CN108765356A - A kind of antidinic driving simulation system, method and its cockpit - Google Patents
A kind of antidinic driving simulation system, method and its cockpit Download PDFInfo
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- 238000004088 simulation Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004422 calculation algorithm Methods 0.000 claims description 34
- 230000006641 stabilisation Effects 0.000 claims description 20
- 238000011105 stabilization Methods 0.000 claims description 20
- 238000005457 optimization Methods 0.000 claims description 14
- 238000012937 correction Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 102000003712 Complement factor B Human genes 0.000 claims description 4
- 108090000056 Complement factor B Proteins 0.000 claims description 4
- 238000012876 topography Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 208000002173 dizziness Diseases 0.000 abstract description 10
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
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Abstract
The present invention provides a kind of antidinic driving simulation system, method and its cockpits, belong to anti-dazzle technical field.It solves the problems, such as that existing drive simulating equipment can not solve dizziness.This antidinic simulator cockpit includes car body, graphics workstation, forth screen, and forth screen is set to the front of car body, and forth screen is connect with graphics workstation, and graphics workstation has video card, and antidinic driving simulation system is stored in video card.The present invention has many advantages, such as anti-dazzle.
Description
Technical field
The invention belongs to anti-dazzle technical field, more particularly to a kind of antidinic driving simulation system, method and its drive
Sail cabin.
Background technology
Drive simulating allows experiencer in a virtual driving environment, it is made to experience the vision close to true effect, listen
Feel and the car steering of body-sensing is experienced.Drive simulation effect is true to nature, energy saving, safety, economy, is not limited by time, weather, place
System, driver training has the advantages such as efficient, the training period is short, using very wide in terms of new car model development and driving training
It is general.
Often there is dizziness situation after for a period of time using drive simulating equipment, dizziness occur, mainly there are two reasons：
1, the movement observed in the movement of body and the visual field mismatches, and vision is high-speed motion on vehicle driving simulator, still
Body does not experience movement, will lead to dizziness at this time；2, head movement caused by video jitter, frame delay and vision are seen
The head movement measured mismatches.And there are the visuals field small, high latency of the drive simulating equipment on current market, calculate power not
Enough, the shortcomings of trace ability is poor, the dizziness situation for causing driver generally to will appear.For this problem, technical staff couple
Hardware is optimized, but also can not thoroughly solve the problems, such as dizziness.
Invention content
The purpose of the present invention is being directed to the above-mentioned problems in the prior art, the first purpose of the invention is to provide one
The good driving simulation system of kind anti-dazzle effect, second object of the present invention are to provide a kind of in driving simulation system
Antidinic analogy method, third object of the present invention is to provide a kind of simulator cockpits that anti-dazzle effect is good.
First purpose of the present invention can be realized by following technical proposal：A kind of antidinic driving simulation system,
It is characterised in that it includes video frame generation unit, single frames algorithms library differential comparison unit, stabilization matching optimization unit, video are defeated
Go out unit, the video frame generation unit is for creating model emulation video frame information and by model emulation video frame information
Biography is sent to single frames algorithms library differential comparison unit, and the model emulation video frame information includes multiple key frames and every two
Multiple motion frames between key frame, the key frame are set as I, and the motion frame is set as P, and the single frames algorithms library is poor
Divide comparing unit for receiving the motion frame in model emulation video frame information and carrying out correction comparison, when the comparison system of motion frame
When number is unsatisfactory for predetermined value, which is sent to stabilization matching optimization list by the single frames algorithms library differential comparison unit
Member, the stabilization matching optimization unit work as movement for receiving motion frame, eliminating shake and sending back to video frame generation unit
When the coefficient of correlation of frame meets predetermined value, which is sent to video and exported by the single frames algorithms library differential comparison unit
Unit, the video output unit is for receiving model emulation video frame information and showing.
The operation principle of the present invention：Software video frame generation unit creates model emulation video based on poly VR modules
Frame, video frame generation unit by algorithm carry out frame picture operation, the scale space L (x, y, σ) of a frame image, be defined as I (x,
Y) with Gaussian function G (x, y, σ) convolution algorithm of a variable dimension, then to lose sample Fuzzy Processing：
R is original blur radius,Rf is final blur radius, rf=
R*k, parameters and the topography data calculating speed v such as gear, clutch, throttle, brake that graphical Work standing-meeting is passed to according to sensor,
Angular velocity omega, fuzzy coefficient k=a*v+b* ω.The value of a therein, b are voluntarily fixed according to the type of selection vehicle in drive simulating
Justice.Model emulation video frame information includes multiple key frame I, and multiple motion frame P are spaced between continuous two key frames, you can
Clear video pictures are formed, correction comparison is carried out with single frames algorithms library in single frames algorithms library differential comparison unit per frame data,
Coefficient of correlation is T, when T >=predetermined value, need to be corrected, when T ﹤ predetermined values, you can be sent to output unit and show.It is predetermined
Value is typically set to 0.02.For key frame I without the concern for motion vector, motion frame P is using key frame I as reference frame, in key frame I
In find out predicted value and motion vector in motion frame P, take predicted value with difference value to obtain complete motion frame P.Stabilization
When matching optimization unit carries out corrective operations, characteristic matching is carried out first, image I in video sequencenAnd In-1Corresponding pixel coordinates
XnAnd Xn-1Meet：Xn=AnXn-1+Tn(formula 1),AnReflect horizontal and vertical scale and
Selective factor B, TnEmbody translation parameters.If taking frame on the basis of first frame, cascade uses above-mentioned transformation between consecutive frame, obtains
(formula 2)
In, subscript r is r cascade.Therefore, the global change between n-th frame image and reference frame can pass throughConnection
System gets up.Assuming that the parameter for eliminating global change between the n-th frame image and reference frame after shake isUsing above-mentioned
Similar cascade mode, the position of n-th frame imageMeet(formula 3).Combine (formula 2) and (formula
3) parameter X1, is eliminated, is obtainedWhereinTherefore, in order to mend
Repay the randomized jitter of hardware device, n-th frame image InTransformation is carried out according to the following formula can be obtained by stable image sequence：Using algorithm above, unstable image sequence is changed into stable image sequence, is had
The dizziness problem caused by alleviating shake of effect.It is shown to which continuous videos are delivered to video output unit.
In above-mentioned antidinic driving simulation system, 65 frame motion frames are equipped between the continuous two key frames I
P。
Second object of the present invention can be realized by following technical proposal：A kind of antidinic analogy method, feature
It is, includes the following steps：
Step A：Software video frame generation unit creates model emulation video frame, video frame life based on poly VR modules
Frame picture operation is carried out by algorithm at unit, the scale space L (x, y, σ) of a frame image, being defined as I (x, y) can with one
Gaussian function G (x, y, σ) convolution algorithm of mutative scale, then to losing sample Fuzzy Processing：r
For original blur radius,Rf is final blur radius, and rf=r*k, graphical Work standing-meeting passes according to sensor
The parameters such as the gear, clutch, throttle, the brake that enter and topography data calculating speed v, angular velocity omega, fuzzy coefficient k=a*v+b*
The value of ω, a therein, b are according to the type self-defining for selecting vehicle in drive simulating.
Step B：Model emulation video frame information includes multiple key frame I, is spaced between continuous two key frames more
A motion frame P, single frames algorithms library differential comparison unit selection carry out correction comparison per frame motion frame P with single frames algorithms library, compare
Coefficient is T, when T >=predetermined value, executes step C, when T ﹤ predetermined values, executes step D.
Step C：Stabilization matching optimization unit carries out corrective operations, carries out characteristic matching first, image I in video sequencen
And In-1Corresponding pixel coordinates XnAnd Xn-1Meet：Xn=AnXn-1+Tn(formula 1), AnReflect level
With vertical dimension and selective factor B, TnEmbody translation parameters.If taking frame on the basis of first frame, cascade makes between consecutive frame
With above-mentioned transformation, obtain(formula 2)
In, subscript r is r cascade.Therefore, the global change between n-th frame image and reference frame can pass throughConnection
System gets up.Assuming that the parameter for eliminating global change between the n-th frame image and reference frame after shake isUsing above-mentioned
Similar cascade mode, the position of n-th frame imageMeet(formula 3).Combine (formula 2) and (formula
3) parameter X1, is eliminated, is obtainedWhereinTherefore, in order to compensate for
The randomized jitter of hardware device, n-th frame image InTransformation is carried out according to the following formula can be obtained by stable image sequence：
Step D：Video output unit is shown.
The operation principle of the present invention：For key frame I without the concern for motion vector, it is reference that motion frame P, which is with key frame I,
Frame finds out predicted value and motion vector in motion frame P in key frame I, takes predicted value complete to obtain with difference value
Motion frame P.Predetermined value is typically set to 0.02 in this method.Using the above computational methods, unstable image sequence is changed into stabilization
Image sequence, effectively alleviate shake caused by dizziness problem.
Third object of the present invention can be realized by following technical proposal：A kind of antidinic simulator cockpit, it is special
Sign is, including car body, graphics workstation, forth screen, and the forth screen is set to the front of car body, the forth screen with
Graphics workstation connects, and the graphics workstation has video card, and a kind of above-mentioned antidinic mould is stored in the video card
Quasi- control loop.
The operation principle of the present invention：Driver is seated at vehicle body, forth screen be used to play the road of Vehicular body front with
Environment, and the video for being played to forth screen is handled by stabilization, driver being capable of direct viewing forth screen.
Further include rear screen in above-mentioned antidinic simulator cockpit, after the rear screen mould is set to car body
Side, the rear screen are connect with graphics workstation, and the car body further includes left-hand mirror, right rear view mirror and rearview mirror, institute
Left side mirror, right side mirror and the rearview mirror stated are used to screen after observation.
Screen is used to play the road and environment of rear vehicle afterwards, and the video for being played to rear screen also passes through at stabilization
Reason, driver can direct viewing forth screen, and by left-hand mirror, right rear view mirror and rearview mirror sight look into rear screen, drive
Screen after personnel also can later watch.The present invention simulates the mechanical structure of true vehicle, and is designed with screen in the front and back of car body,
And the video exported on screen passes through stabilization and handles, and driver can experience more true driving body in cockpit
It tests, and observes that video after eliminating and shaking, will not make driver the case where dizziness occur.
Further include speaker in above-mentioned antidinic simulator cockpit.
In above-mentioned antidinic simulator cockpit, the length of the car body is 3600~5400 millimeters, the car body
Width be 1280~1920 millimeters, the height of the car body is 1200~1800 millimeters.
In above-mentioned antidinic simulator cockpit, the resolution ratio of the forth screen and rear screen is not less than 1920*
1080/60HZ。
In above-mentioned antidinic simulator cockpit, the forth screen, rear screen are at a distance from car body no more than 50
Centimetre.
In above-mentioned antidinic simulator cockpit, the resolution ratio of the video card is not less than 1920*1080.
Further include ultrashort out-of-focus projection's instrument in above-mentioned antidinic simulator cockpit, ultrashort out-of-focus projection's instrument is used
In projecting video on forth screen and rear screen.
Compared with prior art, two goals of the invention in the present invention all have antidinic advantage.
Description of the drawings
Fig. 1 is the system principle schematic diagram of the good driving simulation system of this anti-dazzle effect.
Fig. 2 is the step schematic diagram of the good analogy method of this anti-dazzle effect.
Fig. 3 is the structural schematic diagram of the good simulator cockpit of this anti-dazzle effect.
In figure, 1, video frame generation unit；2, single frames algorithms library differential comparison unit；3, stabilization matching optimization unit；4,
Video output unit；5, car body；6, graphics workstation；7, forth screen；8, rear screen；9, video card；10, left-hand mirror；11, after right
Visor；12, rearview mirror.
Specific implementation mode
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
As shown in Figure 1, first goal of the invention that invention provides, is a kind of antidinic driving simulation system, including regard
Frequency frame generation unit 1, single frames algorithms library differential comparison unit 2, stabilization matching optimization unit 3, video output unit 4, video frame
Generation unit 1 is for creating model emulation video frame information and model emulation video frame information biography being sent to single frames algorithms library
Differential comparison unit 2, model emulation video frame information include multiple motion frames between multiple key frames and every two key frame,
Key frame is set as I, and motion frame is set as P, and single frames algorithms library differential comparison unit 2 is for receiving in model emulation video frame information
Motion frame simultaneously carries out correction comparison, when the coefficient of correlation of motion frame is unsatisfactory for predetermined value, the single frames algorithms library differential ratio
The motion frame is sent to stabilization matching optimization unit 3 compared with unit 2, stabilization matching optimization unit 3 is for receiving motion frame, eliminating
Video frame generation unit 1 is shaken and send back to, when the coefficient of correlation of motion frame meets predetermined value, single frames algorithms library differential comparison
The motion frame is sent to video output unit 4 by unit 2, and video output unit 4 is for receiving model emulation video frame information simultaneously
Display.Preferably, being equipped with 65 frame motion frame P between continuous two key frames I.The present invention is raw between continuous two key frames I
It is used for excessive motion frame P at 65 frames, coherent video data can be generated, when motion frame is unsatisfactory for preset reduced value,
Stabilization processing can be re-started until reaching requirement, ensure that the video of output understands, play the role of antidinic.
As shown in Fig. 2, second invention of the offer of invention, is a kind of antidinic analogy method, includes the following steps：
Step A：Software video frame generation unit creates model emulation video frame, video frame life based on poly VR modules
Frame picture operation is carried out by algorithm at unit, the scale space L (x, y, σ) of a frame image, being defined as I (x, y) can with one
Gaussian function G (x, y, σ) convolution algorithm of mutative scale, then to losing sample Fuzzy Processing：r
For original blur radius,Rf is final blur radius, rf=r*k, and graphical Work standing-meeting is incoming according to sensor
Parameters and the topography data calculating speed v such as gear, clutch, throttle, brake, angular velocity omega, fuzzy coefficient k=a*v+b* ω,
The value of a therein, b are according to the type self-defining for selecting vehicle in drive simulating；
Step B：Model emulation video frame information includes multiple key frame I, is spaced between continuous two key frames more
A motion frame P, single frames algorithms library differential comparison unit selection carry out correction comparison per frame motion frame P with single frames algorithms library, compare
Coefficient is T, when T >=predetermined value, executes step C, when T ﹤ predetermined values, executes step D；
Step C：Stabilization matching optimization unit carries out corrective operations, carries out characteristic matching first, image I in video sequencen
And In-1Corresponding pixel coordinates XnAnd Xn-1Meet：Xn=AnXn-1+Tn(formula 1), AnReflect level
With vertical dimension and selective factor B, TnEmbody translation parameters.If taking frame on the basis of first frame, cascade makes between consecutive frame
With above-mentioned transformation, obtain(formula 2)
In, subscript r is r cascade.Therefore, the global change between n-th frame image and reference frame can pass throughConnection
System gets up.Assuming that the parameter for eliminating global change between the n-th frame image and reference frame after shake isUsing above-mentioned
Similar cascade mode, the position of n-th frame imageMeet(formula 3).Combine (formula 2) and (formula
3) parameter X1, is eliminated, is obtainedWhereinTherefore, in order to mend
Repay the randomized jitter of hardware device, n-th frame image InTransformation is carried out according to the following formula can be obtained by stable image sequence：
Step D：Video output unit is shown.
Motion frame P of this computational methods between adjacent key frame I carries out comparing calculation, and eliminates shake, the company of being formed
The video data passed through so that when viewing shows the video output unit of this video data dizziness will not occur for driver
Symptom.
As described in Figure 3, second purpose of offer is provided, is a kind of antidinic simulator cockpit, including car body 5, figure
Shape work station 6, forth screen 7, forth screen 7 are set to the front of car body 5, and forth screen 7 is connect with graphics workstation 6, graphical Work
Standing 6 has video card 9, is stored with a kind of above-mentioned antidinic driving simulation system in video card 9.
It further describes in detail, further includes rear screen 8, rear screen mould is set to the rear of car body 5, rear screen 8 and graphics workstation 6
Connection, car body 5 further includes left-hand mirror 10, right rear view mirror 11 and rearview mirror 12, left-hand mirror 10, right rear view mirror 11 and rearview mirror
12 are used to screen 8 after observation.
Further include speaker in this antidinic simulator cockpit.This setting can further promote the simulation effect of cockpit
Fruit.
Preferably, the length of car body 5 is 3600~5400 millimeters, the width of car body 5 is 1280~1920 millimeters, car body
5 height is 1200~1800 millimeters.
Preferably, forth screen 7 and the resolution ratio of rear screen 8 are not less than 1920*1080/60HZ, forth screen 7, rear screen 8
With, no more than 50 centimetres, in above-mentioned antidinic simulator cockpit, the resolution ratio of the video card 9 is not at a distance from car body 5
Less than 1920*1080.This setting enables to forth screen 7 and the display of rear screen 8 to be more clear, and further promotes anti-dazzle effect
Fruit.
Further include ultrashort out-of-focus projection's instrument, ultrashort out-of-focus projection's instrument is for projecting video in this antidinic simulator cockpit
To forth screen 7 and rear screen 8.This setting is so that forth screen 7 and the display of video on rear screen 8 are more clear.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although video frame generation unit 1, single frames algorithms library differential comparison unit 2, stabilization matching is used more herein
Optimize unit 3, video output unit 4, car body 5, graphics workstation 6, forth screen 7, rear screen 8, video card 9, left-hand mirror 10, the right side
The terms such as rearview mirror 11, rearview mirror 12, but it does not preclude the possibility of using other terms.The use of these items is only for
More easily describe and explain the essence of the present invention；It is construed as any one of the additional limitations all and is and spirit of that invention
It disagrees.
Claims (10)
1. a kind of antidinic driving simulation system, which is characterized in that poor including video frame generation unit (1), single frames algorithms library
Divide comparing unit (2), stabilization matching optimization unit (3), video output unit (4)；
The video frame generation unit (1) is for creating model emulation video frame information and by model emulation video frame information
Biography is sent to single frames algorithms library differential comparison unit (2), the model emulation video frame information include multiple key frames and
Multiple motion frames between every two key frame, the key frame are set as I, and the motion frame is set as P, the single frames algorithm
Library differential comparison unit (2) is for receiving the motion frame in model emulation video frame information and carrying out correction comparison；
When the coefficient of correlation of motion frame is unsatisfactory for predetermined value, the single frames algorithms library differential comparison unit (2) is by the movement
Frame is sent to stabilization matching optimization unit (3)；
The stabilization matching optimization unit (3) is for receiving motion frame, eliminating shake and sending back to video frame generation unit
(1)；
When the coefficient of correlation of motion frame meets predetermined value, the single frames algorithms library differential comparison unit (2) is by the motion frame
It is sent to video output unit (4)；
The video output unit (4) is for receiving model emulation video frame information and showing.
2. a kind of antidinic driving simulation system according to claim 1, which is characterized in that described continuous two are crucial
65 frame motion frame P are equipped between frame I.
3. a kind of antidinic analogy method, which is characterized in that include the following steps：
Step A：Software video frame generation unit creates model emulation video frame based on poly VR modules, and video frame generates single
Member carries out frame picture operation by algorithm, and the scale space L (x, y, σ) of a frame image is defined as I (x, y) and a changeable ruler
Gaussian function G (x, y, σ) convolution algorithm of degree, then to losing sample Fuzzy Processing：R is original
Beginning blur radius,Rf is final blur radius, rf=r*k, the shelves that graphical Work standing-meeting is passed to according to sensor
The parameters such as position, clutch, throttle, brake and topography data calculating speed v, angular velocity omega, fuzzy coefficient k=a*v+b* ω, wherein
A, the value of b is according to the type self-defining for selecting vehicle in drive simulating.
Step B：Model emulation video frame information includes multiple key frame I, and multiple fortune are spaced between continuous two key frames
Dynamic frame P, single frames algorithms library differential comparison unit selection carry out correction comparison, coefficient of correlation per frame motion frame P with single frames algorithms library
Step C is executed when T >=predetermined value for T, when T ﹤ predetermined values, executes step D.
Step C：Stabilization matching optimization unit carries out corrective operations, carries out characteristic matching first, image I in video sequencenAnd In-1
Corresponding pixel coordinates XnAnd Xn-1Meet：Xn=AnXn-1+Tn(formula 1), AnIt reflects horizontal and vertical
Ruler degree and selective factor B, TnEmbody translation parameters.If taking frame on the basis of first frame, cascade uses upper between consecutive frame
Transformation is stated, is obtained
In, subscript r is r cascade.Therefore, the global change between n-th frame image and reference frame can pass throughConnection
System gets up.Assuming that the parameter for eliminating global change between the n-th frame image and reference frame after shake isUsing above-mentioned
Similar cascade mode, the position of n-th frame imageMeet
Combine (formula 2) and (formula 3), eliminates parameter X1, obtainWherein
Therefore, in order to compensate for the randomized jitter of hardware device, n-th frame image InTransformation is carried out according to the following formula can be obtained by stable figure
As sequence：
Step D：Video output unit is shown.
4. a kind of antidinic simulator cockpit, which is characterized in that including car body (5), graphics workstation (6), forth screen (7),
The forth screen (7) is set to the front of car body (5), and the forth screen (7) is connect with graphics workstation (6), the figure
Shape work station (6) has video card (9), is stored just like a kind of anti-dazzle described in claims 1 or 2 in the video card (9)
Driving simulation system.
5. a kind of antidinic simulator cockpit according to claim 4, which is characterized in that further include rear screen (8), institute
The rear screen mould stated is set to the rear of car body (5), and the rear screen (8) is connect with graphics workstation (6), the car body
(5) further include left-hand mirror (12), right rear view mirror (12) and rearview mirror (12), the left side mirror, right side mirror and backsight
Mirror (12) is used to screen (8) after observation.
6. a kind of antidinic simulator cockpit according to claim 4 or 5, which is characterized in that further include speaker.
7. a kind of antidinic simulator cockpit according to claim 4 or 5, which is characterized in that the length of the car body (5)
Degree is 3600~5400 millimeters, and the width of the car body (5) is 1280~1920 millimeters, and the height of the car body (5) is 1200
~1800 millimeters.
8. a kind of antidinic simulator cockpit according to claim 4 or 5, which is characterized in that the forth screen (7) with
The resolution ratio of screen (8) is not less than 1920*1080/60HZ afterwards.
9. a kind of antidinic simulator cockpit according to claim 4 or 5, which is characterized in that the forth screen (7),
Afterwards screen (8) at a distance from car body (5) no more than 50 centimetres.
10. a kind of antidinic simulator cockpit according to claim 4 or 5, which is characterized in that the video card (9)
Resolution ratio is not less than 1920*1080.
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