CN108538141A - Traffic equipment movement technique and sand table driving analog system - Google Patents
Traffic equipment movement technique and sand table driving analog system Download PDFInfo
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- CN108538141A CN108538141A CN201810384016.5A CN201810384016A CN108538141A CN 108538141 A CN108538141 A CN 108538141A CN 201810384016 A CN201810384016 A CN 201810384016A CN 108538141 A CN108538141 A CN 108538141A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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Abstract
A kind of traffic equipment movement technique of offer of the embodiment of the present invention and sand table driving analog system, first, the location information of itself and movable information are sent to the sand dish controls central server by traffic equipment in real time, the sand dish controls central server is sent to traffic equipment after being based on location information and the corresponding automatic Pilot control instruction of movable information generation, traffic equipment carries out automatic Pilot based on automatic Pilot control instruction in sand table, and the audio/video information of state parameter and ambient enviroment is obtained in driving procedure, state parameter is converted into feedback signal further according to prototype traffic equipment parameter and traffic equipment parameter, and the audio/video information of feedback signal and ambient enviroment is sent to simulator cockpit in real time.Audio/video information is carried out real-time display by simulator cockpit, and carries out quasi- true operation based on feedback signal.Thereby, it is possible to reduce the cost of traffic equipment, while ensureing that the driver in simulator cockpit experiences the quasi- true effect of automatic Pilot.
Description
Technical field
The present invention relates to sand table traffic simulation technical fields, in particular to a kind of traffic equipment movement technique and sand table
Driving analog system.
Background technology
People-transport's device on vent gutter road will realize Function for Automatic Pilot at present, need in unknown, complicated, warp
Often variation in the environment of deal with it is various in the case of other traffic equipments, it is also necessary to high safety.In order to realize above-mentioned function,
People-transport's device of vent gutter road is required for powerful data-handling capacity and corresponding hardware, such as LIDAR laser radars, milli
The sensor of the costliness such as metre wave radar, sonar, 2D cameras, ranging camera head, cost are extremely expensive.
Based on sand table visualization drone's traffic equipment training or tournament system in, when mankind's straighforward operation
When person's quantity is inadequate, when mankind's teleoperator needs to obtain professional training or confrontation, when match medium-long range human operator
Several scenes when broken string needs automatic Pilot to take over, etc. need unmanned traffic tool is standby to drive automatically under these scenes
Sail function, based on sand table visualization drone's traffic equipment training or tournament system in, due to not manned, to peace
The requirement of full property declines to a great extent, on this basis, how while realizing unmanned traffic equipment Function for Automatic Pilot most
The cost of traffic equipment is reduced to limits, and ensures the real experiences of mankind's teleoperator in simulator cockpit, is
Those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
In view of this, the purpose of the present invention is to provide a kind of traffic equipment movement technique and sand table driving analog system, with
Solve or improve the above problem.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows：
The embodiment of the present invention provides a kind of traffic equipment movement technique, is applied to sand table driving analog system, and the sand table is driven
It includes the traffic equipment being located in sand table and the sand dish controls central server communicated to connect with the traffic equipment to sail simulation system
And simulator cockpit, the method includes：
The location information of itself and movable information are sent to the sand dish controls central server by the traffic equipment in real time；
The sand dish controls central server is based on the location information and movable information generates corresponding automatic Pilot control
It is sent to the traffic equipment after system instruction；
The traffic equipment carries out automatic Pilot based on the automatic Pilot control instruction in sand table, and in driving procedure
Obtain the audio/video information of state parameter and ambient enviroment, wherein the state parameter includes outside air kinetic parameter, temperature
Parameter, road conditions parameter, traffic equipment vibrations parameter, traffic equipment speed parameter, traffic equipment acceleration parameter and traffic equipment light loudspeaker
Parameter；
The state parameter is converted into feedback signal according to prototype traffic equipment parameter and traffic equipment parameter, and will be described anti-
The audio/video information of feedback signal and ambient enviroment is sent to the simulator cockpit in real time；
The audio/video information is carried out real-time display by the simulator cockpit, and based on the feedback signal intend very
Operation, so that the driver in the simulator cockpit experiences current driving condition, wherein the quasi- true operation packet
It includes：The steering wheel of simulator cockpit caused by the outside air kinetic parameter deviates, the mould caused by the temperature parameter
Mechanical collision, the traffic equipment of the simulator cockpit caused by temperature change, the road conditions parameter in the cabin of quasi- cockpit
Vibrations of jolting, the traffic equipment speed parameter and the traffic equipment acceleration ginseng of the simulator cockpit caused by vibrations parameter
The lamp for pushing away the simulator cockpit caused by back of the body sense, the traffic equipment light parametric loudspeaker of the simulator cockpit caused by number
Light loudspeaker change.
Optionally, described that the state parameter is converted by feedback signal according to prototype traffic equipment parameter and traffic equipment parameter
The step of, including：
The traffic equipment analyzes the lateral resistance itself being subject to and longitudinal resistance according to the aerodynamic parameter, simulates
Lateral resistance data and longitudinal resistance data, and generate resistance feedback control signal；
The temperature data in the simulator cockpit is calculated according to ambient temperature simulation, and generates temperature feedback control letter
Number；
The probability and intensity number of the mechanical collision generated when driving on road surface are simulated according to surface evenness, roughness
According to, and generate mechanical collision motion sensing control signal；
Jolt vibration frequency and the amplitude data of the simulator cockpit are simulated according to vibrations in the process of moving, and
Generation is jolted shake control signal；
Inertia force data is calculated according to the traffic equipment speed parameter and the traffic equipment acceleration parameter, and is generated used
Property control signal；
The light loudspeaker data of the simulator cockpit are calculated according to the traffic equipment light parametric loudspeaker, and generate lamp
Light loudspeaker control signal.
Optionally, the simulator cockpit executes quasi- true operation in the following manner：
The simulator cockpit receives the resistance feedback and controls signal, and signal is controlled to direction according to the resistance feedback
Disk output offset torque, simulation traffic equipment are deviated by the steering wheel that windage generates；
The temperature feedback control signal is received, simulator cockpit internal temperature is adjusted, using temperature sensor to described
Simulator cockpit internal temperature is monitored；
Receive the mechanical collision motion sensing control signal, control spring damping unit simulation collision；
Jolt shake control signal described in reception, controls the vibrations of jolting of the spring damping unit simulation cockpit；
The inertia control signal is received, the acceleration of cockpit is adjusted according to the inertia control signal, mould
Back of the body sense is pushed away in quasi- driving process；
Receive light loudspeaker control signal, according to the light loudspeaker control signal to the light loudspeaker of cockpit into
Row adjusts, the light loudspeaker variation during simulated driving.
Optionally, the prototype traffic equipment parameter include drag parameter, engine performance curve, gearbox performance curve,
Braking quality curve, tyre performance curve, startup braking moment virtual value curve and oil consumption curve, the traffic equipment parameter include
Traffic equipment drag parameter, motor performance curve and cell performance curve, the method further include：
The simulator cockpit obtains electric control signal, wherein the electricity control signal includes chassis control signal, four-wheel
Driving control signal, steering wheel control signal, clutch plate control signal, throttle plate control signal and brake plate control signal；
The chassis control signal, four-wheel drive control are believed according to prototype traffic equipment parameter and traffic equipment parameter
Number, the steering wheel control signal, the clutch plate control signal, the throttle plate control signal and the braking vane control letter
Number equal proportion scaling is carried out, obtains effective Value Data for being acted for controlling the traffic equipment；
Effective Value Data is sent to the traffic equipment in real time.
Optionally, it is described according to prototype traffic equipment parameter and traffic equipment parameter by the steering wheel control signal, it is described from
It closes plate control signal, the throttle plate control signal and the brake plate control signal and carries out equal proportion scaling, obtain for controlling
The step of making effective Value Data that the traffic equipment is acted, including：
According to the drag parameter, the tyre performance curve and the traffic equipment drag parameter, obtain for controlling
State the draught control data for the spoiler being arranged in traffic equipment；
According to the engine performance curve, the gearbox performance curve, the braking quality curve and the startup
Braking moment virtual value curve carries out speed governing tune square to the motor performance curve using motor drive module, obtains different
The performance data of engine and gearbox under gear；
According to the clutch plate control signal, the throttle plate control signal and the brake plate control signal in performance control
Corresponding data are chosen in data processed as control data；
Go out fuel tank size and virtual oil reserve according to the oil consumption curve simulation, cell performance curve be configured,
When the virtual oil reserve exhausts, control battery stops power supply；
Signal mode, which is controlled, according to the steering wheel draws up bearing data and angle for making the traffic equipment be acted
Data；
The chassis control data for making the traffic equipment carry out chassis control are drawn up according to the chassis control signal mode；
The four-wheel for making the traffic equipment carry out four-wheel drive control is drawn up according to four-wheel drive control signal mode
Driving data.
Second aspect, the embodiment of the present invention also provide a kind of sand table driving analog system, the sand table driving analog system
The sand dish controls central server and drive simulating for including the traffic equipment in sand table and being communicated to connect with the traffic equipment
Cabin；
The traffic equipment, it is genuinely convinced in the sand dish controls for the location information of itself and movable information to be sent in real time
Business device；
The sand dish controls central server is generated for being based on the location information and movable information and corresponding is driven automatically
It is sent to the traffic equipment after sailing control instruction；
The traffic equipment is additionally operable to carry out automatic Pilot in sand table based on the automatic Pilot control instruction, and is driving
The audio/video information of state parameter and ambient enviroment is obtained during sailing, wherein the state parameter includes outside air power
Parameter, temperature parameter, road conditions parameter, traffic equipment vibrations parameter, traffic equipment speed parameter, traffic equipment acceleration parameter and traffic
Device light parametric loudspeaker；The state parameter is converted into feedback signal according to prototype traffic equipment parameter and traffic equipment parameter, and
The audio/video information of the feedback signal and ambient enviroment is sent to the simulator cockpit in real time；
The simulator cockpit, for by the audio/video information carry out real-time display, and based on the feedback signal into
The quasi- true operation of row, so that the driver in the simulator cockpit experiences current driving condition, wherein the quasi- true behaviour
Work includes：The steering wheel of simulator cockpit caused by the outside air kinetic parameter deviates, institute caused by the temperature parameter
State the mechanical collision of the simulator cockpit, the friendship caused by temperature change in the cabin of simulator cockpit, the road conditions parameter
Vibrations of jolting, the traffic equipment speed parameter and the traffic equipment of the simulator cockpit caused by logical device vibrations parameter accelerate
The simulator cockpit caused by degree parameter pushes away the simulator cockpit caused by back of the body sense, the traffic equipment light parametric loudspeaker
Light loudspeaker variation.
In terms of existing technologies, the invention has the advantages that：
Traffic equipment movement technique and sand table driving analog system provided in an embodiment of the present invention, first, traffic equipment by itself
Location information and movable information be sent to the sand dish controls central server in real time, the sand dish controls central server, which is based on positioning, to be believed
Breath and movable information are sent to traffic equipment after generating corresponding automatic Pilot control instruction, and traffic equipment is based on automatic Pilot control and refers to
Order carries out automatic Pilot in sand table, and the audio/video information of state parameter and ambient enviroment, then root are obtained in driving procedure
State parameter is converted into feedback signal according to prototype traffic equipment parameter and traffic equipment parameter, and by feedback signal and ambient enviroment
Audio/video information is sent to simulator cockpit in real time.Audio/video information is carried out real-time display by simulator cockpit, and based on feedback
Signal carries out quasi- true operation.Thereby, it is possible to reduce the cost of traffic equipment, at the same when driver need to obtain professional training or
When confrontation, or the automatic of traffic equipment is realized under several scenes when driver's broken string needs automatic Pilot to take in match etc.
It drives, while feeding back to simulator cockpit, to which the driver ensured in simulator cockpit experiences unbroken automatic Pilot
Intend true effect.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of interactive schematic block diagram of sand table driving analog system provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of traffic equipment movement technique provided in an embodiment of the present invention；
Fig. 3 is the flow diagram for each sub-steps that step S140 shown in Fig. 2 includes；
Fig. 4 is the flow diagram for each sub-steps that step S150 shown in Fig. 2 includes.
Icon：10- sand table driving analog systems；100- traffic equipments；200- servers；300- simulator cockpits.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Usually herein
The component of the embodiment of the present invention described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Based on sand table visualization drone's traffic equipment training or tournament system in, when mankind's straighforward operation
When person's quantity is inadequate, when mankind's teleoperator needs to obtain professional training or confrontation, when match medium-long range human operator
Several scenes when broken string needs automatic Pilot to take over, etc. need unmanned traffic tool is standby to drive automatically under these scenes
Sail function, based on sand table visualization drone's traffic equipment training or tournament system in, due to not manned, to peace
The requirement of full property declines to a great extent, on this basis, how while realizing unmanned traffic equipment Function for Automatic Pilot most
The cost of traffic equipment is reduced to limits, and ensures the real experiences of mankind's teleoperator in simulator cockpit, is
Those skilled in the art's technical problem urgently to be resolved hurrily.
Defect present in the above scheme in the prior art, is that inventor is obtaining after putting into practice and carefully studying
As a result, therefore, the solution that the discovery procedure of the above problem and the hereinafter embodiment of the present invention are proposed regarding to the issue above
Scheme all should be the contribution that inventor makes the present invention in process of the present invention.
To solve the above-mentioned problems, referring to Fig. 1, being interacted for sand table driving analog system 10 provided in an embodiment of the present invention
Schematic diagram, in the present embodiment, the sand table driving analog system 10 include the traffic equipment 100 being located in sand table and with the friendship
The sand dish controls central server 200 and simulator cockpit 300, the sand table region that logical device 100 communicates to connect are a set of diminutions
Then the traffic equipment training of version, competition area will for example, the topographic map in a city to be zoomed to the size in a football pitch
Prototype traffic equipment carries out equal proportion and scales to obtain the traffic equipment 100 in sand table, in this way, can obtain one contains scaled down version city
The sand table region in city and traffic equipment 100.Wherein, the relevant parameter in sand table region, for example, road conditions, pedestrian, traffic equipment simulation
Quasi- true simulation can be carried out.
The movable information of itself and location information can be uploaded to the sand table control by the traffic equipment 100 in the process of moving
Central server 200 processed.Further, the traffic equipment 100 can also be communicated to connect with simulator cockpit 300, drive simulating
Cabin 300 can be travelled with remote control traffic equipment 100 in scaled down version city, and traffic equipment 100 is by the every terms of information in driving process
Simulator cockpit 300 is fed back to, simulator cockpit 300 carries out corresponding actions according to these information or traffic equipment 100 can institute
The automatic Pilot control instruction for stating the sand dish controls central server 200 travels in sand table region, and will be each in driving process
Item information feeds back to simulator cockpit 300, and simulator cockpit 300 carries out corresponding actions according to these information.
In the present embodiment, the sand dish controls central server 200 should be understood that offer processing, data bank, communication are set
The service point applied.For example, the sand dish controls central server 200 can refer to related communication and data storage and data bank
The single physical processor of facility or it can refer to the set of networking or the processor gathered, related network and storing unit
Body, and to software and one or more document library systems and support the service that the sand dish controls central server 200 is provided
Application software is operated.The sand dish controls central server 200 can be widely different in configuration or performance, but the sand dish controls
Central server 200 generally may include one or more central processing unit and storage unit.The sand dish controls central server
200 can also include one or more large-scale storage area equipment, one or more power supplys, one or more wired or wireless networks
Component, one or more input output assemblies or one or more operating systems, such as, Windows Server, Mac OS
X、Unix、Linux、FreeBSD。
Automatic Pilot control method is provided for the embodiments of the invention below based on application scenarios shown in FIG. 1 to do into one
Walk explanation.Referring to Fig. 2, for a kind of flow diagram of 100 movement technique of traffic equipment provided in an embodiment of the present invention, should say
Bright, 100 movement technique of traffic equipment provided in an embodiment of the present invention is not limitation with Fig. 2 and particular order as described below,
100 movement technique of traffic equipment can be achieved by the steps of：
The location information of itself and movable information are sent to genuinely convinced in the sand dish controls by step S110, traffic equipment 100 in real time
Business device 200.
In the present embodiment, the traffic equipment 100 real-time perception IMU inertial navigation modules, wheel can turn during the motion
The movable information of the sensors such as fast sensor, direction sensor, throttle sensor, brake, while the positioning mould for passing through itself
Block or the communication base station in sand table get location information, and location information and movable information are sent to the sand table
Control centre's server 200.Wherein, the movable information includes at least kinematic parameter, inertial navigation data, vehicle wheel rotational speed number
According to, bearing data, throttle data, actuator data.
Step S120, the sand dish controls central server 200 is based on the location information and movable information is generated and corresponded to
Automatic Pilot control instruction after be sent to the traffic equipment 100.
In the present embodiment, the sand dish controls central server 200 can be according to preconfigured sand table design drawing and sand
Disk surveying and mapping data establishes the 3D numbers View Model, meanwhile, according to the vehicle design of preconfigured each traffic equipment 100
Drawing establishes the 3D Digital Transportation device models of each traffic equipment 100 with traffic equipment surveying and mapping data.Wherein, above-mentioned sand table design drawing
It is consistent with 100 place sand table data of Current traffic device with sand table surveying and mapping data, similarly, above-mentioned vehicle design drawing and traffic
Device surveying and mapping data is consistent with the traffic equipment data being currently in sand table region.
Then, according to the location information of all traffic equipments 100 in sand table, the 3D numbers View Model and traffic equipment of sand table
100 3D Digital Transportation device models generate sand table real-time scene, with according to current sand table real-time scene and each traffic equipment 100
Movable information is sent to the traffic equipment 100 after generating corresponding automatic Pilot control instruction.
It is understood that the automatic Pilot control instruction can also be to be generated by the traffic equipment 100, or may be used also
To be to be sent to after the simulator cockpit 300 generates to be then forwarded to the traffic by the sand dish controls central server 200
Device 100, is not specifically limited herein.
Step S130, the traffic equipment 100 carry out automatic Pilot based on the automatic Pilot control instruction in sand table, and
The audio/video information of state parameter and ambient enviroment is obtained in driving procedure.
In the present embodiment, the traffic equipment 100 is based on the corresponding drive route of the automatic Pilot control instruction and driving
Parameter (such as speed parameter, lane change parameter etc.) carries out automatic Pilot in the sand table, and state is obtained in driving procedure
The audio/video information of parameter and ambient enviroment, the state parameter may include outside air kinetic parameter, temperature parameter, road conditions ginseng
Number, 100 vibrations parameter of traffic equipment, 100 speed parameter of traffic equipment, 100 acceleration parameter of traffic equipment and 100 light loudspeaker of traffic equipment
Parameter, the audio/video information may include the image within the vision in the driving process of sand table region of the traffic equipment 100
Information and acoustic information.
The state parameter is converted into feeding back by step S140 according to 100 parameter of prototype traffic equipment and 100 parameter of traffic equipment
Signal, and the audio/video information of the feedback signal and ambient enviroment is sent to the simulator cockpit 300 in real time.
As an implementation, referring to Fig. 3, step S140 may include following sub-step：
Sub-step S141 analyzes the lateral resistance itself being subject to and longitudinal resistance according to the aerodynamic parameter, simulation
Go out lateral resistance data and longitudinal resistance data, and generates resistance feedback control signal.
Sub-step S142 calculates the temperature data in the simulator cockpit 300 according to ambient temperature simulation, and generates
Temperature feedback control signal.
Sub-step S143 simulates the mechanical collision generated when driving on road surface according to surface evenness, roughness
Probability and intensity data, and generate mechanical collision motion sensing control signal.
Sub-step S144 simulates the vibrations frequency that jolts of the simulator cockpit 300 according to vibrations in the process of moving
Rate and amplitude data, and generate the shake control signal that jolts.
Sub-step S145 is calculated used according to 100 speed parameter of the traffic equipment and 100 acceleration parameter of the traffic equipment
Property force data, and generate inertia control signal.
Sub-step S146 calculates the light of the simulator cockpit 300 according to 100 light parametric loudspeaker of the traffic equipment
Loudspeaker data, and generate light loudspeaker control signal.
So far, by above-mentioned sub-step, it can be obtained corresponding feedback signal, and by the feedback signal and ambient enviroment
Audio/video information is sent to the simulator cockpit 300 in real time.
Optionally, in other embodiments, above-mentioned feedback signal can also be to be generated by the simulator cockpit 300,
Or can also be by being sent to the simulator cockpit 300 after the sand dish controls central server 200 generation, do not make herein
Concrete restriction.
Step S150, the audio/video information is carried out real-time display by the simulator cockpit 300, and is based on the feedback
Signal carries out quasi- true operation, so that the driver in the simulator cockpit 300 experiences current driving condition.
In the present embodiment, the quasi- true operation includes：Simulator cockpit 300 caused by the outside air kinetic parameter
Steering wheel deviates, temperature change, the road conditions parameter cause in the cabin of the simulator cockpit 300 caused by the temperature parameter
The mechanical collision of the simulator cockpit 300, the simulator cockpit 300 caused by 100 vibrations parameter of the traffic equipment
Jolt the simulator cockpit caused by 100 acceleration parameter of vibrations, 100 speed parameter of the traffic equipment and the traffic equipment
The 300 light loudspeaker variation for pushing away the simulator cockpit 300 caused by back of the body sense, 100 light parametric loudspeaker of the traffic equipment.In detail
Carefully, referring to Fig. 4, the step S150 can be realized by following sub-step：
Sub-step S151, receives the resistance feedback control signal, and signal is controlled to steering wheel according to the resistance feedback
Output offset torque, simulation traffic equipment 100 are deviated by the steering wheel that windage generates.
Sub-step S152 receives the temperature feedback control signal, 300 internal temperature of simulator cockpit is adjusted, using temperature
Degree sensor is monitored 300 internal temperature of the simulator cockpit.
Sub-step S153 receives the mechanical collision motion sensing control signal, control spring damping unit simulation collision.
Sub-step S154, jolt described in reception shake control signal, controls the spring damping unit simulation cockpit 300
Vibrations of jolting.
Sub-step S155 receives the inertia control signal, according to the inertia control signal to the acceleration of cockpit
It is adjusted, back of the body sense is pushed away during simulated driving.
Sub-step S156, receives the light loudspeaker control signal, and signal is controlled to cockpit according to the light loudspeaker
Light loudspeaker be adjusted, the variation of light loudspeaker during simulated driving.
Meanwhile the simulator cockpit 300 carries out display broadcasting to the audio/video information, it is equal due to intending true operation above
The case where to will appear in practical driving procedure, also may be used so set, the driving training of accurate vehicle can be provided to driver
For providing sports data analysis for professional racing driver, authenticity and recreational can also be improved.
Due to the intellectual in entire sand table region, the sand dish controls central server 200 by obtaining in sand table region in real time
The accurate location information and movable information of all traffic equipments 100 carry out automatic Pilot control to each traffic equipment 100, in this process
In, the vehicles need not perceive external environment substantially, therefore need not install the high sensor of cost, and in realization, nobody drives
The cost of traffic equipment 100 is reduced while sailing 100 Function for Automatic Pilot of traffic equipment to the maximum extent.Simultaneously when driver needs
When obtaining professional training or confrontation, or when driver's broken string needs automatic Pilot to take in match etc. under several scenes,
It realizes the automatic Pilot of traffic equipment 100, while feeding back to simulator cockpit 300, to ensure the driving in simulator cockpit 300
Person experiences the quasi- true effect of unbroken automatic Pilot.
Optionally, the sand dish controls central server 200 can select to be currently at certainly to the transmission of each traffic equipment 100
The relevant information, such as location information, velocity information of other traffic equipments 100 etc. of dynamic driving condition, to pass through other friendships
Logical 100 corresponding simulator cockpit 300 of device shows the relevant information of other traffic equipments 100, to remind in simulator cockpit 300
Driver pays attention to.Alternatively, each traffic equipment 100 may be provided with relevant instruction device, such as indicator light, buzzer etc., for
Traffic equipment 100 in automatic Pilot state, the driver in corresponding simulator cockpit 300 can also pass through control it is related
The current traffic equipment 100 of instruction device instruction be in automatic Pilot state, to remind the 100 corresponding driving of other traffic equipments
Member pays attention to.
It optionally,, can when the driver in the simulator cockpit 300 needs to restore pilot steering in the present embodiment
Driver behavior is carried out in the simulator cockpit 300, during this driver behavior, the method can also include following step
Suddenly：
First, the simulator cockpit 300 obtains electric control signal first, wherein the electricity control signal includes chassis
Control signal, four-wheel drive control signal, steering wheel control signal, clutch plate control signal, throttle plate control signal and brake
Plate control signal, for example, user is sitting in simulator cockpit 300, to steering wheel, clutch plate, throttle plate, chassis, four-wheel and brake
Sweep is controlled, and the central control system of simulator cockpit 300 can obtain these control information, it will be understood that central control system by this
A little control information are converted into electric control signal.Structure inside the simulator cockpit 300 is consistent with the structure of prototype vehicle, example
Such as, consistent in the dynamic sense of touch of steering wheel of prototype vehicle transfer in 300 inner rotation steering wheel of simulator cockpit, so set,
It can improve and intend true degree.
Then, according to 100 parameter of prototype traffic equipment and 100 parameter of traffic equipment by the chassis control signal, the four-wheel
Driving control signal, steering wheel control signal, the clutch plate control signal, the throttle plate control signal and the brake
Vehicle plate control signal carries out equal proportion scaling, obtains the effective Value Data acted for controlling the traffic equipment 100.Example
Such as, it can be obtained according to 100 drag parameter of the drag parameter, the tyre performance curve and the traffic equipment for controlling
The draught control data for the spoiler being arranged in the traffic equipment 100.According to the engine performance curve, the gearbox
Energy curve, the braking quality curve and the startup braking moment virtual value curve, using motor drive module to the electricity
Motivation performance curve carries out speed governing tune square, obtains the performance data of engine and gearbox under different stalls.According to the clutch
Plate control signal, the throttle plate control signal and the brake plate control signal choose corresponding number in Properties Control data
According to as control data.Go out fuel tank size and virtual oil reserve according to the oil consumption curve simulation, to cell performance curve into
Row setting, when the virtual oil reserve exhausts, control battery stops power supply.Signal mode, which is controlled, according to the steering wheel draws up use
In so that the traffic equipment 100 is acted bearing data and angle-data.Then, effective Value Data is sent in real time
The traffic equipment 100, the then effective Value Data described in real-time reception of the traffic equipment 100, and according to effective Value Data in institute
State execution corresponding actions within the scope of sand table.Further, for adaptation to the ground, multiple chassis controls can be used in each traffic equipment 100
System sensor and corresponding chassis control executing agency adjust to realize chassis control, such as in order to adapt to different landform
The height on chassis, the traffic equipment 100 can be drawn up according to above-mentioned chassis control signal mode for making the traffic equipment 100 carry out bottom
The chassis control data of disk control.In addition, each traffic equipment 100 uses four motorized wheels system, to promote traffic equipment 100
Flexibility in the process of moving and stability, to which the traffic equipment 100 can control signal imitation according to the four-wheel drive
Go out for make the traffic equipment 100 carry out four-wheel drive control four-wheel drive data simultaneously, restored pilot steering as a result,.
In conclusion traffic equipment movement technique provided in an embodiment of the present invention and sand table driving analog system, first, traffic
The location information of itself and movable information are sent to the sand dish controls central server, the sand dish controls central server base by device in real time
It is sent to traffic equipment after location information and movable information generate corresponding automatic Pilot control instruction, traffic equipment is based on driving automatically
It sails control instruction and carries out automatic Pilot in sand table, and obtain the audio and video letter of state parameter and ambient enviroment in driving procedure
State parameter is converted into feedback signal by breath further according to prototype traffic equipment parameter and traffic equipment parameter, and by feedback signal and week
The audio/video information in collarette border is sent to simulator cockpit in real time.Audio/video information is carried out real-time display by simulator cockpit, and
Quasi- true operation is carried out based on feedback signal.Thereby, it is possible to reduce the cost of traffic equipment, while when driver needs to obtain specially
When industry training or confrontation, or traffic is realized under several scenes when driver's broken string needs automatic Pilot to take in match etc.
The automatic Pilot of device, while simulator cockpit is fed back to, to ensure that the experience of the driver in simulator cockpit is unbroken certainly
The dynamic quasi- true effect driven.
In embodiment provided by the present invention, it should be understood that each box in flowchart or block diagram can represent
A part for a part for one module, section or code, the module, section or code is used for comprising one or more
The executable instruction of logic function as defined in realizing.It should also be noted that some as replace realization method in, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can essentially
It is basically executed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or action is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It can replace, can be realized wholly or partly by software, hardware, firmware or its arbitrary combination.When
When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product
Including one or more computer instructions.It is all or part of when loading on computers and executing the computer program instructions
Ground is generated according to the flow or function described in the embodiment of the present invention.The computer can be all-purpose computer, special purpose computer,
Computer network or other programmable devices.The computer instruction can store in a computer-readable storage medium, or
Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction
Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center
Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data
Center is transmitted.The computer readable storage medium can be that any usable medium that computer can access either is wrapped
The data storage devices such as server, the data center integrated containing one or more usable mediums.The usable medium can be magnetic
Property medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state disk
Solid State Disk (SSD)) etc.
It should be noted that herein, term " including ", " including " or its any other variant are intended to non-row
Its property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of traffic equipment movement technique, which is characterized in that be applied to sand table driving analog system, sand table drive simulation system
System includes that the traffic equipment being located in sand table and the sand dish controls central server communicated to connect with the traffic equipment and simulation are driven
Cabin is sailed, the method includes：
The location information of itself and movable information are sent to the sand dish controls central server by the traffic equipment in real time；
The sand dish controls central server is based on the location information and movable information generates corresponding automatic Pilot control and refers to
The traffic equipment is sent to after order；
The traffic equipment carries out automatic Pilot based on the automatic Pilot control instruction in sand table, and is obtained in driving procedure
The audio/video information of state parameter and ambient enviroment, wherein the state parameter includes outside air kinetic parameter, temperature ginseng
Number, road conditions parameter, traffic equipment vibrations parameter, traffic equipment speed parameter, traffic equipment acceleration parameter and traffic equipment light loudspeaker
Parameter；
The state parameter is converted into feedback signal according to prototype traffic equipment parameter and traffic equipment parameter, and by the feedback letter
Number and the audio/video information of ambient enviroment be sent to the simulator cockpit in real time；
The audio/video information is carried out real-time display by the simulator cockpit, and carries out quasi- true behaviour based on the feedback signal
Make, so that the driver in the simulator cockpit experiences current driving condition, wherein the quasi- true operation includes：
The steering wheel of simulator cockpit caused by the outside air kinetic parameter deviates, the simulation caused by the temperature parameter is driven
Sail the mechanical collision of the simulator cockpit caused by temperature change in the cabin in cabin, the road conditions parameter, traffic equipment vibrations
Vibrations of jolting, the traffic equipment speed parameter and the traffic equipment acceleration parameter of the simulator cockpit caused by parameter are drawn
The light loudspeaker for pushing away the simulator cockpit caused by back of the body sense, the traffic equipment light parametric loudspeaker of the simulator cockpit risen
Variation.
2. traffic equipment movement technique according to claim 1, which is characterized in that described according to prototype traffic equipment parameter and friendship
The step of state parameter is converted into feedback signal by logical device parameter, including：
Analyze the lateral resistance itself being subject to and longitudinal resistance according to the aerodynamic parameter, simulate lateral resistance data and
Longitudinal resistance data, and generate resistance feedback control signal；
The temperature data in the simulator cockpit is calculated according to ambient temperature simulation, and generates temperature feedback control signal；
The probability and intensity data of the mechanical collision generated when driving on road surface are simulated according to surface evenness, roughness,
And generate mechanical collision motion sensing control signal；
Jolt vibration frequency and the amplitude data of the simulator cockpit are simulated according to vibrations in the process of moving, and are generated
Jolt shake control signal；
Inertia force data is calculated according to the traffic equipment speed parameter and the traffic equipment acceleration parameter, and generates inertia control
Signal processed；
The light loudspeaker data of the simulator cockpit are calculated according to the traffic equipment light parametric loudspeaker, and generate light loudspeaker
Control signal.
3. traffic equipment movement technique according to claim 2, which is characterized in that the simulator cockpit is in the following manner
Execute quasi- true operation：
The resistance feedback control signal is received, signal is controlled to steering wheel output offset torque, mould according to the resistance feedback
Quasi- traffic equipment is deviated by the steering wheel that windage generates；
The temperature feedback control signal is received, simulator cockpit internal temperature is adjusted, using temperature sensor to the simulation
Cockpit temperature is monitored；
Receive the mechanical collision motion sensing control signal, control spring damping unit simulation collision；
Jolt shake control signal described in reception, controls the vibrations of jolting of the spring damping unit simulation cockpit；
The inertia control signal is received, the acceleration of cockpit is adjusted according to the inertia control signal, simulation row
Back of the body sense is pushed away during sailing；
The light loudspeaker control signal is received, controlling signal according to the light loudspeaker adjusts the light loudspeaker of cockpit
It is whole, the light loudspeaker variation during simulated driving.
4. traffic equipment movement technique according to claim 1, which is characterized in that the prototype traffic equipment parameter includes resistance
Parameter, engine performance curve, gearbox performance curve, braking quality curve, tyre performance curve, startup braking moment are effective
It is worth curve and oil consumption curve, the traffic equipment parameter includes that traffic equipment drag parameter, motor performance curve and battery performance are bent
Line, the method further include：
The simulator cockpit obtains electric control signal, wherein the electricity control signal includes chassis control signal, four-wheel drive
Control signal, steering wheel control signal, clutch plate control signal, throttle plate control signal and brake plate control signal；
The chassis control signal, the four-wheel drive are controlled into signal, institute according to prototype traffic equipment parameter and traffic equipment parameter
State steering wheel control signal, the clutch plate control signal, the throttle plate control signal and the brake plate control signal into
Row equal proportion scales, and obtains the effective Value Data acted for controlling the traffic equipment；
Effective Value Data is sent to the traffic equipment in real time.
5. traffic equipment movement technique according to claim 4, which is characterized in that described according to prototype traffic equipment parameter and friendship
The steering wheel is controlled signal, the clutch plate control signal, the throttle plate control signal and the brake by logical device parameter
Plate control signal carries out equal proportion scaling, the step of acquisition for controlling effective Value Data that the traffic equipment is acted, packet
It includes：
According to the drag parameter, the tyre performance curve and the traffic equipment drag parameter, obtain for controlling the friendship
The draught control data for the spoiler being arranged in logical device；
It is braked according to the engine performance curve, the gearbox performance curve, the braking quality curve and the startup
Torque virtual value curve carries out speed governing tune square to the motor performance curve using motor drive module, obtains different stalls
The performance data of lower engine and gearbox；
According to the clutch plate control signal, the throttle plate control signal and the brake plate control signal in Properties Control number
Corresponding data are chosen as control data according to middle；
Go out fuel tank size and virtual oil reserve according to the oil consumption curve simulation, cell performance curve is configured, institute is worked as
When stating virtual oil reserve and exhausting, control battery stops power supply；
Signal mode, which is controlled, according to the steering wheel draws up bearing data and angle-data for making the traffic equipment be acted；
The chassis control data for making the traffic equipment carry out chassis control are drawn up according to the chassis control signal mode；
The four-wheel drive for making the traffic equipment carry out four-wheel drive control is drawn up according to four-wheel drive control signal mode
Data.
6. a kind of sand table driving analog system, which is characterized in that the sand table driving analog system includes the friendship being located in sand table
Logical device and the sand dish controls central server and simulator cockpit communicated to connect with the traffic equipment；
The traffic equipment, for the location information of itself and movable information to be sent to the sand dish controls center service in real time
Device；
The sand dish controls central server, for generating corresponding automatic Pilot control based on the location information and movable information
It is sent to the traffic equipment after system instruction；
The traffic equipment is additionally operable to carry out automatic Pilot in sand table based on the automatic Pilot control instruction, and in drive the cross
In journey obtain state parameter and ambient enviroment audio/video information, wherein the state parameter include outside air kinetic parameter,
Temperature parameter, road conditions parameter, traffic equipment vibrations parameter, traffic equipment speed parameter, traffic equipment acceleration parameter and traffic equipment lamp
Light parametric loudspeaker；The state parameter is converted into feedback signal according to prototype traffic equipment parameter and traffic equipment parameter, and by institute
The audio/video information for stating feedback signal and ambient enviroment is sent to the simulator cockpit in real time；
The simulator cockpit for the audio/video information to be carried out real-time display, and is intended based on the feedback signal
True operation, so that the driver in the simulator cockpit experiences current driving condition, wherein the quasi- true operation packet
It includes：The steering wheel of simulator cockpit caused by the outside air kinetic parameter deviates, the mould caused by the temperature parameter
Mechanical collision, the traffic equipment of the simulator cockpit caused by temperature change, the road conditions parameter in the cabin of quasi- cockpit
Vibrations of jolting, the traffic equipment speed parameter and the traffic equipment acceleration ginseng of the simulator cockpit caused by vibrations parameter
The lamp for pushing away the simulator cockpit caused by back of the body sense, the traffic equipment light parametric loudspeaker of the simulator cockpit caused by number
Light loudspeaker change.
7. sand table driving analog system according to claim 6, which is characterized in that it is described according to prototype traffic equipment parameter and
The step of state parameter is converted into feedback signal by traffic equipment parameter, including：
The traffic equipment is additionally operable to analyze the lateral resistance itself being subject to and longitudinal resistance, mould according to the aerodynamic parameter
Lateral resistance data and longitudinal resistance data are drawn up, and generate resistance feedback control signal；
The temperature data in the simulator cockpit is calculated according to ambient temperature simulation, and generates temperature feedback control signal；
The probability and intensity data of the mechanical collision generated when driving on road surface are simulated according to surface evenness, roughness,
And generate mechanical collision motion sensing control signal；
Jolt vibration frequency and the amplitude data of the simulator cockpit are simulated according to vibrations in the process of moving, and are generated
Jolt shake control signal；
Inertia force data is calculated according to the traffic equipment speed parameter and the traffic equipment acceleration parameter, and generates inertia control
Signal processed；
The light loudspeaker data of the simulator cockpit are calculated according to the traffic equipment light parametric loudspeaker, and generate light loudspeaker
Control signal.
8. sand table driving analog system according to claim 7, which is characterized in that the simulator cockpit passes through with lower section
Formula executes quasi- true operation：
The simulator cockpit receives the resistance feedback and controls signal, and it is defeated to steering wheel to control signal according to the resistance feedback
Go out and deviate torque, simulation traffic equipment is deviated by the steering wheel that windage generates；
The temperature feedback control signal is received, simulator cockpit internal temperature is adjusted, using temperature sensor to the simulation
Cockpit temperature is monitored；
Receive the mechanical collision motion sensing control signal, control spring damping unit simulation collision；
Jolt shake control signal described in reception, controls the vibrations of jolting of the spring damping unit simulation cockpit；
The inertia control signal is received, the acceleration of cockpit is adjusted according to the inertia control signal, simulation row
Back of the body sense is pushed away during sailing；
The light loudspeaker control signal is received, controlling signal according to the light loudspeaker adjusts the light loudspeaker of cockpit
It is whole, the light loudspeaker variation during simulated driving.
9. sand table driving analog system according to claim 6, which is characterized in that the prototype traffic equipment parameter includes resistance
Force parameter, engine performance curve, gearbox performance curve, braking quality curve, tyre performance curve, startup braking moment have
Valid value curve and oil consumption curve, the traffic equipment parameter include traffic equipment drag parameter, motor performance curve and battery performance
Curve；
The simulator cockpit is additionally operable to obtain electric control signal, wherein it is described electricity control signal include chassis control signal,
Four-wheel drive controls signal, steering wheel control signal, clutch plate control signal, throttle plate control signal and braking vane control letter
Number；
The chassis control signal, the four-wheel drive are controlled into signal, institute according to prototype traffic equipment parameter and traffic equipment parameter
State steering wheel control signal, the clutch plate control signal, the throttle plate control signal and the brake plate control signal into
Row equal proportion scales, and obtains the effective Value Data acted for controlling the traffic equipment；
Effective Value Data is sent to the traffic equipment in real time.
10. sand table driving analog system according to claim 9, it is characterised in that：
The simulator cockpit is additionally operable to be joined according to the drag parameter, the tyre performance curve and the traffic equipment resistance
Number obtains the draught control data for controlling the spoiler being arranged in the traffic equipment；
It is braked according to the engine performance curve, the gearbox performance curve, the braking quality curve and the startup
Torque virtual value curve carries out speed governing tune square to the motor performance curve using motor drive module, obtains different stalls
The performance data of lower engine and gearbox；
According to the clutch plate control signal, the throttle plate control signal and the brake plate control signal in Properties Control number
Corresponding data are chosen as control data according to middle；
Go out fuel tank size and virtual oil reserve according to the oil consumption curve simulation, cell performance curve is configured, institute is worked as
When stating virtual oil reserve and exhausting, control battery stops power supply；
Signal mode, which is controlled, according to the steering wheel draws up bearing data and angle-data for making the traffic equipment be acted；
The chassis control data for making the traffic equipment carry out chassis control are drawn up according to the chassis control signal mode；
The four-wheel drive for making the traffic equipment carry out four-wheel drive control is drawn up according to four-wheel drive control signal mode
Data.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810384016.5A CN108538141A (en) | 2018-04-26 | 2018-04-26 | Traffic equipment movement technique and sand table driving analog system |
| PCT/CN2019/078381 WO2019174643A1 (en) | 2018-03-16 | 2019-03-15 | Traffic device simulation method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810384016.5A CN108538141A (en) | 2018-04-26 | 2018-04-26 | Traffic equipment movement technique and sand table driving analog system |
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