CN110632858A - Steering or attitude control intention acquisition method of riding type driving simulation equipment - Google Patents
Steering or attitude control intention acquisition method of riding type driving simulation equipment Download PDFInfo
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Abstract
The invention discloses a method for acquiring steering or attitude control intention of riding type driving simulation equipment, which is characterized in that the driving intention of the riding type driving simulation equipment is pressure or gravity, the pressure or gravity on the left side and the right side is further calculated, and the pressure or gravity ratio coefficient is analyzed, so that the driving intention of a driver in a specific direction is judged, and the attitude control is carried out on the simulation equipment; the simulation calculation method specifically comprises the steps of converting the control intention of the driver into pressures applied to the left side and the right side by using the central symmetry type intention sensing equipment, filtering, A/D conversion and digital filtering processing are carried out on sampling signals output by the intention sensing equipment, obtaining a relatively accurate pressure value, and calculating a pressure ratio coefficient under the pressure value, so that the driving intention of the driver is obtained and simulated in real time.
Description
Technical Field
The invention relates to the field of simulation control, in particular to a method for acquiring steering or attitude control intention of riding type driving simulation equipment.
Background
When a rider drives a riding device such as a motorcycle, an electric motorcycle, a bicycle, or a flying motorcycle, after the rider intends to make a steering or posture, an important control method is to adjust the center of gravity of the rider and control the steering or posture of the riding device by using the shift of the center of gravity. When such a device is simulated, if such a control mode cannot be simulated, realistic driving simulation cannot be performed. In the actual simulation process, the steering or attitude control intention of the driver cannot be directly obtained, and the gravity center change of the driver cannot be directly measured.
The invention provides a method for acquiring steering or attitude control intentions of riding type driving simulation equipment, which can accurately acquire the steering or attitude control intentions of a driver, further provide a theoretical basis for the operation simulation calculation of the riding type equipment and can be applied to the relevant fields of riding type driving simulation equipment, riding type interactive entertainment equipment and the like.
Disclosure of Invention
The invention aims to provide a method for acquiring steering or attitude control intention of riding type driving simulation equipment aiming at the problem of acquiring steering or attitude control intention of a driver, so as to realize accurate and efficient driving control intention acquisition and simulation.
The method for acquiring the steering or attitude control intention of the riding type driving simulation equipment is characterized by comprising the following steps of:
A. steering or attitude control intention sensing device output signal sampling: reading output signals of the intention sensing equipment one by one according to a set sampling frequency;
B. signal preprocessing: and C, filtering, A/D (analog/digital) conversion and digital filtering processing are carried out on the sampling signals obtained in the step A, so that accurate quantities of output signals of the intention sensing equipment installed at all parts of the simulation equipment are obtained and are respectively recorded as PL1、PL2....PLnAnd PR1、PR2....PRnWherein, L represents the intention sensing equipment installed on the left side of the simulation equipment, R represents the intention sensing equipment installed on the right side of the simulation equipment, and n is the serial number of the intention sensing equipment;
C. calculating characteristic parameters of the steering or attitude control intention: respectively calculating characteristic parameters Q representing steering or attitude control intentions of the left side and the right side of the simulation equipmentLAnd QRWherein Q isLAnd QRThe calculation formula of (A) is as follows:
D. calculating a steering or attitude control quantity: obtaining a steering or attitude control quantity C, wherein C is QL-QR；
E. Acquiring the state of the riding equipment: substituting the steering or attitude control quantity C into a dynamic simulation model, and finishing the calculation of the state of the riding equipment by the dynamic simulation model when the simulation cycle is finished;
F. and (4) whether the simulation is finished or not, if not, returning to the step (B), entering the next simulation period, and if the simulation is finished, exiting.
Further, the method for acquiring the steering or attitude control intention of the riding type driving simulation equipment further comprises the following steps of: a plurality of intention sensing devices are arranged at the parts of the riding type driving simulation device, which can sense the steering or attitude control intention of a driver.
Further, the parts capable of sensing the intention of the driver comprise a seat cushion, a pedal and a handle.
Further, according to the method for acquiring the steering or posture control intention of the riding type driving simulation equipment, the intention sensing equipment is symmetrically installed along the front and rear central axes of the simulation equipment, namely the intention sensing equipment comprises left intention sensing equipment and right intention sensing equipment, the number of the intention sensing equipment on the two sides of the central axis is the same, and the positions of the intention sensing equipment are symmetrical.
Further, a method for acquiring steering or attitude control intention of the riding type driving simulation equipment is characterized by gravity or pressure.
Further, the method for acquiring the steering or attitude control intention of the riding type driving simulation equipment comprises a pressure sensor.
Further, the method for acquiring the steering or attitude control intention of the riding type driving simulation equipment further comprises a zero calibration step for eliminating zero deviation caused by installation errors and sensor characteristic differences.
Further, according to the method for acquiring the steering or attitude control intention of the riding type driving simulation equipment, the corresponding relation between the steering or attitude control quantity C and the steering or attitude control intention of the simulation equipment is as follows:
c >0, indicating that the driver intends to lean and steer to the left;
c ═ 0, indicating that the driver intends to maintain the current driving posture;
c <0, indicating that the driver intends to lean and steer to the right;
and | C | for describing the degree of tilt steering.
Further, the sampling frequency is not lower than 100Hz according to the steering or attitude control intention acquisition method of the riding type driving simulation equipment.
The device for acquiring the steering or attitude control intention of the riding type driving simulation equipment is characterized by comprising the following modules:
the steering or attitude control intention perception equipment outputs a signal sampling module: reading output signals of the intention sensing equipment one by one according to a set sampling frequency;
the signal preprocessing module: filtering, A/D conversion and digital filtering processing are carried out on the sampling signals obtained by the sampling module, so as to obtain accurate quantities of output signals of the intention sensing equipment installed at each part of the simulation equipment, and the accurate quantities are respectively recorded as PL1、PL2....PLnAnd PR1、PR2....PRnWherein, L represents the intention sensing equipment installed on the left side of the simulation equipment, R represents the intention sensing equipment installed on the right side of the simulation equipment, and n is the serial number of the intention sensing equipment;
a characteristic parameter calculation module of the steering or attitude control intention: respectively calculating characteristic parameters Q representing steering or attitude control intentions of the left side and the right side of the simulation equipmentLAnd QRWherein Q isLAnd QRThe calculation formula of (A) is as follows:
a steering or attitude control quantity calculation module: to obtain steering orAn attitude control amount C, wherein C ═ QL-QR；
A ride-class device state calculation module: and substituting the steering or attitude control quantity C into a dynamic simulation model, and finishing the calculation of the state of the riding equipment by the dynamic simulation model when the simulation cycle is finished.
The invention has the beneficial effects that: the intention acquisition method realizes the simulation acquisition of the intention of the driver by accurately sampling the pressure value, calculating and comparing the ratio coefficient of the lateral pressure moment to the lateral pressure moment, thereby providing a more real experience effect for the simulation operation of the driving equipment.
Drawings
Fig. 1 is a flowchart of a steering or attitude control intention acquisition method of a ride-type driving simulation apparatus.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
In this embodiment, the method for acquiring the steering or posture control intention of the riding type driving simulation device symmetrically installs the steering or posture control intention sensing devices on the parts of the riding type driving simulation device, such as a cushion, a pedal, a handle and the like, which bear the gravity or pressure of the driver, along the front and rear central axes of the device, wherein the number of the intention sensing devices on both sides of the central axis is the same, and the positions are symmetrical.
Left intention-aware device is labeled SL1、SL2....SLnRight intention-sensing device labeled SR1、SR2....SRnIn which S isLiAnd SRiMay be symmetrically mounted pressure sensors.
After the intention sensing equipment is installed, zero calibration is needed for eliminating zero deviation caused by installation errors and sensor characteristic differences.
Sampling a steering or attitude control intention sensing device output signal: the sampling frequency is set according to the requirement, and in order to meet the simulation requirement, the sampling frequency is not lower than 100 HZ.
After the sampling frequency is set, the output signals of the left and right intention sensing devices are read one by an intention sensing device output signal sampling module of the steering or attitude control intention acquisition device of the riding driving simulation equipment according to the set sampling frequency.
The signal preprocessing module receives the sampling signal of the sampling module, and carries out filtering, A/D conversion and digital filtering processing to obtain accurate output signals of intention sensing equipment installed at each part of the simulation equipment, and the accurate output signals are respectively marked as PL1、PL2....PLnAnd PR1、PR2....PRnWherein, L represents the intention sensing device installed on the left side of the simulation device, R represents the intention sensing device installed on the right side of the simulation device, and n is the serial number of the intention sensing device.
In this embodiment, the intention-sensing device outputs a signal precision amount PL1、PL2....PLnAnd PR1、PR2....PRnRespectively corresponding to the left side marks SL1、SL2....SLnAnd the right side is marked as SR1、SR2....SRnThe intention sensing device.
After the accurate quantity of the output signal is obtained, a characteristic parameter Q representing the steering or attitude control intention on the left side and the right side of the simulation equipment is respectively calculated by a characteristic parameter calculating module of the steering or attitude control intention obtaining deviceLAnd QRWherein Q isLAnd QRIs calculated as
Characteristic quantity Q of steering or attitude control intentionLAnd QRThe left and right side pressure occupancy coefficients are characterized separately.
The steering or attitude control quantity calculation module calculates the characteristic parameter QLAnd QRCalculating a steering or attitude control quantity C, wherein the control quantity is a dimensionless coefficient and the calculation method is that C is QL-QR(ii) a The control amount C is used to indicate the driving intention of the driver.
The corresponding relation between the control quantity C and the steering or attitude control intention of the simulation equipment is as follows:
c >0, indicating that the driver intends to lean and steer to the left;
c ═ 0, indicating that the driver intends to maintain the current driving posture;
c <0, indicating that the driver intends to lean and steer to the right;
| C | is used to describe the degree of tilt steering intent.
Acquiring the state of the riding equipment: the riding equipment state calculating module transmits the steering or attitude control quantity C to a dynamic simulation model of the riding equipment, the dynamic simulation model completes the calculation of the riding equipment state at the end of the simulation period according to the corresponding relation between the control quantity C and the steering or attitude control intention of the simulation equipment, and the dynamic simulation model adopts common motorcycle and bicycle simulation software such as BikeSim.
The dynamic simulation model judges the driving intention of the driver through the control quantity C, and carries out attitude control on the riding device such as left-right inclination, steering and the like according to the intention of the driver, wherein the degree of the attitude control depends on the absolute value of the control quantity C, so that the inclination direction and the degree of the riding type driving simulation device can be controlled according to the driving intention of the driver.
And the simulation period is ended when the dynamic simulation model calculates the state of the riding equipment according to the control quantity C, and the riding equipment makes the state adjustment of the riding equipment according to the dynamic simulation model after the simulation period is ended.
After the simulation period is finished, judging whether the simulation is finished, if the simulation is continued, continuing to process the received sampling signal by the signal preprocessing module to obtain the accurate quantity of the output signal of the intention sensing equipment, and then performing the simulation of the next period by the process; and if the simulation is finished, exiting.
According to the scheme, the driving intention of a driver is obtained by performing simulation calculation on pressure or gravity in the simulation operation process, and then attitude control is performed on the simulation equipment; the central symmetry type intention sensing equipment is specifically used for converting the control intention of the driver into pressure values applied to the left side and the right side, the characteristic quantity of the pressure ratio coefficient under the pressure value is calculated, and the characteristic quantity of the left side and the right side is further judged and compared, so that the real-time judgment and simulation of the driving intention of the driver are realized.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims.
Claims (10)
1. The method for acquiring the steering or attitude control intention of the riding type driving simulation equipment is characterized by comprising the following steps of:
A. steering or attitude control intention sensing device output signal sampling: reading output signals of the intention sensing equipment one by one according to a set sampling frequency;
B. signal preprocessing: and C, filtering, A/D (analog/digital) conversion and digital filtering processing are carried out on the sampling signals obtained in the step A, so that accurate quantities of output signals of the intention sensing equipment installed at all parts of the simulation equipment are obtained and are respectively recorded as PL1、PL2....PLnAnd PR1、PR2....PRnWherein, L represents the intention sensing equipment installed on the left side of the simulation equipment, R represents the intention sensing equipment installed on the right side of the simulation equipment, and n is the serial number of the intention sensing equipment;
C. calculating characteristic parameters of the steering or attitude control intention: respectively calculating characteristic parameters Q representing steering or attitude control intentions of the left side and the right side of the simulation equipmentLAnd QRWherein Q isLAnd QRThe calculation formula of (A) is as follows:
D. calculating a steering or attitude control quantity: obtaining a steering or attitude control quantity C, wherein C is QL-QR；
E. Acquiring the state of the riding equipment: substituting the steering or attitude control quantity C into a dynamic simulation model, and finishing the calculation of the state of the riding equipment by the dynamic simulation model when the simulation cycle is finished;
F. and (4) whether the simulation is finished or not, if not, returning to the step (B), entering the next simulation period, and if the simulation is finished, exiting.
2. The method for obtaining the steering or attitude control intention of the riding type driving simulation device according to claim 1, further comprising a steering or attitude control intention sensing device installing step of: a plurality of intention sensing devices are arranged at the parts of the riding type driving simulation device, which can sense the steering or attitude control intention of a driver.
3. The method for acquiring steering or attitude control intention of a ride-on driving simulation apparatus according to claim 2, wherein the portion capable of sensing the intention of the driver includes a seat cushion, a foot pedal, and a grip.
4. The method for obtaining the steering or posture control intention of the riding type driving simulation device as claimed in claim 2, wherein the plurality of intention sensing devices are symmetrically installed along the front and rear central axes of the simulation device, that is, the intention sensing devices on the left side and the right side are included, and the number and the positions of the intention sensing devices on the two sides of the central axis are the same.
5. The method of claim 1 or 2, wherein the steering or attitude control intent is characterized by gravity or pressure.
6. The method for obtaining steering or attitude control intention of a ride-type driving simulation apparatus according to claim 1 or 2, wherein the intention sensing apparatus comprises a pressure sensor.
7. The method for obtaining steering or attitude control intention of a ride-on driving simulation apparatus according to claim 1, further comprising a zero calibration step for eliminating zero offset caused by installation error and sensor characteristic difference.
8. The method for acquiring the steering or attitude control intention of the ride-type driving simulation device according to claim 1, wherein the corresponding relationship between the steering or attitude control quantity C and the steering or attitude control intention of the simulation device is as follows:
c >0, indicating that the driver intends to lean and steer to the left;
c ═ 0, indicating that the driver intends to maintain the current driving posture;
c <0, indicating that the driver intends to lean and steer to the right;
and | C | for describing the degree of tilt steering.
9. The attitude control method of a ride-type driving simulation apparatus according to claim 1, wherein the sampling frequency is not lower than 100 Hz.
10. The device for acquiring the steering or attitude control intention of the riding type driving simulation equipment is characterized by comprising the following modules:
the steering or attitude control intention perception equipment outputs a signal sampling module: reading output signals of the intention sensing equipment one by one according to a set sampling frequency;
the signal preprocessing module: filtering, A/D conversion and digital filtering processing are carried out on the sampling signals obtained by the sampling module, so as to obtain accurate quantities of output signals of the intention sensing equipment installed at each part of the simulation equipment, and the accurate quantities are respectively recorded as PL1、PL2....PLnAnd PR1、PR2....PRnWherein, L represents the intention sensing equipment installed on the left side of the simulation equipment, R represents the intention sensing equipment installed on the right side of the simulation equipment, and n is the serial number of the intention sensing equipment;
a characteristic parameter calculation module of the steering or attitude control intention: respectively calculating characteristic parameters Q representing steering or attitude control intentions of the left side and the right side of the simulation equipmentLAnd QRWherein Q isLAnd QRThe calculation formula of (A) is as follows:
a steering or attitude control quantity calculation module: obtaining a steering or attitude control quantity C, wherein C is QL-QR；
A ride-class device state calculation module: and substituting the steering or attitude control quantity C into a dynamic simulation model, and finishing the calculation of the state of the riding equipment by the dynamic simulation model when the simulation cycle is finished.
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