WO2022134859A1

WO2022134859A1 - Large-closed-space immersive driving system and control method

Info

Publication number: WO2022134859A1
Application number: PCT/CN2021/127737
Authority: WO
Inventors: 周维; 罗晓亮; 吴自州
Original assignee: 武汉小绿人动力技术股份有限公司
Priority date: 2020-12-23
Filing date: 2021-10-29
Publication date: 2022-06-30
Also published as: CN112506351A; CN113157098A; CN113157098B

Abstract

Disclosed in the present invention is a large-closed-space immersive driving system, comprising: an interactive system comprising potentiometric transducers disposed on a steering wheel, a brake and an accelerator of real drivable equipment; a pose measurement system disposed on the real drivable equipment and used for measuring pose information; and a main unit provided internally with a control module and a VR scene rendering module, wherein the control module receives the pose information and controls virtual drivable equipment in a virtual scene to move, so that the virtual drivable equipment in the virtual scene is consistent with the real drivable equipment in movement, the VR scene rendering module is used for rendering the whole VR scene, and a VR head-mounted display receives the virtual scene rendered by the VR scene rendering module and the virtual drivable equipment, and displays the virtual scene and the virtual drivable equipment. The present invention also provides a control method for the large-closed-space immersive driving system. The system and method of the present invention have both the driving feeling of the real drivable equipment, and the immersion, science and technology feeling, and richness of the virtual drivable equipment.

Description

A large enclosed space immersive driving system and control method

technical field

The invention relates to the technical field of science and technology sports. More specifically, the present invention relates to a large enclosed space immersive driving system and control method.

Background technique

Motor sports is a very exciting competitive sports activity. Motorists who experience motor sports can find a little turbulence in ordinary life. Motor sports is a project that is especially popular among young people. Virtual reality (Virtual Reality, virtual reality) is a virtual world simulated by a computer, which can make the experiencers feel as if they are in the real world and have a strong sense of immersion. At present, it has been widely used in the fields of game entertainment and safety training.

Existing in-vehicle virtual reality systems focus on improving the entertainment experience of passengers rather than drivers, ignoring the interactive experience between drivers and virtual scenes, and also restricting the application of virtual reality systems in car driving, such as training. Bringing the driver into the virtual scene will enhance the sense of immersion and control of the in-vehicle virtual reality technology. The feedback of the virtual scene to the real vehicle improves the richness of the experience and enhances the safety of driving through additional safety settings in the virtual reality scene. performance.

SUMMARY OF THE INVENTION

One object of the present invention is to provide an immersive driving system and control method in a large enclosed space. Compared with the existing vehicle-mounted virtual reality system, the real drivable device has both a driving sense, a sense of technology and richness, and pays attention to safety. sex.

To achieve these objects and other advantages according to the present invention, a large enclosed space immersive driving system is provided, comprising:

An interactive system, which includes potentiometer-type sensors set on the steering wheel, brake and accelerator of the real drivable device, which are used to obtain the steering angle values of the steering wheel, brake and accelerator;

a pose measurement system, which is set on the real drivable device and used to measure the pose information of the real drivable device;

A host, which is fixed on a real drivable device, a control module and a VR scene rendering module are arranged in the host, and the control module is connected with each potentiometer sensor and the pose measurement system of the interactive system, and receives The angle values of the steering wheel, brake and accelerator, as well as the pose information of the real drivable device, according to the obtained steering wheel, brake and accelerator angle values and the pose information of the real drivable device, the virtual scene in the virtual scene in the VR scene rendering module is rendered. The action of the drivable device, so that the virtual drivable device in the virtual scene is consistent with the action of the real drivable device; the VR scene rendering module is used to render the VR scene;

The VR head-mounted display is worn on the driver's head, and the VR head-mounted display receives and displays the virtual scene and the virtual drivable device rendered by the VR scene rendering module.

Preferably, an attitude measurement system is also included, which includes a gravity sensor arranged on the VR head-mounted display and a laser detector arranged on the real drivable device, and the attitude measurement system is used during the operation of the real drivable device. The attitude information of the driver is measured, and the information is transmitted to the control module, and the virtual driver action of the virtual drivable device in the virtual scene in the VR scene rendering module is rendered by the control module.

Preferably, the interactive system further includes a potentiometer-type sensor arranged on the suspension of the real drivable device, which is used to obtain the vibration value of the suspension.

Preferably, the pose measurement system obtains the position information of the real drivable device through the base station in the venue and the ultra-wideband UWB position tag on the real drivable device, and at the same time integrates the sensor information of the interactive system to obtain the device's attitude information .

Preferably, multiple rendering scenes are set in the VR scene rendering module, and the virtual track in the multiple rendering scenes is consistent with the track on which the real drivable device runs.

Preferably, a power supply system is also included, which is used to supply power to the host, the VR head-mounted display, the attitude measurement system and the pose measurement system.

Preferably, a knob button is provided on the steering wheel, which is used to control the switching of multiple rendering scenes and is used for human-computer interaction.

Preferably, the pose information of the real drivable device measured by the pose measurement system includes geographic location and pitch angle, roll angle, yaw angle, linear velocity, and angular velocity attitude information of the real drivable device.

Preferably, the control module of the host is further provided with an algorithm module, the control module also receives the current pose information of the virtual drivable device in the virtual scene track provided by the VR scene rendering module, and the algorithm module converts the virtual drivable device into the virtual scene. The pose information of the driving device is calculated and compared with the pose information of the real drivable device and the angle values of the steering wheel, brake and accelerator to obtain the angle values of the steering wheel, brake and accelerator that need to be adjusted by the virtual drivable device. The steering wheel, brake and accelerator angle values that the drivable device needs to adjust are passed to the VR scene rendering module, and the actions of the virtual drivable device are controlled by the VR scene rendering module, so that the virtual drivable device in the virtual scene is consistent with the real drivable device. .

Preferably, the host is further provided with a security policy module, which receives the virtual scene track information provided by the VR scene rendering module and the current pose information of the virtual drivable device, and sets a virtual boundary on the virtual scene track, so The security policy module sets a minimum distance between the virtual drivable device and the virtual boundary, and the security policy module monitors the distance between the virtual drivable device and the virtual boundary at all times. Control the emergency braking or deceleration of the real drivable device; the security policy module is also set to monitor the networking status of the real drivable device, and if it is detected that the network connection is lost, the security policy module controls the real drivable device emergency through the connection control module brake.

Preferably, it also includes an Internet of Vehicles system, which consists of a vehicle host, an on-site server, and a cloud server to jointly build an information exchange network. The cloud server UVB base station receives the position and attitude information of the real drivable device through the vehicle's UVB position tag and wirelessly transmits it. It is transmitted to the on-site server to the on-board host, and the cloud server receives the pose information of multiple real drivable devices in the same scene, and after the combination, the information is fed back to the host through the on-site server, and the host is in the virtual scene through the host. Rendering multiple virtual drivable devices; the cloud server is also provided with a monitoring computing module, which monitors the poses of multiple real drivable devices. If the set program is exceeded, the on-site server is fed back to the host to control the real drivable devices. The device operates according to the set program.

Preferably, the host is also provided with a virtual action module, and virtual effects that are not present in the real scene appear in the virtual track, and are fed back to the real device through the virtual action module, specifically:

1) A virtual motion effect occurs in the virtual scene, and the effect is compiled into a specific real drivable device parameter change through the host's virtual motion module, including steering wheel, brake, accelerator, and suspension changes;

2) The parameter changes are directly reflected in the virtual scene through the host, and presented to the driver through the VR head-mounted display;

3) Parameter change The actual drivable equipment is controlled by the control system of the host to complete the actual parameter change.

The present invention also provides a control method for the immersive driving system in a large enclosed space, comprising the following steps:

Step 1): The control module running on the vehicle host reads the pose information of the current real drivable device provided by the pose measurement system through the serial port, and at the same time receives the current pose information of the virtual drivable device in the virtual track provided by the VR rendering module ;

Step 2): make a difference between the pose information of the real drivable device provided by the pose measurement system and the pose state information of the current virtual drivable device provided by the VR rendering module to obtain the error of the pose information;

Step 3): after the PID/MPC control algorithm, the compensation control amount required for the pose error repair is obtained;

Step 4): the control module obtains the current state data of the steering wheel, accelerator, brake and suspension of the real drivable device operated by the driver from the interactive system, as a direct control quantity;

Step 5): input the integrated control amount superimposed by the closed-loop error compensation control amount and the direct control amount into the control module;

Step 6): the control module executes the relevant instructions to make the virtual drivable device act, and the virtual scene screen is refreshed;

Step 7): The VR rendering module transmits the virtual scene picture data to the VR head-mounted display, and displays it for the driver to see through the VR head-mounted display.

The present invention also provides another control method for a large enclosed space immersive driving system, comprising the following steps:

Step 4): the control module obtains the current state data of the steering wheel, accelerator, brake and suspension of the virtual drivable device operated by the driver from the interactive system, as a direct control amount;

Step 5): input the integrated control amount superimposed by the closed-loop error compensation control amount and the direct control amount into the virtual action module;

Step 6): the virtual action module executes the relevant instructions to make the real drivable device act, so that the real drivable device is consistent with the virtual drivable device state;

The present invention includes at least the following beneficial effects:

The invention provides a brand-new way of combining virtual and real for the immersive driving movement in a large enclosed space, and has the advantages of both the driving feeling of a real drivable device and the technological sense and richness of a virtual game. The system of the present invention belongs to the product of man-machine combination, which not only ensures the real driving feeling of the traditional physical driving equipment, but also takes into account the technicality and richness of interest. The system and method of the present invention extend traditional virtual reality application scenarios to real driving equipment scenarios, organically combine the real sense of motion with the immersion of the virtual world, and push the experience of virtual reality to a new height.

Other advantages, objects, and features of the present invention will appear in part from the description that follows, and in part will be appreciated by those skilled in the art from the study and practice of the invention.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the system block diagram of the present invention;

3 is a block diagram of one of the control algorithms of the present invention;

4 is a block diagram of another control algorithm of the present invention;

Fig. 5 is the schematic diagram of the car networking system of the present invention;

Fig. 6 is the schematic diagram of steering control of the present invention;

7 is a schematic diagram of the braking control of the present invention;

8 is a schematic diagram of the throttle control of the present invention;

FIG. 9 is a schematic diagram of the suspension control of the present invention.

Description of reference numbers:

1. Real drivable equipment, 2. Interactive system, 3. VR head-mounted display, 4. Host, 5. Pose measurement system, 6. Power supply system.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials can be obtained from commercial sources unless otherwise specified; in the description of the present invention, The terms "landscape", "portrait", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", The orientation or positional relationship indicated by "inside" and "outside" is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the indicated device or element must have The particular orientation, construction and operation in the particular orientation are therefore not to be construed as limitations of the invention.

As shown in Figure 1 and Figure 2, the present invention provides a large enclosed space immersive driving system, including:

Interactive system 2, which includes potentiometer-type sensors set on the steering wheel, brake, suspension and accelerator of the real drivable device 1, and is used to obtain the steering angle values of the steering wheel, brake, suspension and accelerator;

The pose measurement system 5 is set on the real drivable device 1 and used to measure the pose information of the real drivable device 1; the pose measurement system 5 is a position measurement solution based on ultra-wideband technology;

The host 4 is fixed on the real drivable device 1, and the host 4 is provided with a control module and a VR scene rendering module, the control module and each potentiometer sensor of the interaction system 2 and the pose measurement system 5 are connected, and receive the steering wheel, brake and accelerator angle values and the pose information of the real drivable device 1, and render the VR scene rendering module according to the obtained steering wheel, brake and accelerator angle values and the pose information of the real drivable device 1 The virtual drivable device in the virtual scene in the virtual scene moves, so that the virtual drivable device in the virtual scene is consistent with the action of the real drivable device 1; the VR scene rendering module is used to render the VR scene, and the VR scene rendering module in the Multiple rendering scenes are set, and the virtual track in the multiple rendering scenes is consistent with the track run by the real drivable device 1; the steering wheel is provided with knob buttons, which are used to control the switching of multiple rendering scenes;

The VR head-mounted display 3 is worn on the driver's head, and the VR head-mounted display 3 receives and displays the virtual scene and the virtual drivable device rendered by the VR scene rendering module.

Also includes: an attitude measurement system, which includes a gravity sensor set on the VR head-mounted display 3 and a laser detector set on the real drivable device, the attitude measurement system is used to measure during the operation of the real drivable device 1 The attitude information of the driver is transmitted to the control module, and the virtual driver action of the virtual drivable device in the virtual scene in the VR scene rendering module is rendered by the control module;

The interactive system 2 also includes a potentiometer-type sensor arranged on the suspension of the real drivable device 1, which is used to obtain the vibration value of the suspension.

It also includes a power supply system 6 for supplying power to the host 4 , the VR head-mounted display 3 and the pose measurement system 5 .

In the above technical solution, as shown in FIG. 1 , the driver is driving a real drivable device 1 and wears a VR head-mounted display 3 on his head. The driver drives the real drivable device 1 and sees a highly immersive virtual drivable device scene. The virtual track is consistent with the real track, and the surrounding virtual scene can change.

On the real drivable device 1 chassis, add six main modular systems.

First, the pose measurement system 5 is used to measure the pose information of the current real drivable device 1 . The location information is entered into the host computer 4 behind the back chair. The pose information refers to the actual geographic location of the real drivable device 1 , that is, the latitude, longitude, and attitude, that is, attitude information such as pitch angle, roll angle, yaw angle, linear velocity, and angular velocity of the real drivable device 1 .

Second, the attitude measurement system is used to measure the attitude information of the driver during the operation of the real drivable device 1 . When the driver's posture changes, a gravity sensor, such as a gyroscope, can be installed on the VR head-mounted display 3 to sense and measure the change of the driver's posture. Combined with the laser detector installed on the real drivable device 1, it can help positioning The driver's position, the driver's perspective and posture change, for example, the driver turns his head, and the driver's specific sitting posture, head and body tilt angle, etc., are displayed in the virtual rotation scene for better simulation.

Third, two software modules run on the host 4 system. One is a control module, which ensures that the state of the car in the VR virtual track and the real car driven by the driver are synchronized. The other is a VR scene rendering module that renders virtual drivable device scenes.

Fourth, the VR head-mounted display 3 displays the content of the VR scene rendering module.

Fifth, the interaction system 2 mainly refers to the steering wheel, accelerator, and brake pedal. The steering wheel adopts knob buttons to realize the human-computer interaction between the driver and the VR scene. In addition, the potentiometer sensor can collect the angle values of the steering wheel, brake and accelerator in real time, and set the initial state of the steering wheel, brake and accelerator to 0. According to the direction and angle of the steering wheel, brake and accelerator rotation, the potentiometer sensor collects And get the corresponding corner value to pass to the virtual drivable device in the virtual drivable device scene, so that the two are always in sync.

Sixth, the power supply system 6 mainly supplies power to the host 4 , the pose measurement system 5 and the VR head-mounted display 3 .

In another technical solution, by setting the rotary button in the interactive system 2, the driver can switch the virtual racing venue at will. For example, in the desert racing, he can switch to the snow racing at any time. There are raptors around, and the birds and beasts fly in the Surrounding, greatly enriching the racing experience.

In another technical solution, the control module of the host computer 4 is further provided with an algorithm module, which complements the error on the basis of directly controlling the virtual car and reduces the attitude and position error caused by the information delay. Receive the current pose information of the virtual drivable device in the virtual scene track provided by the VR scene rendering module, and the algorithm module compares the pose information of the virtual drivable device with the pose information of the real drivable device and the steering wheel, brake and accelerator. Calculate and compare the steering angle values to obtain the steering wheel, brake and accelerator angle values that the virtual drivable device needs to adjust, and pass the calculated steering wheel, brake and accelerator angle values that the virtual drivable device needs to adjust to the VR scene rendering module. The VR scene rendering module controls the action of the virtual drivable device, so that the virtual drivable device in the virtual scene is consistent with the action of the real drivable device.

In another technical solution, the host 4 is further provided with a security policy module, which receives the virtual scene track information and the current pose information of the virtual drivable device provided by the VR scene rendering module, and displays the virtual scene track information on the virtual scene track. Setting a virtual boundary, the virtual boundary includes the boundary between the virtual car and the virtual scene, and also includes the boundary between multiple virtual devices, and the security policy module sets a minimum distance between a virtual drivable device and the virtual boundary, and the security policy The module constantly monitors the distance between the virtual drivable device and the virtual boundary. If the distance is smaller than the minimum distance, the security policy module controls the real drivable device 1 to brake or decelerate urgently through the connection control module. By artificially setting the virtual boundary, when it is possible to touch the boundary, because the calculation of the boundary distance in the virtual interface is more accurate, and there is no field boundary in the real scene, the real drivable device 1 can be controlled to brake or decelerate urgently. For example, the real drivable device has 4 lanes, while the virtual drivable device has 2 lanes or 8 lanes. By setting a virtual boundary on the virtual drivable device site, the safety guarantee for the real drivable device 1 is realized. .

The security policy module is also set to be able to monitor the networking status of the real drivable device, and if it is detected that the network connection is lost, the security policy module controls the real drivable device to make emergency braking through the connection control module, and the connection or frame drops in the virtual environment. trigger the corresponding safety mechanism.

In another technical solution, as shown in Fig. 5, a car networking system is also included, which consists of a vehicle host, an on-site server, and a cloud server to jointly build an information exchange network. The cloud server UVB base station receives the real The pose information of the drivable devices is wirelessly transmitted to the on-site server and then to the vehicle-mounted host. The cloud server receives the pose information of multiple real drivable devices in the same scene, and after combining the information, passes the on-site server. Feedback to the host, and render multiple virtual drivable devices in the virtual scene through the host; the cloud server is also provided with a monitoring computing module, which monitors the poses of multiple real drivable devices. The on-site server feeds back to the host computer to control the real drivable equipment to act according to the set program.

In the above technical solution, by setting the Internet of Vehicles system, multiple real drivable devices running in the same venue can render the real drivable devices in the venue at that time through the VR scene rendering module. Moreover, through the monitoring computing module set in the cloud server, the operation of multiple real drivable devices and the positional relationship between them can be monitored at the same time. The distance between any two adjacent real drivable devices, that is, the distance between the front and rear or left and right exceeds the set range, then this information is calculated and then fed back to the host through the on-site server to control one of the real drivable devices to decelerate or accelerate so that the two Each real drivable device operates within the set respective safe limits. For example, 4 real drivable devices were monitored to operate in the same venue at the same time, and one of the real drivable devices performed emergency braking based on the safety policy module. Mark it out, so as to calculate the actual space in which other real devices can run, and feed back to the host through the on-site server to control the movement route of other real drivable devices, that is, mark an obstacle in the virtual scene.

In another technical solution, the pose measurement system obtains the position information of the real drivable device through the base station in the venue and the ultra-wideband UWB position tag on the real drivable device, and at the same time integrates the sensor information of the interactive system to obtain Attitude information of the device. For example, the overall tilt angle of the device is obtained through the gyroscope of the gravity sensor, but it is necessary to determine how it is tilted. At this time, combined with the parameters of the suspension, it is judged whether the tilt is caused by the collision, and which side and which axis starts to tilt (from each The parameters of the angle of collision are different), and it will also analyze whether it is the tilt caused by braking or acceleration. After integrating the above parameters, it can be passed to the host computer, and simulate the posture of the virtual car, and also pass it to the safety module to determine whether the car is about to overturn.

In another technical solution, a virtual action module is also provided on the host, and virtual effects that are not present in the real scene appear in the virtual track, and are fed back to the real device through the virtual action module, specifically:

The virtual motion effects in the above technical solutions include: virtual acceleration, virtual deceleration, collision, block, etc., wherein virtual acceleration refers to the acceleration of virtual driving equipment, but the real driving equipment does not perform according to the same acceleration, but only simulates acceleration The push back feeling and other effects.

In the above technical solution, it mainly includes the following virtual effect control:

Steering control: As shown in Figure 6, the steering wheel outputs the angle signal to the trip computer, i.e. the host computer, through the angle sensor, that is, the potentiometer sensor to control the steering motor. The linear displacement sensor monitors the displacement of the steering motor and feeds it back to the trip computer for closed-loop control. Control the steering angle for the driver's real steering wheel. When there are virtual special road conditions, such as driving in a swamp, the trip computer controls the virtual feedback motor to work to simulate the steering feel. At the same time, the steering wheel additional force feedback system will provide force feedback according to the steering wheel angle to simulate The sense of handling, that is, the driver can actually feel the feeling of the car falling into the swamp when seeing the swamp in the virtual scene.

Brake control: As shown in Figure 7, the brake pedal controls the driving electric cylinder through the position sensor 1 to the driving computer signal, the driving electric cylinder pushes the brake master cylinder to realize braking, and the position sensor 2 feeds back the position signal of the driving motor to the driving computer to carry out the braking. Closed-loop control, the brake pedal itself is equipped with a damping device to simulate the feel of the foot.

Accelerator control, as shown in Figure 8, the accelerator pedal controls the motor controller through the position sensor to the trip computer signal, the motor controller controls the in-wheel motor to realize driving, the motor controller feeds back the vehicle speed signal of the in-wheel motor to the trip computer to realize closed-loop control, and the accelerator The pedal itself is equipped with a damping device to simulate the feel of the foot.

Brake control and throttle control are mainly based on the virtual scene. If there are related props, the virtual drivable device will decelerate or accelerate in the virtual scene, which will be fed back to the control system through the virtual scene, and the installation will be controlled by the control system. Damping devices on the brake pedal or accelerator pedal to simulate the feeling of acceleration or deceleration to form a match between the real scene and the virtual scene.

Suspension control, as shown in Figure 9, the suspension part simulates different attitudes by controlling the position of the upper point of the shock absorber. Each shock absorber is equipped with an electric cylinder and a linear displacement sensor, and the trip computer provides the corresponding shock absorption The electric cylinder telescopic command of the shock absorber is used to control the suspension posture at the current position, and the corresponding linear displacement sensor feeds back the real-time shock absorber posture to the trip computer to form a closed-loop control. That is to say, if an obstacle is encountered in the virtual scene, the virtual drivable device will inevitably vibrate, but in fact there is no obstacle in the real scene. In order to simulate the feeling of obstacle collision, when an obstacle is encountered in the virtual scene, The electric cylinder action of the suspension is controlled by the control system, the action of the shock absorber is realized, and the virtual scene is simulated.

Step 2): the control module of the host receives the steering wheel, accelerator and brake angle values and rotary key operation signals of the current real drivable device transmitted by the interactive system through the serial port;

Step 3): The control module calculates and compares the pose information that needs to be adjusted for the virtual drivable device and the angle values of the steering wheel, brake and accelerator through the calculation module, and is responsible for sending the final control command to the VR rendering module, and the VR rendering module executes the relevant The command makes the virtual drivable device move, and the virtual scene screen refreshes;

Step 4): The VR rendering module is responsible for transmitting the virtual scene picture data to the VR head-mounted display, and displaying it for the driver to see through the VR head-mounted display.

One of the most critical technologies of the entire system of the present invention is to realize the state synchronization between the real physical device and the virtual device, and reduce the delay, that is, the working principle of the control algorithm module is shown in Figure 3, and the physical vehicle refers to the real vehicle Driving equipment, steering wheel accelerator brake feedback system is an interactive system. The controlled object of the whole system is the VR virtual device, and the control goal is to minimize the error between the virtual device state and the physical device state.

The specific control process of the algorithm module is as follows:

1) The control module obtains the current steering wheel, accelerator and brake angle values of the real drivable device operated by the driver from the interactive system as direct control quantities;

2) Make a difference between the pose information of the real drivable device provided by the pose measurement system and the pose state information of the current virtual drivable device provided by the VR rendering module to obtain the error of the pose information;

3) After the PID/MPC control algorithm, the compensation control amount required for the pose error repair is obtained;

4) Input the integrated control amount superimposed by the closed-loop error compensation control amount and the direct control amount to the VR rendering module;

5) The VR rendering module controls the virtual drivable device to execute control instructions.

The direct control quantity ensures the fast response of the system, and the error compensation closed-loop control ensures the minimization of the error.

The present invention also provides another control method for an immersive driving system in a large enclosed space, comprising the following steps:

Step 4): the control module obtains the current state data of the steering wheel, accelerator, brake and suspension of the virtual drivable device operated by the driver from the interactive system, as the direct control quantity;

The working principle of the above-mentioned specific control algorithm module is shown in FIG. 4 .

Although the embodiment of the present invention has been disclosed as above, it is not limited to the application listed in the description and the embodiment, and it can be applied to various fields suitable for the present invention. For those skilled in the art, it can be easily Therefore, the invention is not limited to the specific details and illustrations shown and described herein without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims

An immersive driving system in a large enclosed space, characterized by comprising:

An interactive system, which includes potentiometer-type sensors set on the steering wheel, brake and accelerator of the real drivable device, which are used to obtain the steering angle values of the steering wheel, brake and accelerator;

a pose measurement system, which is set on the real drivable device and used to measure the pose information of the real drivable device;

A host, which is fixed on a real drivable device, a control module and a VR scene rendering module are arranged in the host, and the control module is connected to each potentiometer sensor and the pose measurement system of the interactive system, and receives The angle values of the steering wheel, brake and accelerator, as well as the pose information of the real drivable device, are based on the obtained steering angle, brake and accelerator angle values and the pose information of the real drivable device to the virtual scene in the VR scene rendering module. The action of the drivable device, so that the virtual drivable device in the virtual scene is consistent with the action of the real drivable device; the VR scene rendering module is used to render the VR scene;

A VR head-mounted display, which is worn on the driver's head, and the VR head-mounted display receives and displays the virtual scene and the virtual drivable device rendered by the VR scene rendering module;

The control module of the host is also provided with an algorithm module, the control module also receives the current pose information of the virtual drivable device in the virtual scene track provided by the VR scene rendering module, and the algorithm module converts the position of the virtual drivable device. The attitude information is calculated and compared with the pose information of the real drivable device and the angle values of the steering wheel, brake and accelerator to obtain the angle values of the steering wheel, brake and accelerator that the virtual drivable device needs to adjust. The adjusted steering wheel, brake and accelerator angle values are passed to the VR scene rendering module, and the actions of the virtual drivable equipment are controlled by the VR scene rendering module, so that the virtual drivable equipment in the virtual scene is consistent with the real drivable equipment.
The immersive driving system in a large enclosed space as claimed in claim 1, further comprising an attitude measurement system comprising a gravity sensor arranged on the VR head-mounted display and a laser detection arranged on a real drivable device The attitude measurement system is used to measure the attitude information of the driver during the operation of the real drivable equipment, and transmit this information to the control module, and the control module can perform the virtual drivable equipment in the virtual scene in the VR scene rendering module through the control module. Virtual driver action.
The large enclosed space immersive driving system according to claim 1, wherein the interactive system further comprises a potentiometer-type sensor arranged on the suspension of the real drivable device, which is used to obtain the vibration value of the suspension .
The immersive driving system in a large enclosed space according to claim 3, wherein the position and attitude measurement system obtains the position information of the real drivable device through the base station in the venue and the ultra-wideband UWB position tag on the real drivable device At the same time, the sensor information of the interactive system is integrated to obtain the attitude information of the device.
The immersive driving system in a large enclosed space according to claim 2, further comprising a power supply system for supplying power to the host computer, the VR head-mounted display, the attitude measurement system and the pose measurement system.
The large enclosed space immersive driving system according to claim 1, wherein a plurality of rendering scenes are set in the VR scene rendering module, and the virtual track and the real drivable device in the plurality of rendering scenes run. The track remains the same; knob buttons are provided on the steering wheel, which are used to control the switching of multiple rendering scenes for human-computer interaction; the pose information of the real drivable device measured by the pose measurement system includes the geographic location And the pitch angle, roll angle, yaw angle, linear velocity, angular velocity attitude information of real drivable equipment.
The large enclosed space immersive driving system according to claim 1, characterized in that, the host is further provided with a security policy module, which receives the virtual scene track information provided by the VR scene rendering module and the current status of the virtual drivable device. pose information, and set a virtual boundary on the virtual scene track, the safety policy module sets a minimum distance between the virtual drivable device and the virtual boundary, and the safety policy module always monitors the distance between the virtual drivable device and the virtual boundary. If the distance is less than the minimum distance, the safety strategy module controls the emergency braking or deceleration of the real drivable equipment through the connection control module; the safety strategy module is also set to monitor the networking status of the real drivable equipment. If the network connection of the device is lost, the security policy module controls the emergency braking of the real drivable device through the connection control module.
The large enclosed space immersive driving system according to claim 1, further comprising a car networking system, an information exchange network is jointly constructed by an on-board host, an on-site server, and a cloud server, and the cloud server UVB base station passes the on-board UVB After the location tag receives the pose information of the real drivable device, it wirelessly transmits it to the server in the venue and then transmits it to the vehicle host. The cloud server receives the pose information of multiple real drivable devices in the same scene, and combines the information. It is then fed back to the host through the on-site server, and multiple virtual drivable devices are rendered in the virtual scene through the host; the cloud server is also provided with a monitoring computing module, which monitors the poses of multiple real drivable devices. The program is fed back to the host through the on-site server to control the real drivable equipment to act according to the set program.
The large enclosed space immersive driving system according to claim 1, wherein the host is further provided with a virtual action module, and a virtual effect that is not present in the real scene appears in the virtual track, and is fed back to the real device through the virtual action module , specifically:

1) A virtual motion effect occurs in the virtual scene, and the effect is compiled into a specific real drivable device parameter change through the host's virtual motion module, including steering wheel, brake, accelerator, and suspension changes;

2) The parameter changes are directly reflected in the virtual scene through the host, and presented to the driver through the VR head-mounted display;

3) Parameter change The real drivable equipment is controlled by the control system of the host to complete the actual parameter change.
A control method for an immersive driving system in a large enclosed space, characterized in that it comprises the following steps:

Step 1): The control module running on the vehicle host reads the pose information of the current real drivable device provided by the pose measurement system through the serial port, and at the same time receives the current pose information of the virtual drivable device in the virtual track provided by the VR rendering module ;

Step 2): make a difference between the pose information of the real drivable device provided by the pose measurement system and the pose state information of the current virtual drivable device provided by the VR rendering module to obtain the error of the pose information;

Step 3): after the PID/MPC control algorithm, the compensation control amount required for the pose error repair is obtained;

Step 4): the control module obtains the current state data of the steering wheel, accelerator, brake and suspension of the real drivable device operated by the driver from the interactive system, as a direct control quantity;

Step 5): input the integrated control amount superimposed by the closed-loop error compensation control amount and the direct control amount into the control module;

Step 6): the control module executes the relevant instructions to make the virtual drivable device act, and the virtual scene screen is refreshed;

Step 7): The VR rendering module transmits the virtual scene picture data to the VR head-mounted display, and displays it for the driver to see through the VR head-mounted display.
A control method for an immersive driving system in a large enclosed space, characterized in that it comprises the following steps:

Step 1): The control module running on the vehicle host reads the pose information of the current real drivable device provided by the pose measurement system through the serial port, and at the same time receives the current pose information of the virtual drivable device in the virtual track provided by the VR rendering module ;

Step 2): make a difference between the pose information of the real drivable device provided by the pose measurement system and the pose state information of the current virtual drivable device provided by the VR rendering module to obtain the error of the pose information;

Step 3): after the PID/MPC control algorithm, the compensation control amount required for the pose error repair is obtained;

Step 4): the control module obtains the current state data of the steering wheel, accelerator, brake and suspension of the virtual drivable device operated by the driver from the interactive system, as a direct control amount;

Step 5): input the integrated control amount superimposed by the closed-loop error compensation control amount and the direct control amount into the virtual action module;

Step 6): the virtual action module executes the relevant instructions to make the real drivable equipment act, so that the real drivable equipment and the virtual drivable equipment state are consistent;

Step 7): The VR rendering module transmits the virtual scene picture data to the VR head-mounted display, and displays it for the driver to see through the VR head-mounted display.