public rest room, vehicles energy recharge station, eating and drinking establishment, transit route guide, traffic light and its state, with
The data information of the current related wagon flow of traffic and/or the stream of people, other are suitable for of the invention believing with the current related data of traffic
One of breath is two or more；The current environmental data unit of the traffic for but not limited to: simulation with
The current related environment of real traffic；
The time data cell for but not limited to: simulation real world environment related to time；
The sound data units are for but not limited to simulation real world related with sound environment；Such as: during traffic is current
Noise, occur traffic accident collision sound, sound of blowing out, etc..
The practice unit includes but is not limited to: prompting and guiding unit, training unit, rank discrimination unit, other are suitable
In one of the present invention and the related unit of practice driving or two or more；The practice unit be used for but
It is not limited to: helping user skillfully to grasp driving technology, improves adaptability to changes, raising user and driving that user drives a conveyance
Related operative skill, experience the current environment of real traffic, other be suitable for one of present invention practice unit use or two
Kind is two or more；The practice unit includes but is not limited to: sequence/practice mode in proper order, practice mode at random, is free
Practice mode, other be suitable for one of practice mode of the present invention or two or more.
The precision controlling unit for but not limited to: to precision controlling related with Truck type choice unit, to ring
The related precision controlling of border data, to precision controlling related with simulator is experienced, to the related precision control of practice unit
System, to precision controlling related with gearshift, other be suitable for one of related with precision controlling purposes of the present invention or
It is two or more.
The driving evaluation unit for but not limited to: to user whether have drive qualification evaluation, to user's
The evaluation of operation behavior carries out relevant evaluation to related manipulation data, to the evaluation of the driving technology of user, be to user
Whether the no evaluation for having driving ability has to user and drives related physical fitness and/or psychological quality and/or strain
The evaluation of ability, other are suitable for the present invention and drive one of related purposes of evaluation unit or two or more.
The central controller further includes but is not limited to: detection unit, the detection unit for but not limited to: it is logical
Control device acquisition is crossed to be detected, led to the related data information for experiencing the sensing device senses that simulator is connect
It crosses control device acquisition user and drives the inspection of related manipulation data/manipulation hobby, the command/instruction issued to control device
It surveys, to control device said units and described experience the detection of contact details, detection control apparatus between simulator and collect
Related data information and the goodness of fit of actual data information, detection and manipulate related data information, other be suitable for the present invention
One of related purposes of detection unit is two or more；Wherein, the acquisition user is related with driving
Manipulation data/manipulation hobby, being mainly used for will the related data of acquisition and the true vehicles of adjustable related data
Corresponding data realizes adjustment/docking, thus reach user replace after the vehicles with (the former vehicles/have based on steering force
The simulation model of the High Precision Simulation simulator of degree) it drives related manipulation data/manipulation and likes constant, then realize traffic
Tool/there is the simulation model of the High Precision Simulation simulator based on manipulation dynamics to adapt to the purpose that user experiences；
The impression simulator includes but is not limited to: proprioceptive simulation device, visual simulation device, auditory simulation device, taste
Feel simulator；Wherein, the proprioceptive simulation device includes but is not limited to touching simulation device；The sense device and institute
The control device stated is connected and is controlled by itself and/or the precision controlling unit；
The control device utilizes but is not limited to be connected thereto programmable controller/PLC, storage unit, in conjunction with but be not limited to:
Environmental data unit, practice selecting unit, the control of precision controlling unit the feeling simulator.
Embodiment three:
The control device utilizes: computer technology, virtual reality technology, modeling technique, logical operation
Technology, programming Control technology, electronic map technique and/or GIS, cartoon technique, fine arts technology, image display technology, etc., will
Real traffic environment introduces virtual world on demand, and to the relevant prompt of information progress related to practice and setting；Described
Control device acquires the relevant operating data information of user by relevant sensing device, and to information related with user's operation
And the correspondence result occurred is showed using virtual technology/analogue technique；
Wherein, the operation includes but is not limited to: maloperation, misoperation, light manipulation, wiper operation, other be suitable for this
One of invention operation related with driving is two or more；
Corresponding control and simulation are carried out to the impression simulator by the control device again, allow user's manipulation should
With based on manipulation dynamics High Precision Simulation simulator simulation model when sufficiently impression/experience reality traffic environment, make
User grasps as far as possible and operates related generation result；Etc..
Real-time example four:
Simulation model with the High Precision Simulation simulator based on manipulation dynamics further includes but is not limited to: control device is imitated
True mode, experiences simulator at gearshift；The control device is filled with the gearshift, the impression respectively
It sets and connects and it is controlled；
The simulation model preferably has the simulation model of split type outline border/front frame, connect with the gearshift and by
Its control (such as: adjustment position, control angle)；For but not limited to: imitate the front windshield of different types of real vehicles
Sense of reality of the device/difference user to the different vehicles；Such as: offroad vehicle, car,；
The gearshift includes but is not limited to: multi-DOF platform and/or rotating platform；It is preferred that multi-DOF platform and rotation
Turntable connection, the turntable are mounted on the either above or below of the multi-DOF platform, and the two is jointly to described
Simulation model is controlled and is controlled respectively by the control device；For but not limited to: simulate the true vehicles and geographical position
Related impression is set, the true vehicles is simulated and collides/blow out, simulate and meteorological related current impression, simulation meteorology
Accident caused by factor, with true vehicles height related simulation, the motion state for simulating the true vehicles, etc.；
The gearshift further includes but is not limited to: to the position adjustment of the function button simulator, to vision mould
The position adjustment of quasi- device, etc. experience the control of simulator；To include to touch-screen type function button simulator/radium
Penetrate dummy keyboard/laser dummy keyboard position adjustment, etc.；
Such as: radium-shine dummy keyboard/laser dummy keyboard or radium-shine virtual key are installed/be connected on the simulation model
Disk/laser dummy keyboard receives user instructions region on the specified region of the simulation model, the radium
It penetrates dummy keyboard/laser dummy keyboard and is connected with gearshift, the gearshift connect with control device and by it
Control；Radium-shine dummy keyboard/laser the dummy keyboard is connect with the control device；The gearshift
By radium-shine dummy keyboard/laser dummy keyboard position and/angle, for but not limited to: simulation is true
Function button position/different automobile types vehicles function button of the real vehicles and its position or radium-shine dummy keyboard/
The specified area coincidence in the command reception region of laser dummy keyboard and the simulation model；Etc..
One of implementation method of gearshift/multi-DOF platform can be used for reference: Chinese patent
2014201647279, patent name: motor vehicle driving simulator, publication date 2014-10-15；Alternatively, Chinese patent
2008800010487, patent name: driving simulator, publication date 2009-10-14；Alternatively, Chinese patent
2013205047787, patent name: three-dimensional simulation motion device, publication date 2014-02-05；
The control device can use for reference one of implementation method of gearshift/multi-DOF platform control: China
Patent 2015105121238, patent name: the drive simulation control system based on BIM simulated environment, publication date 2015-11-
25；
One of implementation method of visual simulation reality traffic environment can be used for reference: Chinese patent 2012105947831, proprietary term
Claim: the construction method of the three-dimensional visual simulation pilot instrument based on Google Earth, publication date 2013-05-15；Alternatively,
Chinese patent 2014101275904, patent name: the vision navigation method based on lane detection and GIS map information development,
Publication date 2014-07-30；Alternatively, Chinese patent 2012105819015, patent name: with stereoscopic vision lag function
Driving simulator, publication date 2013-04-17；
The visual simulation device further includes but is not limited to: virtual instrument device；One such implementation method can be used for reference: in
State's patent 2017203932933, patent name: the automobile virtual instrument system based on LabVIEW, publication date 2017-11-
17；
The part one of which implementation method of the simulation model can be used for reference: Chinese patent 2013102616795, proprietary term
Claim: drive system of electric automobile semi-physical emulation platform, publication date 2013-09-18；
One of implementation method of the control simulation device can be used for reference: Chinese patent 932434320, patent name: vapour
Vehicle driving simulator operating mechanism, publication date 1994-08-03.
Real-time example five:
Simulation model with the High Precision Simulation simulator based on manipulation dynamics can be used for but be not limited to: driving school student instruction
Test drive that white silk, student pilot's examination, driver's skill assessment, vehicles manufacturer hold, to the functions of real vehicles by
The study of key, etc.；
Wherein, student pilot passes through the simulation model selection with the High Precision Simulation simulator based on manipulation dynamics and future
The true vehicles to be driven equally manipulate the vehicle of impression, no longer need to ask training mate, can be experienced not by control device
Same period, the true traffic environment of different traffic colleague's pressure, etc. achieve the purpose that sense of reality is got back sufficient forging
Refining eliminates the feared state of mind, improves adaptability to changes, is preferably minimized the probability of " road killer "；
Driver's skill assessment can be related with driving by acquiring in the control device for the vehicles that the driver habit drives
Manipulation data, operation hobby etc., or relevant manipulation is sensed by driver's body carrying/connection force sensor
Data and the control device and/or manipulation device and/or image collecting device etc. for combining the driven vehicles, acquisition pair
Operation precision data answered, etc.；The output of related data and the High Precision Simulation based on manipulation dynamics that has are simulated
The control device that the simulation model of device has realizes data docking, convenient for the behaviour for the vehicles that drive simulating person is accustomed to driving
Vertical impression；Reduce traffic accident rate；
Such as: in actual environment, user drives Santana 2000 Car traveling and formulates section, from south orientation north row in Huanghai Sea main road
It sails, 15 degree of driver's left-hand rotation steering wheel is connected force sensor and measured by its trunk needs 10 Ns of strength；The user will therewith
Related data export to have based on manipulation dynamics High Precision Simulation simulator simulation model control device and and its
Realize data docking, the control device of the model by simulated in virtual world event generation condition/factor (such as: place,
Direction, weather, the time, etc.), the control device command displacement device of the model current impression simulation is carried out to the model, should
The control device control visual simulation device of model carries out relevant visual simulation, the control device control resistance of the model generates
Device, which applies resistance to steering wheel, makes user reach left-hand rotation steering wheel 15 when equally being operated under virtual world equal conditions
Degree needs 10 Niu Liliang；
Vehicles manufacturer holds simulation model of the test drive with the High Precision Simulation simulator based on manipulation dynamics
Outline border of the shell as the model of real vehicles can be used, improve the impression of user's correlation, it is living to reduce real vehicles test drive
Dynamic existing risk reduces relevant expense expenditure；
Simulation model with the High Precision Simulation simulator based on manipulation dynamics also simulates the function with the true vehicles
Energy key greatly meets and is ignorant of English/new user for buying vehicle demand, and reduce causes spirit to be slipped with function button operation
Traffic accident rate caused by number.
Component/implementation method in the above various embodiments can also each other example, be reassembled into new embodiment, reach new
Effect；
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: do not departing from
These embodiments can be carried out with a variety of change, modification, replacement and modification, the present invention in the case where the principle of the present invention and objective
Range limited by claim and its equivalent or equivalent.It is all to utilize made by description of the invention and accompanying drawing content
Equivalent structure or equivalent flow shift, or other related technical areas are directly or indirectly used in, similarly it is included in
In the scope of protection of the invention.Also, the above various embodiments is optinal plan of the invention, embodiment put in order and it is real
The number for applying example is unrelated with the sequence that it preferably is carried out.Although being used some specific terms in this specification, only for just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention, such as: top, lower section, surrounding, term,
Merely for convenience of description, it does not limit the present invention in any way.In the present invention, unless otherwise specific regulation and limit
It is fixed, " installation " in term, " connection ", etc. term shall be understood in a broad sense, such as: can be fixedly connected, can also detachably connect
It connects, or integral；It can be and be directly connected to, can also be indirectly connected with by intermediary, to those skilled in the art
For, above-mentioned term can be understood in concrete meaning of the invention as the case may be.
Claims (10)
1. based on the High Precision Simulation simulator of manipulation dynamics, including but not limited to: control device experiences simulator,
It is characterized in:
The control device connect and controls it with the impression simulator；
It is described experience simulator and controlled by the control device provide a user corresponding impression service；
The control device includes but is not limited to the impression simulator control mode: feedforward control/control in advance；
Wherein, the impression simulator includes but is not limited to: proprioceptive simulation device；
The proprioceptive simulation device connect and is controlled by it with the control device, provides a user corresponding impression clothes
Business.
2. the High Precision Simulation simulator according to claim 1 based on manipulation dynamics, it is characterized in that:
The proprioceptive simulation device includes but is not limited to: touching simulation device, for but not limited to: provide a user tactile side
The impression service in face；
Wherein, the touching simulation device includes but is not limited to: resistance generating means, control simulation device；
The resistance generating means are connect with the control device, the control simulation device respectively；The resistance
Generating means are controlled by the control device；
It is existing to simulate that the resistance generating means for but not limited to the control simulation device of: Xiang Suoshu export corresponding resistance
The manipulation dynamics of the true vehicles and/or manipulation precision and/or manipulation are experienced, are simulated to user under respective conditions in real environment
It is positive force/forward force of the affiliated manipulation device of the true vehicles of respective conditions lower-pilot in actual environment, existing to user's simulation
Opposition/opposite force of the affiliated manipulation device of the true vehicles of respective conditions lower-pilot in real environment, other be suitable for this
One of invention resistance generating means purposes is two or more；
The control simulation device connect with the resistance generating means and receives the resistance of its output；
The control simulation device for but not limited to: simulate the manipulation device of the true vehicles.
3. the High Precision Simulation simulator according to claim 1 based on manipulation dynamics, it is characterized in that:
The impression simulator further includes but is not limited to: visual simulation device, auditory simulation device, in sense of taste simulator
It is one or two kinds of or two or more；
The visual simulation device connect and is controlled by it with the control device, provides a user corresponding vision clothes
Business；The auditory simulation device connect and is controlled by it with the control device, provides a user corresponding sense of hearing service；
The sense of taste simulator connect and is controlled by it with the control device, provides a user corresponding sense of taste clothes
Business.
4. according to claim 1 to the High Precision Simulation simulator based on manipulation dynamics described in any one of 3, feature
It is:
The impression simulator is also connected with but is not limited to: gearshift；
The gearshift is connect with the control device, and is controlled by it；The gearshift is adjusted with described
Whole object connects and carries out to it position and/or angle control；
The gearshift is for but not limited to the mobile emulation with the High Precision Simulation simulator based on manipulation dynamics
The High Precision Simulation simulator of correspondence reaction/position, movement based on manipulation dynamics of the true vehicles of simulation of model
Correspondence reaction/position of the true vehicles is simulated in position, the true vehicles are simulated in the mobile position for experiencing simulator
Simulate true traffic in the position of the position of proprioceptive simulation device, mobile operating simulator described in corresponding position relationship, adjustment
Auditory simulation device described in the position of visual simulation device described in corresponding position/corresponding relationship of tool, adjustment, adjustment
The position of function button simulator described in position, adjustment, current impression, the simulation of the true traffic passing road of simulation are true
The vehicles occur the related impression of traffic accident, the related impression that the true vehicles of simulation break down, other be suitable for this
One of invention gearshift purposes is two or more；
Wherein, the position includes but is not limited to: two-dimensional space position, three-dimensional space position, space-time position, other are suitable
In one of spatial position of the invention or two or more.
5. the High Precision Simulation simulator according to claim 4 based on manipulation dynamics, it is characterized in that:
The impression simulator is also connected with but is not limited to: sensing device；
The sensing device is connect with the control device, and the control device of Xiang Suoshu provides corresponding acquisition data letter
Breath；
The sensing device for but not limited to: simulate dress to the associated sensed of the gearshift, to the impression
The associated sensed set, the associated sensed to the resistance generating means, the associated sensed to the control simulation device, its
He is suitable for one of sensing device purposes of the present invention or two or more.
6. the High Precision Simulation simulator according to claim 5 based on manipulation dynamics, it is characterized in that:
The control device includes but is not limited to: precision controlling unit；The precision controlling unit for but not limited to: it is right
Experience the control of simulator, the control to proprioceptive simulation device, the control to touching simulation device, to visual simulation device
Control, the control to auditory simulation device, the control to sense of taste simulator, the control to gearshift, other be suitable for this hair
One of bright precision controlling unit use is two or more.
7. the High Precision Simulation simulator according to claim 6 based on manipulation dynamics, it is characterized in that:
The control device further includes but is not limited to the impression simulator control mode: reaction type control.
8. based on the High Precision Simulation simulator of manipulation dynamics, including but not limited to: control device, resistance generating means, behaviour
Vertical simulator, it is characterized in that:
The resistance generating means are connect with the control device, the control simulation device respectively；The resistance
Generating means are controlled by the control device；
The resistance generating means are to the control simulation device output resistance；The control simulation device and described
Resistance generating means connect and receive the resistance of its output.
9. based on the High Precision Simulation simulator of manipulation dynamics, including but not limited to: gearshift, control simulation device,
It is characterized in:
The gearshift connect with the control simulation device and carries out to it position and/or angle control；
The control simulation device includes but is not limited to: steering wheel simulation device, clutch pedal simulator, accelerator pedal
Simulator, brake pedal simulator, gear lever simulator, parking brake handle grip simulator, function button simulation dress
It sets, other are suitable for one of control simulation device of the invention or two or more；The control simulation dress
Set for but not limited to: simulate the manipulation device of the true vehicles；
Wherein, the function button simulator includes but is not limited to: touch-screen type function button simulator, radium-shine virtual
Keyboard/laser dummy keyboard, matrix keyboard, other be suitable for the present invention for simulating the mould of true vehicle function key
One of quasi- device is two or more.
10. having the simulation model of the High Precision Simulation simulator based on manipulation dynamics, including but not limited to: aforesaid right is wanted
The feature of High Precision Simulation simulator based on manipulation dynamics described in asking any one of 1 to 9.
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| CN201810186027.2A CN110245365A (en) | 2018-03-07 | 2018-03-07 | Based on manipulation dynamics High Precision Simulation simulator and with its simulation model |
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|---|---|---|---|
| CN201810186027.2A CN110245365A (en) | 2018-03-07 | 2018-03-07 | Based on manipulation dynamics High Precision Simulation simulator and with its simulation model |
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ID=67882094
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| Country | Link |
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2018
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