CN105719530B - A kind of method that automobile driving simulator vivid platform system and simulated automotive drive - Google Patents
A kind of method that automobile driving simulator vivid platform system and simulated automotive drive Download PDFInfo
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- CN105719530B CN105719530B CN201610268929.1A CN201610268929A CN105719530B CN 105719530 B CN105719530 B CN 105719530B CN 201610268929 A CN201610268929 A CN 201610268929A CN 105719530 B CN105719530 B CN 105719530B
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Abstract
The present invention provides a kind of automobile driving simulator vivid platform systems, which is characterized in that the system comprises：The data acquisition module, the travelling data for acquiring virtual car on automobile driving simulator；The data processing module for the travelling data of collected virtual car to be carried out analyzing processing, and forms the Data Physical amount that can be transmitted；The logic processing module, the Data Physical amount for that will can transmit carry out logical process to realize the control for taking motor to survey；The communication module, for by pass through the logic processing module treated data be packaged into the User Datagram Protocol data packet of standard with realize can be in User Datagram Protocol communicate.The present invention also provides a kind of methods that simulated automotive drives.Technical solution provided by the invention realizes the movement of high-precision electric cylinders by UDP communication data transfer technologies.
Description
Technical field
The present invention relates to automotive fields more particularly to a kind of automobile driving simulator vivid platform system and simulated automotive to drive
The method sailed.
Background technology
Vivid platform be a kind of development it is fast, using wide typical simulation device, and belong to movement mapped device.However, market
On vivid platform be all biased into amusement direction, generally all use in the public places of entertainment such as electronic game city and recreation ground, be all into
Row significantly lifts recreational to enhance.
Automobile driving simulator can allow a kind of emulation machine that driver is really driven in virtual scene, its energy complete
The basic operation of full simulated automotive and vision body-sensing, as people examine driver's license in growth year by year, new student is driven using automobile
It sails simulator also increasing substantially, this has become a trend, and student can experience driving as automobile in driving simulator
It sails vision and is familiar with interior be laid out；But due to the dynamic senses not run, student the training stage always and car steering not
Equally drive very much sense.People just implant recreational dynamic technology, but traditional driving in automobile driving simulator thus
Simulator innervation is all done with easy car model, and driving device frame is simple, and computer directly passes through upper bottom
Machine and servo motor carry out data communication, and this effect is coarse, can only the simulated automotive effect that accelerates, slow down, accuracy is insufficient
Can not completely simulated automotive traveling true body-sensing, due to can not completely simulated automotive traveling actual effect, so as to cause mould
Quasi- precision is not high.
Invention content
In view of this, the purpose of the present invention is to provide a kind of automobile driving simulator vivid platform system and simulated automotives
The method of driving, it is intended to solve the problems, such as that the precision that automobile driving simulator institute simulated automotive drives in the prior art is not high.
The present invention proposes a kind of automobile driving simulator vivid platform system, wherein the system comprises：Data acquisition module
Block, data processing module, logic processing module and communication module, wherein
The data acquisition module, the travelling data for acquiring virtual car on automobile driving simulator；
The data processing module for the travelling data of collected virtual car to be carried out analyzing processing, and is formed
The Data Physical amount that can be transmitted；
The logic processing module, the Data Physical amount for that will can transmit carry out logical process and take motor to survey to realize
Control；
The communication module, treated for will pass through the logic processing module, and data carry out the use for being packaged into standard
User data datagram protocol data packet with realize can be in User Datagram Protocol communicate.
Preferably, the travelling data of the virtual car includes vehicle speed data, clutch data, throttle data, steering wheel number
According to this and inclination data according to, gear number.
Preferably, the data processing module, specifically for it is preceding handled to speed, the acceleration to curve or turning
Degree handled, the processing to ramp or concave-convex road surface tilting of automobile.
Preferably, the logic processing module is converted into stretching for electric cylinders specifically for the Data Physical amount amount that will can be transmitted
The speed of contracting amount and electric cylinders lifting.
Preferably, the system also includes surveys to take motor module and mechanical movement module, wherein
The survey takes motor module for being passed by network transmission User Datagram Protocol survey the data for taking motor
It is defeated, and pass to mechanical movement module；
The mechanical movement module carries out corresponding to relevant machine for taking the data that motor module is transmitted according to the survey
Tool moves, to realize that the movement of dummy model maps.
On the other hand, the present invention also provides a kind of methods that simulated automotive drives, and it is dynamic to be applied to automobile driving simulator
Plateform system, wherein the method includes：
The travelling data of virtual car is acquired on automobile driving simulator；
The travelling data of collected virtual car is subjected to analyzing processing, and forms the Data Physical amount that can be transmitted；
The Data Physical amount that can be transmitted is subjected to logical process to realize the control for taking motor to survey；
Data after logical process be packaged into the User Datagram Protocol data packet of standard so that realize can be
In User Datagram Protocol communicate.
Preferably, the travelling data of the virtual car includes vehicle speed data, clutch data, throttle data, steering wheel number
According to this and inclination data according to, gear number.
Preferably, the method further includes：
It carries out surveying the data transmission for taking motor by network transmission User Datagram Protocol, and passes to mechanical movement mould
Block；
The mechanical movement module carries out corresponding to relevant mechanical movement according to the data transmitted, to realize dummy model
Movement mapping.
Technical solution provided by the invention can realize the various driving operational effects of simulated automotive, such as realize simulated automotive
Caused by the shake effect of sparking and semi-linkage, mistake driver behavior when flame-out dynamic effect, the velocity variations of automobile and turning
Movement effects, Uneven road or or cross the shake effects up and down of the running cars such as deceleration strip, and passed by UDP communication datas
Transferring technology realizes the movement of high-precision electric cylinders, and dynamic accuracy is promoted to 0.01cm, can allow student on driving simulation
It is not merely that vision drives effect and also dynamic body-sensing effect, like being driven on automobile.
Description of the drawings
Fig. 1 is the internal structure schematic diagram of automobile driving simulator vivid platform system 10 in an embodiment of the present invention；
Fig. 2 is the method flow diagram that simulated automotive drives in an embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The specific embodiment of the invention provides a kind of automobile driving simulator vivid platform system 10, wherein the system
System includes：Data acquisition module 11, data processing module 12, logic processing module 13 and communication module 14, wherein
The data acquisition module 11, the travelling data for acquiring virtual car on automobile driving simulator；
The data processing module 12, for the travelling data of collected virtual car to be carried out analyzing processing, and shape
At the Data Physical amount that can be transmitted；
The logic processing module 13, the Data Physical amount for that will can transmit carry out logical process to realize to surveying clothes electricity
The control of machine；
The communication module 14, treated for will pass through the logic processing module, and data carry out being packaged into standard
User Datagram Protocol data packet with realize can be in User Datagram Protocol communicate.
A kind of automobile driving simulator vivid platform system 10 provided by the invention can realize the various driving of simulated automotive
Operational effect, such as realize that dynamic of stopping working caused by the shake effect of simulated automotive sparking and semi-linkage, mistake driver behavior is imitated
Movement effects, Uneven road when fruit, the velocity variations of automobile and turning or cross the shakes up and down of the running cars such as deceleration strip
Effect, and the movement of high-precision electric cylinders is realized by UDP communication data transfer technologies, dynamic accuracy promotion is arrived
0.01cm, it is not merely that vision drives effect and also dynamic body-sensing effect on driving simulation that can allow student, still
As being driven on automobile.
A kind of automobile driving simulator vivid platform system 10 provided by the present invention will be described in detail below.
Referring to Fig. 1, for the internal structure of automobile driving simulator vivid platform system 10 in an embodiment of the present invention
Schematic diagram.
In the present embodiment, automobile driving simulator vivid platform system 10 includes mainly data acquisition module 11, number
According to processing module 12, logic processing module 13 and communication module 14.
Data acquisition module 11, the travelling data for acquiring virtual car on automobile driving simulator.
In the present embodiment, the travelling data of the virtual car include vehicle speed data, clutch data, throttle data,
Steering wheel data, gear number are according to this and inclination data.
In the present embodiment, entire data acquisition relies on driving simulator, by being obtained on virtual car
Take some information such as the speed of automobile, the position of four wheels.Velocity of the vehicle speed data by reading automobile rigid body is acquired,
The mould of velocity is taken to obtain speed this physical quantity, such as velocity=car.rigidbody.velocity, speed=
Velocity.magnitude, every 5 frame acquire a speed data and are saved in inside floating number array list_Speed；Acquisition
Clutch data, throttle data, steering wheel data, gear data are obtained by reading the data of slave computer in computer processing system
?；Acquisition inclination data be by record automobile four wheels position (i.e. position_LL, position_LR,
Position_RL, position_RR) and the forward direction gradient of automobile is calculated by the position of four wheels and is laterally inclined
Gradient.
In the present embodiment, automobile driving simulator vivid platform system 10 has used the middle intelligence of high emulation to emulate automobile
Driving simulator, appearance are known each other with automobile height and are added again and innovate, and traditional is all three electric cylinders and six electric cylinders, and the present invention then adopts
With four axis electric cylinders.Moreover, the body design direction of the present invention is the heave amplitude for embodying electric cylinders by acceleration, according to automobile
In varied situations to the change of velocity magnitude and direction, so as to find out the power and acceleration suffered by corresponding direction, by adding
The size and Orientation of speed come control electric cylinders adjustable height and it is corresponding be which electric cylinders, according to the change curve of acceleration
To control the speed of electric cylinders lifting.
For example, as linear movement, automobile travels in one direction, during the acceleration (or slow down) all can there are one
The process of acceleration because by inertia effect meeting there are one the feeling for before facing upward (or leaning forward), in this way can be by automobile electric cylinders
The first two electric cylinders rise (or decline) and latter two electric cylinders declines (or rising) to realize this function, before and after automobile
Speed seeks the size a of acceleration, sets the adjustable height and speed of electric cylinders by the size of acceleration a.
For example, as curvilinear motion, automobile changes direction in the speed driving process with constant size and offsets from original
The direction come and do curvilinear motion, automobile will produce centripetal force during curve driving, mutual according to the effect design of power
Automobile can be subject to centrifugal forces, is allowed to generate a feeling to side throwing, before the number of rotation of steering wheel or automobile
The angle of wheel finds out centripetal acceleration, and the adjustable height and speed of electric cylinders are set by the size of acceleration.
For example, as ramp driving, automobile travels on ramp can be affected by gravity, and more automobile is on ramp
The effect of gravity is decomposed the active force along vehicle body and vertical vehicle body by angle.
For example, as uneven sections of road, when driving because road surface is uneven, in very short time on uneven section
The direction change of speed has the effect of great centrifugal force and gravity soon, and top mother-in-law is will produce under the two active forces.
Technical scheme of the present invention uses the middle intelligence of Gao Fang to emulate automobile driving simulator as carrier, obtains automobile physics and draws
The data of generation are held up, the data of acquisition are handled according to rigid body physics, dynamics, kinematics etc., wherein physical engine uses
Object properties (such as momentum, torque or elasticity) simulate rigid body behavior, this can obtain more true as a result, the present invention makes
Safety is increased significantly with the design method of four axis electric cylinders, moreover, middle intelligence emulates automobile driving simulator using novel
Automobile physical engine can simulated automotive operation completely practical road conditions, using UDP message transmission mechanism can allow electric cylinders complete
The other fineness movement effects of simulation grade.
Data processing module 12, for the travelling data of collected virtual car to be carried out analyzing processing, and being formed can
The Data Physical amount of transmission.
In the present embodiment, the data processing module 12, specifically for it is preceding handled to speed, to curve or
The acceleration of turning handled, the processing to ramp or concave-convex road surface tilting of automobile.
In the present embodiment, acceleration mainly is obtained to the processing of speed, acceleration is converted into the inertia of automobile
Thus power carrys out the effect of skimulated motion.
For example, the algorithm for using extreme value denoising to the preceding processing to speed obtains transverse acceleration.
For example, handle the acceleration of curve or turning, automobile is in curve driving or when turned, steering wheel meeting
Have certain deflection, camber line traveling can be carried out to automobile, when automobile circumferentially or when curve track moves can by with its
The different bonding force effect of directional velocity, that is, centrifugal force.
For example, the processing to ramp or concave-convex road surface tilting of automobile, in ramp or concave-convex road surface, automobile will produce when driving
The transformation that do not stop of the inclination of different directions, gradient may result in sense of jolting, in a program by obtaining angle when automobile bumpiness
It spends to calculate the acceleration to float up and down (namely longitudinal acceleration).
Logic processing module 13, the Data Physical amount for that will can transmit carry out logical process and take motor to survey to realize
Control.
In the present embodiment, the logic processing module 13 is converted specifically for the Data Physical amount amount that will can be transmitted
The speed lifted at the stroke and electric cylinders of electric cylinders.
In the present embodiment, it is acquired by data before and what data processing finally obtained is intuitive physical quantity,
Processed in this module of logic processing module 13 control can to survey take motor control it is last to achieve the effect that.
In the present embodiment, logic processing module 13 is physical quantity to be converted into the stroke of electric cylinders and electric cylinders lift
Speed carrys out the sense of jolting of simulated automotive traveling：
For example, along the stroke of vehicle body direction electric cylinders, according within the equivalent time, the size of the change of speed is understood one
Automobile is to accelerate or slowing down, and the data volume of gear can determine whether to advance or falling back；Cause to subtract secondly automobile is hit
Speed accelerates, and is at this time a Sudden Changing Rate, will produce an extreme value；It is taken thirdly automobile in non-flat sections of road, has to tilt
Wherein fore-and-aft tilt amount, this tittle are converted into corresponding electricity by the principle of gravitation of some physical motion principles and newton
Cylinder stroke.
For example, the stroke of vertical vehicle body direction electric cylinders, one automobile in non-flat sections of road, have can tilt take it is wherein horizontal
To inclination, secondly steering wheel rotation, automobile movement in a curve, generate lateral physical quantity, this tittle passes through some physical motions original
The principle of gravitation of reason and newton are converted into corresponding electric cylinders stroke.
For example, the lifting speed of electric cylinders, the variable quantity of speed can embody electric cylinders lifting speed in the time of one equivalent,
The more big then lifting speed of variable quantity is faster, and anti-regular lifting speed is slower, secondly the operation of three pedals, either to clutch, oil
Door, the operation braked can all lead to the operational effect of automobile, and the more fast then lifting speed operated in the equivalent time is faster, anti-regular
Lifting speed is slower, thirdly the influence of external factor, for example hit wall and then will produce emergency stop, at this time we will then simulate a wink
Between value simulate current collision.
Communication module 14, treated for will pass through the logic processing module, and data carry out the user for being packaged into standard
Datagram protocol data packet with realize can be in User Datagram Protocol communicate.
In the present embodiment, ethernet data communication uses UDP communications protocol, by MAC Address, IP address, and
User flows to the UDP source port numbers and destination port number of control definition for realizing Ethernet data.In the present embodiment, with
The UDP message part netted very much is divided into 3 subdomains, respectively application control region, using processing domain and apply data field.
In addition to this, automobile driving simulator vivid platform system 10 of the invention further includes surveying to take motor module and machinery
Motion module, wherein
The survey takes motor module for being passed by network transmission User Datagram Protocol survey the data for taking motor
It is defeated, and pass to mechanical movement module；
The mechanical movement module carries out corresponding to relevant machine for taking the data that motor module is transmitted according to the survey
Tool moves, to realize that the movement of dummy model maps.
In the present embodiment, according to the automobile change to velocity magnitude and direction in varied situations, so as to find out right
The power and acceleration suffered by direction are answered, turn of fantasy sport and real mechanical movement is carried out by these kinematics physical quantitys
It changes.
A kind of automobile driving simulator vivid platform system 10 provided by the invention can realize the various driving of simulated automotive
Operational effect, such as realize that dynamic of stopping working caused by the shake effect of simulated automotive sparking and semi-linkage, mistake driver behavior is imitated
Movement effects, Uneven road when fruit, the velocity variations of automobile and turning or cross the shakes up and down of the running cars such as deceleration strip
Effect, and the movement of high-precision electric cylinders is realized by UDP communication data transfer technologies, dynamic accuracy promotion is arrived
0.01cm, it is not merely that vision drives effect and also dynamic body-sensing effect on driving simulation that can allow student, still
As being driven on automobile.
The specific embodiment of the invention also provides a kind of method that simulated automotive drives, dynamic applied to automobile driving simulator
Feel plateform system, wherein the method includes mainly：
S11, the travelling data that virtual car is acquired on automobile driving simulator；
S12, the travelling data of collected virtual car is carried out to analyzing processing, and forms the Data Physical that can be transmitted
Amount；
S13, the Data Physical amount that can be transmitted is subjected to logical process to realize the control for taking motor to survey；
S14, the User Datagram Protocol data packet for carrying out being packaged into standard by the data after logical process are to realize
Can be in User Datagram Protocol communicate.
The method that a kind of simulated automotive provided by the invention drives, can realize the various driving operational effects of simulated automotive,
Such as the dynamic effect that stops working caused by the shake effect of the sparking of realization simulated automotive and semi-linkage, mistake driver behavior, automobile
Movement effects, Uneven road when velocity variations and turning or or cross the shake effects up and down of the running cars such as deceleration strip, and
The movement of high-precision electric cylinders is realized by UDP communication data transfer technologies, dynamic accuracy is promoted to 0.01cm, can allow student
It is not merely that vision drives effect and also dynamic body-sensing effect on driving simulation, like driving one on automobile
Sample.
Referring to Fig. 2, the method flow diagram driven for simulated automotive in an embodiment of the present invention.
In step s 11, the travelling data of virtual car is acquired on automobile driving simulator.
In the present embodiment, the travelling data of the virtual car include vehicle speed data, clutch data, throttle data,
Steering wheel data, gear number are according to this and inclination data.
In the present embodiment, for example above-mentioned data acquisition module of specific acquisition method of the travelling data of virtual car is acquired
Related record in 11, does not do repeated description herein.
In step s 12, the travelling data of collected virtual car is subjected to analyzing processing, and forms the number that can be transmitted
According to physical quantity.
In the present embodiment, the method for processing such as the related record in above-mentioned data processing module 12 are made a concrete analysis of,
This does not do repeated description.
In step s 13, the Data Physical amount that can be transmitted is subjected to logical process to realize the control for taking motor to survey.
In the present embodiment, related in the method for specific logical process such as above-mentioned logic processing module 13 is recorded,
This does not do repeated description.
In step S14, User Datagram Protocol data that the data after logical process are carried out being packaged into standard
Packet with realize can be in User Datagram Protocol communicate.
In the present embodiment, specifically it is packaged into for example above-mentioned communication mould of method of the User Datagram Protocol data packet of standard
Related record in block 14, does not do repeated description herein.
In addition to this, a kind of method of simulated automotive of the invention driving further includes：
It carries out surveying the data transmission for taking motor by network transmission User Datagram Protocol, and passes to mechanical movement mould
Block；
The mechanical movement module carries out corresponding to relevant mechanical movement according to the data transmitted, to realize dummy model
Movement mapping.
In the present embodiment, according to the automobile change to velocity magnitude and direction in varied situations, so as to find out right
The power and acceleration suffered by direction are answered, turn of fantasy sport and real mechanical movement is carried out by these kinematics physical quantitys
It changes.
The method that a kind of simulated automotive provided by the invention drives, can realize the various driving operational effects of simulated automotive,
Such as the dynamic effect that stops working caused by the shake effect of the sparking of realization simulated automotive and semi-linkage, mistake driver behavior, automobile
Movement effects, Uneven road when velocity variations and turning or or cross the shake effects up and down of the running cars such as deceleration strip, and
The movement of high-precision electric cylinders is realized by UDP communication data transfer technologies, dynamic accuracy is promoted to 0.01cm, can allow student
It is not merely that vision drives effect and also dynamic body-sensing effect on driving simulation, like driving one on automobile
Sample.
It is worth noting that, in above-described embodiment, included each unit is only divided according to function logic,
But it is not limited to above-mentioned division, as long as corresponding function can be realized；In addition, the specific name of each functional unit
Only to facilitate mutually distinguishing, the protection domain being not intended to restrict the invention.
In addition, one of ordinary skill in the art will appreciate that realizing all or part of step in the various embodiments described above method
It is that relevant hardware can be instructed to complete by program, corresponding program can be stored in a computer-readable storage and be situated between
In matter, the storage medium, such as ROM/RAM, disk or CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (8)
1. a kind of automobile driving simulator vivid platform system, which is characterized in that the system comprises：Data acquisition module, number
According to processing module, logic processing module and communication module, wherein
The data acquisition module, the travelling data for acquiring virtual car on automobile driving simulator, the driving number
According to including inclination data；
The inclination data includes preceding to gradient and lateral tilt degree, and the forward direction gradient and the lateral tilt degree
By recording the position of the four wheels of automobile and being calculated by the position of the four wheels；
The data processing module for the travelling data of collected virtual car to be carried out analyzing processing, and is formed and can be passed
Defeated Data Physical amount；
The logic processing module, the Data Physical amount for that will can transmit carry out logical process to realize the control for taking motor to survey
System；
The communication module, treated for will pass through the logic processing module, and data carry out the number of users for being packaged into standard
According to datagram protocol data packet with realize can be in User Datagram Protocol communicate.
2. automobile driving simulator vivid platform system as described in claim 1, which is characterized in that the row of the virtual car
Car data further includes vehicle speed data, clutch data, throttle data, steering wheel data and gear data.
3. automobile driving simulator vivid platform system as claimed in claim 2, which is characterized in that the data processing mould
Block, specifically for being handled, being handled the acceleration of curve or turning, to ramp or concave-convex road surface vapour to speed to preceding
The inclined processing of vehicle.
4. automobile driving simulator vivid platform system as claimed in claim 2, which is characterized in that the logical process mould
Block is converted into the speed of the stroke and electric cylinders lifting of electric cylinders specifically for the Data Physical amount amount that will can be transmitted.
5. automobile driving simulator vivid platform system as described in claim 1, which is characterized in that the system also includes surveys
Take motor module and mechanical movement module, wherein
The survey takes motor module for survey the data transmission for taking motor by network transmission User Datagram Protocol, and
Pass to mechanical movement module；
The mechanical movement module carries out corresponding relevant machinery fortune for taking the data that motor module is transmitted according to the survey
It is dynamic, to realize that the movement of dummy model maps.
6. a kind of method that simulated automotive drives is applied to automobile driving simulator vivid platform system, which is characterized in that described
Method includes：
The travelling data of virtual car is acquired on automobile driving simulator, the travelling data includes inclination data；
The inclination data includes preceding to gradient and lateral tilt degree, and the forward direction gradient and the lateral tilt degree
By recording the position of the four wheels of automobile and being calculated by the position of the four wheels；
The travelling data of collected virtual car is subjected to analyzing processing, and forms the Data Physical amount that can be transmitted；
The Data Physical amount that can be transmitted is subjected to logical process to realize the control for taking motor to survey；
Be packaged into the User Datagram Protocol data packet of standard by the data after logical process can be in user to realize
In datagram protocol communicate.
7. the method that simulated automotive as claimed in claim 6 drives, which is characterized in that the travelling data of the virtual car is also
Including vehicle speed data, clutch data, throttle data, steering wheel data and gear data.
8. the method that simulated automotive as claimed in claim 6 drives, which is characterized in that the method further includes：
It carries out surveying the data transmission for taking motor by network transmission User Datagram Protocol, and passes to mechanical movement module；
The mechanical movement module carries out corresponding to relevant mechanical movement according to the data transmitted, to realize the fortune of dummy model
Dynamic mapping.
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