RU73528U1 - SIMULATOR FOR TRAINING A DRIVER OF A CAR - Google Patents

Abstract

The utility model relates to technical means of teaching driving vehicles, can be used to teach driving a car.

A simulator for training a car driver, comprising a driver’s workstation with an acoustic system and with analog controls consisting of pedals and a steering wheel, mechanically connected respectively to pedal position sensors and a steering wheel sensor and discrete controls with discrete sensors of their position, an engine noise simulation module, group the outputs of which are connected to the group of inputs of the shaper of sound signals, the group of outputs of which is connected to the group of inputs of the acoustic system, a visual simulation unit conditions, the first group of inputs of which is connected to the first group of outputs of the machine motion simulation module, the second group of outputs of which is connected to the group of inputs of the engine noise simulator, and the first group of outputs of the visual environment simulation unit is connected to the group of inputs of the visual information display device, characterized in that it additionally contains a gearbox drive, a gearbox simulator mechanism with analog gearshift lever position sensors, a matching device, a module calibrations and a program control module, the first and second groups of outputs of which are respectively connected to the first group of inputs of the calibration module and to the second group of the visual simulation unit, the third group of inputs of which is connected to the first group of outputs of the calibration module, the second group of outputs of which is connected to the first group of inputs module for simulating the movement of the machine, the second group of inputs of which is connected to the first group of outputs of the matching device, the second group of outputs of which is connected to the group of The gearbox drive is mechanically connected to the gearbox simulator mechanism, the gear lever of which is mechanically connected with its position sensors, the outputs of the gear lever sensors, pedals and steering wheel are connected to the group of analog inputs of the matching device, the digital group of inputs of the latter is connected to discrete outputs sensors, and the third group of outputs of the matching device is connected to the second group of inputs of the calibration module, the second group of outputs of the visual simulation unit connected to the third group of inputs of the machine motion simulation module, the third group of outputs of which is connected to the group of program inputs of the matching device.

Description

The utility model relates to technical means of teaching driving vehicles, can be used to teach driving a car.

A known simulator for training drivers of vehicles [1], containing a visual environment simulator made in the form of a tape and an information transmission unit, a workstation with a video control unit connected to the information transmission unit by an input, and with controls associated with their position sensors, a module simulation of the movement of the machine.

The disadvantages of these analogues are that they are very bulky, expensive and cannot qualitatively reproduce the information received by the driver during the training process, and also have a large number of movable mechanical devices that reduce the reliability of the simulator as a whole.

Also known is a simulator for training vehicle drivers [2], comprising a driver’s workstation with an acoustic system and with analog and discrete controls that are mechanically connected respectively to analog and discrete sensors for their position, an engine noise simulation module, the group of outputs of which is connected to the group of inputs of the driver sound signals, the group of outputs of which is connected to the group of inputs of the speaker system, a visual simulation unit, the first group of inputs of which is connected a first group of machine outputs motion modeling module, a second group of outputs of which is connected with a group of input noise simulators, and the first group unit simulate the visual environment of outputs connected to the inputs of group device displaying visual information.

The closest analogue (prototype) is a simulator for learning to drive a car [3], containing a driver’s workstation with an acoustic system and with analog and discrete controls mechanically connected respectively to analog and discrete sensors of their position, an engine noise simulation module, the group of outputs of which is connected with a group of inputs of the shaper of sound signals, a group of outputs of which is connected to a group of inputs of the speaker system, a unit for simulating visual environment, the first group is an input which is connected to the first group of machine outputs motion modeling module, a second group of outputs of which is connected with a group of input noise simulators, and the first group unit simulate the visual environment of outputs connected to the inputs of group device displaying visual information.

The common disadvantage of the prototype and analogues is:

1. The lack of the ability to simulate synchronizers in the gearbox. As a result, the learner has the opportunity to include, for example, first gear at any vehicle speed, which in the real case is not possible.

2. There is no possibility of modeling any type of car, because gear shifting is different for different cars, so to “change” the car in the simulator, you need to change the gearbox simulator.

3. In the prototype, the sensors of analog controls are installed by mechanical rotation of the potentiometers. During operation, these potentiometers can stray, which ultimately leads to a decrease in the quality of modeling the movement of the car.

4. In the prototype, the parameters of road and ground conditions are constantly set in the motion simulation module and do not depend on whether the student is “traveling” on an asphalt road or field. As a result, the driver does not need to move along the road, for example, he can “cut off” the turn by driving off the road and there will be no reaction from the side of the car.

The overall technical result of the proposed technical solution is to improve the quality and effectiveness of training by eliminating the indicated disadvantages of analogues and prototype.

This technical result is achieved by the fact that the known simulator containing a driver’s workstation with an acoustic system and with analog controls consisting of pedals and a steering wheel, mechanically connected respectively to pedal position sensors and a steering sensor and discrete controls, with discrete sensors of their position, a module for simulating engine noise, the group of outputs of which is connected to the group of inputs of the shaper of sound signals, the group of outputs of which is connected to the group of inputs of the acoustic system , a visual environment simulation unit, the first group of inputs of which is connected to the first group of outputs of the machine motion simulation module, the second group of outputs of which is connected to the group of inputs of the engine noise simulator, and the first group of outputs of the visual environment simulation unit, connected to the group of inputs of the visual information display device the fact that it further comprises a gearbox drive, a gearbox simulator mechanism with analog gearshift lever position sensors, a device GUT alignment, calibration and module control program module, the first and second groups whose outputs are respectively connected to the first group of inputs the calibration module and the second group unit simulating the visual environment, the third group of inputs of which is connected with the first group of outputs calibration module,

the second group of outputs of which is connected to the first group of inputs of the machine motion simulation module, the second group of inputs of which is connected to the first group of outputs of the matching device, the second group of outputs of which is connected to the group of inputs of the gearbox drive, mechanically connected to the gearbox simulator mechanism, whose gear lever mechanically connected with sensors of its position, the outputs of the sensors of the gear lever, pedals and steering wheel are connected to the group of analog inputs of the device The digital input group of the latter is connected to the outputs of the discrete sensors, and the third group of outputs of the matching device is connected to the second group of inputs of the calibration module, the second group of outputs of the visual simulation module is connected to the third group of inputs of the machine simulation module, the third group of outputs of which is connected to the group of software inputs of the matching device.

Figure 1 shows a diagram of a simulator.

The simulator contains: A visual information display device 1, a driver’s workstation 2 with analogue (gearbox simulator 7, car pedals 6 and car steering wheel 5) and discrete controls 11, analogue gearshift lever position sensors 10, steering wheel 8 and pedals 9 and discrete sensors of their position 12, gearbox drive 4, acoustic system 3, sound driver 13, engine noise simulation module 15, matching device 14, calibration module 16, program control module 17, module l simulation of the movement of the machine 18, the block simulating the visual environment 19.

Figure 2 shows an embodiment of a matching device 14.

The device comprises a PWM converter 20, an input / output device for discrete signals 21, an input device for analog signals 22, a processor 23.

Figure 3 presents an embodiment of a module for simulating the movement of a machine 18. comprising a module for modeling the chassis 24, a module for modeling the interaction of the chassis with soil 25, a module for calculating the current coordinates of the chassis 26, and a module for determining the parameters of the diesel engine (road and ground conditions) under each wheel 27.

Figure 4 shows an embodiment of the visual environment simulation unit 19. The visual environment simulation block comprises a video image signal generator 28, a video camera control module 29, an internal environment model 30, a program interface module 31, a main video camera module 32, an external environment model 33, a module shaper service windows 34 and the video camera module of the mirror 35.

Figure 5 shows an embodiment of a simulator gearbox 7.

The simulator comprises a gearshift lever 36, a gearshift lever position sensor left-right 37, a gearshift lever position sensor forward-backward 38, an electromagnetic clutch 39, a housing 40, a shaft 41, a power amplifier 42.

A simulator for training a driver of a car, comprising a driver’s workstation 2 with an acoustic system 3 and with analog controls consisting of pedals 6 and a steering wheel 5 mechanically connected to pedal position sensors 9 and a steering wheel sensor 8 and discrete controls 11, with discrete sensors, respectively their position 12, the noise simulation module of the engine 15, the group of outputs of which is connected to the group of inputs of the shaper of sound signals 13, the group of outputs of which is connected to the group of inputs of the acoustic system 3, the block the visual environment 19, the first group of inputs of which is connected to the first group of outputs of the motion simulation module of the machine 18, the second group of outputs of which is connected to the group of inputs of the noise simulator of the engine 15, and the first group of outputs of the visual simulation unit 19 is connected to the group of inputs of the visual information display device 1, characterized in that it further comprises a gearbox drive 4, a gearbox simulator mechanism 7 with analogue gearshift lever position sensors 10, a device coordination 14, calibration module 16 and program control module 17, the first and second groups of outputs of which are respectively connected to the first group of inputs of the calibration module 16 and to the second group of the visual simulation unit 19, the third group of inputs of which is connected to the first group of outputs of the calibration module 16 the second group of outputs of which is connected to the first group of inputs of the motion simulation module of the machine 18, the second group of inputs of which is connected to the first group of outputs of the matching device 14, the second group the outputs of which are connected to the group of inputs of the gearbox 4, mechanically connected to the gearbox simulation mechanism 7, the gear lever of which is mechanically connected to its position sensors 10, the outputs of the sensors of the gear lever 10, pedals 9 and steering wheel 8 are connected to the group of analog inputs matching devices 14, the digital group of inputs of the latter is connected to the outputs of the discrete sensors 12, and the third group of outputs of the matching device 14 is connected to the second group of inputs of the calibration module 16, the second Rupp output unit simulation of visual conditions 19 connected with the third group of modeling module inputs the machine 18, which outputs a third group connected to a group of software inputs matching device 14.

The driver’s workstation 2 is a supporting metal structure on which analog controls and discrete controls 11 are installed,

discrete position sensors of the controls 12, a visual information display device 1 and an acoustic system 3. The driver’s workplace 2 (the seat mounted on it) provides the driver’s posture in accordance with the structure of his body, the controls are placed like on a real car.

Analog controls include: car steering wheel 5, brake pedal 6, gas, clutch, gearbox simulator mechanism 7. These controls are mechanically connected to their position sensors: car steering wheel 5 with a steering wheel position sensor 8, pedals 6 with a sensor pedal position 9, gearbox simulator mechanism 7 with gearshift lever position sensors 10.

The position sensors of the gear lever 10, pedals 9 and steering wheel 8 are potentiometers, the axes of which are rotated by an angle proportional to the movement of the controls.

Each pedal is equipped with a boot device that creates resistance to leg movement, similar to resistance in a real car. This boot device is a spring changing the force on the pedals when moving them.

Discrete controls 11 include steering column switches. Sensors 12 of such controls are either standard switches or additionally installed microswitches, for example, a seat belt enable sensor.

The mechanism of the gearbox simulator 7, (Fig. 5) can be, for example, a structure that allows the shift lever 36 to move in two planes: along the axis of the car (forward - backward) and across the axis of the car (left - right). Sensors 37 and 38 are installed on each axis, at the output of which stresses are formed proportional to the movement of the lever along each axis. Thus, the coordinates of the position of the gear lever are tracked. The shaft when moving the lever along the longitudinal axis of the car is rigidly connected to the electromagnetic clutch 39, which can block the movement of the lever along the longitudinal axis of the car.

The simulator works as follows.

The instructor turns on the simulator and the main task window appears on the monitor screen. With the help of the mouse and keyboard, the instructor can proceed to any task presented in the main window. For example, to enter data on the trainees, to test the operation of the sensors of all controls, all this is provided by the program module 17 for managing the program in conjunction with the rest of the simulator blocks.

The trained driver, located at the workplace 2 of the simulator, acts, in a certain way, depending on the task, on the controls. As a result, the sensors 10, 8, and 9, mechanically connected with the controls, move and analog voltages are formed at their outputs, proportional to the amount of movement of the controls. These voltages are supplied to the matching device 14, with the help of which they are converted into numerical values of variables proportional to the position of the controls. Due to the fact that potentiometric sensors may be knocked down during operation, the operation of all controls is monitored during operation and, if necessary, the controls are calibrated. To do this, use calibration module 16, with the help of which the minimum and maximum values of a given sensor are determined and then these values are normalized in the range from 0 minimum to 1 maximum, as a result, the quality of vehicle modeling during the operation of the simulator is reduced. For the steering, rationing is carried out in the range from -1 to +1. Thus, a technical result is achieved - improving the quality of car modeling, eliminating the disadvantage of paragraph 3. These analog variables enter through the first group of inputs of the vehicle motion simulation module 18 to the car chassis simulation module 24 (see FIG. 3), and through the second group of inputs to the same module the variables from discrete sensors arrive.

The basis of the car’s motion model is made up of differential equations, as a rule, with non-linear right-hand sides describing the movement of aggregates and units of a real machine in interaction with the ground and the terrain profile. Based on these equations, a software module was created that simulates the movement of the machine, which in combination with a personal computer is a module 18 of motion simulation. As a result of the solution (integration) of differential equations, the values of the output variables of the motion model are calculated, the main ones are:

1. engine torque;

2. engine shaft speed;

3. The frequency of rotation of the wheels of the car;

4. linear speed of the machine;

5. angular velocity of rotation of the machine;

6. vertical movement of the sprung part of the body;

7. pitch angle of the sprung part of the body;

8. The angle of heel of the sprung part of the body;

9. A variable characterizing the locking of the gear lever in the gearbox simulator mechanism 7.

To provide changes in the rolling resistance of the wheels and changes in the adhesion of the wheels to the ground when each wheel leaves for different soil in module 18, two additional modules are used - module 26 for calculating the current coordinates of the chassis and module 27 for determining the parameters of road and ground conditions (DGU) under each wheel. On the first group of outputs of module 26, coordinates are formed that describe the spatial position of the car chassis; these variables, using module 29 (Fig. 4), control the position of the main camera 32 on the simulated terrain 33, i.e. an unambiguous relationship between the position of the car on the ground. Therefore, the DGU parameters under each wheel are uniquely determined. These parameters through the second group of outputs of block 19 go to the third group of inputs of motion simulation module 18, in which module 27 determines the values of drag and adhesion coefficients under each wheel depending on the type of soil (for example, asphalt, sand, gravel, etc. .). In the same module, the height of the simulated terrain surface is also determined, which is necessary for modeling the oscillations of the machine. Thus, a technical result is achieved, the disadvantage of the prototype noted in paragraph 4 is eliminated.

The output variables 1-2 of the module 18 through the second group of outputs of the module 18 are fed to the inputs of the noise simulation module of the engine 15, which together with the driver 13 (sound card), which converts the digital code into an audio signal and, if necessary, an amplifier to create the necessary level noise, generates an analog voltage of sound frequency. As a result, the trained driver hears through the headphones or through the speakers (speaker system 3) installed on the driver’s workplace 2, engine noise, depending on the mode of operation of the simulated machine.

The software module for simulating the noise of the engine 15 is as follows. On a real machine, noise is recorded in several characteristic modes, for example, starting with a minimally stable engine shaft speed and ending at maximum intervals at equal intervals in terms of engine shaft speed. Further, the same recording is carried out only at a different load on the engine. The result is a finite number of fragments of noise recording at the driver's seat. Then these fragments are digitized on a computer, and using the output variables of the motion simulation module 14, these fragments are selected and converted using the sound card into an analog engine noise signal. Intermediate values between fixed engine shaft speeds at which recording was made

noise, interpolated by shifting the fundamental frequencies of the spectrum of digitized noise. Thus, the simulated noise in the inventive simulator practically corresponds to real noise and the more digitized fragments, the closer it is to real noise.

The output variables 4-8 of the module 18 characterize the parameters of the machine’s movement on the ground, they are formed in the module 18 using the module 25 interaction of the chassis with the ground, then in the module 26 the current (at each time) coordinates of the movement of the chassis in all degrees of freedom are calculated. Such variables can, for example, be calculated using guide cosines. Then they through the first group of outputs of the module 18 of the motion simulation, go to the first group of inputs of the block 19 of the simulation of the visual environment. These variables, using module 29, control the position of virtual cameras 32 and 35 on the simulated terrain. The terrain is reproduced programmatically using 3D graphics.

There are quite a lot of options for the execution of the block 19 for simulating the visual environment; they can be seen in almost all computer games that use 3D graphics. As an embodiment of the visual information simulation unit 19 in conjunction with the visual information display device 1, is shown in FIG. 4.

The camcorder control unit 29 controls the position of the main camcorder 32 “mounted at the eye level of the driver” and the rear view mirror camera 35. These cameras together with the module 31 of the program interfaces (software) and the shaper 28 of the video image signals (hardware) provide the outputs of the latter video signals. These signals provide a display on the monitor (device 1 display visual information) image of the road on the ground, observed from the driver's seat.

The output variable 9, characterizing the inclusion of locking is formed in the simulation module of the chassis 24 as follows. Suppose a simulated car “moves” at a speed of, for example, 100 km / h, and the driver tries to engage 1st gear. In the real case, it is not possible to engage the first gear at this speed, because This is hindered by the gearbox synchronizers, while in the prototype, a lower gear can be turned on at any speed. To do this, the coordinates of the position of the gear lever are calculated by the position of the sensors of the lever 10 of the position of the gear lever. Knowing the coordinates of the lever position, you can always determine which gear the trained driver wants to engage. If, for example, he moves the lever to the side of the first gear, and the speed of the simulated car is higher than that at which the driver can engage this gear, a variable characterizing the lock of the shift lever

gear in the gearbox simulator 7, takes a value of 1. This variable through the third group of outputs of the motion simulation module of the machine 18 is fed to the program input of the matching device 14, where it is converted to the PWM voltage using the processor 23 and the PWM converter 20. Further, this voltage is supplied to the gearbox drive 4 - to the input of the power amplifier 42, which provides the power of the control pulses necessary for controlling the electromagnetic clutch 39. In the presence of PWM voltage, the electromagnetic clutch 39 engages and rigidly couples the shaft 41 to the housing 40. As a result, the gear lever 36 connected to the shaft 41 cannot move forward in the 1st gear direction until the speed of the simulated car decreases below permissible at which this transmission can be engaged. In this case, the variable characterizing the locking of the gear lever in the gearbox simulator 7 mechanism takes a value of 0. In this case, the electromagnetic clutch 39 is disconnected and the shaft 41 is unlocked relative to the housing 40, and the gear lever will freely enter the 1st gear position. It also provides shifting of other gears when changing from a higher gear to a lower gear. Thus, a technical result is achieved, the disadvantage of the prototype noted in paragraph 1 is eliminated.

Thus, the proposed technical solution eliminates the disadvantages of the simulator of the prototype and increase its effectiveness.

Information sources:

1. USSR Author's Certificate No. 1728875 Mcl G09B 9/04

2. Certificate for utility model No. 24032 μl G09B 9/04

3. Utility Model Patent No. 31033 Mcl G09B 9/04

Claims (1)

A simulator for training a car driver, comprising a driver’s workstation with an acoustic system and with analog controls consisting of pedals and a steering wheel, mechanically connected respectively to pedal position sensors and a steering wheel sensor and discrete controls with discrete sensors of their position, an engine noise simulation module, the group of outputs of which is connected to the group of inputs of the shaper of sound signals, the group of outputs of which is connected to the group of inputs of the acoustic system, the simulation unit is visually conditions, the first group of inputs of which is connected to the first group of outputs of the machine motion simulation module, the second group of outputs of which is connected to the group of inputs of the engine noise simulator, and the first group of outputs of the visual environment simulation unit is connected to the group of inputs of the visual information display device, characterized in that it additionally contains a gearbox drive, a gearbox simulator mechanism with analog gearshift lever position sensors, a matching device, a module calibration module and the program control module, the first and second groups of outputs of which are respectively connected to the first group of inputs of the calibration module and the second group of the visual simulation unit, the third group of inputs of which is connected to the first group of outputs of the calibration module, the second group of outputs of which is connected to the first group of inputs module for simulating the movement of the machine, the second group of inputs of which is connected to the first group of outputs of the matching device, the second group of outputs of which is connected to the group of strokes of the gearbox drive mechanically connected to the gearbox simulator mechanism, the gear lever of which is mechanically connected with its position sensors, the outputs of the gear lever sensors, pedals and steering wheel are connected to the group of analog inputs of the matching device, the digital group of inputs of the latter is connected to the outputs of discrete sensors and the third group of outputs of the matching device is connected to the second group of inputs of the calibration module, the second group of outputs of the visual simulation unit connected to the third group of inputs of the machine motion simulation module, the third group of outputs of which is connected to the group of program inputs of the matching device.