CN115294829A - Motor vehicle driving teaching system based on drive-by-wire chassis - Google Patents
Motor vehicle driving teaching system based on drive-by-wire chassis Download PDFInfo
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- CN115294829A CN115294829A CN202210909780.6A CN202210909780A CN115294829A CN 115294829 A CN115294829 A CN 115294829A CN 202210909780 A CN202210909780 A CN 202210909780A CN 115294829 A CN115294829 A CN 115294829A
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- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
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Abstract
The invention relates to a motor vehicle driving teaching system based on a drive-by-wire chassis, which comprises a rack, one or more demonstration mechanisms, one or more operating mechanisms and a central control unit based on a linear chassis, wherein the rack is used as a base for installing or arranging other related parts and is provided with a table top, the demonstration mechanisms are arranged on the table top of the rack and positioned at positions easy to be directly observed by a user, the operating mechanisms are arranged at the rear side of the rack, the central control mechanism generates corresponding central control signals according to sensing information of the operating mechanisms and/or externally input instructions, accesses a controller of the corresponding demonstration mechanisms and controls the demonstration mechanisms to act, and in simulated driving, the central control unit controls a display to perform simulated scene display and performs comparative analysis on actual driving behaviors in the simulated driving according to the sensing information of each sensor. The invention can intuitively display the conditions such as the rotating speed of the driving wheel and the like, and can evaluate the driving level in the simulated driving.
Description
Technical Field
The invention relates to a motor vehicle driving teaching system based on a drive-by-wire chassis.
Background
The drive-by-wire (drive-by-wire) technology of the motor vehicle mainly uses signal transmission of a cable to replace mechanical transmission between an operating mechanism (an operating end) and an executing mechanism (an equipment end), and a control system (a central control unit or a system controller) converts the action of the operating mechanism into a corresponding operating signal and transmits the corresponding operating signal to the executing mechanism through the cable to control the action and the working state of the executing mechanism. In response, a change in the power System is also required, in which the power source/driving device is moved to the actuator, so that the actuator becomes a System provided with a power source, for example, a wheel hub motor independent of each driving wheel is used to replace a unified engine System, and an Electromechanical Brake (EMB) System or an Electro-Hydraulic Brake (EHB) System independent of each wheel is used to replace a vacuum booster Brake System. Various actions (such as steering wheel rotation and brake pedal overturning) of the operating mechanism are converted into electric signals (sensing signals) by the corresponding sensors and sent to the system controller, the electric signals are converted into corresponding control signals by the control system according to a set mode, and the vehicle is controlled to run by the controller of the executing mechanism. The wire control technology replaces the hard connection of the traditional mechanical transmission/connection device of the motor vehicle through an electric signal and an electric control mechanism, realizes man-machine decoupling, changes an integral mechanical system directly controlled by a person into two parts with an operation end and an equipment end mutually independent, and automatically forms various control closed loops by depending on a central control unit, a vehicle sensor and a controller (or called a control circuit), thereby realizing the autonomous coordination control of the whole vehicle, greatly simplifying the mechanical structure of the motor vehicle, eliminating a plurality of limitations under mechanical transmission, and providing wide prospects for the function expansion and performance improvement of the motor vehicle under the support of modern information technology, particularly intelligent control technology and communication technology.
The development of the motor vehicle drive-by-wire chassis provides convenience for motor vehicle driving teaching, and because each operation unit (operation mechanism) and each execution unit (execution mechanism) are connected with the central control unit through cables, the constraint of the mechanical transmission/connection device on the arrangement of each unit is removed, the position of each unit can be determined according to actual requirements, and on the other hand, an important task in the motor vehicle driving teaching is to enable a student to know the influence of various operations on the motor vehicle operation in the motor vehicle driving without paying excessive attention to whether mechanical transmission or electronic information processing exists between the operation mechanism and the execution mechanism, so that the actions of wheels and the like in the motor vehicle driving process are directly displayed to an operator/driver, the operator can obtain visual recognition, and the teaching effect is improved.
Disclosure of Invention
The invention aims to provide a motor vehicle driving teaching system based on a drive-by-wire chassis, so that the conditions of the rotating speed of a driving wheel and the like can be visually displayed in teaching.
It is a further object of the invention to give an evaluation of the driving level in simulated driving.
The technical scheme of the invention is as follows:
motor vehicle driving teaching system based on drive-by-wire chassis includes:
a rack provided with a table top;
the steering wheel rotation angle sensor is used for detecting the rotation angle of the steering shaft in real time, the sensing output of the steering wheel rotation angle sensor is connected into the central control unit through a cable, the steering wheel is fixedly installed at the top of the axial shaft, and the steering shaft is installed on the rear side of the rack and is in rotary connection with the rack;
the accelerator operating mechanism comprises an accelerator pedal and an accelerator pedal angular displacement sensor for detecting the rotation angle of the accelerator pedal in real time, wherein the sensing output of the accelerator pedal angular displacement sensor is connected into the central control unit through a cable, and the accelerator pedal is arranged below the table top of the table frame;
the driving wheel demonstration mechanism comprises a plurality of driving wheels and a driving wheel provided with a hub motor, the driving wheels are symmetrically arranged on the left and right sides and are arranged on the table board of the table frame, and the power input end of the hub motor is connected with the corresponding hub motor control output of the hub motor controller and works under the control of the hub motor controller;
and the hub motor controller generates corresponding hub motor control output according to the hub motor central control signal from the central control unit, and further controls the working state of each hub motor.
Preferably, the driving wheel is provided with a brake-by-wire mechanism for braking the driving wheel, the brake-by-wire mechanism is provided with a brake motor, a brake pedal is arranged below a table board of the table frame, the brake pedal is provided with a brake pedal angular displacement sensor for detecting a rotation angle of the brake pedal in real time, the brake motor is provided with a brake motor controller for controlling the operation of the brake motor, the central control unit generates or converts a central control signal of the brake motor according to brake pedal angular displacement sensing information from the brake pedal angular displacement sensor and/or an externally input brake instruction, the central control signal is connected into the brake motor controller through a cable, and the brake motor controller receives the central control signal of the brake motor from the central control unit and controls the working state of the brake motor.
Preferably, a plurality of indicator lamps are arranged on the table top of the table frame.
Preferably, the indicator lamp includes a head lamp indicator lamp and a turn lamp indicator lamp.
Preferably, a horn is arranged on the rack.
Preferably, the horn is provided with a horn working display lamp linked with the horn working display lamp.
Preferably, a display screen is arranged on the front side of the table top of the table frame.
Preferably, the central control unit is provided with a simulated driving program, and after the simulated driving program is started, the central control unit controls the display or other display devices to perform simulated scene display, collects the sensing information of each sensor in real time, performs actual driving behavior analysis in simulated driving according to the sensing information of each sensor, and compares the actual driving behavior with the standard driving behavior in the corresponding scene.
Preferably, the central control unit is provided with an upper computer and a lower computer, wherein the upper computer is used for connecting peripheral equipment and is provided with an internet communication interface, the upper computer can be accessed to a computer network through the internet communication interface, the lower computer is used for connecting a controller of the demonstration mechanism and a sensor of the operating mechanism, the lower computer is provided with a bluetooth communication module, and the lower computer can be connected with the mobile control terminal or other equipment through the bluetooth communication module.
Preferably, the upper computer is raspberry pi 4, and the lower computer is arduino 2560.
Preferably, the mobile control terminal is a mobile phone.
The beneficial effects of the invention are: based on the drive-by-wire chassis technology, man-machine decoupling in the driving process of the motor vehicle is realized, actuating mechanisms such as wheels, lamps and the like can be arranged at positions which can be directly observed by a user according to actual demonstration requirements, for example, the rotating state and the changing process of each driving wheel can be directly observed by arranging each driving wheel on a table board and operating a steering wheel in a moving state, and the rotating speed difference of the inner and outer wheels in the steering process can be directly observed; the state of the relevant vehicle lamp after the button of the vehicle lamp is controlled can be directly observed by arranging the indicating lamp of the relevant vehicle lamp on the table board; by arranging a rack and pinion or other steering demonstration mechanisms for steering display on the table top, the steering condition of the vehicle and the rotating speed difference of the left and right wheels (front wheels or driving wheels) during steering are visually displayed in a rack offset (offset relative to a central position) state or a steering indicating piece rotating angle (rotating angle relative to a straight-line driving state), so that the visual feeling of a student is enhanced, and the understanding and the memory of related knowledge are facilitated. Since the weighting average is carried out by taking the steering wheel operation, the accelerator operation and the brake (brake) operation as scoring factors, the relevant corner caused by the operation is taken as a parameter, the corner under the actual operation is compared with the corner under the ideal operation (standard operation) under the same scene, the driving level is scored based on the relative deviation, and the driving level of a driver can be objectively and scientifically evaluated. Due to the fact that the central control unit of the existing drive-by-wire chassis is matched, switching of a plurality of different operation modes and a plurality of different vehicle types/vehicle parameters can be achieved through the central control unit, and teaching under various conditions is achieved. Because well accuse unit can be by raspberry group 4 and arduino2560 constitution, can utilize characteristics between them, realize the reasonable division and the coordination of function between each chip board, convenient and various peripheral equipment and the communication between the interior equipment of system/circuit, and help reducing data processing volume, optimize inside data transmission and processing flow, raise the efficiency, and make things convenient for programming and software setting, both have good expansibility in hardware and software two aspects, help the student on basic function's basis, increase and set up new function, software and equipment, improve student's development ability.
Drawings
FIG. 1 is a schematic diagram of the circuit architecture of the present invention;
FIG. 2 is a side schematic view of the inventive stage arrangement;
fig. 3 is a schematic top view of the inventive stage arrangement.
Detailed Description
Referring to fig. 1,2 and 3, the invention provides a drive-by-wire chassis-based motor vehicle teaching system, which comprises a rack, one or more demonstration mechanisms, one or more operating mechanisms and a linear chassis-based central control unit 80. The gantry serves as a foundation for mounting or arranging other relevant parts and is provided with a table top 10. The demonstration mechanism is arranged on the table top of the rack and is positioned at a position which is easy to be directly observed by a user, the distribution mode of the demonstration mechanism is basically corresponding to the distribution mode of corresponding mechanisms (demonstrated mechanisms) on the motor vehicle, the operating mechanism is arranged at the rear side (near user side) of the rack, and the distribution mode of the operating mechanism relative to the user sitting on a steering engine/seat positioned at the rear of the rack is consistent with the distribution mode of the corresponding mechanisms on the vehicle relative to a driver sitting on a driver seat.
The demonstration mechanism comprises a driving wheel demonstration mechanism (a driving wheel rotation demonstration mechanism) and can also or not comprise a steering demonstration mechanism, and the indicator light 20 and the control circuit thereof are used for demonstrating lights on the vehicle and can also be regarded as a demonstration mechanism of the corresponding light.
The actuators typically include a directional actuator, a throttle actuator and a brake actuator, and buttons or other types of indicator light control devices for controlling the indicator lights may be considered corresponding light actuators.
The central control unit can be arranged at any suitable position on the rack, is connected with the corresponding operating mechanism and the corresponding demonstration mechanism through corresponding cables, obtains sensing information of corresponding sensors in the operating mechanism in a cable transmission mode, and transmits corresponding central control signals (control signals) for controlling the action or state of the demonstration mechanism to corresponding controllers in the demonstration mechanism.
The direction operating mechanism comprises a steering wheel 60, a steering shaft 61 and a steering wheel (or steering shaft) rotation angle sensor 68 for detecting the rotation angle (or angular displacement) of the steering shaft (or steering wheel) in real time, wherein the sensing output of the steering wheel rotation angle sensor is connected into a central control unit through a cable, the steering wheel is fixedly installed at the top of the axial shaft, the steering shaft is installed at the rear side of the rack and is in rotary connection with the rack (for example, through corresponding bearings), and the specific arrangement mode is suitable for the operation and control of a user.
The accelerator operating mechanism comprises an accelerator pedal 70 and an accelerator pedal angular displacement (or called corner) sensor 78 for detecting the corner of the accelerator pedal in real time, wherein the sensing output of the accelerator pedal angular displacement sensor is connected into the central control unit through a cable, the accelerator pedal is installed below the table top of the table frame, and the specific arrangement mode is suitable for the operation of a user.
The drive wheel demonstration mechanism includes wheel hub motor controller and the drive wheel 40 that is equipped with wheel hub motor, drive wheel quantity is a plurality of, and bilateral symmetry sets up, installs on the mesa of rack, the relative position of each drive wheel on the mesa can be based on the relative position setting of corresponding the drive wheel on the motor vehicle, for example, be located left drive wheel demonstration mechanism and be used for demonstrating (corresponding to) the left drive wheel of motor vehicle, be located the drive wheel demonstration mechanism on right side and be used for demonstrating the drive wheel on motor vehicle right side, wheel hub motor is used for driving the rotation of corresponding drive wheel, and the corresponding wheel hub motor control output of its power input connection wheel hub motor controller works under wheel hub motor controller's control.
The hub motor controllers of the driving wheel demonstration mechanisms can be unified, the hub motor controllers are provided with outputs which are respectively used for controlling the hub motors, the outputs are respectively connected with the input ends of the hub motors through cables, and the corresponding power supplies (including the power supplies which are not connected) are connected to the hub motors, so that the hub motors are in corresponding rotation states (rotation speed, rotation direction and the like). For example, during the steering process, different rotation speeds of the inner and outer driving wheels are realized according to actual conditions, and the central control unit and the hub motor controller adjust the rotation speed or rotation speed ratio of the left and right driving wheels according to the sensing information (steering wheel angle data) from the steering wheel angle sensor, so that the motion state of the driving wheels (the rotation speed of each wheel and the rotation speed difference between each wheel) meets the corresponding steering requirement.
The driving wheels of the driving wheel demonstration mechanisms are arranged in a bilateral symmetry mode and are respectively used for demonstrating the driving wheel on the left side and the driving wheel on the right side of the motor vehicle. For forward or rear drive vehicles, there are typically only left and right drive wheels; for a four-wheel-drive motor vehicle, there are two sets of front and rear drive wheels, each set of drive wheels having left and right drive wheels, in which case the front-side drive wheel mechanism is used to demonstrate the front wheels of the motor vehicle, and the rear-side drive wheel mechanism is used to demonstrate the rear wheels of the motor vehicle.
The table top of the rack is provided with a driving wheel base which can be fixed or a turntable (or a base provided with the turntable). The driving wheel base is mounted on the table top of the table frame, and the driving wheel is mounted on the driving wheel base (on the turntable of the turntable if the turntable) through a bearing thereof, thereby realizing the mounting of the driving wheel mechanism on the table top.
The rotating shaft direction of the driving wheel can be vertical, longitudinal or transverse based on actual viewing requirements. When the driving wheel base is the turntable, the driving wheel is arranged on the turntable of the turntable, the rotating shaft direction of the turntable is vertical, and the rotating shaft direction of the driving wheel is perpendicular to the rotating shaft direction of the turntable, so that the turntable can be in a certain posture according to actual requirements, or the posture of the turntable can be changed according to requirements, the driving wheel can be watched from a required angle, or the watching angle of the driving wheel can be changed according to requirements, and the steering of the driving wheel can also be demonstrated.
The brake operating mechanism is used for braking corresponding driving wheels, is a line control brake mechanism, can adopt any related brake mechanism suitable for line control, and realizes braking through the action of a brake motor. For example, the prior art is applicable to an electromechanical brake system of an electric vehicle, in which a brake member (e.g., a caliper) in a brake (e.g., a disc brake composed of a caliper and a brake disc) is driven by a brake motor.
The brake-by-wire mechanism is provided with a brake motor, a brake pedal is arranged below the table top of the table frame, the brake pedal is provided with a brake pedal angular displacement sensor for detecting the rotating angle (the rotated angle or called the rotating angle) of the brake pedal in real time, the brake motor is provided with a brake motor controller for controlling the operation of the brake motor, a central control unit generates or converts a central control signal of the brake motor according to the brake pedal angular displacement sensing information from the brake pedal angular displacement sensor and/or an externally input brake (braking) instruction, the central control signal is connected into the brake motor controller through a cable, the brake motor controller receives the central control signal of the brake motor from the central control unit, the working state of the brake motor is controlled, the working state of the brake-by-wire mechanism is further controlled, and the brake (or no brake) of a corresponding driving wheel is realized.
Generally, a brake motor controller can be used to control the brake motor of each wheel, so as to drive the brake of each wheel to act.
The steering demonstration mechanism is arranged or not arranged according to actual needs, the central control unit generates or transforms a steering central control signal according to steering shaft angle sensing information from a steering wheel angle sensor and/or an externally input steering command, the central control signal is connected to a controller of power equipment or a power circuit of the steering demonstration mechanism through a cable, the controller of the power equipment or the power circuit of the steering demonstration mechanism receives the steering central control signal from the central control unit, and the working state of the power equipment or the power circuit of the steering demonstration mechanism is controlled according to the steering central control signal, so that the steering demonstration piece is in a corresponding steering demonstration state.
The steering demonstration mechanism can adopt any one or more of the following:
1) The table board is provided with driving wheel rotating tables 45 corresponding to the driving wheels respectively, the driving wheels are mounted on rotating discs (rotating members in the rotating tables) of the corresponding driving wheel rotating tables and rotate along with the rotating discs, the driving wheel rotating tables can adopt single-shaft rotating tables, the rotating axis of the rotating discs is vertical, driving wheel rotating table motors for driving the rotating discs to rotate are arranged in the rotating tables, a central control unit generates or transforms central control signals of the driving wheel rotating table motors according to steering shaft angle sensing information from a steering wheel angle sensor and/or externally input steering instructions and is connected into a driving wheel rotating table motor controller through cables, the driving wheel rotating table motor controller receives the central control signals of the driving wheel rotating table motors from the central control unit, the rotating discs are rotated to corresponding angles according to the working states of the driving wheel rotating table motors according to the central control signals of the driving wheel rotating table motors, and the rotating angles of the driving wheels on the rotating tables are consistent with rotating angles (including rotating angles being zero) of the motor vehicle wheels demonstrated by the driving wheels under corresponding steering operation or steering requirements (such as rotating the steering wheels or the steering requirements).
2) The table board is provided with a steering indicator rotating table, the rotating disc of the steering indicator rotating table is provided with a steering indicator (or called movement direction indicator) 30, the steering indicator can be in any shape capable of indicating direction, such as an arrow shape, the steering indicator rotating table can be a single-shaft rotating table, the rotating axis of the rotating disc is vertical, a steering indicator rotating table motor for driving the rotating disc to rotate is arranged in the rotating table, a central control unit generates or converts a central control signal of the steering indicator rotating table motor according to steering shaft angle sensing information from a steering wheel rotating angle sensor and/or an externally input steering instruction, the central control signal is connected to a steering indicator rotating table motor controller through a cable, the steering indicator rotating table motor controller receives the central control signal of the steering indicator rotating table motor from the central control unit, the working state of the steering indicator rotating table motor is controlled according to the central control signal of the steering indicator rotating table motor, the rotating disc is rotated to a corresponding angle, and the rotating angle of the steering indicator on the rotating table is consistent with the demonstrated rotating angle (including zero rotating angle) of a front wheel of the motor vehicle under corresponding steering operation or steering requirement (such as rotating the steering wheel or the steering instruction.
3) The table top is provided with a differential indicating device which is provided with a gear rack mechanism and a differential indicating gear motor for driving a gear to rotate, a rack 35 of the gear rack mechanism is transversely (leftwards and rightwards) arranged and can be usually positioned at the rear side (near the user side) of a base of the differential indicating device so as to be convenient to view, a linear movement guiding mechanism (for example, a guiding groove and a sliding block inserted into the guiding groove which are matched with each other are arranged on the table top, the top of the sliding block is fixedly connected with the bottom surface of the rack positioned above the guiding groove), a gear of the gear rack mechanism is positioned above the rack and is meshed with the rack, a gear shaft longitudinally extends forwards, and the gear is rotatably (for example, through a bearing) arranged on the base of the differential indicating device, the differential indication gear motor is provided with a differential indication gear motor controller for controlling the operation of the differential indication gear motor, a central control unit generates or converts a differential indication gear motor control signal according to steering shaft angle sensing information from a steering wheel angle sensor and/or an externally input steering instruction, the differential indication gear motor controller is connected into the differential indication gear motor controller through a cable, the differential indication gear motor controller receives the differential indication gear motor central control signal from the central control unit and controls the working state of the differential indication gear motor according to the differential indication gear motor central control signal, the differential indication gear motor drives a rack to translate through the gear, the length ratio of the rack positioned at two sides of the gear is consistent with the rotating speed ratio of wheels at two corresponding sides (particularly front wheels at two sides), and therefore, the rotating speed ratio of the wheels at two sides can be embodied through the position state of the rack relative to the gear, but also can reflect the demonstrated steering condition of the motor vehicle.
The steering indicator and the differential indicator (when provided together) may be provided on the same base, i.e. the base of the steering indicator and the base of the differential indicator may be integral, or may be provided on the same base.
A servo motor/servo control system may be employed to drive and control the rotation of the gears of the rack and pinion mechanism, and since the angle of rotation of the steering wheel/shaft corresponds to the angle of rotation of the front wheels, the angle through which the gears have rotated may be determined based on the sensor signal of the steering wheel angle sensor.
The driving motor and its controller of each turntable may also adopt a servo motor/servo control system.
And a plurality of indicator lamps 20 are arranged on the table top of the table frame.
The indicator lights may include at least a head lamp indicator light and a turn lamp indicator light.
The type and quantity of the indicating lamps and the distribution mode of the indicating lamps on the table board can be set according to actual teaching requirements, the distribution mode can be as consistent as possible with the distribution mode of the corresponding lamps on the vehicle, for example, the left side and the right side are symmetrically arranged, the brightness of the indicating lamps of the front lamps (commonly called as big lamps) is greater than that of the indicating lamps of small lamps such as steering lamps, width lamps and the like, and the indicating lamps of the front lamps can be divided into two indicating lamps of low beams and high beams through different brightness and/or different colors. For example, the headlight indicators on the same side are set to be two of the same brightness, with one indicator light indicating that the low beam light is on and two indicator lights indicating that the high beam light is on, or the headlight indicators on the same side are set to be two of different brightness, with the low beam light being indicated by a relatively darker value and the high beam light being indicated by a relatively brighter value.
A horn (loudspeaker) 90 may be provided on the stand for demonstrating the horn of a motor vehicle. The installation position of the horn can be determined according to actual requirements.
Loudspeaker can be equipped with the loudspeaker work pilot lamp 92 rather than the linkage, and when loudspeaker was sounded, loudspeaker work pilot lamp was bright, can establish ties loudspeaker and loudspeaker work pilot lamp or connect in parallel in same circuit branch road, when this branch road was electrified, loudspeaker and loudspeaker work pilot lamp simultaneous working. Through the setting of loudspeaker work pilot lamp, can make the operating condition of loudspeaker more directly perceived.
The horn switch for controlling the operation of the horn (and the horn operation display lamp, if provided) and the indicator lamp switches for controlling the indicator lamps, respectively, may be provided on the table top, and may be manual switches (e.g., manual button switches). The horn switch and the indicator light switch can be connected to a matched central control unit, the central control unit controls the on-off of the horn circuit according to a horn switch signal and controls the on-off of the corresponding indicator light circuit according to a corresponding indicator light switch signal, and under the support of software, the central control unit can also control the on-off (for example, conduction) of the horn circuit or control the on-off (for example, conduction) of the corresponding indicator light circuit according to external related instructions input in other modes or under the condition that related set events occur; or a power supply circuit (or a control circuit, the same below) of the horn or a power supply circuit (or a control circuit, the same below) of the corresponding indicator lamp can be directly arranged without passing through the central control unit, the horn switch is arranged on the power supply circuit of the horn, the on-off (for example, conduction) of the horn circuit is directly controlled by the horn switch, the corresponding indicator lamp switch is arranged on the power supply circuit of the corresponding indicator lamp, and the on-off (for example, conduction) of the corresponding indicator lamp circuit is directly controlled by the corresponding indicator lamp switch; the two control modes can be set simultaneously, the central control unit controls the on-off of the horn circuit or controls the on-off of the corresponding indicator light circuit under the support of software according to external related instructions input by other modes or under the condition of set events, the manual horn switch can directly control the horn to work without the central control unit, and the manual corresponding indicator light switch can directly control the corresponding indicator light to work without the central control unit.
A display screen 50 is provided on the front side of the table top of the table. The display screen and the display output end of the central control system can be connected into the display screen for displaying.
The central control unit may adopt a central control unit/a central control system of the existing drive-by-wire chassis) for data processing, controlling each execution mechanism (e.g., a driving wheel demonstration mechanism, each indicator light, if provided) to operate, generating or transforming a central control signal of the hub motor according to an externally input operation instruction and/or accelerator pedal angular displacement sensing information from an accelerator pedal angular displacement sensor, accessing the central control signal to the hub motor controller through a cable, generating a corresponding hub motor control output according to the central control signal of the hub motor from the central control unit, and further controlling the operating state of each hub motor, for example, by controlling the switching state of a relevant switching element (e.g., an electronic switch) in a power circuit of the hub motor, accessing a suitable voltage (power supply) to a power input end of the corresponding hub motor (or cutting off the power supply of the hub motor), so that the hub motor enters the corresponding operating state.
The central control unit can be provided with a simulated driving program, after the simulated driving program is started, the central control unit controls a display or other display devices (such as a helmet with a VR function) to perform simulated scene display, collects sensing information of various sensors (such as a steering wheel angle sensor, an accelerator pedal angular displacement sensor, a brake pedal angular displacement sensor and other sensors related to the operation of a driver if the sensors are provided) in real time, performs actual driving behavior analysis according to the sensing information of the sensors, compares the actual driving behavior with standard driving behavior in a corresponding scene, records a comparison result, and determines the motion of the motor vehicle in the driving scene according to the actual driving behavior.
The scoring of the simulated driving may be based on the following formula:
wherein the content of the first and second substances,
S rmd for score, the full score is 100;
t is time, where t 1 To evaluate the starting time, t 2 The evaluation termination time is;
k s the steering wheel manipulation weight (coefficient) is set according to an actual evaluation criterion, and may be, for example, 0.3;
k b the weight (coefficient) for operating the brake pedal is set in accordance with the actual evaluation criterion, and may be, for example, 0.4;
k a the accelerator pedal manipulation weight (coefficient) is set in accordance with an actual evaluation criterion, and may be, for example, 0.3;
wherein k is s +k b +k a ＝1；
α sd (t) is the measured steering wheel angle at time tAcquiring sensing information of a steering wheel angle sensor;
α ss (t) the steering wheel turning angle of standard driving under the corresponding scene at the moment t is obtained based on a simulation driving program;
α bd (t) the actual measurement of the angular displacement of the brake pedal at the time t, and the angular displacement is obtained based on the sensing information of the angular displacement sensor of the brake pedal;
α bs (t) obtaining the angular displacement of a brake pedal of standard driving under a corresponding scene at the moment t based on a simulation driving program;
α ad (t) the measured angular displacement of the accelerator pedal at the time t is obtained based on the sensing information of the angular displacement sensor of the accelerator pedal;
α as and (t) the angular displacement of the accelerator pedal in standard driving under the corresponding scene at the moment t is obtained based on a simulation driving program.
Under the condition of equal-interval sampling, the related corner or angular displacement data are discrete data, and the following formula is adopted for grading of simulated driving:
wherein, the first and the second end of the pipe are connected with each other,
S rmd for score, the full score is 100;
k s the steering wheel manipulation weight (coefficient) is set according to an actual evaluation criterion, and may be, for example, 0.3;
k b the weight (coefficient) for operating the brake pedal is set in accordance with the actual evaluation criterion, and may be, for example, 0.4;
k a the accelerator pedal manipulation weight (coefficient) is set according to an actual evaluation criterion, and may be, for example, 0.3;
wherein k is s +k b +k a ＝1；
α sdn Obtaining the measured steering wheel angle sampled for the nth time based on the sensing information of the steering wheel angle sensor;
α ssn for the nth sampling timeSteering wheel corners of standard driving in a scene are obtained based on a simulation driving program;
n is the sampling times of the steering wheel corner, N =1,2,3, …, N;
α bdm obtaining the m-th sampled angular displacement of the brake pedal based on the sensing information of the angular displacement sensor of the brake pedal;
α bsm obtaining the angular displacement of a brake pedal of standard driving under a corresponding scene in the mth sampling based on a simulation driving program;
m is the sampling times of the angular displacement of the brake pedal, and M =1,2,3, …, M;
α adl acquiring the sampled accelerator pedal angular displacement for the first time based on the sensing information of the accelerator pedal angular displacement sensor;
α asl obtaining the accelerator pedal angular displacement of standard driving under the corresponding scene during the first sampling based on a simulation driving program;
l is the number of samples of the angular displacement of the accelerator pedal, L =1,2,3, …, L.
Typically, the steering wheel angle, angular brake pedal displacement, and angular accelerator pedal displacement may be sampled synchronously, in which case M =, = L, and N = M = L.
The steering wheel (steering shaft), the accelerator pedal and the brake pedal all have only one rotational degree of freedom, but the steering wheel can be rotated from a central position (position in a state where the vehicle is not turning) to both sides, and the rotation angle at the central position can be defined as zero, the rotation angle in any determined direction (for example, counterclockwise or left wheeling direction) is positive, and the rotation angle in the other direction is negative.
In practice, the central control unit may employ a raspberry pi series controller (e.g., raspberry pi 4) and an Arduino2560 (Arduino Mega 2560), where Arduino2560 is the lower computer of raspberry pi 4.
The raspberry pi 4 is used for connecting peripheral devices such as a keyboard, a mouse and a display, is provided with an internet communication interface and can be connected to the internet. The arduino2560 is used for connecting controllers (for example, a wheel hub motor controller, a driving wheel turntable motor controller, a steering indicator turntable motor controller, a differential indication gear motor controller and the like according to actual configuration) of demonstration mechanisms such as a driving wheel demonstration mechanism and a steering demonstration mechanism and sensors (for example, a steering wheel corner sensor, an accelerator pedal angular displacement sensor, a brake pedal angular displacement sensor and the like according to actual configuration) of operation mechanisms such as a direction operation mechanism, an accelerator operation mechanism and a brake-by-wire mechanism and the like, and can be provided with a Bluetooth communication module which is connected with control equipment such as a mobile phone and the like through the Bluetooth communication module.
Raspberry pie 4 is the host computer of the central control unit, and uses the ubuntu system to interact with the keyboard through the mouse.
The system controls an arduino2560 controller through control software written by a processing (upper computer) and an arduino ide (lower computer), the arduino2560 controls a steering engine, an LED (light emitting diode), a hub motor controller and the like, the hub motor controller controls a hub motor, a steering wheel sends an analog value to the arduino2560 controller through a knob slide rheostat (used as a steering wheel corner sensor) to judge a steering angle, the system state can be displayed in a display in real time or displayed in a bound mobile phone through a Bluetooth module, and the mobile phone can also realize gear shifting, braking, light control and the like. The upper computer software in the system can also realize steering control by clicking and pulling the button and the sliding block corresponding to the software. The whole system simulates the working principle of a real drive-by-wire chassis, and the voltage of the whole system is within 24V of safety, but not about 300V of a real vehicle. Mechanical structure all is 3D and prints, also can design by oneself according to the teaching needs and change, and the general introduction of mainly used primary and secondary school branch of academic or vocational study is experienced, and the teaching aid is whole small and exquisite succinct and safety ring protects, and the student's cell-phone is directly perceived interdynamic to the accessible bluetooth is connected wantonly.
Utilize raspberry group 4 and arduino 2560's function and characteristic, can realize with being connected of each sensor and controller, according to actual need, under the support of software, can set up corresponding various control function and demonstration function, increase various attachs, make this kind of system can further realize the function expansion from this, the realization utilizes student's cell-phone and teaching aid to combine, realize the combination of a plurality of teaching knowledge points, and student DIY space is huge, can satisfy many-sided teaching needs from this.
For example, raspberry pi and arduino2560 may both connect a keyboard and mouse via a serial data connection.
arduino2560 and bluetooth module are serial connections, all are digital io port connection with steering wheel, led pilot lamp and each motor drive board (motor controller), are the analog port connection with the steering wheel, and these are realized through arduino ide next computer program, and the raspberry group can show present state through processing host computer.
The corner sensor essence of steering wheel is a rotatory slip rheostat, and arduino2560 reads data through simulation port A0 and confirms the angle of steering wheel, and when the resistance reached half, think that the steering wheel was ajusted, is less than for the left turn, is greater than for the right turn, and the rotatory corresponding angle of steering wheel is controlled again, lights left indicator during the left turn simultaneously, lights right indicator during the right turn. Various motor controls and the on-off control of the headlights and other car lights (if any) are realized in a mode of sending instructions through Bluetooth, and the mobile phone realizes the operation of shifting, turning and braking the headlights, the on-off control of the headlights and the like by clicking corresponding function keys through the serial assistant app. All the functions are realized by writing arduino ide software, which is lower computer software.
Can run the host computer software that processing compiled on the raspberry group system, send through the raspberry and accomplish the interaction with keyboard mouse's serial ports, data transmission between them is accomplished with arduino2560 serial ports connection to rethread raspberry group, with the data display of next machine in the display, mainly include steering wheel corner, gear information, light information, braking information. Meanwhile, the upper computer can also send information to the lower computer through the serial port to control the turning angle, the gear, the light and the brake of the steering wheel.
The driving wheel mechanism and the brake-by-wire mechanism thereof, the hub motor controller, the accelerator pedal and the accelerator pedal angular displacement sensor thereof, the steering wheel, the steering shaft and the steering wheel angle sensor thereof, the brake pedal and the brake pedal angular displacement sensor thereof, each indicator light and related control modes (such as a control circuit of the indicator light or a controller) and the like can adopt corresponding devices/elements related to the corresponding chassis-by-wire under the prior art and control modes thereof. Considering that the driving wheel related to the invention does not need to have the loading capacity and the driving force of the motor vehicle, each motor (such as a hub motor, a brake motor and the like) and other power equipment do not need to have the power of corresponding equipment on the motor vehicle, the power which is much smaller than that of the relevant equipment of the motor vehicle can be selected according to the actual requirement, and meanwhile, the power supply (power supply) of each motor and other power equipment can also select the direct current below 36 volts based on the safety consideration.
According to the actual need, other functions and functional devices can be added according to and using the related art of the existing drive-by-wire chassis, wherein the part for viewing can be installed on the table top, and the part for operating can be installed on the table frame at a position suitable for the related operation, that is, the relative position with the human body (user) is consistent or basically consistent with the relative position between the related equipment on the motor vehicle and the human body, for example, the relative positions between the steering wheel and each pedal and the user can be determined in this way.
The preferred and optional technical means disclosed in the present invention may be combined arbitrarily to form several different technical solutions, except for the specific description and the further limitation that one preferred or optional technical means is another technical means.
Claims (10)
1. Motor vehicle driving teaching system based on drive-by-wire chassis, its characterized in that includes:
a rack provided with a table top;
the steering wheel angle sensor is used for detecting the angle of the steering shaft in real time, the sensing output of the steering wheel angle sensor is connected into the central control unit through a cable, the steering wheel is fixedly installed at the top of the axial shaft, and the steering shaft is installed at the rear side of the rack and is in rotary connection with the rack;
the accelerator operating mechanism comprises an accelerator pedal and an accelerator pedal angular displacement sensor for detecting the rotation angle of the accelerator pedal in real time, wherein the sensing output of the accelerator pedal angular displacement sensor is connected into the central control unit through a cable, and the accelerator pedal is arranged below the table top of the table frame;
the driving wheel demonstration mechanism comprises a plurality of driving wheels and a driving wheel provided with a hub motor, the driving wheels are symmetrically arranged on the left and right sides and are arranged on the table board of the table frame, and the power input end of the hub motor is connected with the corresponding hub motor control output of the hub motor controller and works under the control of the hub motor controller;
and the central control unit generates or converts a hub motor central control signal according to an externally input operation instruction and/or accelerator pedal angular displacement sensing information from an accelerator pedal angular displacement sensor, the central control unit is connected to the hub motor controller through a cable, and the hub motor controller generates corresponding hub motor control output according to the hub motor central control signal from the central control unit so as to control the working state of each hub motor.
2. The chassis-by-wire based automobile driving teaching system of claim 1, wherein the driving wheel is provided with a brake-by-wire mechanism for braking the driving wheel, the brake-by-wire mechanism is provided with a brake motor, a brake pedal is arranged below the table top of the table frame, the brake pedal is provided with a brake pedal angular displacement sensor for detecting the rotation angle of the driving wheel in real time, the brake motor is provided with a brake motor controller for controlling the operation of the driving wheel, the central control unit generates or transforms a central control signal of the brake motor according to the brake pedal angular displacement sensing information from the brake pedal angular displacement sensor and/or an externally input brake command, the central control signal is connected to the brake motor controller through a cable, and the brake motor controller receives the central control signal of the brake motor from the central control unit and controls the working state of the brake motor.
3. The chassis-by-wire based automotive driving teaching system of claim 1 wherein the table top of the platform has a plurality of indicator lights.
4. The chassis-by-wire based automotive driving teaching system of claim 3 wherein the indicator lights include a head light indicator light and a turn light indicator light.
5. The chassis-by-wire based automotive driving teaching system of claim 1 wherein said stand is provided with a horn.
6. The chassis-by-wire based automotive driving teaching system of claim 5 wherein said horn is provided with a horn operation display lamp in conjunction therewith.
7. The chassis-by-wire based automobile driving teaching system of claim 1 wherein a display screen is provided on the front side of the top of the platform.
8. The drive-by-wire chassis-based motor vehicle teaching system of any of claims 1-7 wherein the central control unit is provided with a simulated driving program, after the simulated driving program is started, the central control unit controls the display or other display device to perform simulated scene display, collects the sensing information of each sensor in real time, performs actual driving behavior analysis in the simulated driving according to the sensing information of each sensor, and compares the actual driving behavior with the standard driving behavior in the corresponding scene.
9. The chassis-by-wire based automobile driving teaching system of any one of claims 1-7 wherein the central control unit is provided with an upper computer and a lower computer, wherein the upper computer is used for connecting peripheral equipment and is provided with an internet communication interface, the lower computer is used for connecting a controller of the demonstration mechanism and a sensor of the operating mechanism and is provided with a Bluetooth communication module.
10. The chassis-by-wire based motor vehicle driving teaching system of claim 9 wherein the upper computer is raspberry pi 4 and the lower computer is arduino 2560.
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Application publication date: 20221104 |