KR101880262B1 - Racing simulator using virtual reality - Google Patents

Abstract

The present invention relates to a racing simulator, which is operated by a gaming gear and displays a driver's field of view using a VR, and controls a moving position of a first arm and a second arm respectively coupled to left and right sides of the seat of the racing simulator, A first actuator or a second actuator for generating a ride comfort corresponding to the running of the racing car in a racing game to a user who is seated on the first arm or the second arm by the operation of the first actuator or the second actuator, (I) at least one of sway, surge, heave, roll, pitch and yaw for controlling the running of the racing car from the game data of the racing game The first position control data of the first actuator or the first position control data of the first actuator by referring to the position control information of the racing car Acquiring second position control data of the second actuator, and operating the first actuator or the second actuator using the obtained first position control data or the second position control data, (ii) Corrects the first position control data or the second position control data by referring to the load value detected by the first load cell or the second load cell by the operation of the actuator or the second actuator, And a computing device that operates the first actuator or the second actuator using the control data or the corrected second position control data.

Description

[0001] RACING SIMULATOR USING VIRTUAL REALITY [0002]

More particularly, the present invention relates to a racing simulator that is operated by a gaming gear and displays a driver's view using a VR. More particularly, the present invention relates to a racing simulator that is coupled to a seat to provide a user with a bass response corresponding to the running of a racing car, And a VR gear for displaying image data and a load cell for measuring a load value applied to the arm.

In general, a racing simulator is a device that realizes realistic feeling like running of an automobile. It implements the motion to maximize the haptic effect on the seat, thereby delivering the same sense of realism to the user sitting on the seat.

Such a racing simulator allows a user to drive a virtual car by using a gaming gear such as a steering wheel, a brake pedal, an accelerator pedal, a transmission, and a display monitor. In accordance with the position information of the virtual car according to the user's driving operation, So that the user can feel the same feeling as when the vehicle is actually traveling.

However, in the case of the conventional racing simulator, it is often the case that a monitor for a display is put in a situation where the reality is not good enough to meet the needs of the users.

In addition, in the conventional racing simulator, it is possible to change the sensation felt by the user by changing the condition of the vehicle in the game by using the rubber damper or the spring damper in connection with the automobile suspension setting. However, in the actuator control of the racing simulator, Therefore, it is not possible to give various changes of feeling depending on the type of vehicle.

Therefore, the present inventor proposes a racing simulator using a VR and a load cell.

The present invention aims at solving all of the above problems.

In the case of a conventional racing simulator, it is confirmed that a monitor is installed to deteriorate the reality. However, the present invention intends to increase the reality by using the virtual reality VR instead of the monitor.

It is another object of the present invention to transmit a better feeling by reflecting a current state to a position obtained in a game using a load cell, unlike a conventional racing simulator which moves only to a position using a linear actuator.

Another object of the present invention is to provide a ride feeling to a user depending on the type of a vehicle by adjusting the spring and damper coefficients of the suspension of the racing car.

In order to accomplish the objects of the present invention as described above and achieve the characteristic effects of the present invention described below, the characteristic structure of the present invention is as follows.

According to an aspect of the present invention, there is provided a racing simulator that is operated by a gaming gear and displays a driver's view using a VR, wherein a moving position of a first arm and a second arm, respectively coupled to left and right sides of the seat of the racing simulator, A first actuator or a second actuator for generating a ride comfort corresponding to the driving of the racing car in the racing game by controlling the respective users, respectively; A first load cell or a second load cell for respectively measuring a load value applied to the first arm or the second arm by an operation of the first actuator or the second actuator; And (i) referring to the position control information of the racing car including at least one of sway, surge, heave, roll, pitch, and yaw for controlling the running of the racing car from the game data of the racing game, Acquiring the first position control data of the actuator or the second position control data of the second actuator and acquiring the first actuator or the second actuator using the obtained first position control data or the second position control data (Ii) the first position control data or the second position control data with reference to a load value detected by the first load cell or the second load cell by the operation of the first actuator or the second actuator, And the corrected first position control data or the corrected second position control data, Data or computing device operating the second actuator; Is provided.

In the case of the conventional racing simulator, it is confirmed that a monitor is installed to deteriorate the reality. However, the present invention has the effect of raising the reality by using the virtual reality VR instead of the monitor.

In addition, unlike a conventional racing simulator that moves only to a position using a linear actuator, the present invention has the effect of transmitting a better feeling by reflecting a current state to a position obtained in a game using a load cell.

In addition, the present invention has an effect of transmitting ride comfort to the user depending on the type of vehicle by adjusting the spring and damper coefficients of the suspension.

1 is a perspective view schematically showing a racing simulator according to an embodiment of the present invention.
2 is a block diagram schematically showing a racing simulator according to an embodiment of the present invention.
FIG. 3 is a schematic vibration graph of a vibration signal for motion control in a racing simulator according to an embodiment of the present invention, FIG. 3 (a) is a vibration graph obtained from game data, 3 (a) is a vibration graph obtained by applying a filter in a racing simulator according to an embodiment of the present invention.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention.

1 is a diagram showing a configuration of a racing simulator according to the present invention.

2 is a conceptual diagram showing a flow of a racing simulator according to an embodiment of the present invention.

Referring to FIGS. 1 and 2, a gaming simulator, which is operated by the gaming gear 200 and displays a driver's view using the VR according to an embodiment of the present invention, is coupled to the left and right seats 100a and 100b A first actuator 120a for controlling a moving position of the first arm 130a and the second arm 130b to generate a riding feeling corresponding to the driving of the racing car in the racing game, A first load cell 120b for measuring a load value applied to the first arm 130a or the second arm 130b by the operation of the first actuator 120a, the second actuator 120b, and the second actuator 120b, A first load cell 140a, a second load cell 140b, and a computing device 110 for controlling the operation of the racing simulator in response to a user's gaming gear operation.

First, the actuators 120a and 120b may include DC motors, AC motors, and the like as devices for producing power. The actuators 120a and 120b may include a ball screw to change the rotational motion of the motor into a linear motion. At this time, the first actuator 120a controls the movement position of the first arm 130a coupled to the seat left 100a, and the second actuator 120b controls the second arm 130b coupled to the seat right 100b. It is possible to control the moving position of the first pressing member 130b. The first actuator 120a and the second actuator 120b individually control the movement positions of the first arm 130a and the second arm 130b so that the first arm 130a and the second arm 130b ) Can be implemented by various combinations of movement positions of the sheet.

On the other hand, the load cell is a sensor for detecting a force (load). In the present invention, the load value applied to the first arm 130a and the second arm 130b is measured. The first load cell 140a can measure a load value applied to the first arm 130a and the second load cell 140b can measure a load value applied to the second arm 130b.

Next, the computing device 110 calculates the position control information of the racing car including at least one of sway, surge, heave, roll, pitch and yaw which controls the running of the racing car from the game data 510 of the racing game 520 to obtain the first position control data of the first actuator 120a and the second position control data of the second actuator 120b.

Here, the game data 510 of the racing game and the position control information 520 of the racing car are obtained from the PC 500, and the sway, surge, heave, roll, pitch, Which corresponds to 6 degrees of freedom. Specifically, surge refers to x-axis motion, sway refers to y-axis motion, heave refers to z-axis motion, roll refers to x-axis rotation, pitch refers to y-axis rotation, and yaw refers to z-axis rotation. At this time, the position control information 520 may include all or some of sway, surge, heave, roll, pitch, and yaw. The first position control data in the first actuator 120a of the seat left side 100a of the user is transmitted through the position control information 520 to the second position control data in the second actuator 120b of the right side 100b, Can be obtained.

In addition, the computing device 110 operates the first actuator 120a and the second actuator 120b using the obtained first position control data and the second position control data. As a result, the first arm 130a and the second arm 130b are moved, and the seat of the user can be moved accordingly.

For example, if the position control information 520 of the racing car is rotated from the PC 500 to the left, the height value of the first position control data is made smaller than the height value of the second position control data, It can be made to feel the reality by tilting.

In addition, the computing device 110 refers to the load value detected in the first load cell 140a or the second load cell 140b by the operation of the first actuator 120a or the second actuator 120b, Data or the second position control data, and operates the first actuator 120a or the second actuator 120b using the corrected first position control data or the corrected second position control data.

That is, the first arm 130a and the second arm 130b are moved by the operation of the first actuator 120a and the second actuator 120b, and the first load cell 140a and the second load cell 140b, The load value applied to each of the arms 130a and 130b is detected. The computing device 110 may then refer to the detected load value to cause feedback to correct the position control data and move the actuator back to the corrected position again.

1, a racing simulator according to an exemplary embodiment of the present invention may include a VR gear 200 for displaying received image data to a user in VR, From the game data 510 of the racing game, image data corresponding to the driver's field of view of the racing car, and using the obtained image data, support an image corresponding to the driver's view through the VR gear 200 .

2, a racing simulator according to an embodiment of the present invention includes a first sensor 130a for detecting a movement position value and a movement speed value of a first arm 130a moved by a first actuator 120a, And a second detection sensor 150b for detecting a movement position value and a movement speed value of the second arm 130b moved by the sensor 150a and the second actuator 120b.

In addition, the computing device 110 may calculate the load value of the first arm 130a or the second arm 130b detected by the first load cell 140a or the second load cell 140b, 2 detection sensor 150b detects the movement position value and the movement speed value of the first arm 130a or the second arm 130b detected by the detection sensor 150b and the spring coefficient and the damper coefficient of the suspension of the racing car obtained from the game data of the racing game, , The first position control data or the second position control data can be corrected.

For example, with respect to the first position control data of the left side 100a, the operation of the first actuator 120a is performed with the first position control data obtained from the position control information 520 and the operation of the first arm 130a The first load sensor 140a obtains the load value applied to the first arm 130a and the first sensor 130a detects the position value of the first arm 130a and the moving speed And the first position control data can be corrected using the spring coefficient and the damper coefficient of the given first arm 130a.

2, F is a load value obtained by the first load cell 140a, X 'is a moving velocity value of the first arm 130a, X is a moving velocity value of the first arm 130a, (F-DX ') / K + X by using the equation (F-DX') / K and X as the position value of the first arm 130a, D as the damper coefficient, 1 position control data can be corrected. However, if the corrected first position control data is outside the operating range of the first actuator 120a, the maximum or minimum value can be corrected. The above contents can be similarly applied to the second position control data of the right side 100b.

Next, the computing device 110 operates the first actuator or the second actuator using the corrected first position control data or the second position control data, which is simply the position control information 520 obtained from the game data 510, The first load cell 140a or the second load cell 140b and the spring-damper model are used to transmit a good feeling to the user.

In addition, the computing device 110 can adjust the spring coefficient and the damper coefficient of the suspension according to the type of the racing car in the racing game. Specifically, the type of the racing car may vary according to the size, the outer shape, the engine displacement, etc. In the racing simulator according to the present invention, the spring coefficient and the damper coefficient can be adjusted to give different bodily sensations.

For example, in the case of an F1 machine, it is necessary to increase the spring coefficient and the damper coefficient so that the shock absorption is hardly performed. In the case of the sedan, the spring coefficient and the damper coefficient can be lowered to absorb a lot of impact. I can feel it.

Meanwhile, the computing device 110 may be configured to determine the motion of the first actuator 120a or the second actuator 120b using the first position control data or the second position control data obtained by referring to the position control information 520 of the racing car, And the operation of the first actuator 120a or the second actuator 120b using the corrected first position control data or the second position control data can be performed within a predetermined time.

For example, the operation of the first actuator 120a using the first position control data obtained by referring to the position control information of the racing car in order to prevent the disturbance between the image data displayed by the VR gear and the simulator, The operation of the first actuator 120a using one position control data can be performed within 10ms. The same is true in the case of the second actuator 120b.

In general, humans tend to be unaware of rapid changes. For example, the vision is slower than the other senses, and if you change the photo faster than 60Hz, it will be perceived as moving continuously. In particular, the importance of the update cycle is immediately noticeable when you watch 30Hz video and 60Hz video. If you watch 60Hz video after watching 30Hz video, you will feel vivid as if you are watching in front of you. In other words, the visual sense can be felt to be improved. This is not limited to the time of day, and every sensation becomes more realistic as the renewal cycle gets faster, and on average, the sensation is continuous if it is above 100 Hz.

However, in the conventional racing simulator, a slight delay occurs between the situation of the screen and the feeling received from the simulator, which may significantly reduce the sensation and cause motion sickness. Therefore, in the embodiment of the present invention, the reaction of the racing simulator is made within 10 ms to improve the sensation.

On the other hand, the computing device 110 refers to the position control information 520 obtained from the game data, and receives first position control information corresponding to the first position control data and second position control information Calculates an average value of the vibration values in each of the obtained first position control information and the second position control information, and calculates a difference between the vibration value in each of the first position control information and the second position control information and the average value The filtering is performed to reduce the variation of the position control value of the first actuator 120a or the second actuator 120b corresponding to the vibration value as the calculated difference value approaches the average value, And second position control data.

Specifically, the filtering calculates an average value of the vibration values in the first position control information obtained by referring to the position control information 520, and calculates a difference value between the average value and the vibration value in the first position control information. This also applies to the second position control information.

The filtering uses the difference value as a parameter to use a simoid function, which will be described later. As a result, in the present invention, by correcting the error in the integration process by using the characteristic that the change is decreased as the average value is closer to the average value and the change is larger as the average value is decreased, the first actuator 120a or the second actuator 120b corresponding to the vibration value It is possible to reduce the variation of the position control value.

In other words, the physics engine can simulate movement of an object mathematically, but it does not process it continuously, but it carries out computation every cycle with a certain time. Here, an error occurs in the integration process, and the physics engine carries out the work of correcting it. This is a process that does not exist in practice, and therefore, forces that do not exist actually are applied, resulting in a different value from the actual result. Therefore, if you operate the racing simulator with the data obtained by this process, you will get a strong feeling of trembling or bouncing. This has the problem of diminishing the reality.

In order to prevent this, a low pass filter is applied to a conventional racing simulator.

However, when a low-pass filter is applied, the change caused by rapid acceleration, deceleration and vibration from the road surface is reduced, resulting in a decrease in the sensation.

Therefore, in the racing simulator according to the embodiment of the present invention, the integration error is continued with a small amplitude, and a method of reducing the variation as the average value approaches is adopted.

[Equation 1]

는 sigmoid function을 의미하는 것으로

를 나타내며, d는

를 나타낸다. 그리고,

는

를 의미하며 여기서

는 진폭 gain을 나타내고

일때,

는 d의 양수평균,

은 d의 음수평균을 의미하게 된다.In Equation (1), b represents a minimum gain value,

Means a sigmoid function

, D represents

. And,

The

≪ / RTI >

Represents the amplitude gain

when,

Is the positive mean of d,

Is the negative average of d.

는 게임 데이터에서 가져온 액추에이터의 위치 제어값들의 평균값을 나타내며,

는 게임 데이터에서 가져온 액추에이터의 위치 제어값을 나타낸다.At this time,

Represents the average value of the position control values of the actuators taken from the game data,

Represents the position control value of the actuator taken from the game data.

와

는 다음의 수학식 2에서와 같은 관계를 가질 수 있다.And,

Wow

Can be expressed by the following equation (2).

 &Quot; (2) "

In Equation (2), a represents a moving average filter offset.

That is, the filter corresponding to Equation (1) is averaged, the distance from the average is found, and the filtering is performed. This is the vibration caused by the explosion of the engine in the engine. The vibration of the vehicle is mainly caused by the knocking phenomenon which has a certain waveform but the fuel does not blow off at the time. Therefore, the vibration pattern corresponding to the basic engine rotation speed is created and the vibration of the engine is virtualized by adding Gaussian noise.

The results of applying the filter of Equation 1 are shown in FIG.

3 (a) is a vibration graph obtained from game data, and FIG. 3 (b) is a graph obtained by applying a filter to FIG. 3 (a) .

The embodiments of the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer-readable recording medium may be those specially designed and constructed for the present invention or may be those known and used by those skilled in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules for performing the processing according to the present invention, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

Therefore, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all of the equivalents or equivalents of the claims, as well as the following claims, I will say.

100a: Left side of user sheet
100b: Right side of user sheet
110: computing device
120a: first actuator
120b: second actuator
130a: first cancer
130b: second arm
140a: first load cell
140b: second load cell
150a: first detection sensor
150b: second detection sensor
200: VR gear
300: Gaming gear
400: User sheet
500: PC
510: game data
520: Position control information

Claims (5)

1. A racing simulator that is operated by a gaming gear and displays a driver's field of view using a VR,
A first actuator that controls the movement positions of the first arm and the second arm respectively coupled to the left and right sides of the seat of the racing simulator to generate a ride comfort corresponding to the running of the racing car in the racing game, And a second actuator.
A first load cell and a second load cell each measuring a load value applied to the first arm or the second arm by an operation of the first actuator or the second actuator; And
(i) referring to the position control information of the racing car, which includes at least one of sway, surge, heave, roll, pitch and yaw for controlling the running of the racing car from the game data of the racing game, To obtain the first position control data of the second actuator or the second position control data of the second actuator and to operate the first actuator or the second actuator using the obtained first position control data or the second position control data (Ii) correcting the first position control data or the second position control data by referring to a load value detected by the first load cell or the second load cell by the operation of the first actuator or the second actuator And using the corrected first position control data or the corrected second position control data, And a computing device for operating the first actuator or the second actuator,
A first detection sensor for detecting a movement position value and a movement speed value of the first arm moved by the first actuator; And
A second sensing sensor for sensing a movement position value and a movement speed value of the second arm moved by the second actuator;
Further comprising:
The computing device comprising:
(1) a load value of the first arm or the second arm detected by the first load cell or the second load cell, (2) a load value of the first arm detected by the first sensor or the second sensor, (3) a spring coefficient and a damper coefficient of the suspension of the racing car which can be adjusted according to the type of the racing car in the racing game, Corrects the control data or the second position control data, and operates the first actuator or the second actuator using the corrected first position control data or the second position control data. The method according to claim 1,
A VR gear for displaying received image data to the user in VR;
Further comprising:
The computing device comprising:
Acquires image data corresponding to a driver's field of view of the racing car from game data of the racing game and supports an image corresponding to the driver's field of view through the VR gear using the obtained image data Racing simulator. delete The method according to claim 1,
The computing device comprising:
Acquires first position control information corresponding to the first position control data and second position control information corresponding to the second position control data with reference to the position control information obtained from the game data, Calculates an average value of vibration values in each of the first position control information and the second position control information and calculates a difference value between the vibration value and the average value in each of the first position control information and the second position control information And filtering the variation of the position control value of the first actuator or the second actuator corresponding to the vibration value as the calculated difference value becomes closer to the average value, And acquires the data. The method according to claim 1,
The computing device comprising:
The operation of the first actuator or the second actuator using the first position control data or the second position control data obtained by referring to the position control information of the racing car and the operation of the first position control data or the second position Wherein the operation of the first actuator or the second actuator using the control data is performed within a predetermined time.

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