CN102981416B - Drive manner and control loop - Google Patents
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Abstract
The present invention relates to wireless communication technology field, be specifically related to a kind of drive manner and control loop.Drive manner, comprising: gather driving scenario information, and simulate according to described driving scenario information, obtain audio-visual simulated scenario; Gather vehicle status information, and simulate according to described vehicle status information, obtain drive simulating state; According to described audio-visual simulated scenario and described drive simulating state, the manipulation instruction of trigger simulation state; Described manipulation instruction is sent to the vehicles end of driving scenario, described vehicles end completes driver behavior according to described manipulation instruction.Drive manner provided by the invention and control loop, can realize driving the remote monitoring of the vehicles.
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, and driving cabin 2 is the manipulation spaces for driver provides, and is provided with the operating means such as bearing circle, throttle, brake, clutch, selector in driving cabin 2.When driver drives, driver is sitting in driving cabin 2, is driven by manipulation operation device.
In prior art, driving cabin 2 is parts of the vehicles 1, and the other parts of itself and the vehicles such as passenger cabin or freight house 1 become one, inseparable with the vehicles 1.Because driving cabin 2 is the inseparable parts of the vehicles 1, so driver is on-the-spot driving to the driving of the vehicles 1.
To sum up, drive manner of the prior art is on-the-spot drive manner, when driver be sitting in driving cabin 2 carry out scene drive time, because cannot manage concentratedly driver, also the driving shape of driver cannot accurately be understood, if driver tired driving, there is traffic hazard than being easier to, easily injured the driver of driving scenario after there is traffic hazard.Again such as when the vehicles 1 are in more dangerous environment runs, as being in the situation of test phase in the larger region of poison gas concentration or the driver-operated vehicles 1, all cannot ensure the security in driving procedure.
Summary of the invention
Drive manner provided by the invention and control loop, can realize driving the remote monitoring of the vehicles.
In order to achieve the above object, technical scheme of the present invention is achieved in that drive manner, comprising:
Gather driving scenario information, and simulate according to described driving scenario information, obtain audio-visual simulated scenario;
Gather vehicle status information, and simulate according to described vehicle status information, obtain drive simulating state;
According to described audio-visual simulated scenario and described drive simulating state, the manipulation instruction of trigger simulation state;
Described manipulation instruction is sent to the vehicles end of driving scenario, described vehicles end completes driver behavior according to described manipulation instruction.
Preferably, describedly to simulate according to described vehicle status information, obtain drive simulating state, comprising:
Condition Monitoring Data is generated according to described vehicle status information;
Carry out state simulation according to described Condition Monitoring Data, obtain drive simulating state.
Preferably, before described collection driving scenario information, comprise further:
Detect the initial access state of described vehicles end; If initial access failure, then send alerting signal, and prompting checks or again accesses.
Preferably, describedly the mode of the vehicles end of driving scenario described manipulation instruction is sent to be the mode of radio communication.
Preferably, at least one in below described radio communication employing: 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, forth generation 4G wireless communication technology.
Preferably, described driving scenario information comprises: one or more in information of road surface, obstacle information, car flow information, traffic sign indication information;
And/or,
Described vehicle status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire in force information, gear information one or more;
And/or,
Described manipulation instruction comprises: direction to control data message, accelerator control data message, brake manipulation data message, clutch control data message, selector manipulation data message, rocking bar manipulation information, one or more in route control information.
Control loop, comprising: vehicles end and drive simulating end;
Described vehicles end comprises the collection in worksite device for gathering driving scenario information, for gathering the state collecting device of vehicle status information and the on-site control device for completing driver behavior according to described manipulation instruction;
Described drive simulating end comprises the audio-visual supervising device for carrying out simulating to obtain audio-visual simulated scenario according to described driving scenario information, for the driving simulator that carries out simulating to obtain drive simulating state according to described vehicle status information and for triggering manipulation instruction according to described audio-visual simulated scenario and described drive simulating state and described manipulation instruction being sent to the drive simulating control device of described vehicles end.
Preferably, described driving simulator comprises for the sub-device of driver monitoring according to described vehicle status information generation Condition Monitoring Data and 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 of 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 force feedback reduction apparatus.
Preferably, described vehicles end has the first wireless receiving and dispatching antenna further;
Described drive simulating end has the second dual-mode antenna further;
Described first dual-mode antenna and described second dual-mode antenna radio communication.
By drive manner provided by the invention and control loop, following beneficial effect can be reached:
Drive manner of the present invention and control loop, first can gather driving scenario information, and this driving scenario information refers to the field data of vehicles end.This driving scenario information can be transferred to drive simulating end, simulates, obtain audio-visual simulated scenario at drive simulating end according to described driving scenario information.Vehicles end also can gather vehicle status information, and this vehicle status information transmission is to drive simulating end.Drive simulating end is simulated according to vehicle status information, obtains drive simulating state.Drive simulating end is according to described audio-visual simulated scenario and described drive simulating state, and the manipulation instruction of trigger simulation state, and the vehicles end described manipulation instruction being sent to driving scenario, described vehicles end completes driver behavior according to described manipulation instruction.In this drive manner and control loop, vehicles end is separated with drive simulating end, driver is positioned at drive simulating end and carries out drive simulating according to audio-visual simulated scenario and drive simulating state, driver has departed from the vehicles, the scene of carrying out the vehicles is not needed to drive, therefore drive manner provided by the invention and control loop, can realize driving the remote monitoring of the vehicles.
Accompanying drawing explanation
In order to be illustrated more clearly in the specific embodiment of the invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is drive manner schematic diagram in prior art;
Fig. 2 is the process flow diagram of the embodiment of the present invention 1 drive manner;
Fig. 3 is the process flow diagram of the embodiment of the present invention 2 drive manner;
Fig. 4 is the structural representation of the embodiment of the present invention 3 control loop;
Fig. 5 is the structural representation of the embodiment of the present invention 4 control loop.
Accompanying drawing illustrates: the 1-vehicles, 2-driving cabin, 3-vehicles end, 4-drive simulating end.
Embodiment
Carry out clear, complete description below with reference to accompanying drawing to the technical scheme of various embodiments of the present invention, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope that the present invention protects.
Embodiment 1
The embodiment of the present invention 1 provides a kind of separate-type remote monitoring drive manner, and as shown in Figure 2, main processing steps comprises:
Step S101: gather driving scenario information, and simulate according to described driving scenario information, obtain audio-visual simulated scenario;
Step S102: gather vehicle status information, and simulate according to described vehicle status information, obtain drive simulating state;
Step S103: according to described audio-visual simulated scenario and described drive simulating state, the manipulation instruction of trigger simulation state;
Step S104: the vehicles end described manipulation instruction being sent to driving scenario, described vehicles end completes driver behavior according to described manipulation instruction.
In the drive manner of the present embodiment, first can gather driving scenario information, and simulate according to described driving scenario information, obtain audio-visual simulated scenario; Driver can run on-the-spot situation by the more clearly vehicles according to described audio-visual simulated scenario.Gather vehicle status information, and simulate according to described vehicle status information, obtain drive simulating state, the running status of the synchronously simulating vehicles can be realized thus, make the ruuning situation of driver's clearly vehicles.According to described audio-visual simulated scenario and described drive simulating state, trigger manipulation instruction, this manipulation instruction sends to described vehicles end, and described vehicles end completes driver behavior according to described manipulation instruction.In this drive manner, driver, away from vehicles end, carries out long-range driving to the vehicles, therefore the drive manner of the present embodiment, can realize driving the remote monitoring of the vehicles.
Embodiment 2
The embodiment of the present invention 2 provides a kind of drive manner on the basis of embodiment 1, and as shown in Figure 3, main processing steps comprises:
Step S201: the initial access state detecting described vehicles end; If access failure, then send alerting signal, and prompting checks or again accesses.
Step S202: gather driving scenario information, and simulate according to described driving scenario information, obtain audio-visual simulated scenario;
Step S203: gather vehicle status information, and simulate according to described vehicle status information, obtain drive simulating state;
Preferably, describedly to simulate according to described vehicle status information, obtain drive simulating state, comprising:
Receive described vehicle status information, and generate Condition Monitoring Data according to described vehicle status information;
Carry out state simulation according to described Condition Monitoring Data, obtain drive simulating state.
Step S204: according to described audio-visual simulated scenario and described drive simulating state, the manipulation instruction of trigger simulation state;
Step S205: the vehicles end described manipulation instruction being sent to driving scenario, described vehicles end completes driver behavior according to described manipulation instruction.
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, the communication being convenient to vehicles end and drive simulating end realizes drive simulating end and drives the remote monitoring of vehicles end.
When carrying out remote monitoring driving to the vehicles at every turn, first allow the access of vehicles end, and carry out the state detecting initial access.If access successfully, then can realize the communication of vehicles end and drive simulating end; If access failure, then can send alerting signal, access again or the prompting of the further prompting vehicles that can also coordinate while sending this alerting signal check, this inspection generally refers to that start-up check program checks control loop.By detecting the initial access state of the vehicles, can ensure that vehicles end and drive simulating end can communicate smoothly, ensure to the vehicles remote monitoring drive.
Because the vehicles are undertaken accessing by the mode of radio communication, the driving scenario information of therefore vehicles end collection, the vehicle status information of vehicles end collection are also adopt the mode of radio communication to be transferred to drive simulating end.The function of this drive simulating end is as described in embodiment 3 and embodiment 4.The manipulation instruction of drive simulating end simultaneously sends to the mode of described vehicles end to be also the mode of radio communication.
Particularly, open ISM band or special 26GHz frequency range can be adopted during this radio communication.
At least one in below described radio communication adopts: 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, forth generation 4G wireless communication technology.
The described driving scenario information of vehicles end collection comprises: one or more in information of road surface, obstacle information, car flow information, traffic sign indication information.
If the described driving scenario information spinner of vehicles end collection can reflect the presence states in vehicle travels process, the vehicle of such as this vehicles surrounding number, road surface evenness degree, drive the instruction etc. whether front has fork, traffic sign.
After receiving this driving scenario information, through optimized algorithm process, audio-visual simulated scenario is obtained according to described driving scenario information, this audio-visual simulated scenario can reduce to the scene of driving scenario, preferably this audio-visual simulated scenario can realize the synchronous reduction to driving scenario scene, by being beneficial to the judgement of the driver behavior at drive simulation end to the synchronous reduction of Driving Scene.
Preferably, the driving scenario information of vehicles end collection can be by collection in worksite device, the driving scenario audio and video information that such as 360 degree of audio frequency and video collectors gather.
Particularly, described vehicle status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire in force information, gear information one or more;
Particularly, described manipulation instruction comprises: direction to control data message, accelerator control data message, brake manipulation data message, clutch control data message, selector manipulation data message, rocking bar manipulation information, one or more in route control information.
The manipulation instruction triggered sends to the vehicles end of driving scenario, and described vehicles end completes driver behavior according to described manipulation instruction.
Embodiment 3
The separate-type remote monitoring drive manner that the embodiment of the present invention 3 provides for embodiment 1 provides a kind of control loop, as shown in Figure 4, comprising: vehicles end 31 and drive simulating end 32;
Vehicles end 31 comprises the collection in worksite device 311 for gathering driving scenario information, for gathering the state collecting device 312 of vehicle status information and the on-site control device 313 for completing driver behavior according to described manipulation instruction;
Drive simulating end 32 comprises the audio-visual supervising device 321 for carrying out simulating to obtain audio-visual simulated scenario according to described driving scenario information, for the driving simulator 322 that carries out simulating to obtain drive simulating state according to described vehicle status information and for triggering manipulation instruction according to described audio-visual simulated scenario and described drive simulating state and described manipulation instruction being sent to the drive simulating control device 323 of described vehicles end.
The control loop of the present embodiment can implement drive manner as described in Example 1, vehicles end 31 gathers driving scenario information, this driving scenario information transmission is to drive simulating end 32, and drive simulating end 32 is simulated according to described driving scenario information, obtains audio-visual simulated scenario.Vehicles end 31 also can gather vehicle status information, and this vehicle status information transmission is to drive simulating end 32.Drive simulating end 32 is simulated according to vehicle status information, obtains drive simulating state.Drive simulating end 32 is according to described audio-visual simulated scenario and described drive simulating state, the manipulation instruction of trigger simulation state, and described manipulation instruction being sent to the vehicles end 31 of driving scenario, vehicles end 31 completes driver behavior according to described manipulation instruction.In this drive manner and control loop, vehicles end 31 is separated with drive simulating end 32, driver is positioned at drive simulating end 32 and carries out drive simulating according to audio-visual simulated scenario and drive simulating state, driver has departed from the vehicles, the scene of carrying out the vehicles is not needed to drive, therefore the control loop of the present embodiment, can realize driving the remote monitoring of the vehicles.
Embodiment 4
The separate-type remote monitoring drive manner that the embodiment of the present invention 4 provides for embodiment 2 provides a kind of control loop, and this system is the preferred embodiment of the control loop provided in embodiment 3.
The control loop that the present embodiment provides, as shown in Figure 5, mainly comprises: vehicles end 3 and drive simulating end 4, and wherein the function that realizes of vehicles end 3 and drive simulating end 4 is in the same manner as in Example 3 repeats no more.
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.
Vehicles end 3 and drive simulating end 4 can be made to 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, first carry out wireless connections, and detect the initial access state of vehicles end 3; If access failure, then send alerting signal, and prompting checks or again accesses.
Vehicles end 3 has collection in worksite device, and it is for gathering driving scenario information, and preferably, this collection in worksite device is 360 degree of audio frequency and video collectors.
The field conditions video in each orientation of the vehicles can be gathered by these 360 degree of audio frequency and video collectors, and then obtain driving scenario information.
The on-site control device of vehicles end 3 has on-the-spot transtation mission circuit, and driving scenario information is wirelessly sent to drive simulating end 4 by this on-the-spot transtation mission circuit.
The drive simulating control device of drive simulating end 4 has simulation receiving circuit, after this simulation receiving circuit receives driving scenario information, be transferred to the audio-visual supervising device of drive simulating end 4, audio-visual supervising device, by optimized algorithm, carries out simulation according to driving scenario information and obtains audio-visual simulated scenario; This audio-visual simulated scenario can carry out the driving environment residing for vehicles end 3 of reduction driving scenario, synchronously can reduce preferably by audio-visual simulated scenario to driving scenario.
The state collecting device of vehicles end 3 is for gathering vehicle status information, and preferably, this state collecting device is force feedback harvester.
Can Real-time Collection vehicle status information by force feedback harvester, described vehicle status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire in force information, gear information one or more;
The vehicle status information of force feedback harvester collection can be transferred to on-the-spot transtation mission circuit, and vehicle status information is sent to simulation receiving circuit by the mode of radio communication by this on-the-spot transtation mission circuit.Simulate receiving circuit by this vehicle 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 vehicle status information, and the sub-device of described state simulation carries out state simulation according to described Condition Monitoring Data, obtains drive simulating state.
The sub-device of wherein said driver monitoring comprises panel board, digital display tube, can be monitored the Condition Monitoring Data of generation by panel board, digital display tube intuitively.
The sub-device of described state simulation is force feedback reduction apparatus, reduction can be carried out to driving condition by this force feedback reduction apparatus and obtain drive simulating state, this drive simulating state is reduced to the remote analog of vehicles end 3 driving condition, preferably, the drive simulating state should reduced at drive simulating end 4 is synchronous reduction with the driving condition of driving scenario.
Drive simulating control device, for triggering manipulation instruction according to described audio-visual simulated scenario and described drive simulating state, and sends to vehicles end 3 by described manipulation instruction.
In order in the drive simulating end 4 fully on-the-spot state of driving of reduction, drive simulating end 4 is provided with driver's seat, bearing circle, throttle, brake, clutch, selector.
By one or more in direction of operating dish, throttle, brake, clutch, selector, and then trigger manipulation instruction.
This manipulation instruction is sent to vehicles end 3, and the on-site control device of vehicles end 3 is used for completing driver behavior according to described manipulation instruction.
Such as be provided with steering gear and engine controller at vehicles end 3, this steering gear and engine controller are all connected with on-site control device, and on-site control device controls steering gear after receiving manipulation instruction and realizes turning to of the vehicles; By engine controller by engine acceleration and deceleration.
In order to illustrate that drive manner provided by the invention and control loop can realize driving the remote monitoring of the vehicles, verify 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 as the harvester of vehicles end, for gathering described driving scenario information;
2. on remote-control racing car, 3-axis acceleration sensor is installed, this 3-axis acceleration sensor as vehicle status harvester, for gathering described vehicle status information;
3. the control device that burning has control program is installed on remote-control racing car, this control device as the on-site control device of vehicles end, for according to manipulation instruction complete driver behavior.
4. described control device is connected with video camera, direction controller, speed control, 3-axis acceleration sensor respectively.
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 the below of seat is provided with the cylinder body that three can be done stretching motion.
2. audio-visual supervising device is set, for receiving the driving scenario information that vehicles end gathers, and simulates according to described driving scenario information, obtaining audio-visual simulated scenario; This audio-visual simulated scenario can be play by display and audio amplifier particularly.
3. driving simulator is set, for receiving the vehicle status information that described vehicles end gathers, and simulates according to described vehicle status information, obtaining drive simulating state.Wherein, panel board, digital display tube intuitively can show Condition Monitoring Data; Drive simulating end can be adjusted to the state identical with the described vehicles as force feedback reduction apparatus by three described cylinder bodies that can do stretching motion.
4. driver is when driving long-range to remote-control racing car, triggers manipulation instruction according to described audio-visual simulated scenario and described drive simulating state, triggers manipulation instruction by drive simulating control device; Wherein, the instruction of triggering can be assisted instruction, deceleration instruction, steering order etc.
This manipulation instruction sends to described vehicles end, and described vehicles end completes driver behavior according to described manipulation instruction.
When carrying out long-range driving at drive simulating end to remote-control racing car, first switching on power, determining that remote-control racing car communicates normally with drive simulating end, wherein during this communication by radio communication that dual-mode antenna carries out.
After remote-control racing car communicates with drive simulating end; direction and the speed of remote-control racing car can be controlled by bearing circle and acceleration and deceleration manipulation; and the surface conditions in dolly front is seen in real time by display; when running into the road of uneven; dolly can produce vibrations; simultaneously driving cabin also can reduce 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 damage, and thereby increases stimulation and the enjoyment of driving;
Confirm that this kind of drive manner and control loop can realize driving the remote monitoring of the vehicles by this example, and the drive manner that drive simulating end is separated with vehicles end is safely and effectively.
Various embodiment provided by the invention can combine as required in any way mutually, the technical scheme obtained by this combination, also within the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if belong within the scope of the claims in the present invention and equivalent technologies thereof to these amendments of the present invention and modification, then the present invention also comprises these change and modification.
Claims (10)
1. drive manner, is characterized in that, comprising:
Gather driving scenario information, and simulate according to described driving scenario information, obtain audio-visual simulated scenario;
Gather vehicle status information, and simulate according to described vehicle status information, obtain drive simulating state;
According to described audio-visual simulated scenario and described drive simulating state, the manipulation instruction of trigger simulation state;
Described manipulation instruction is sent to the vehicles end of driving scenario, described vehicles end completes driver behavior according to described manipulation instruction.
2. drive manner according to claim 1, is characterized in that, describedly simulates according to described vehicle status information, obtains drive simulating state, comprising:
Condition Monitoring Data is generated according to described vehicle status information;
Carry out state simulation according to described Condition Monitoring Data, obtain drive simulating state.
3. drive manner according to claim 1, is characterized in that, before described collection driving scenario information, comprises further:
Detect the initial access state of described vehicles end; If initial access failure, then send alerting signal, and prompting checks or again accesses.
4. drive manner according to claim 1, is characterized in that, describedly described manipulation instruction is sent to the mode of the vehicles end of driving scenario to be the mode of radio communication.
5. drive manner according to claim 4, it is characterized in that, at least one in below described radio communication adopts: 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, forth generation 4G wireless communication technology.
6. drive manner according to claim 1, is characterized in that,
Described driving scenario information comprises: one or more in information of road surface, obstacle information, car flow information, traffic sign indication information;
And/or,
Described vehicle status information comprises: drive speed information, propulsion system status information, oil mass information, information about power, tire in force information, gear information one or more;
And/or,
Described manipulation instruction comprises: direction to control data message, accelerator control data message, brake manipulation data message, clutch control data message, selector manipulation data message, rocking bar manipulation information, one or more in route control information.
7. control loop, is characterized in that, comprising: vehicles end and drive simulating end;
Described vehicles end comprises the collection in worksite device for gathering driving scenario information, for gathering the state collecting device of vehicle status information and the on-site control device for completing driver behavior according to manipulation instruction;
Described drive simulating end comprises the audio-visual supervising device for carrying out simulating to obtain audio-visual simulated scenario according to described driving scenario information, for the driving simulator that carries out simulating to obtain drive simulating state according to described vehicle status information and for triggering manipulation instruction according to described audio-visual simulated scenario and described drive simulating state and described manipulation instruction being sent to the drive simulating control device of described vehicles end.
8. control loop according to claim 7, it is characterized in that, described driving simulator comprises for the sub-device of driver monitoring according to described vehicle status information generation Condition Monitoring Data and 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 of 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 force feedback reduction apparatus.
10. the control loop according to any one of claim 7 to 9, is characterized in that, described vehicles end has the first dual-mode antenna further;
Described drive simulating end has the second dual-mode antenna further;
Described first dual-mode antenna and described second dual-mode antenna radio communication.
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