CN106940942B - The driving training simulator and method of adaptive adjusting training scene - Google Patents
The driving training simulator and method of adaptive adjusting training scene Download PDFInfo
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Abstract
The present invention provides a kind of driving training simulator of adaptive adjusting training scene, including driving motion simulator, the computer for being equipped with virtual views software, data acquisition device, self-adapting adjusting apparatus；Self-adapting adjusting apparatus includes alert module, alarm module, virtual views acquisition module, virtual views insertion module；Alert module in response to can not driving instruction, generate caution signal；Alarm module generates alarm signal in response to abnormal driving instruction；Virtual views acquisition module acquires current virtual what comes into a driver's scene in response to caution signal and/or alarm signal；The virtual views insertion module is adaptively inserted into the virtual views scene acquired several times in subsequent virtual views scene.The present invention can be targetedly inserted into subsequent Training scene repeatedly occur abnormal driving status or can not driving status virtual views scene, so that user is obtained better training effect with higher efficiency and shorter time.
Description
Technical field
The present invention relates to drive simulation training fields, in particular to a kind of driving mould of adaptive adjusting training scene
Quasi- training system and method.
Background technique
It is all very limited to be presently available for trained vehicle and place, student usually requires to spend biggish cost that study is gone to drive
It sails, and the training under certain extreme terrains or environmental condition can not be unfolded at all, is being operated without largely trained student
It being also easy to cause larger problem even injures and deaths when vehicle, security risk is poor, it is used to train if putting into a large amount of vehicles, vehicle
Cost and maintenance cost are quite high, while can also generate biggish noise pollution and exhaust emission.For summary, existing driving instruction
There are the limitations such as high cost, high-risk, lack of space for white silk.
In addition, student inevitably will appear mistake in training, if usually there are two types of selections, first is that instead with real vehicle training
It is multiple that real vehicle is transferred to former scene, then operated by student；Second is that repeating current entire scene segment, practice mistake field to increase
The number of scape.The former time and effort consuming, needs professional to assist for real vehicle to be transferred to former scene at any time, the latter will expend too much
Time in the scene skillfully grasped, student cannot get special training.
Summary of the invention
It is an object of that present invention to provide the driving training simulator and method of a kind of adaptive adjusting training scene, records
The abnormal driving status that occurs in driving procedure of analysis user and can not driving status, targetedly in subsequent Training scene
Middle insertion repeatedly occur abnormal driving status or can not driving status virtual views scene, make user with higher efficiency and
The shorter time obtains better training effect.
Above-mentioned purpose of the invention realizes that dependent claims are to select else or have by the technical characteristic of independent claims
The mode of benefit develops the technical characteristic of independent claims.
To reach above-mentioned purpose, the present invention proposes the driving training simulator of adaptive adjusting training scene, including drives
Sail motion simulator, the computer for being equipped with virtual views software, data acquisition device, self-adapting adjusting apparatus；
The driving motion simulator includes carrier, motion simulation platform and position control loop；
The motion simulation platform includes the upper mounting plate and lower platform being parallel to each other, and lower platform fixes on the ground, upper flat
A servo-actuating device is connected between platform and lower platform；
Several seats, the executor for simulating real vehicles operation, display unit, carrier are installed in the carrier
It is fixedly mounted on the upper mounting plate of motion simulation platform；
The virtual views software includes that virtual views generation module, model simplify module, virtual views memory module, void
Quasi- what comes into a driver's processing module, virtual views setting module, virtual views playing module；
The virtual views generation module is simplified to generate virtual views scene, the virtual views scene of generation through model
Module is stored after simplifying into virtual views memory module, every kind of virtual views scene all have its independent number, terrain parameter,
Environmental parameter；
The virtual views setting module is any one to allow user to choose from virtual views memory module by number
Kind or a variety of virtual views scenes, are combined into a kind of Training scene for it, are sent to virtual views playing module；
The virtual views playing module is connect with display unit, by the Training scene received by display unit to show
Show to user；
The data acquisition device includes the pressure sensing that installation is used for the born pressure of real-time detection seat on the seat
Device, the executor acquisition unit for acquiring current executor operating parameter, the scene for acquiring current virtual what comes into a driver's scene
Acquisition unit；
The data acquisition device is connect with virtual views processing module, and the operation of collected current executor is joined
The pressure and current virtual what comes into a driver's scene that number, seat are born are sent to virtual views processing module, virtual views processing in real time
The information that module analysis processing receives judges current empty under the pressure condition that current executor operating parameter and seat are born
The variation that quasi- what comes into a driver's scene generates, generates new virtual views scene, and be sent to virtual views playing module, virtual views are broadcast
Amplification module is by display unit to be shown to user；
The broadcasting priority for the new virtual views scene that the virtual views processing module generates is set higher than virtual views
The virtual views scene not played in cover half block；
The operating parameter and current virtual what comes into a driver's scene of the current executor of the data acquisition device acquisition are sent out simultaneously
Give position control loop, position control loop by analysis handle after, generate current virtual what comes into a driver's scene and executor operation
The motion state instruction of motion simulation platform under Parameter Conditions, and motion state is instructed to the fortune for being parsed into servo-actuating device
Dynamic instruction；
The servo-actuating device is connect with position control loop, in response to the movement instruction of position control loop, driving
Upper mounting plate is acted, and the motion state for the carrier being fixed on upper mounting plate is made to instruct specified motion state phase with motion state
Together；
Make the carrier generate grazing, break away, trackslip, the instruction of the motion state of balleting state is defined as abnormal row
Sail instruction；
So that the carrier generation is stopped working, leaves current virtual what comes into a driver's scene, the motion state of collision movement state instruction quilt
Being defined as can not driving instruction；
It instructs the motion state of the carrier held stationary driving status and is defined as normally travel instruction；
The self-adapting adjusting apparatus include for generating the alert module of caution signal, the police for generating alarm signal
Show module, the virtual views acquisition module for acquiring current virtual what comes into a driver's scene, for being inserted into the virtual of virtual views scene
What comes into a driver's is inserted into module；
The alert module in response to can not driving instruction, generate caution signal；
The alarm module generates alarm signal in response to abnormal driving instruction；
The virtual views acquisition module is connect with alert module, alarm module, is believed in response to caution signal and/or warning
Number, current virtual what comes into a driver's scene is acquired, and the virtual views scene of acquisition is sent to virtual views insertion module；
The virtual views insertion module is adaptively inserted into subsequent virtual views scene in response to caution signal
The virtual views scene of M acquisition；
The virtual views insertion module is adaptively inserted into subsequent virtual views scene in response to alarm signal
The virtual views scene of n times acquisition；
Described M, N are the positive integer greater than zero.
Based on the driving training simulator of aforementioned adaptive adjusting training scene, the application further mentions a kind of adaptive tune
The drive simulation training method of whole Training scene, this method comprises:
Step 1 chooses one or more kinds of virtual views scenes, compound training scene, the training of user's operation drive simulation
System simulated driving is in the Training scene；
Step 2, the terrain parameter in data acquisition device acquisition current virtual what comes into a driver's scene and environmental parameter, executor behaviour
Make pressure suffered by parameter, seat, sends it to position control loop and virtual views processing module；
Step 3, position control loop and virtual views processing module binding kinetics model carry out dynamic analysis, judgement
The driving status and what comes into a driver's variation of vehicle in the present case out, while carrying out following two operation: 1) position control loop raw
It is instructed at motion state, driving servo-actuating device movement, the movement for specifying the motion state of carrier and motion state instruction
State is identical, and 2) virtual views processing module generates new virtual views scene, and it is passed through display unit to be shown to
User；
Step 4, the property for analyzing and determining motion state instruction select any one in following three kinds of situations:
1) if it is can not driving instruction, generate caution signal, self-adapting adjusting apparatus is in response to caution signal, adaptively
Ground is inserted into M current virtual what comes into a driver's scene in subsequent virtual views scene；
2) if it is abnormal driving instruction, generate corresponding alarm signal, self-adapting adjusting apparatus in response to alarm signal,
N times current virtual what comes into a driver's scene is adaptively inserted into subsequent virtual views scene；
3) it is instructed if it is normally travel, does not generate any signal, continue the training in current Training scene.
By the above technical solution of the present invention, compared with existing, significant beneficial effect is:
Record and analyze the abnormal driving status that occurs in driving procedure of user and can not driving status, targetedly rear
Be inserted into continuous Training scene repeatedly occur abnormal driving status or can not driving status virtual views scene, make user with
Higher efficiency and shorter time obtain better training effect.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the structural schematic diagram of the driving training simulator of adaptive adjusting training scene of the invention.
Fig. 2 is the structural schematic diagram of position control loop of the invention.
Fig. 3 is the structural schematic diagram of driving motion simulator of the invention.
Fig. 4 is the structural schematic diagram of motion simulation platform of the invention.
Fig. 5 is the flow chart of the drive simulation training method of adaptive adjusting training scene of the invention.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
It is not intended to cover all aspects of the invention for embodiment of the disclosure.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
The present invention refers to a kind of driving training simulator of adaptive adjusting training scene, in addition to can be from vision and body
In sense simultaneously reproduce drive true panzer when operation sense, additionally it is possible to record and analyze user it is unskilled in driving procedure or
It is easy the scene of error, by the scene adaptive is inserted among subsequent scene, user is made to obtain having centainly targetedly
Training.
The driving training simulator includes the calculating for driving motion simulator 100, being equipped with virtual views software 200
Machine, data acquisition device 300 and self-adapting adjusting apparatus 400.
The motion state that motion simulator 100 is driven for simulated implementation vehicle changes, and experiences user from body-sensing
The operation of real vehicles, driving motion simulator 100 includes carrier 101, motion simulation platform 102 and position control loop
103。
Carrier 101 is to reduce or only choose operator seat being formed in proportion referring to true vehicle structure.Certainly, carrier
101 can also with real vehicles same structure, to reach maximum validity, but such scheme higher cost.
Carrier 101 is mounted on motion simulation platform 102, and motion simulation platform can be realized being moved through for six degree of freedom
Thus journey carries the movement that carrier 101 disposed thereon realizes six degree of freedom.
It is provided with that an executor 101b is similar with carrier 101, and executor 101b can be selected in carrier 101 where user
It selects the configuration as real vehicles or as reaches maximum as possible using the simulation executor with body-sensing feedback loop
Operate the sense of reality.
Also there is an instrument pack, instrument pack is to the current executor 101b operating parameter of real-time display in carrier 101
And the skimulated motion parameter of carrier 101.
By the above various structural members, makes user in terms of two in vision and body-sensing while feeling just operating true vehicle
Traveling is in true scene.
Motion simulation platform 102 includes the upper mounting plate 102b and lower platform 102a being parallel to each other, and lower platform 102a is fixed on
On ground, or a pedestal is first fixedly installed on the ground, lower platform 102b is installed on the base, movement easy to disassemble and day
Often maintenance.
It is connected with a servo-actuating device 102c between upper mounting plate 102b and lower platform 102a, passes through the servo-drive
Mechanism 102c makes the motion process of upper mounting plate realization six degree of freedom.
Carrier 101 is mounted on upper mounting plate 102b, and upper mounting plate 102b is followed to move.
Several seats, the executor 101b for simulating real vehicles operation are provided in carrier 101, for showing void
The structure of the display unit 101a of quasi- what comes into a driver's scene, carrier 101 and executor 101b have been noted above preceding, no longer superfluous herein
It states, this place only illustrates the related setting of display unit 101a.It should be appreciated that in order to reach most true effect, display unit
101a generallys use display close or identical with real vehicles vision, and due to virtual reality technology in recent years into
Step, herein, we can also use the display equipment based on virtual reality technology, such as wear-type virtual reality to show equipment
Deng reaching better display effect.
Servo-actuating device 102c has diversity, we can be flat using six-freedom motion mentioned by the prior art
Platform can also construct most suitable motion simulation platform according to the traveling characteristics adjusting parameter of vehicle.
It is below one of the example of a servo-actuating device 102c, servo-actuating device 102c includes should in conjunction with Fig. 4, Fig. 5
Example but it is not limited only to this.
Servo-drive structure 102c includes the first electric cylinder, the second electric cylinder, third electric cylinder, the 4th electric cylinder, the 5th
One end of electric cylinder, the 6th electric cylinder, aforementioned all electric cylinders is mounted on upper mounting plate by Hooke's hinge, and the other end passes through Hooke
Hinge is mounted on lower platform 102a.
The hinge joint of first electric cylinder and lower platform 102a are defined as A point, the hinge of the second electric cylinder and lower platform 102a
Contact is defined as A ' point, and A point and A ' put infinite approach.
The hinge joint of third electric cylinder and lower platform 102a are defined as B point, the hinge of the 4th electric cylinder and lower platform 102a
Contact is defined as B ' point, and B point and B ' put infinite approach.
The hinge joint of 5th electric cylinder and lower platform 102a are defined as C point, the hinge of the 6th electric cylinder and lower platform 102a
Contact is defined as C ' point, and C point and C ' put infinite approach.
Vertical corresponding position is also laid with a point adjacent to one another and a ' point, b to upper mounting plate 102b one by one with lower platform 102a
Point and b ' point, c point and c ' point, wherein a point is corresponding with A point, and b point and B point are corresponding, and c point and C point are corresponding, a ' point and A ' point pair
It answers, b ' point is corresponding with B ' point, and c ' point is put corresponding with C '.
The hinge joint of first electric cylinder and upper mounting plate 102b are b point, and the hinge joint of the second electric cylinder and upper mounting plate 102b are c
Point.
The hinge joint of third electric cylinder and upper mounting plate 102b are a point, and the hinge joint of the 4th electric cylinder and upper mounting plate 102b is
C ' point.
The hinge joint of 5th electric cylinder and upper mounting plate 102b are a ' point, and the hinge joint of the 6th electric cylinder and upper mounting plate 102b is
B ' point.
A point, B point, C point form a triangle, and lower platform 102a is included by the circumcircle of the triangle.
Position control loop 103 can use position control loop in the prior art with servo-actuating device 102c,
Adjustable parameter therein is one of position control loop 103 below so that its athletic posture for being more suitable for vehicle
Example:
In conjunction with Fig. 3, position control loop 103 includes main controller 103a, D/A converting unit 103b, controller 103c, sensing
Device group 103d, A/D converting unit 103e.
Main controller 103a, D/A converting unit 103b, controller 103c, servo-actuating device 102c are sequentially connected, sensor
Group 103d, A/D converting unit 103e, main controller 103a are sequentially connected.
Main controller 103a generates motion state instruction, it is parsed into the movement instruction of servo-actuating device 102c, moves
Instruction is sent to controller 103c after D/A converting unit 103b conversion, and controller 103c drives according to the movement instruction received
Dynamic servo-actuating device 102c movement, makes the motion state of carrier 101 instruct specified motion state identical with motion state.
Sensor group 103d is mounted on carrier 101, the motion state and posture of real-time detection carrier 101, and will
Detection result feeds back to main controller 103a after A/D converting unit 103e conversion.The sensor group that main controller 103a will be received
The result of 103d feedback generates error instruction compared with motion state instruction, and error instruction is converted through D/A converting unit 103b
After be sent to controller 103c.
Sensor group 103d can use 3-axis acceleration sensor and three-axis gyroscope.
In conjunction in above-mentioned example servo-actuating device 102c and position control loop 103, we illustrate lower the application institute
The motion process of the driving motion simulator 100 referred to.
Position control loop 103 carries out dynamic analysis with kinetic model, judges to generate motion state instruction, then
Retrospectively calculate goes out the corresponding position and speed of each joint link lever of motion simulation platform, this becomes kinematic synthesis or kinematic reverse
Problem.It needs to set different coordinate systems, determines transformation matrix of coordinates, derive kinematical equation, establish system mathematic model
(Eulerian angles theorem), this is the critical issue realizing analog motion platform and automatically controlling.X, Y, Z, α can be used herein, beta, gamma is sat
Mark system, wherein X representative moves horizontally, and Y representative vertically moves, and Z is represented up and down, and α represents pitch angle, and β represents angle of heel, γ generation
Table steering angle.
Position control loop 103 needs to send the movement instruction of aforementioned six electric cylinders in real time, while detecting carrier 101
Practical posture (speed, location information etc.), is constituted to the digital closed-loop control of motion simulation platform 102, ensures six by calculating
The coordination and control precision of electric cylinder.
It is also possible here to use digital cylinders, can so eliminate electric cylinder above-mentioned, the conversion of sensor group 103d, A/D
All too many levels such as 103e and D/A conversion 103b, it is all to accomplish sensor, digital valve etc. inside oil cylinder, forms automatic position
Set feedback and velocity feedback.The digital pulse signal that digital cylinder can directly receive computer sending is reliably worked.
Virtual views software 200 includes virtual views generation module 201, model simplifies module 202, virtual views store mould
Block 203, virtual views processing module 204, virtual views setting module 205, virtual views playing module 206.
Virtual views generation module 201 is simplified to generate virtual views scene, the virtual views scene of generation through model
Module 202 is stored after simplifying into virtual views memory module 203, every kind of virtual views scene all have its it is independent number,
Shape parameter, environmental parameter can provide some keywords, such as mountainous region, grade of jolting, wind direction, wind scale, sleet etc. herein
Grade, road dimensions etc..
Virtual views setting module 205 is to allow user from virtual views memory module 203 by number or key
Selected ci poem takes any one or a variety of virtual views scenes, it is combined into a kind of Training scene, is sent to virtual views broadcasting
Module 206 is realized with this and is targetedly trained.
Virtual views playing module 206 is connect with display unit 101a, and the Training scene received is passed through display unit
101a is to be shown to user.
And to realize the variation of the body-sensing in aforementioned drive simulation training method and visible change, this driving training simulator
It also needs to be arranged a data acquisition device 300, the letter such as human feelings condition is contained including scenario parameters, executor parameter, carrier with acquisition
Breath, the information of collection is more, and the authenticity of simulation is stronger, but simultaneously, needs the process of operation also longer, calculation amount is bigger.
In conjunction with Fig. 2, information collection and arithmetic speed are comprehensively considered, the data acquisition device 300 of the application setting includes peace
Dress is on the seat for the pressure sensor 301 of the born pressure of real-time detection seat, for acquiring current executor operation ginseng
Several executor acquisition unit 302, the scene acquisition unit 303 for acquiring current virtual what comes into a driver's scene.
Data acquisition device 300 is connect with virtual views processing module 205, and the operation of collected current executor is joined
The pressure and current virtual what comes into a driver's scene that number, seat are born, are sent to virtual views processing module 205, virtual views in real time
205 analysis of processing module handles the information received, judges the pressure condition born in current executor operating parameter and seat
The variation that lower current virtual what comes into a driver's scene generates, generates new virtual views scene, and be sent to virtual views playing module
206, virtual views playing module 206 is by display unit to be shown to user.
As previously mentioned, the broadcasting priority for the new virtual views scene that virtual views processing module 205 generates is higher than void
The virtual views scene not played in quasi- what comes into a driver's setting module 204.
The operating parameter and current virtual what comes into a driver's scene for the current executor that data acquisition device 300 acquires are sent out simultaneously
Give position control loop 103, position control loop 103 by analysis handle after, generate current virtual what comes into a driver's scene and manipulation
The motion state instruction of motion simulation platform 102 under the conditions of device operating parameter, and motion state instruction is parsed into servo and is driven
The movement instruction of motivation structure 102c.
Servo-actuating device 102c is connect with position control loop 103, and the movement in response to position control loop 103 refers to
It enables, driving upper mounting plate 102b is acted, and refers to the motion state of the carrier being fixed on upper mounting plate 102b 101 with motion state
Enable specified motion state identical.
On the basis of aforementioned structure, in addition a self-adapting adjusting apparatus is arranged in we on the driving training simulator
400, self-adapting adjusting apparatus 400 includes for generating the alert module 401 of caution signal, the warning for generating alarm signal
Module 402, the virtual views acquisition module 403 for acquiring current virtual what comes into a driver's scene, for being inserted into virtual views scene
Virtual views are inserted into module 404.
Before the working principle of description self-adapting adjusting apparatus 400, we first generate aforementioned location control device 103
Motion state instruction do a classification, it is divided into three classes:
The first kind, abnormal driving instruction comprising all simulating vehicles are abnormal traveling, but be not off traveling or
The motion state instruction of current virtual what comes into a driver's scene is left, such as grazing, breaks away, trackslip, jolting.
Second class, can not driving instruction comprising all simulating vehicles stop traveling or have been moved off current virtual view
Scape scene, the motion state instruction that Training scene can not continue, such as stop working, leave current scene, collision etc..
Third class, normally travel instruction comprising the motion state of all simulating vehicle held stationary driving status instructs.
And the working principle of self-adapting adjusting apparatus 400 is based on and differentiates the above three classes motion state instruction, judges to use
Whether family there is exception when passing through the scene, if there is exception, then grabs current virtual what comes into a driver's scene, then adaptively insert
Enter in subsequent Training scene, user is made to have an opportunity to obtain the more instruction about its weakness in the training of the same Training scene
Practice.
It is as follows to implement principle:
Alert module 401 in response to can not driving instruction, generate caution signal；Alarm module 402 is in response to abnormal traveling
Instruction generates alarm signal；When motion state instruction is normal driving instruction, any signal is not generated, vehicle continues by working as
The layout of preceding Training scene is practiced.
Virtual views acquisition module 403 is connect with alert module 401, alarm module 402, in response to caution signal and/or
Alarm signal acquires current virtual what comes into a driver's scene, and collected virtual views scene is sent to virtual views insertion module
404。
Virtual views are inserted into module 404 in response to caution signal, are adaptively inserted into M in subsequent virtual views scene
The virtual views scene of secondary acquisition.
Virtual views are inserted into module 404 in response to alarm signal, are adaptively inserted into N in subsequent virtual views scene
The virtual views scene of secondary acquisition.
M, N are the positive integer greater than zero herein.Usual M is configured to be greater than N, this is also in that caution signal represented
To occur more serious problem in training process, need it is more conscientious treat, correct, practice number it is increased more.
Certainly, the definition of the above motion state instruction can be separately arranged.
For example, in the preceding example, trackslip, breakking away is counted as abnormal traveling, can also it is artificially defined at can not travel or
Person's normally travel, remaining driving status are also the same in this way, by administrative staff or user's self-setting as needed.
Administrative staff or user can also generate caution signal or police as benchmark according to the motion state of carrier 101
Show signal, for example the posture of the carrier 101 fed back by data acquisition device 300, position judge.
Self-adapting adjusting apparatus also has a logging modle 405, and the logging modle 405 to record user primary in detail
The type and quantity of the driving status occurred in Training scene help user to grasp the training of oneself.
In order to identify different users, self-adapting adjusting apparatus also has an identification module 406, which can
The various identification confirmation modules such as to select fingerprint, swipe the card, log in password.
It is well known that some audios, such as engine work can be generated in the traveling operating process of panzer
As when reach the sound etc. of driver Er Nei, in order to which most really reduction vehicle practical operation experience, the application are also provided with use
In the sound sensation simulator that simulating vehicle is advanced and operated.
Sound sensation simulator includes the audio storage mould of the acoustics unit being mounted in carrier and installation in a computer
Block, audio effect processing module.
The several audio generated when audio memory module is to store operation real vehicles, the several audio and manipulation
The operational motion of device corresponds.
The operating parameter of current executor 101b is sent to audio effect processing module, audio effect processing by data acquisition device 300
Module transfers corresponding audio by acoustics unit to play in response to the feedback result of the data acquisition device 300 received
To user.
By above-mentioned sound sensation simulator, user can be allowed to experience vehicle from sound sensation when operating driving training simulator
Operation, rapidly and accurately grasp vehicle operation when sound, reach better training effect.
Based on the driving training simulator of aforementioned adaptive adjusting training scene, the application proposes a kind of adaptive adjustment
The drive simulation training method of Training scene, this method comprises:
Step 1 chooses one or more kinds of virtual views scenes, compound training scene, the training of user's operation drive simulation
System simulated driving is in the Training scene；
Step 2, data acquisition device 300 acquire terrain parameter and environmental parameter, manipulation in current virtual what comes into a driver's scene
Pressure suffered by device 101b operating parameter, seat, sends it to position control loop 103 and virtual views processing module 205；
Step 3, position control loop 103 and 205 binding kinetics model of virtual views processing module carry out power credit
Analysis judges the driving status and what comes into a driver's variation of vehicle in the present case, while carrying out following two operation: 1) position control
Circuit 103 generates motion state instruction, and driving servo-actuating device 102c movement makes the motion state and movement shape of carrier 101
The specified motion state of state instruction is identical, and 2) virtual views processing module 205 generates new virtual views scene, and it is led to
Display unit 101a is crossed to be shown to user；
Step 4, the property for analyzing and determining motion state instruction select any one in following three kinds of situations:
1) if it is can not driving instruction, generate caution signal, self-adapting adjusting apparatus 400 in response to caution signal, from
M current virtual what comes into a driver's scene is adaptively inserted into subsequent virtual views scene；
2) if it is abnormal driving instruction, alarm signal is generated, self-adapting adjusting apparatus 400 is in response to alarm signal, certainly
N times current virtual what comes into a driver's scene is inserted into adaptively in subsequent virtual views scene；
3) it is instructed if it is normally travel, does not generate any signal, continue the training in current Training scene.
It is above-mentioned adaptively in subsequent virtual views scene be inserted into current virtual what comes into a driver's scene, refer to every
A current virtual what comes into a driver's scene is inserted into after setting operating range.
Setting operating range above-mentioned can be artificially arranged by one setting module of setting, it is preferred that be set as 2 public affairs
In, it is also an option that increasing trained uncontrollability to be randomly provided, improve user's training effect.
To which the present invention refers to the driving training simulator and method of a kind of adaptive adjusting training scene, record point
The abnormal driving status that occurs in driving procedure of analysis user and can not driving status, targetedly in subsequent Training scene
Insertion repeatedly occur abnormal driving status or can not driving status virtual views scene, make user with higher efficiency and compared with
The short time obtains better training effect.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. a kind of driving training simulator of adaptive adjusting training scene, including drive motion simulator, void is installed
The computer and data acquisition device of quasi- what comes into a driver's software, which is characterized in that further include self-adapting adjusting apparatus；
The driving motion simulator includes carrier, motion simulation platform and position control loop；
The motion simulation platform includes the upper mounting plate and lower platform being parallel to each other, and lower platform fixes on the ground, upper mounting plate and
A servo-actuating device is connected between lower platform；
Several seats, the executor for simulating real vehicles operation, display unit are installed, carrier is fixed in the carrier
It is mounted on the upper mounting plate of motion simulation platform；
The virtual views software includes that virtual views generation module, model simplify module, virtual views memory module, virtual view
Scape processing module, virtual views setting module, virtual views playing module；
The virtual views generation module simplifies module through model to generate virtual views scene, the virtual views scene of generation
It is stored after simplifying into virtual views memory module, every kind of virtual views scene all has its independent number, terrain parameter, environment
Parameter；
The virtual views setting module to allow user from virtual views memory module by number choose any one or
The a variety of virtual views scenes of person, are combined into a kind of Training scene for it, are sent to virtual views playing module；
The virtual views playing module is connect with display unit, by the Training scene received by display unit to be shown to
User；
The data acquisition device includes installation on the seat for the pressure sensor of the born pressure of real-time detection seat, use
It is acquired in the executor acquisition unit of the current executor operating parameter of acquisition, the scene for acquiring current virtual what comes into a driver's scene single
Member；
The data acquisition device is connect with virtual views processing module, by operating parameter, the seat of collected current executor
The pressure and current virtual what comes into a driver's scene that chair is born, are sent to virtual views processing module, virtual views processing module in real time
Analysis handles the information received, judges that current virtual regards under the pressure condition that current executor operating parameter and seat are born
The variation that scape scene generates, generates new virtual views scene, and be sent to virtual views playing module, and virtual views play mould
Block is by display unit to be shown to user；
The broadcasting priority for the new virtual views scene that the virtual views processing module generates is higher than virtual views and sets mould
The virtual views scene not played in block；
The operating parameter and current virtual what comes into a driver's scene of the current executor of the data acquisition device acquisition are sent to simultaneously
Position control loop, position control loop by analysis handle after, generate current virtual what comes into a driver's scene and executor operating parameter
Under the conditions of motion simulation platform motion state instruction, and motion state instruction is parsed into the movement of servo-actuating device and is referred to
It enables；
The servo-actuating device is connect with position control loop, in response to the movement instruction of position control loop, is put down in driving
Platform is acted, and the motion state for the carrier being fixed on upper mounting plate is made to instruct specified motion state identical with motion state；
Make the carrier generate grazing, break away, trackslip, the instruction of the motion state of balleting state is defined as abnormal travel and refers to
It enables；
So that the carrier generation is stopped working, leave current virtual what comes into a driver's scene, the instruction of the motion state of collision movement state is defined
At can not driving instruction；
It instructs the motion state of the carrier held stationary driving status and is defined as normally travel instruction；
The self-adapting adjusting apparatus include for generating the alert module of caution signal, the warning mould for generating alarm signal
Block, the virtual views acquisition module for acquiring current virtual what comes into a driver's scene, the virtual views for being inserted into virtual views scene
It is inserted into module；
The alert module in response to can not driving instruction, generate caution signal；
The alarm module generates alarm signal in response to abnormal driving instruction；
The virtual views acquisition module is connect with alert module, alarm module, in response to caution signal and/or alarm signal,
Current virtual what comes into a driver's scene is acquired, and the virtual views scene of acquisition is sent to virtual views insertion module；
The virtual views insertion module is adaptively inserted into M times in subsequent virtual views scene in response to caution signal
The virtual views scene of acquisition；
The virtual views insertion module is adaptively inserted into n times in subsequent virtual views scene in response to alarm signal
The virtual views scene of acquisition；
Described M, N are the positive integer greater than zero.
2. the driving training simulator of adaptive adjusting training scene according to claim 1, which is characterized in that described
Self-adapting adjusting apparatus has an identification module.
3. the driving training simulator of adaptive adjusting training scene according to claim 1, which is characterized in that described
Self-adapting adjusting apparatus has a logging modle.
4. the driving training simulator of adaptive adjusting training scene according to claim 1, which is characterized in that described
Driving training simulator also has a sound sensation simulator；
The sound sensation simulator includes the audio storage mould of the acoustics unit being mounted in carrier and installation in a computer
Block, audio effect processing module；
The several audio that the audio memory module generates when operating true panzer to store, the several audio and behaviour
The operational motion of vertical device corresponds；
The operating parameter of current executor is sent to audio effect processing module, the response of audio effect processing module by the data acquisition device
In the feedback result of the data acquisition device received, corresponding audio is transferred by acoustics unit to play to user.
5. the driving training simulator of adaptive adjusting training scene according to claim 1, which is characterized in that described
Servo-drive structure includes the first electric cylinder, the second electric cylinder, third electric cylinder, the 4th electric cylinder, the 5th electric cylinder, the 6th electricity
Dynamic cylinder, one end of aforementioned all electric cylinders are mounted on upper mounting plate by Hooke's hinge, and the other end is mounted on lower flat by Hooke's hinge
On platform；
The hinge joint of first electric cylinder and lower platform is defined as A point, and the hinge joint of the second electric cylinder and lower platform is determined
Justice puts infinite approach at A ' point, A point and A '；
The hinge joint of the third electric cylinder and lower platform is defined as B point, and the hinge joint of the 4th electric cylinder and lower platform is determined
Justice puts infinite approach at B ' point, B point and B '；
The hinge joint of 5th electric cylinder and lower platform is defined as C point, and the hinge joint of the 6th electric cylinder and lower platform is determined
Justice puts infinite approach at C ' point, C point and C '；
Vertical corresponding position is also laid with a point adjacent to one another and a ' point, b point and b ' to the upper mounting plate one by one with lower platform
Point, c point and c ' point, wherein a point is corresponding with A point, and b point and B point are corresponding, and c point and C point are corresponding, and a ' point puts corresponding, b ' point with A '
Corresponding with B ' point, c ' point is put corresponding with C '；
The hinge joint of first electric cylinder and upper mounting plate is b point, and the hinge joint of the second electric cylinder and upper mounting plate is c point；It is described
The hinge joint of third electric cylinder and upper mounting plate is a point, and the hinge joint of the 4th electric cylinder and upper mounting plate is c ' point；Described 5th is electronic
The hinge joint of cylinder and upper mounting plate is a ' point, and the hinge joint of the 6th electric cylinder and upper mounting plate is b ' point；
The A point, B point, C point form a triangle, and lower platform is included by the circumcircle of the triangle.
6. the driving training simulator of adaptive adjusting training scene according to claim 1, which is characterized in that described
Position control loop includes main controller, D/A converting unit, controller, sensor group, A/D converting unit；
The main controller, D/A converting unit, controller, servo-actuating device are sequentially connected, sensor group, A/D converting unit,
Main controller is sequentially connected；
Main controller generates motion state instruction, it is parsed into the movement instruction of servo-actuating device, movement instruction is converted through D/A
Controller is sent to after cell translation, controller is acted according to the movement instruction driving servo-actuating device received, makes carrier
The instruction of motion state and motion state it is specified motion state it is identical；
The sensor group is mounted on carrier, the motion state and posture of real-time detection carrier, and detection result is passed through
Main controller is fed back to after the conversion of A/D converting unit；
The main controller compares the result that the sensor group received is fed back with motion state instruction, generates error instruction,
Error instruction is sent to controller after the conversion of D/A converting unit；
The sensor group includes 3-axis acceleration sensor and three-axis gyroscope.
7. the driving training simulator of adaptive adjusting training scene according to claim 1, which is characterized in that described
Also there is an instrument pack, instrument pack is transported to the simulation of the current executor operating parameter of real-time display and carrier in carrier
Dynamic parameter.
8. a kind of driving training simulator using adaptive adjusting training scene described in claim 1-7 any one
Adaptive adjusting training scene drive simulation training method, which is characterized in that this method comprises:
Step 1 chooses one or more kinds of virtual views scenes, compound training scene, user's operation driving training simulator
Simulated driving is in the Training scene；
Step 2, the terrain parameter in data acquisition device acquisition current virtual what comes into a driver's scene and environmental parameter, executor operation ginseng
Pressure suffered by number, seat, sends it to position control loop and virtual views processing module；
Step 3, position control loop and virtual views processing module binding kinetics model carry out dynamic analysis, judge vehicle
Driving status and what comes into a driver's variation in the present case, while carrying out following two operation: 1) position control loop generate fortune
Dynamic status command, driving servo-actuating device movement, makes the motion state of carrier and motion state instruct specified motion state
It is identical, 2) virtual views processing module generates new virtual views scene, and it is passed through display unit to be shown to user；
Step 4, the property for analyzing and determining motion state instruction select any one in following three kinds of situations:
1) if it is can not driving instruction, generate caution signal, self-adapting adjusting apparatus adaptively exists in response to caution signal
M current virtual what comes into a driver's scene is inserted into subsequent virtual views scene；
2) if it is abnormal driving instruction, corresponding alarm signal is generated, self-adapting adjusting apparatus is adaptive in response to alarm signal
N times current virtual what comes into a driver's scene is inserted into subsequent virtual views scene with answering；
3) it is instructed if it is normally travel, does not generate any signal, continue the training in current Training scene.
9. the drive simulation training method of adaptive adjusting training scene according to claim 8, which is characterized in that aforementioned
Adaptively in subsequent virtual views scene be inserted into current virtual what comes into a driver's scene, refer to every setting operating range
It is inserted into a current virtual what comes into a driver's scene afterwards.
10. the drive simulation training method of adaptive adjusting training scene according to claim 9, which is characterized in that institute
It states and sets operating range as 2 kilometers.
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