CN102981416A - Driving method and driving system - Google Patents
Driving method and driving system Download PDFInfo
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- CN102981416A CN102981416A CN2012105112112A CN201210511211A CN102981416A CN 102981416 A CN102981416 A CN 102981416A CN 2012105112112 A CN2012105112112 A CN 2012105112112A CN 201210511211 A CN201210511211 A CN 201210511211A CN 102981416 A CN102981416 A CN 102981416A
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Abstract
The invention relates to the technical field of wireless communication, and particularly to a driving method and a driving system. The driving method comprises the following steps: acquiring driving scene information, and simulating according to the driving scene information to obtain an audio simulation scene; acquiring vehicle state information, and simulating according to the vehicle state information to obtain a simulation driving state; triggering a control instruction of a simulation state according to the audio simulation scene and the simulation driving state; and sending the control instruction to a vehicle terminal in a driving scene, and finishing a driving action according to the control instruction by the vehicle terminal. The driving method and the driving system provided by the invention can realize remote monitoring of vehicle driving.
Description
Technical field
The present invention relates to wireless communication technology field, be specifically related to a kind of drive manner and control loop.
Background technology
Drive manner of the prior art as shown in Figure 1, is provided with driving cabin 2 in the vehicles such as car, ship 1, driving cabin 2 is to control the space for what the driver provided, and the operating means such as bearing circle, throttle, brake, clutch, selector are installed in driving cabin 2.When the driver drove, the driver was sitting in the driving cabin 2, drives by the manipulation operation device.
In the prior art, driving cabin 2 is parts of the vehicles 1, and the other parts of itself and the vehicles 1 such as passenger cabin or freight house become one, and are inseparable with the vehicles 1.Because driving cabin 2 is the vehicles 1 inseparable parts, so the driver is on-the-spot the driving to the driving of the vehicles 1.
To sum up, drive manner of the prior art is on-the-spot drive manner, when in the driver is sitting in driving cabin 2, carrying out the scene driving, because can't manage concentratedly the driver, also can't accurately understand driver's driving shape, if then than being easier to accident, the driver at the scene of driving behind the accident is injured easily for driver tired driving.Again for example when the vehicles 1 when relatively dangerous environment is in service, as in the larger zone of poison gas concentration or the driver-operated vehicles 1 situation that is in test phase, all can't guarantee the security in the driving procedure.
Summary of the invention
Drive manner provided by the invention and control loop can be realized the remote monitoring of the vehicles is driven.
In order to achieve the above object, technical scheme of the present invention is achieved in that drive manner, comprising:
Gather and drive field data, and simulate according to described driving field data, obtain audio-visual simulated scenario;
Gather vehicles status information, and simulate according to described vehicles status information, obtain the drive simulating state;
According to described audio-visual simulated scenario and described drive simulating state, trigger the instruction of controlling of emulation mode;
Control instruction and send to and drive on-the-spot vehicles end described, described vehicles end is controlled instruction and is finished driver behavior according to described.
Preferably, describedly simulate according to described vehicles status information, obtain the drive simulating state, comprising:
Generate Condition Monitoring Data according to described vehicles status information;
Carry out state simulation according to described Condition Monitoring Data, obtain the drive simulating state.
Preferably, described collection is driven before the field data, further comprises:
Detect the initial access state of described vehicles end; If initial access failure then sends alerting signal, and prompting checks or again access.
Preferably, describedly control instruction to send to the mode of driving on-the-spot vehicles end be the mode of radio communication described.
Preferably, described radio communication adopts with lower at least a: the WLAN WLAN communication technology, the wireless family digital interface WHDI communication technology, CDMA cdma wireless communication technology, the general packet radio service GPRS communication technology, worldwide interoperability for microwave access WiMAX wireless communication technology, wireless mesh network MESH wireless communication technology, satellite wireless communication technology, Long Term Evolution LTE wireless communication technology, the 4th generation 4G wireless communication technology.
Preferably, described driving field data comprises: one or more in information of road surface, obstacle information, car flow information, the traffic sign indication information;
And/or,
Described vehicles status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire one or more in force information, the gear information;
And/or,
Describedly control instruction and comprise: direction to control data message, accelerator control data message, brake are controlled data message, clutch and are controlled data message, selector and control data message, rocking bar and control in information, the route control information one or more.
Control loop comprises: vehicles end and drive simulating end;
Described vehicles end comprises for collection in worksite device that gather to drive field data, is used for gathering the state collecting device of vehicles status information and is used for controlling the on-site control device that driver behavior is finished in instruction according to described;
Described drive simulating end comprises for the audio-visual supervising device of simulating to obtain audio-visual simulated scenario according to described driving field data, is used for simulating to obtain the driving simulator of drive simulating state and being used for triggering according to described audio-visual simulated scenario and described drive simulating state and controlling instruction and control the drive simulating control device that instruction sends to described vehicles end with described according to described vehicles status information.
Preferably, described driving simulator comprises for generating the sub-device of driver monitoring of Condition Monitoring Data according to described vehicles status information and being used for carrying out state simulation according to described Condition Monitoring Data, obtains the sub-device of state simulation of drive simulating state.
Preferably, described collection in worksite device is 360 degree audio frequency and video collectors;
And/or,
The sub-device of described driver monitoring comprises panel board, digital display tube;
And/or,
The sub-device of described state simulation is the force feedback reduction apparatus.
Preferably, described vehicles end further has the first wireless receiving and dispatching antenna;
Described drive simulating end further has the second dual-mode antenna;
Described the first dual-mode antenna and described the second dual-mode antenna radio communication.
By drive manner provided by the invention and control loop, can reach following beneficial effect:
Drive manner of the present invention and control loop at first can gather the driving field data, and this driving field data refers to the field data of vehicles end.This driving field data can be transferred to the drive simulating end, simulates according to described driving field data at the drive simulating end, obtains audio-visual simulated scenario.Vehicles end also can gather vehicles status information, and this vehicles status information transmission is to the drive simulating end.The drive simulating end is simulated according to vehicles status information, obtains the drive simulating state.The drive simulating end is according to described audio-visual simulated scenario and described drive simulating state, triggers the instruction of controlling of emulation mode, and will describedly control the vehicles end that instruction sends to the scene of driving, and described vehicles end is controlled instruction and finished driver behavior according to described.In this drive manner and the control loop, vehicles end separates with the drive simulating end, the driver is positioned at the drive simulating end and carries out drive simulating according to audio-visual simulated scenario and drive simulating state, the driver has broken away from the vehicles, drive at the scene that does not need to carry out the vehicles, therefore drive manner provided by the invention and control loop can be realized the remote monitoring of the vehicles is driven.
Description of drawings
In order to be illustrated more clearly in the specific embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is drive manner synoptic diagram in the prior art;
Fig. 2 is the process flow diagram of the embodiment of the invention 1 drive manner;
Fig. 3 is the process flow diagram of the embodiment of the invention 2 drive manners;
Fig. 4 is the structural representation of the embodiment of the invention 3 control loops;
Fig. 5 is the structural representation of the embodiment of the invention 4 control loops.
Description of drawings: the 1-vehicles, 2-driving cabin, 3-vehicles end, 4-drive simulating end.
Embodiment
Below with reference to accompanying drawing the technical scheme of various embodiments of the present invention is carried out clear, complete description, obviously, described embodiment only is a part of embodiment of the present invention, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are resulting all other embodiment under the prerequisite of not making creative work, all belong to the scope that the present invention protects.
Embodiment 1
The embodiment of the invention 1 provides a kind of separate-type remote monitoring drive manner, and as shown in Figure 2, main treatment step comprises:
Step S101: gather and drive field data, and simulate according to described driving field data, obtain audio-visual simulated scenario;
Step S102: gather vehicles status information, and simulate according to described vehicles status information, obtain the drive simulating state;
Step S103: according to described audio-visual simulated scenario and described drive simulating state, trigger the instruction of controlling of emulation mode;
Step S104: control instruction and send to and drive on-the-spot vehicles end described, described vehicles end is controlled instruction and is finished driver behavior according to described.
In the drive manner of present embodiment, at first can gather the driving field data, and simulate according to described driving field data, obtain audio-visual simulated scenario; The driver can the on-the-spot situation of more clearly vehicles operation according to described audio-visual simulated scenario.Gather vehicles status information, and simulate according to described vehicles status information, obtain the drive simulating state, can realize thus the running status of the synchronously simulating vehicles, make the driver more know the ruuning situation of the vehicles.According to described audio-visual simulated scenario and described drive simulating state, trigger and to control instruction, this is controlled instruction and sends to described vehicles end, and described vehicles end is controlled instruction and is finished driver behavior according to described.In this drive manner, the driver carries out long-range driving away from vehicles end to the vehicles, so the drive manner of present embodiment, can realize the remote monitoring of the vehicles is driven.
Embodiment 2
The embodiment of the invention 2 provides a kind of drive manner on the basis of embodiment 1, and as shown in Figure 3, main treatment step comprises:
Step S201: the initial access state that detects described vehicles end; If access failure then sends alerting signal, and prompting checks or again access.
Step S202: gather and drive field data, and simulate according to described driving field data, obtain audio-visual simulated scenario;
Step S203: gather vehicles status information, and simulate according to described vehicles status information, obtain the drive simulating state;
Preferably, describedly simulate according to described vehicles status information, obtain the drive simulating state, comprising:
Receive described vehicles status information, and generate Condition Monitoring Data according to described vehicles status information;
Carry out state simulation according to described Condition Monitoring Data, obtain the drive simulating state.
Step S204: according to described audio-visual simulated scenario and described drive simulating state, trigger the instruction of controlling of emulation mode;
Step S205: control instruction and send to and drive on-the-spot vehicles end described, described vehicles end is controlled instruction and is finished driver behavior according to described.
Because vehicles end can move operation, generally be unsuitable for adopting wire communication, therefore this vehicles end adopts the mode of radio communication to connect, be convenient to the setting of vehicles end and drive simulating end position, be convenient to vehicles end and realize that with communicating by letter of drive simulating end the drive simulating end is to the remote monitoring driving of vehicles end.
When the vehicles being carried out the remote monitoring driving at every turn, at first allow the access of vehicles end, and detect the state of initial access.If access successfully, then can realize communicating by letter of vehicles end and drive simulating end; If access failure then can send alerting signal, again access or the prompting of the further prompting vehicles that can also cooperate when sending this alerting signal check that this inspection refers to that generally the start-up check program checks control loop.By detecting the initial access state of the vehicles, can guarantee that vehicles end and drive simulating end can communicate smoothly, guarantee to the vehicles remote monitoring drive.
Access because the vehicles are the modes by radio communication, so the vehicles status information of the driving field data of vehicles end collection, the collection of vehicles end also is to adopt the mode of radio communication to be transferred to the drive simulating end.The function of this drive simulating end is as described in embodiment 3 and the embodiment 4.Simultaneously the mode that instruction sends to described vehicles end of controlling of drive simulating end also is the mode of radio communication.
Particularly, can adopt open ISM band or special-purpose 26GHz frequency range during this radio communication.
Described radio communication adopts with lower at least a: the WLAN WLAN communication technology, the wireless family digital interface WHDI communication technology, CDMA cdma wireless communication technology, the general packet radio service GPRS communication technology, worldwide interoperability for microwave access WiMAX wireless communication technology, wireless mesh network MESH wireless communication technology, satellite wireless communication technology, Long Term Evolution LTE wireless communication technology, the 4th generation 4G wireless communication technology.
The described driving field data of vehicles end collection comprises: one or more in information of road surface, obstacle information, car flow information, the traffic sign indication information.
The described driving field data of vehicles end collection mainly is the presence states that can reflect in the vehicles driving process, such as the vehicle around these vehicles what, the smooth degree in road surface, drive the indication etc. whether the place ahead has fork, traffic sign.
After receiving this driving field data, process through optimized algorithm, obtain audio-visual simulated scenario according to described driving field data, this audio-visual simulated scenario can reduce to driving on-the-spot scene, preferably this audio-visual simulated scenario can be realized driving the synchronous reduction of field scene, is beneficial to judgement at the driver behavior of drive simulation end by the synchronous reduction to Driving Scene.
Preferably, the driving field data of vehicles end collection can be by the collection in worksite device, for example the driving live audio video information of 360 degree audio frequency and video collectors collections.
Particularly, described vehicles status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire one or more in force information, the gear information;
Particularly, describedly control instruction and comprise: direction to control data message, accelerator control data message, brake are controlled data message, clutch and are controlled data message, selector and control data message, rocking bar and control in information, the route control information one or more.
The instruction of controlling that triggers sends to and drives on-the-spot vehicles end, and described vehicles end is controlled instruction and finished driver behavior according to described.
Embodiment 3
The embodiment of the invention 3 provides a kind of control loop for the separate-type remote monitoring drive manner that embodiment 1 provides, and as shown in Figure 4, comprising: vehicles end 31 and drive simulating end 32;
Vehicles end 31 comprises for collection in worksite device 311 that gather to drive field data, is used for gathering the state collecting device 312 of vehicles status information and is used for controlling the on-site control device 313 that driver behavior is finished in instruction according to described;
Drive simulating end 32 comprises for the audio-visual supervising device 321 of simulating to obtain audio-visual simulated scenario according to described driving field data, is used for simulating to obtain the driving simulator 322 of drive simulating state and being used for triggering according to described audio-visual simulated scenario and described drive simulating state and controlling instruction and control the drive simulating control device 323 that instruction sends to described vehicles end with described according to described vehicles status information.
The control loop of present embodiment can be implemented as described in Example 1 drive manner, vehicles end 31 gathers drives field data, this driving field data is transferred to drive simulating end 32, and drive simulating end 32 is simulated according to described driving field data, obtains audio-visual simulated scenario.Vehicles end 31 also can gather vehicles status information, and this vehicles status information transmission is to drive simulating end 32.Drive simulating end 32 is simulated according to vehicles status information, obtains the drive simulating state.Drive simulating end 32 is according to described audio-visual simulated scenario and described drive simulating state, trigger the instruction of controlling of emulation mode, and control instruction and send to and drive on-the-spot vehicles end 31 described, vehicles end 31 is controlled instruction and is finished driver behavior according to described.In this drive manner and the control loop, vehicles end 31 separates with drive simulating end 32, the driver is positioned at drive simulating end 32 and carries out drive simulating according to audio-visual simulated scenario and drive simulating state, the driver has broken away from the vehicles, drive at the scene that does not need to carry out the vehicles, therefore the control loop of present embodiment can be realized the remote monitoring of the vehicles is driven.
Embodiment 4
The embodiment of the invention 4 provides a kind of control loop for the separate-type remote monitoring drive manner that embodiment 2 provides, and this system is the preferred embodiment of the control loop that provides at embodiment 3.
The control loop that present embodiment provides as shown in Figure 5, mainly comprises: vehicles end 3 and drive simulating end 4, wherein identical repeating no more among the function of vehicles end 3 and 4 realizations of drive simulating end and the embodiment 3.
Preferably, vehicles end 3 is provided with the first wireless receiving and dispatching antenna, and drive simulating end 4 is provided with the second wireless receiving and dispatching antenna;
This first wireless receiving and dispatching antenna and the second wireless receiving and dispatching antenna can carry out radio communication.
Can make vehicles end 3 and drive simulating end 4 carry out wireless connections by the first wireless receiving and dispatching antenna and the second wireless receiving and dispatching antenna.
When carrying out this control loop at every turn, at first carry out wireless connections, and detect the initial access state of vehicles end 3; If access failure then sends alerting signal, and prompting checks or again access.
Vehicles end 3 has the collection in worksite device, and it is used for gathering drives field data, and preferably, this collection in worksite device is 360 degree audio frequency and video collectors.
Can gather the field conditions video in each orientation of the vehicles by this 360 degree audio frequency and video collector, and then obtain driving field data.
The on-site control device of vehicles end 3 has on-the-spot transtation mission circuit, and this scene transtation mission circuit will be driven field data and send to drive simulating end 4 by wireless mode.
The drive simulating control device of drive simulating end 4 has the simulation receiving circuit, after this simulation receiving circuit receives and drives field data, it is transferred to the audio-visual supervising device of drive simulating end 4, audio-visual supervising device passes through optimized algorithm, simulates according to the driving field data and obtains audio-visual simulated scenario; This audio-visual simulated scenario can reduce drives on-the-spot vehicles end 3 residing driving environments, preferably can reduce synchronously to the scene of driving by audio-visual simulated scenario.
The state collecting device of vehicles end 3 is used for gathering vehicles status information, and preferably, this state collecting device is the force feedback harvester.
Can Real-time Collection vehicles status information by the force feedback harvester, described vehicles status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire one or more in force information, the gear information;
The vehicles status information of force feedback harvester collection can be transferred to on-the-spot transtation mission circuit, and this scene transtation mission circuit sends to the simulation receiving circuit with the mode of vehicles status information by radio communication.The simulation receiving circuit with this vehicles status information transmission to driving simulator.Described driving simulator comprises the sub-device of driver monitoring and the sub-device of state simulation.The sub-device of this driver monitoring generates Condition Monitoring Data according to described vehicles status information, and the sub-device of described state simulation carries out state simulation according to described Condition Monitoring Data, obtains the drive simulating state.
The sub-device of wherein said driver monitoring comprises panel board, digital display tube, can monitor intuitively the Condition Monitoring Data of generation by panel board, digital display tube.
The sub-device of described state simulation is the force feedback reduction apparatus, can reduce the drive simulating state that obtains to driving condition by this force feedback reduction apparatus, this drive simulating state is the long-range simulation reduction to vehicles end 3 driving conditions, preferably, should be synchronously reduction with driving on-the-spot driving condition at the drive simulating state of drive simulating end 4 reduction.
The drive simulating control device is used for triggering according to described audio-visual simulated scenario and described drive simulating state and controls instruction, and controls instruction and send to vehicles end 3 described.
In order fully to reduce the on-the-spot state of driving at drive simulating end 4, be provided with driver's seat, bearing circle, throttle, brake, clutch, selector at drive simulating end 4.
By in direction of operating dish, throttle, brake, clutch, the selector one or more, and then trigger and control instruction.
This is controlled instruction and sends to vehicles end 3, and the on-site control device of vehicles end 3 is used for controlling instruction and finishing driver behavior according to described.
For example at vehicles end 3 steering gear and engine controller are installed, this steering gear and engine controller all are connected with on-site control device, and the control steering gear realized turning to of the vehicles after on-site control device received and controls instruction; By engine controller by the engine acceleration and deceleration.
In order to illustrate that drive manner provided by the invention and control loop can realize the remote monitoring of the vehicles is driven, verify as example to drive 1:8 model remote-control racing car.
Vehicles end:
1. the wireless receiver on original remote-control racing car is removed, and a video camera is installed, this video camera is used for gathering described driving field data as the harvester of vehicles end;
2. at remote-control racing car 3-axis acceleration sensor is installed, this 3-axis acceleration sensor is used for gathering described vehicles status information as vehicles state collecting device;
3. at remote-control racing car the control device that burning has control program is installed, this control device is used for finishing driver behavior according to controlling instruction as the on-site control device of vehicles end.
4. described control device is connected with video camera, direction controller, speed control, 3-axis acceleration sensor respectively.
The drive simulating end:
1. in the structure of drive simulating end according to real vehicles inside, seat, bearing circle, throttle, brake, clutch, selector, panel board, digital display tube etc. are set respectively, and below seat, are provided with three cylinder bodies that can do stretching motion.
2. audio-visual supervising device is set, is used for receiving the driving field data that vehicles end gathers, and simulates according to described driving field data, obtain audio-visual simulated scenario; This audio-visual simulated scenario can be play by display and audio amplifier particularly.
3. driving simulator is set, is used for receiving the vehicles status information that described vehicles end gathers, and simulates according to described vehicles status information, obtain the drive simulating state.Wherein, panel board, digital display tube show state Monitoring Data directly perceived; Three the described cylinder bodies that can do stretching motion can be adjusted to the drive simulating end state identical with the described vehicles as the force feedback reduction apparatus.
4. the driver controls instruction according to described audio-visual simulated scenario and the triggering of described drive simulating state to the long-range driving of remote-control racing car the time, triggers by the drive simulating control device and controls instruction; Wherein, the instruction of triggering can be assisted instruction, deceleration instruction, steering order etc.
This is controlled instruction and sends to described vehicles end, and described vehicles end is controlled instruction and finished driver behavior according to described.
When the drive simulating end carries out long-range driving to remote-control racing car, plugged at first determines that remote-control racing car communicates by letter normally with the drive simulating end, the radio communication of wherein being undertaken by dual-mode antenna during this communication.
Remote-control racing car is with after the drive simulating end is communicated by letter, control direction and the speed that to control remote-control racing car by bearing circle and acceleration and deceleration, and can see in real time by display the road surface situation in dolly the place ahead, when running into the road of uneven, dolly can produce vibrations, simultaneously driving cabin also can reduce the dolly stress, produce same vibrations, and when dolly knocks over, after driving cabin just shakes in limited range, reply normal attitude, and driver's the slightest does not decrease, increased thus stimulation and the enjoyment of driving;
By this illustration real this kind drive manner and control loop can realize the remote monitoring of the vehicles is driven, and the drive manner that the drive simulating end separates with vehicles end is safely and effectively.
Various embodiment provided by the invention can be as required in any way mutually combination, the technical scheme that obtains by this combination, also within the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also comprises these changes and modification interior.
Claims (10)
1. drive manner is characterized in that, comprising:
Gather and drive field data, and simulate according to described driving field data, obtain audio-visual simulated scenario;
Gather vehicles status information, and simulate according to described vehicles status information, obtain the drive simulating state;
According to described audio-visual simulated scenario and described drive simulating state, trigger the instruction of controlling of emulation mode;
Control instruction and send to and drive on-the-spot vehicles end described, described vehicles end is controlled instruction and is finished driver behavior according to described.
2. drive manner according to claim 1 is characterized in that, describedly simulates according to described vehicles status information, obtains the drive simulating state, comprising:
Generate Condition Monitoring Data according to described vehicles status information;
Carry out state simulation according to described Condition Monitoring Data, obtain the drive simulating state.
3. drive manner according to claim 1 is characterized in that, described collection is driven before the field data, further comprises:
Detect the initial access state of described vehicles end; If initial access failure then sends alerting signal, and prompting checks or again access.
4. drive manner according to claim 1 is characterized in that, describedly controls instruction to send to the mode of driving on-the-spot vehicles end be the mode of radio communication described.
5. drive manner according to claim 4, it is characterized in that described radio communication adopts with lower at least a: the WLAN WLAN communication technology, the wireless family digital interface WHDI communication technology, CDMA cdma wireless communication technology, the general packet radio service GPRS communication technology, worldwide interoperability for microwave access WiMAX wireless communication technology, wireless mesh network MESH wireless communication technology, satellite wireless communication technology, Long Term Evolution LTE wireless communication technology, the 4th generation 4G wireless communication technology.
6. drive manner according to claim 1 is characterized in that,
Described driving field data comprises: one or more in information of road surface, obstacle information, car flow information, the traffic sign indication information;
And/or,
Described vehicles status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire one or more in force information, the gear information;
And/or,
Describedly control instruction and comprise: direction to control data message, accelerator control data message, brake are controlled data message, clutch and are controlled data message, selector and control data message, rocking bar and control in information, the route control information one or more.
7. control loop is characterized in that, comprising: vehicles end and drive simulating end;
Described vehicles end comprises for collection in worksite device that gather to drive field data, is used for gathering the state collecting device of vehicles status information and is used for controlling the on-site control device that driver behavior is finished in instruction according to described;
Described drive simulating end comprises for the audio-visual supervising device of simulating to obtain audio-visual simulated scenario according to described driving field data, is used for simulating to obtain the driving simulator of drive simulating state and being used for triggering according to described audio-visual simulated scenario and described drive simulating state and controlling instruction and control the drive simulating control device that instruction sends to described vehicles end with described according to described vehicles status information.
8. control loop according to claim 7, it is characterized in that, described driving simulator comprises for generating the sub-device of driver monitoring of Condition Monitoring Data according to described vehicles status information and being used for carrying out state simulation according to described Condition Monitoring Data, obtains the sub-device of state simulation of drive simulating state.
9. control loop according to claim 8 is characterized in that,
Described collection in worksite device is 360 degree audio frequency and video collectors;
And/or,
The sub-device of described driver monitoring comprises panel board, digital display tube;
And/or,
The sub-device of described state simulation is the force feedback reduction apparatus.
10. according to claim 7 to 9 each described control loops, it is characterized in that described vehicles end further has the first wireless receiving and dispatching antenna;
Described drive simulating end further has the second dual-mode antenna;
Described the first dual-mode antenna and described the second dual-mode antenna radio communication.
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