WO2024001911A1 - Système de simulation de sensation somatique et de son de conduite - Google Patents

Système de simulation de sensation somatique et de son de conduite Download PDF

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Publication number
WO2024001911A1
WO2024001911A1 PCT/CN2023/101795 CN2023101795W WO2024001911A1 WO 2024001911 A1 WO2024001911 A1 WO 2024001911A1 CN 2023101795 W CN2023101795 W CN 2023101795W WO 2024001911 A1 WO2024001911 A1 WO 2024001911A1
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WIPO (PCT)
Prior art keywords
signal
real
driving
time
sound
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PCT/CN2023/101795
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English (en)
Chinese (zh)
Inventor
代阔
曹文佳
沈士杰
罗汇
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延锋国际汽车技术有限公司
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Publication of WO2024001911A1 publication Critical patent/WO2024001911A1/fr

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Definitions

  • the present invention relates to the field of vehicle information entertainment, and more specifically to a driving experience and sound wave simulation system.
  • the simulated sound waves of common electric vehicles on the market send the sound through the vehicle speakers to give an auditory experience.
  • the sound waves can only be received from the auditory sense.
  • the vibration mode is based on the low-frequency signal in the audio, which is converted into a simulated vibration signal through virtual synthesis. Since the vibration signal is not output at the same time as the audio, the existing solution does not combine the audio signal with the audio signal. The vibration signal is operated to generate simultaneous responses at the same time, but it must be converted into a vibration signal after the audio signal is obtained. As a result, the experience of the entire system is not very good, so its real-time performance is poor, and the auditory and tactile feedback are not synchronized. In addition, because the signal of the existing technology is purely virtual synthesis, it cannot change quickly with the real-time situation of the vehicle, resulting in an unrealistic driving experience.
  • the purpose of the present invention is to provide a driving experience and sound wave simulation system based on a vehicle seat vibration exciter and vehicle audio, so that an electric vehicle can simulate the driving experience of a fuel vehicle.
  • the present invention provides a driving sensation and sound wave simulation system, which includes a data processing device, at least one data acquisition device connected to the data processing device and two actuators; the actuator includes an audio player and a vibration exciter; the data processing device is configured to determine whether to turn on the driving simulation function to simulate body sensations and sound waves at the same time, and when it is determined to turn on the driving simulation function, perform on the rotational speed signal, accelerator pedal depth signal and acceleration signal. Process, obtain the processing results and send them to the execution agency respectively.
  • the data acquisition device includes a rotational speed sensor, an accelerator pedal depth sensor and an acceleration sensor.
  • the rotational speed sensor is configured to collect rotational speed signals
  • the accelerator pedal depth sensor is configured to collect accelerator pedal depth signals
  • the acceleration sensor is configured to collect acceleration signals.
  • the data processing device is connected to the data acquisition device through the vehicle bus.
  • the data processing device is configured to use the sound wave simulation function to obtain a simulated audio signal when it is determined that the driving simulation function is turned off, and send it to the audio player accordingly.
  • the data processing device is also configured to determine whether to turn on the power-on and gear-in simulation function. When it is determined that the power-on and gear-in simulation function is turned on, when receiving the vehicle's power-on or gear-in operation signal, the simulated vibration will be sent accordingly. Signal to vibration exciter.
  • Processing the speed signal, accelerator pedal depth signal and acceleration signal including: selecting the corresponding real-time base frequency algorithm model according to the vehicle type, and converting the speed signal, accelerator pedal depth signal and acceleration signal into real-time base frequency algorithm model through the real-time base frequency algorithm model Frequency signal, the real-time fundamental frequency signal is split into real-time audio signal and vibration signal through DSP operation.
  • a is the rotational speed signal
  • b is the accelerator pedal depth signal
  • c is the acceleration signal
  • g(a) is the basic frequency coefficient
  • g(b) is the basic power coefficient
  • g(c) is the frequency offset coefficient
  • f(t1 ) is the fundamental frequency signal at time t1
  • f0 is the relationship function between the fundamental frequency signal and the dynamic coefficients g(a), g(b), and g(c).
  • the real-time fundamental frequency algorithm model uses the rotational speed signal a, accelerator pedal depth signal b, and acceleration signal c of different models of fuel vehicles at different times as input parameters, and the corresponding fundamental frequency signal as the output parameter.
  • the real-time fundamental frequency algorithm model Obtained by training.
  • the audio player and vibration exciter include one of a sound transducer and a light transducer.
  • the driving sensation and sound wave simulation system of the present invention adds a vibration exciter on the basis of an audio player, which can convert sound into vibration and give it to the driver, and can simulate the feeling of a fuel vehicle from starting the vehicle engine to refueling and shifting gears; and according to
  • the real-time speed signal, accelerator pedal depth signal, and acceleration signal are processed through the real-time fundamental frequency algorithm model to control the audio and actuator to restore the sound of the fuel vehicle's refueling and gear shifting processes, as well as the sounds of the engine and gearbox transmitted to the driver.
  • Vibration can achieve real-time consistent feedback of sound and vibration feedback, with better real-time authenticity. It solves the problem of out-of-synchronization of auditory and tactile feedback in existing public solutions, and can be applied to in-car media audio application scenarios and driving experience at the same time. need.
  • Figure 1 is a module diagram of a driving experience and sound simulation system according to an embodiment of the present invention. intention.
  • Figure 2 is a work flow chart of the data processing device of the driving sensation and sound simulation system according to the present invention.
  • the invention provides a driving sensation and sound wave simulation system.
  • the driving sensation and sound wave simulation system includes a data processing device 1, at least one data acquisition device 2 connected to the data processing device 1 and two 3 execution agencies. All data and control signals transmitted between the data processing device 1, the data acquisition device 2 and the actuator 3 are interacted with via CAN lines and A2B signal lines in real time, and some functions can be upgraded to Ethernet solutions.
  • the data collection device 2 reads each indicator information of the vehicle respectively.
  • the data collection device 2 includes a rotation speed sensor 21, an accelerator pedal depth sensor 22 and an acceleration sensor 23.
  • the rotation speed sensor 21 is configured to collect the rotation speed signal
  • the accelerator pedal depth sensor 22 is configured to collect the accelerator pedal depth signal
  • the acceleration sensor 23 is configured to collect the acceleration signal.
  • the data processing device 1 is connected to the data acquisition device 2 through a vehicle bus (such as a CAN line) to obtain the rotation speed signal, accelerator pedal depth signal and acceleration signal from the vehicle bus signal.
  • a vehicle bus such as a CAN line
  • the actuator 3 includes an audio player 31 and a vibration exciter 32 arranged in the target sound zone.
  • the data processing device 1 is configured to determine whether to turn on the driving simulation function to simulate body sensations and sound waves at the same time, and when it is determined to turn on the driving simulation function, analyze the rotational speed signal, accelerator pedal depth signal and acceleration The signal is processed, and the processing results are obtained and sent to the actuator 3 respectively.
  • the processing results sent to the actuator 3 include analog audio signals sent to the audio player 31 and simulated vibration signals sent to the vibration exciter 32 . Otherwise, it is determined that the driving simulation function is turned off, the vibration function is not turned on, and the sound wave simulation is retained. At this time, the existing sound wave simulation function is used to obtain the simulated audio signal, and the corresponding audio signal is sent to the audio player 31 of the actuator 3 .
  • the data processing device 1 is also configured to determine whether to turn on the power-on gear-in simulation function. When it is determined that the power-on gear-in simulation function is turned on, when receiving the vehicle's power-on or gear-in operation signal, the corresponding A simulated vibration signal is sent to the vibration exciter 32 to simulate the feeling of body vibration transmitted to the driver when the engine of a fuel vehicle is started.
  • Processing the speed signal, accelerator pedal depth signal and acceleration signal including: selecting the corresponding real-time base frequency algorithm model according to the vehicle type, and converting the speed signal, accelerator pedal depth signal and acceleration signal into real-time base frequency algorithm model through the real-time base frequency algorithm model Frequency signal, the real-time fundamental frequency signal is split into real-time audio signal and vibration signal through DSP operation.
  • the DSP operation itself will split and output the real-time fundamental frequency signal through the selection rules of the real-time fundamental frequency algorithm model (specifically, the high-frequency part obtained by filtering the fundamental frequency signal such as the 20Hz-20KHz frequency band is an analog audio signal, and the low-frequency part (to simulate vibration signals), so that the processing results can be split and sent to different actuators 3 to achieve consistent response to sound and body sensation.
  • a is the rotational speed signal
  • b is the accelerator pedal depth signal
  • c is the acceleration signal
  • g(a) is the basic frequency coefficient
  • g(b) is the basic power coefficient
  • g(c) is the frequency offset coefficient
  • g (a), g(b), and g(c) require a large amount of data training to learn the impact of the three parameters a, b, and c on the final frequency, which are dynamic coefficients in the real-time fundamental frequency algorithm model.
  • f(t1) is the fundamental frequency signal at time t1
  • f0 is the relationship function between the fundamental frequency signal and the dynamic coefficients g(a), g(b), and g(c).
  • f(t1) is the output parameter of the real-time fundamental frequency algorithm model
  • a, b, c are the input parameters of the real-time fundamental frequency algorithm model.
  • the real-time fundamental frequency algorithm model uses the rotational speed signal a, accelerator pedal depth signal b, and acceleration signal c of different models of fuel vehicles at different times as input parameters, and the corresponding fundamental frequency signal as the output parameter.
  • the real-time fundamental frequency algorithm model Obtained by training.
  • the fundamental frequency signal is essentially a wide-band vibration signal (the high-frequency part is the audio signal, and the low-frequency part is the vibration signal). Its value is related to the model of the fuel vehicle and is derived through recording or data. For example, the sound of various existing sports cars depends on the number of engine cylinders, cylinder diameter, piston stroke, exhaust system scheme, etc.
  • the fundamental frequency signal of the vehicle can be obtained through its hardware. Generally speaking, when the cylinder diameter of a fuel vehicle is the same, the greater the power, the higher the frequency of the fundamental frequency signal; when the power of a fuel vehicle is constant, the larger the cylinder diameter, the lower the frequency of the fundamental frequency signal.
  • the information processing device 1 receives the signal from the data acquisition device, it coordinates multiple actuators simultaneously through processing of relevant algorithms. time to perform actions.
  • the information processing device 1 receives a request to turn on the vehicle's driving simulation function, it will simultaneously process the real-time fundamental frequency algorithm model and transmit the fundamental frequency signal to the actuator 3, such as the vibration exciter 32 of the seat, the vehicle audio (i.e. audio player 31), driving the actuator 3 to operate.
  • the audio player 31 and vibration exciter 32 of the actuator 3 include but are not limited to one of the types of sound transducers, light transducers, etc.
  • the driving experience and sound wave simulation system of the present invention adds a vibration exciter on the basis of the audio player, which can convert the sound into vibration and give it to the driver, and can simulate the feeling of a fuel vehicle from starting the vehicle engine to refueling and shifting gears. ; And based on the real-time speed signal, accelerator pedal depth signal, acceleration signal and other signals through signal processing of the real-time fundamental frequency algorithm model, the audio and exciter are controlled to restore the sound of the fuel vehicle's refueling and shifting processes, as well as the engine and gearbox transmission.
  • the vibration signal i.e., the fundamental frequency signal
  • the vibration signal of the driving sensation and sound simulation system of the present invention is directly processed through the driving parameters of the vehicle itself, so the feedback effect will be closer to the real-life experience.
  • the driving sensation and sound wave simulation system of the present invention also sends a signal to the vibration exciter through operations such as powering on or shifting gears to simulate the feeling of vehicle body vibration transmitted to the driver when the engine of a fuel vehicle is started, and restores the feeling of real fuel The feeling of a car engine starting.

Abstract

Un système de simulation de sensation somatique et de son de conduite, celui-ci comprenant un appareil de traitement de données (1) ; un appareil de collecte de données (2) qui est connecté à l'appareil de traitement de données (1) ; et deux mécanismes d'actionnement (3). Chaque mécanisme d'actionnement (3) comprend un lecteur audio (31) et un excitateur de vibrations (32) ; et l'appareil de traitement de données (1) est configuré pour déterminer s'il faut activer une fonction de simulation de conduite, de façon à simuler une sensation somatique et des sons de façon simultanée, et lorsqu'il est déterminé que la fonction de simulation de conduite est activée, l'appareil traite un signal de vitesse de rotation, un signal de profondeur de pédale d'accélérateur et un signal d'accélération pour obtenir un résultat de traitement, et il envoie le résultat de traitement aux mécanismes d'actionnement (3), respectivement. Dans le système de simulation de sensation somatique et de son de conduite, un excitateur de vibrations (32) est ajouté sur la base d'un lecteur audio (31), et une rétroaction continue et en temps réel consistant en une rétroaction sonore et en une rétroaction de vibrations peut être obtenue en fonction du traitement de signal d'un signal de vitesse de rotation en temps réel, d'un signal de profondeur de pédale d'accélérateur en temps réel et d'un signal d'accélération en temps réel au moyen d'un modèle d'algorithme de fréquence fondamentale en temps réel, de telle sorte que les performances et l'authenticité en temps réel sont meilleures, et le problème de l'asynchronisme des rétroactions auditive et tactile est résolu.
PCT/CN2023/101795 2022-06-30 2023-06-21 Système de simulation de sensation somatique et de son de conduite WO2024001911A1 (fr)

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CN202210763376.2A CN114973846A (zh) 2022-06-30 2022-06-30 一种驾驶体感和声浪模拟系统

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Publication number Priority date Publication date Assignee Title
CN114973846A (zh) * 2022-06-30 2022-08-30 延锋国际汽车技术有限公司 一种驾驶体感和声浪模拟系统

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CN113628495A (zh) * 2021-08-13 2021-11-09 武汉未来幻影科技有限公司 一种驾驶模拟器
CN113971897A (zh) * 2021-11-15 2022-01-25 山东省交通规划设计院集团有限公司 一种驾驶模拟系统、其真实度标定方法及装置
CN114973846A (zh) * 2022-06-30 2022-08-30 延锋国际汽车技术有限公司 一种驾驶体感和声浪模拟系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5368484A (en) * 1992-05-22 1994-11-29 Atari Games Corp. Vehicle simulator with realistic operating feedback
JPH10277263A (ja) * 1997-04-09 1998-10-20 Yamaha Motor Co Ltd エンジン模擬音発生装置
CN109961670A (zh) * 2017-12-23 2019-07-02 西安恒川电子商务有限公司 一种基于vr技术的驾驶装置
CN209657543U (zh) * 2018-09-20 2019-11-19 贵阳学院 一种应用电子技术教学教具
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