CN110992764A - Simulated driving control system, method and device and readable storage medium - Google Patents
Simulated driving control system, method and device and readable storage medium Download PDFInfo
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Abstract
The invention provides a simulated driving control system, a method, a device and a readable storage medium. The simulated driving control system comprises: a simulated driving device; a control device adapted to control the simulated driving device; the Ethernet switch is arranged between the driving simulation device and the control device; the Ethernet switch is respectively in communication connection with the driving simulation device and the control device through Ethernet, so that data information is transmitted from one of the driving simulation device and the control device to the other, and the data information comprises at least one of driving vehicle state data information and driving vehicle control data information. The invention can improve the real body feeling of the simulated driving and improve the driving experience of the user.
Description
Technical Field
The invention relates to the technical field of simulated driving, in particular to a simulated driving control system, a method, a device and a readable storage medium.
Background
The simulation driving is also called as automobile driving simulation or automobile virtual driving. The simulated driving enables an experiencer to experience visual, auditory and somatosensory automobile driving experience close to a real effect in a virtual driving environment, and the simulated driving method can be widely applied to the aspects of new automobile model development and driving training. If the simulation driving can achieve the vivid effect, the method can not only realize economy and energy conservation, but also ensure the personal safety of the driver, is not limited by time, climate and place, and particularly can greatly improve the efficiency of the driving training and shorten the period of the training in the aspect of the driving training.
The steering wheel is an important input module for simulating driving, whether the steering wheel has real body feeling or not is directly related to the real degree of the simulated driving, and the driving experience of an experiencer is also directly influenced, so that the simulation of the steering wheel is an indispensable important component in the simulated driving.
One of the disadvantages in the related art is that the steering wheel simulation module for simulating driving has low sense of reality, which results in poor user experience and less ideal driving experience.
Disclosure of Invention
The present invention is directed to solving at least one of the above problems.
Therefore, the first purpose of the invention is to provide a simulated driving control system.
The second purpose of the invention is to provide a control method for simulating driving.
A third object of the present invention is to provide a driving simulation control device.
A fourth object of the present invention is to provide a computer-readable storage medium.
To achieve the first object of the present invention, an embodiment of the present invention provides a driving simulation control system including: a simulated driving device; a control device adapted to control the simulated driving device; the Ethernet switch is arranged between the driving simulation device and the control device; the Ethernet switch is respectively in communication connection with the driving simulation device and the control device through the Ethernet, so that data information is transmitted to the other device from any one of the driving simulation device and the control device, and the data information comprises at least one of driving vehicle state data information and driving vehicle control data information.
In addition, the technical solution provided by the above embodiment of the present invention may further have the following additional technical features:
in the technical scheme, the number of the driving simulation devices is multiple, and any one of the driving simulation devices is in communication connection with the Ethernet switch respectively, so that the control device controls any one of the driving simulation devices.
In any of the above technical solutions, the communication connection includes one or a combination of the following: wired signal connection, wireless signal connection, and wired power connection.
In any one of the above technical solutions, the driving simulation apparatus includes: any one of the steering wheel simulation module, the steering wheel simulation module and the control device transmits at least one or a combination of the following data information to the other one: centering speed data information, centering moment data information, damping moment data information and steering wheel angle data information; any one of the environment simulation module, the environment simulation module and the control device transmits at least one or a combination of the following data information to the other one: the system comprises driving vehicle ignition device state data information, driving vehicle power supply device state data information, driving vehicle safety switch state data information, driving vehicle sound state data information, driving vehicle lamp state data information, driving vehicle wiper state data information, driving vehicle gear state data information, driving vehicle accelerator state data information, driving vehicle clutch state data information, driving vehicle brake state data information and driving vehicle hand brake state data information.
To achieve the second object of the present invention, an embodiment of the present invention provides a driving simulation control method that uses the driving simulation control system according to any one of the embodiments of the present invention, the driving simulation control method including: the driving simulation device transmits data information to the control device through the Ethernet switch; or the control device transmits data information to the simulation driving device through the Ethernet switch; wherein the Ethernet switch outputs a user datagram protocol packet report to communicate data information, the data information including at least one of driving vehicle status data information and driving vehicle control data information.
In the above technical solution, the user datagram protocol packet report includes: application control subfield data, application handler subfield data, application data subfield data.
In any of the above technical solutions, outputting a user datagram protocol packet report by an ethernet switch specifically includes: the Ethernet exchanger confirms, encrypts, selects functions and selects object channels for the user datagram protocol data packet report by outputting application control subdomain data; or the Ethernet exchanger identifies the processing mode of the user datagram protocol data packet report by outputting subdomain data of the application processor; or the Ethernet switch confirms the data information corresponding to the result of the function selection according to the result of the function selection by outputting the application data subdomain data.
In any of the above technical solutions, the ethernet switch identifies a processing manner of a user datagram protocol packet report by outputting sub-domain data of an application handler, and specifically includes: adopting a receiver code in application control subdomain data to identify a processing mode of a user datagram protocol data packet report for a receiver of data information, wherein the processing mode comprises at least one or a combination of the following modes: full reception, column reception, row reception, point reception, unnecessary reception; or adopting a responder code in the application control subdomain data to identify a processing mode of the responder of the data information on the user datagram protocol data packet report, wherein the processing mode comprises at least one or the combination of the following modes: full response, column response, row response, dot response, don't need to respond.
To achieve the third object of the present invention, an embodiment of the present invention provides a driving simulation control apparatus including: a memory storing a computer program; a processor executing a computer program; wherein the processor, when executing the computer program, implements the steps of the simulated driving control method according to any of the embodiments of the invention.
To achieve the fourth object of the present invention, an embodiment of the present invention provides a computer-readable storage medium, including: the computer readable storage medium stores a computer program which, when executed, implements the steps of the simulated driving control method according to any of the embodiments of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a system composition diagram of a simulated driving control system according to some embodiments of the invention;
FIG. 2 is a system diagram of an Ethernet switch according to some embodiments of the invention;
FIG. 3 is a schematic flow chart of a first step of a method of controlling simulated driving according to some embodiments of the present invention;
FIG. 4 is a flow chart illustrating a second step of a simulated driving control method according to some embodiments of the present invention;
FIG. 5 is a schematic diagram of the system components of a simulated driving control apparatus according to some embodiments of the invention;
fig. 6 is a schematic diagram of the operation of a simulated driving control system according to some embodiments of the invention.
Wherein, the corresponding relation between the reference signs and the component names is as follows:
100: simulated driving control system, 102: simulated driving device, 104: control device, 106: ethernet switch, 108: steering wheel simulation module, 110: environment simulation module, 112: steering wheel controller, 114: servo motor, 116: steering wheel, 118: touch screen computer, 120: keyboard, 200: driving simulation control device, 202: memory, 204: a processor.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The technical solutions of some embodiments of the present invention are described below with reference to the accompanying drawings.
The embodiment of the invention provides a plurality of simulated driving control systems, simulated driving control methods, simulated driving control devices and computer readable storage media. The embodiment of the invention aims to improve the real body feeling of the simulated driving and improve the driving experience of a user.
The reason why the embodiment of the present invention can achieve the above object is that the embodiment of the present invention implements data information between different modules or devices in the driving simulation control system through the ethernet network. The basic framework of Ethernet communication enables the driving simulation control system of the embodiment of the invention to realize flexible transmission and interaction of various data information. Therefore, the control device in the driving simulation control system can issue control instructions to the driving simulation device conveniently, and the driving simulation device can report various parameters and state information in the driving process to the control device conveniently. Therefore, the embodiment of the invention can flexibly control the simulated driving device, and the control is not limited to the control of the steering wheel, but also comprises the simulation and control of various accessory equipment of the driving vehicle, such as vehicle lamps, wipers and the like. In conclusion, the embodiment of the invention can improve the real body feeling of the simulated driving and improve the driving experience of the user.
Example 1
As shown in fig. 1, the present embodiment provides a driving simulation control system 100, which includes: a simulated driving device 102, a control device 104, and an ethernet switch 106. The control device 104 is adapted to control the simulated driving device 102. The ethernet switch 106 is provided between the simulated driving apparatus 102 and the control apparatus 104. The ethernet switch 106 is in communication connection with the driving simulation device 102 and the control device 104 through ethernet networks, respectively, so that data information is transmitted from one of the driving simulation device 102 and the control device 104 to the other, and the data information includes at least one of driving vehicle state data information and driving vehicle control data information.
In the present embodiment, the simulated driving apparatus 102 functions to provide a simulated driving experience to the user. Thus, the simulated driving apparatus 102 includes at least one steering wheel 116, a servo motor 114 electrically coupled to the steering wheel 116 and adapted to provide a driving force to the steering wheel 116, and a steering wheel controller 112 communicatively coupled to the steering wheel 116 and adapted to control the steering wheel 116. Various parameters of the simulated driving device 102 can be adjusted by the user according to actual needs. To facilitate user setup of the simulated driving apparatus 102, the simulated driving apparatus 102 may further include an information input device such as a touch screen computer 118 and/or a keyboard 120.
The control device 104 is adapted to control the simulated driving device 102. That is, the control device 104 can be connected to the steering wheel controller 112 to control the steering wheel 116, and can also control other auxiliary equipment and facilities in the analog driving device 102. Such as: wiper, horn, or stereo, etc.
The ethernet switch 106 may implement interaction or transmission of data information via a User Datagram Protocol (UDP). The user datagram protocol is a connectionless transport layer protocol in the open systems interconnection reference model, adapted to provide transaction-oriented simple unreliable messaging services.
The basic format of the user datagram protocol in this embodiment is as follows: the flow Control of the Ethernet data is realized through a Media Access Control Address (English name: MAC Address), an Internet Protocol Address (Internet Protocol Address) and a user datagram Protocol source port number and a user datagram Protocol target port number which are specially defined by a user. The data information interacted with the simulated driving device 102 is embodied in the user datagram protocol data part.
For example, tables 1 to 6 respectively list MAC address Header (english name: MAC Header), IP Header (english name: IP Header), UDP protocol Header (english name: UDPHeader), UDP Data Header (english name: UDP Data), MAC PAD (english name: MAC PAD), and MAC Frame Check Sequence (english name: MAC Frame Check Sequence). The data metric units in tables 1 to 6 are bits (english name: Byte).
It should be noted that "$" in each table in the embodiment of the present invention is used to indicate 1 byte of data. And "$ represents 2 bytes of data, and so on.
TABLE 1
TABLE 2
TABLE 3
TABLE 4
TABLE 5
| MAC PAD |
| $...$ |
TABLE 6
| MAC Frame Check Sequence(4Bytes) |
| $.$.$.$ |
In the present embodiment, the data information may be actively reported to the control device 104 by the driving simulation device 102 at regular time intervals, so that the control device 104 controls the driving simulation device 102 to simulate the running state of the vehicle according to the current input of the operator or user. Control commands may also be transmitted by the control device 104 to the simulated driving device 102 in a question-and-answer manner to control various operating parameters of the simulated driving device 102, in particular the centering speed, the centering torque, the damping torque, etc. of the steering wheel 116.
For a steering wheel simulation system in the related art, the driving technical scheme is generally a stepping motor, and the limiting mode adopts mechanical limiting, so that the rotating resistance moment and the centering moment of the steering wheel simulation system cannot be adjusted in real time, and the steering wheel simulation system is mainly used for game operation and cannot realize the texture and hand feeling of a real vehicle steering wheel. In addition, in the steering wheel simulation system in the related art, the communication mode mainly adopts a man-machine interaction mode, the data analysis is complex, and the programming difficulty is relatively high. Also, the steering wheel simulation system of the related art can simulate only a simple operation, and cannot simulate other driving experiences than the steering wheel. In addition, the current steering wheel integrated system cannot integrate the control of the wiper, the gear, the light and the like of the real vehicle, and the price is also expensive.
For at least one of the foregoing reasons, the present embodiments provide an ethernet communication control system that integrates a steering wheel simulation system with peripheral devices such as car ignition, seat belt, lights, wiper, gear, etc. using a servo driving scheme. The system realizes efficient and reliable information interaction between the upper control device 104 and the simulated driving device 102 through the Ethernet switch 106. Since the driving simulation control system 100 of the present embodiment establishes data information transfer and interaction between the driving simulation device 102 and the control device 104 through the ethernet switch 106, the present embodiment can realize flexible transmission of a wide variety of data information. Therefore, the control device in the driving simulation control system can issue control instructions to the driving simulation device conveniently, and the driving simulation device can report various parameters and state information in the driving process to the control device conveniently.
Example 2
The present embodiment provides a simulated driving control system 100. In addition to the technical features of embodiment 1 described above, the present embodiment also includes the following technical features.
The number of the driving simulator 102 is plural, and any one of the driving simulator 102 is connected to the ethernet switch 106 in a communication manner, so that the control device 104 controls any one of the driving simulator 102.
That is, the control device 104 of the present embodiment can control each of the plurality of driving simulator 102, receive and process data information from the plurality of driving simulator 102, or issue a control command to each of the plurality of driving simulator 102. It is only necessary to match the ethernet switch 106 separately for any of the simulated driving devices 102.
For example, in practical applications, the simulated driving device 102 may report the input information of the operator or the user in real time, and receive the control command from the control device 104 to change the manipulation feeling or experience of the operator in real time. In order to match different driving scenarios and vehicle types and to facilitate control of the ethernet switch 106, each simulated driving device 102 may be assigned an ID number, which is expressed by an ethernet ip address, and different ports may be configured for differentiation. Thus, the present embodiment simplifies the structure of the driving simulation control system 100, reduces the cost of the driving simulation control system 100, and facilitates matching different driving scenarios and vehicle types for the driving simulation control system 100.
Example 3
The present embodiment provides a simulated driving control system 100. In addition to the technical features of any of the above embodiments, the present embodiment also includes the following technical features.
The communication connection comprises one or a combination of the following: wired signal connection, wireless signal connection, and wired power connection. That is, the ethernet switch 106 of the present embodiment can connect the driving simulator 102 and the control device 104 to each other through various methods such as wired routing, wifi wireless routing, bluetooth communication, and power grid circuit.
Example 4
As shown in fig. 2, the present embodiment provides a simulated driving control system 100. In addition to the technical features of any of the above embodiments, the present embodiment also includes the following technical features.
The simulated driving device 102 includes: a steering wheel simulation module 108 and an environment simulation module 110. Either one of the steering wheel simulation module 108 and the control device 104 communicates to the other at least one or a combination of the following data information: centering speed data information, centering moment data information, damping moment data information and steering wheel angle data information. Either one of the environmental simulation module 110 and the control device 104 communicates at least one or a combination of the following data information to the other: the system comprises driving vehicle ignition device state data information, driving vehicle power supply device state data information, driving vehicle safety switch state data information, driving vehicle sound state data information, driving vehicle lamp state data information, driving vehicle wiper state data information, driving vehicle gear state data information, driving vehicle accelerator state data information, driving vehicle clutch state data information, driving vehicle brake state data information and driving vehicle hand brake state data information.
For example, the control device 104 may send data information including control commands to the steering wheel simulation module 108 to control the centering speed, the centering torque, the damping torque, and the angle of the steering wheel 116. The steering wheel simulation module 108 may send data information including the vehicle operating state to the control device 104 to inform the control device 104 of the current centering speed, centering torque, damping torque, and angle of the steering wheel 116 of the vehicle.
Again, for example, the control device 104 may send data information including control instructions to the environmental simulation module 110 to control some of the auxiliary equipment or facilities of the simulated driving device 102. Such as: controlling the speed of the wiper or controlling the opening and closing of the sound equipment, etc. The environmental simulation module 110 may send data information including the operating status of the above auxiliary equipment or facilities to the control device 104 to inform the control device 104 of the current operating status of the auxiliary equipment or facilities of the vehicle to facilitate further adjustments to these auxiliary equipment or facilities by the control device 104.
The present embodiment not only enables data information about the steering wheel to be interactively transmitted between the driving simulator 102 and the control device 104, but also enables various auxiliary or additional information to be interactively transmitted between the driving simulator 102 and the control device 104, so that the control device 104 adjusts and controls various parameters of the driving simulator 102, thereby restoring the driving experience to a higher degree and improving the simulation degree of the simulation.
Example 5
As shown in fig. 3 and 4, the present embodiment provides a simulated driving control method. The simulated driving control method of the present embodiment employs the simulated driving control system 100 according to any one of the embodiments of the present invention.
The control method for simulating driving comprises the following steps:
s102, transmitting data information to the control device 104 by the driving simulation device 102 through the Ethernet switch 106; or
And S104, the control device 104 transmits data information to the simulated driving device 102 through the Ethernet switch 106.
Wherein the ethernet switch 106 outputs a user datagram protocol packet report to communicate data information including at least one of driving vehicle status data information and driving vehicle control data information.
The driving simulation control method of the present embodiment establishes data information transmission and interaction between the driving simulation device 102 and the control device 104 through the ethernet switch 106, and therefore, the present embodiment can realize flexible transmission of various data information, so as to improve the real degree of driving simulation and user experience.
Example 6
The embodiment provides a control method for simulating driving. In addition to the technical features of embodiment 5 described above, the present embodiment also includes the following technical features.
The user datagram protocol packet report includes: application control subfield data, application handler subfield data, application data subfield data.
Specifically, as shown in table 7, in this embodiment, the user datagram protocol data portion of the ethernet switch 106 can be divided into 3 sub-domains, that is: an application Control Field (English name: App Control Field), an application processor Field (English name: App Who Field), and an application Data Field (English name: App Data Field).
TABLE 7
Example 7
The embodiment provides a control method for simulating driving. In addition to the technical features of embodiment 6 described above, the present embodiment also includes the following technical features.
The outputting of the user datagram protocol packet report by the ethernet switch 106 specifically includes: the ethernet switch 106 confirms, encrypts, selects functions and selects object channels for the user datagram protocol packet report by outputting application control subdomain data; or the Ethernet switch 106 identifies the processing mode of the user datagram protocol data packet report by outputting the sub-domain data of the application processor; or the ethernet switch 106 confirms the data information corresponding to the result of the function selection according to the result of the function selection by outputting the application data subfield data.
Specifically, as shown in table 8, the application control subfield is used to perform the following operations on a user datagram protocol packet report (also called: user datagram protocol datagram): confirmation (english name: Confirm Code), encryption (english name: Pass Code), Function selection (english name: Function Code), and object channel selection (english name: ObjectChannel). In addition, the application processor domain is used to identify how the simulated driving device 102 or the control device 104 that received the report or message should process. The application data field represents the corresponding data information when different function codes are selected.
TABLE 8
Example 8
The embodiment provides a control method for simulating driving. In addition to the technical features of embodiment 7 described above, the present embodiment also includes the following technical features.
The ethernet switch 106 identifies the processing method of the user datagram protocol packet report by outputting the sub-domain data of the application handler, and specifically includes: adopting a receiver code in the application control subdomain data to identify a processing mode of a user datagram protocol data packet report for a receiver (English name: Who Accept) of the data information, wherein the processing mode comprises at least one or a combination of the following modes: full reception, column reception, row reception, point reception, unnecessary reception; or adopting the responder code in the application control subdomain data to identify the processing mode of the responder (English name: WhoRely) of the data information for reporting the user datagram protocol data packet, wherein the processing mode comprises at least one or the combination of the following modes: full response, column response, row response, dot response, don't need to respond.
Specifically, as shown in table 9, the whoacept code of the application handler field is used to identify the recipient of the message, indicating the row and column position selection. Wherein when the WhoAccept is encoded as ff.ff, full reception is indicated. When wheataccept is encoded as xx. When whoacept is encoded as ff.xx: num, indicates line reception. When the whoacept is encoded as xx. When the WhoAccept code is 00.00, the WhoAccept code indicates that the message sent by the main station of the simulated driving computer does not need to be received. In addition, the message sent from the station in the steering wheel simulator only needs to simulate the receiving of the main station of the driving computer.
The WhoRefly code of the application handler field is used to identify the responder to the message, indicating the row and column location selection. When the whorply codes to ff.ff, a full response is indicated. Whorply encodes xx. ff, representing column responses. Xx when the whorpy code is ff: num, the line response is indicated. When whorply encodes xx.yy, a dot response is indicated. When the WhoReply code is 00.00, the WhoReply code indicates that no response is needed in the message sent by the main station of the simulated driving computer.
TABLE 9
In the embodiment, the question-answering mode or information interaction in a point mode can be realized on the specified steering wheel simulator by the simulated driving computer through the position information of the rows and the columns of different application processor domains.
Example 9
As shown in fig. 5, the present embodiment provides a driving simulation control apparatus 200 including: a memory 202 and a processor 204. The memory 202 stores a computer program. The processor 204 executes computer programs. Wherein the processor 204, when executing the computer program, implements the steps of the simulated driving control method according to any of the embodiments of the present invention.
Example 10
The present embodiments provide a computer-readable storage medium, comprising: the computer readable storage medium stores a computer program which, when executed, implements the steps of the simulated driving control method according to any of the embodiments of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
Embodiments provide a control system for simulated driving. As shown in fig. 6, the simulated driving control system 100 of the present embodiment includes a simulated driving device 102 and a control device 104. With an ethernet switch 106 disposed therebetween. The simulated steering device 102 specifically includes a steering wheel controller 112, a servo motor 114, and a steering wheel 116. The disk controller 112 is coupled to a touch screen computer 118 and/or a keyboard 120.
The present embodiment controls the simulated driving control system by: the simulated driving device 102 transmits data information to the control device 104 through the Ethernet switch 106; or the control device 104 transmits data information to the simulated driving device 102 through the Ethernet switch 106; wherein the ethernet switch 106 outputs a user datagram protocol packet report to communicate data information including at least one of driving vehicle status data information and driving vehicle control data information.
In this embodiment, the user datagram protocol packet report may be periodically sent according to a preset time, where the preset time may be 10 milliseconds or 20 milliseconds. The data structure (english name: UDPData) in the user datagram protocol packet report is listed in table 10.
The user datagram protocol data packet report can include steering wheel simulation customized report data and other various auxiliary data. These assistance data may include centering speed data information, centering torque data information, damping torque data information, steering wheel angle data information, driven vehicle ignition status data information, driven vehicle power supply status data information, driven vehicle safety switch status data information, driven vehicle audio status data information, driven vehicle horn status data information, driven vehicle lamp status data information, driven vehicle wiper status data information, driven vehicle gear status data information, driven vehicle throttle status data information, driven vehicle clutch status data information, driven vehicle brake status data information, driven vehicle handbrake status data information, and the like.
The specific information included in the user datagram protocol packet report is listed in table 11. The user datagram protocol packet report data has 16 words and 32 bits. The specific definition of the data information on the status of the ignition of the driving vehicle is shown in table 12 (upper 8 bits: ignition switch). The specific definition of the driving vehicle safety switch status data information is listed in table 13 (lower 8 bits: safety switch). The specific definition of the driving vehicle audio status data information is listed in table 14 (upper 8 bits: reserved). The specific definition of the horn state data information for the driving vehicle is shown in Table 15 (lower 8 bits: horn). Specific definitions of the driving vehicle lamp status data information are listed in table 16 (upper 8 bits) and table 17 (lower 8 bits). Specific definitions of the wiper status data information of the driven vehicle are listed in table 18 (upper 8 bits) and table 19 (lower 8 bits). Specific definitions of the driving vehicle gear state data information are listed in table 20 (upper 8 bits) and table 21 (lower 8 bits). Specific definitions of the steering wheel angle data information are listed in table 22. The detailed definition of the throttle status data information for the driving vehicle is shown in Table 23. The specific definition of the driving vehicle clutch state data information is listed in table 24. The specific definition of the driving vehicle braking status data information is listed in table 25. The specific definition of the hand brake status data information of the driving vehicle is listed in table 26.
Watch 10
TABLE 11
TABLE 12
Watch 13
| bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
| Retention | Retention | Retention | Retention | Retention | Retention | Safety belt | Emergency stop button |
| ----- | ----- | ----- | ----- | ----- | ----- | SAFE | EMCY |
TABLE 14
| bit15 | bit14 | bit13 | bit12 | bit11 | bit10 | bit9 | bit8 |
| Retention | Retention | Retention | Retention | Retention | Retention | Retention | Retention |
Watch 15
| bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
| Retention | Retention | Retention | Retention | Retention | Retention | Retention | Horn type loudspeaker |
| ----- | ----- | ----- | ----- | ----- | ----- | ----- | TRUMPET |
TABLE 16
TABLE 17
| bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
| Retention | Retention | Retention | Retention | Retention | Retention | Rear fog lamp | Front fog light |
| ----- | ----- | ----- | ----- | ----- | ----- | FBLON | FFLON |
Watch 18
Watch 19
Watch 20
TABLE 21
| bit7 | bit6 | bit5 | bit4 | bit3 | bit2 | bit1 | bit0 |
| Hand guard | Neutral gear | Reverse gear | 5-gear | 4-gear | 3 grade | 2 keeps off | 1 gear |
| MANUAL | MN | MR | MF5 | MF4 | MF3 | MF2 | MF1 |
TABLE 22
TABLE 23
Watch 24
TABLE 25
Watch 26
In some embodiments of this embodiment, the control device 104 may issue the following three control information for the steering wheel 116 of the simulated driving device 102 at regular time (e.g., 10 ms): a centering velocity, a centering moment, and a damping moment. In addition, the present embodiment also simulates other environmental special effects, such as controlling the environmental special effects, such as the air volume when opening windows of a tail lamp and a steering lamp, through a 12-bit digital output and a 2-path analog quantity. For example, the user datagram protocol data format sent by the control device 104 is listed in table 27. The correct answer user datagram protocol data format is listed in table 28. The error acknowledgement user datagram protocol data format is listed in table 29 (error cause is e.g. data frame incomplete etc.). The digital output and the analog output can customize the environment instruction with characteristics, and the MODBUS serial communication protocol or the USB interface is configured to implement the operation monitoring and parameter setting of the local touch screen computer 118 or the keyboard 120. In addition, the present embodiment configures a keyboard display interface to implement operation monitoring and parameter setting in a manual manner.
Watch 27
Watch 28
Watch 29
In summary, the embodiment of the invention has the following beneficial effects:
1. the Ethernet communication mode of the embodiment of the invention can be widely applied to the simulated driving training of the driving school. The control device can obtain the reported information of the simulated driving device in real time, control the running state of the simulated driving device and realize the output of various special effects through digital quantity and analog quantity.
2. The embodiment of the invention changes the training mode of the traditional driving school, lightens the workload and the working risk of a coach, can ensure the personal safety of a student, can greatly improve the driving training efficiency and shorten the training period.
3. The embodiment of the invention carries out information interaction with each independent driving simulation device through the Ethernet switch, can realize the output of various special effects, and can realize the control, operation monitoring, fault diagnosis and the like of the driving simulation devices in a large-capacity, high-efficiency and reliable manner.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A simulated driving control system, comprising:
a simulated driving device;
a control device adapted to control the simulated driving device;
the Ethernet switch is arranged between the driving simulation device and the control device;
the Ethernet switch is respectively in communication connection with the driving simulation device and the control device through Ethernet, so that data information is transmitted from one of the driving simulation device and the control device to the other, and the data information comprises at least one of driving vehicle state data information and driving vehicle control data information.
2. The simulated driving control system of claim 1,
the number of the driving simulation devices is multiple, and any one of the driving simulation devices is in communication connection with the Ethernet switch respectively, so that the control device controls any one of the driving simulation devices.
3. The simulated driving control system of claim 1, wherein the communication link comprises one or a combination of:
wired signal connection, wireless signal connection, and wired power connection.
4. The simulated driving control system of claim 1, wherein the simulated driving means comprises:
a steering wheel simulation module, either one of the steering wheel simulation module and the control device communicating to the other at least one or a combination of the following data information: centering speed data information, centering moment data information, damping moment data information and steering wheel angle data information;
an environment simulation module, either one of the environment simulation module and the control device communicating to the other at least one or a combination of the following data information: the system comprises driving vehicle ignition device state data information, driving vehicle power supply device state data information, driving vehicle safety switch state data information, driving vehicle sound state data information, driving vehicle lamp state data information, driving vehicle wiper state data information, driving vehicle gear state data information, driving vehicle accelerator state data information, driving vehicle clutch state data information, driving vehicle brake state data information and driving vehicle hand brake state data information.
5. A simulated driving control method, characterized in that the simulated driving control system according to any one of claims 1 to 4 is employed, the simulated driving control method comprising:
the simulated driving device transmits the data information to the control device through the Ethernet switch; or
The control device transmits the data information to the simulated driving device through the Ethernet switch;
wherein the Ethernet switch outputs a user datagram protocol packet report to convey the data information, the data information including at least one of driving vehicle status data information and driving vehicle control data information.
6. The simulated driving control method of claim 5, wherein said user datagram protocol packet report comprises:
application control subfield data, application handler subfield data, application data subfield data.
7. The method of claim 6, wherein the outputting of the user datagram protocol packet report by the ethernet switch specifically comprises:
the Ethernet exchanger confirms, encrypts, selects functions and selects object channels for the user datagram protocol data packet report by outputting the application control subdomain data; or
The Ethernet switch identifies the processing mode of the user datagram protocol data packet report by outputting the sub-domain data of the application processor; or
And the Ethernet switch confirms the data information corresponding to the result of the function selection according to the result of the function selection by outputting the application data subdomain data.
8. The method of claim 7, wherein the ethernet switch identifies the processing mode of the user datagram protocol packet report by outputting the sub-domain data of the application handler, and specifically comprises:
adopting a receiver code in the application control subdomain data, and identifying a processing mode of the user datagram protocol data packet report for the receiver of the data information, wherein the processing mode comprises at least one or a combination of the following modes: full reception, column reception, row reception, point reception, unnecessary reception; or
Adopting a responder code in the application control subdomain data, and identifying the processing mode of the user datagram protocol data packet report for the responder of the data information, wherein the processing mode comprises at least one or the combination of the following modes: full response, column response, row response, dot response, don't need to respond.
9. A simulated driving control apparatus, comprising:
a memory storing a computer program;
a processor executing the computer program;
wherein the processor, when executing the computer program, implements the steps of the simulated driving control method of any of claims 5 to 8.
10. A computer-readable storage medium, comprising:
the computer-readable storage medium stores a computer program which, when executed, implements the steps of the simulated driving control method of any of claims 5 to 8.
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