TW202349359A - System and method for training defensive driving - Google Patents
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Abstract
Description
本揭露是有關於利用虛擬實境裝置來訓練防禦性駕駛的系統與方法。The present disclosure relates to systems and methods for utilizing virtual reality devices to train defensive driving.
傳統的駕駛訓練方法包括觀看影片、上課、實際開車等等，隨著技術的發展也開始利用虛擬實境的設備來訓練駕駛技術，學習者可以透過沉浸式的系統得到身歷其境的經驗。學習者可在虛擬環境中安全無虞的反覆進行練習，系統也可以創造各種可能發生的事故或歷史事件，讓學習者可以體會並傳承前人經驗。然而，傳統的虛擬實境系統容易造成學習者的暈眩，如何降低暈眩並在各方面研發出更佳的訓練系統，為此領域技術人員所關心的議題。Traditional driving training methods include watching videos, taking classes, actual driving, etc. With the development of technology, virtual reality equipment has begun to be used to train driving skills. Learners can gain immersive experience through immersive systems. Learners can practice repeatedly and safely in the virtual environment, and the system can also create various possible accidents or historical events, so that learners can experience and inherit the experience of their predecessors. However, traditional virtual reality systems can easily cause dizziness in learners. How to reduce dizziness and develop better training systems in all aspects is a matter of concern to technicians in this field.
本揭露的實施例提出一種防禦性駕駛的訓練系統，包括訓練平台、車具、虛擬實境顯示器與電腦系統。訓練平台包括擺動平台與運動控制模組，擺動平台受控於運動控制模組，運動控制模組具有控制更新週期。車具設置在擺動平台上，車具包括油門以及方向控制器，運動控制器取得油門的油門值以及方向控制器的車具方向。虛擬實境顯示器具有畫面更新週期，此畫面更新週期小於運動控制週期。電腦系統用以建立虛擬環境，並且提供模擬車具在虛擬環境的虛擬畫面給虛擬實境顯示器。電腦系統透過運動控制模組取得油門值與車具方向，將上次運動控制模組更新的第一時間加上控制更新週期以取得第二時間，根據油門值與車具方向計算虛擬車具在第二時間的目標行駛速度，並將此目標行駛速度、現在時間、第一時間、畫面更新週期代入連續可微分函數以計算出在虛擬車具在現在時間的行駛速度，藉此更新虛擬實境顯示器所顯示的虛擬畫面。Embodiments of the present disclosure provide a defensive driving training system, which includes a training platform, a vehicle, a virtual reality display, and a computer system. The training platform includes a swing platform and a motion control module. The swing platform is controlled by the motion control module, and the motion control module has a control update cycle. The vehicle is set on a swing platform. The vehicle includes a throttle and a direction controller. The motion controller obtains the throttle value of the accelerator and the direction of the vehicle from the direction controller. The virtual reality display has a picture update cycle, which is shorter than the motion control cycle. The computer system is used to create a virtual environment and provide a virtual image of the simulated vehicle in the virtual environment to the virtual reality display. The computer system obtains the throttle value and vehicle direction through the motion control module, adds the first time of the last motion control module update to the control update period to obtain the second time, and calculates the virtual vehicle position based on the throttle value and vehicle direction. The target driving speed at the second time, and substitute this target driving speed, the current time, the first time, and the screen update period into the continuous differentiable function to calculate the driving speed of the virtual vehicle at the current time, thereby updating the virtual reality The virtual image displayed on the monitor.
在一些實施例中，電腦系統根據以下數學式1計算出在虛擬車具在現在時間的行駛速度。 [數學式1] In some embodiments, the computer system calculates the traveling speed of the virtual vehicle at the current time according to the following mathematical formula 1. [Mathematical formula 1]
其中 為第一時間， 為畫面更新週期， 為現在時間， 為目標行駛速度， 為常數。 in For the first time, is the screen update cycle, for the present time, is the target driving speed, is a constant.
在一些實施例中，訓練平台還包括多個支架與多個通訊裝置。每一個支架包含上臂與直立柱，上臂與直立柱之間形成小於180度的角度，並且上臂與直立柱之間設置肘節夾鉗。通訊裝置分別設置於上臂，這些通訊裝置用以與虛擬實境顯示器進行通訊。In some embodiments, the training platform further includes multiple stands and multiple communication devices. Each bracket includes an upper arm and an upright column. The angle between the upper arm and the upright column is less than 180 degrees, and a toggle clamp is provided between the upper arm and the upright column. Communication devices are respectively installed on the upper arms, and these communication devices are used to communicate with the virtual reality display.
在一些實施例中，電腦系統還用以在虛擬畫面中顯示空間參考物件，此空間參考物件在虛擬環境中的位置維持不變。In some embodiments, the computer system is also used to display a spatial reference object in the virtual screen, and the position of the spatial reference object in the virtual environment remains unchanged.
在一些實施例中，電腦系統將虛擬環境中的路面標誌切割為多個區塊，當其中一個區塊與虛擬車具之間的距離大於一臨界值時，模糊化此區塊。In some embodiments, the computer system cuts the road signs in the virtual environment into multiple blocks, and when the distance between one of the blocks and the virtual vehicle is greater than a critical value, the block is blurred.
在一些實施例中，車具包含前輪，此前輪受控於方向控制器，訓練平台還包括彈力繩，彈力繩的一端固定在前輪。In some embodiments, the vehicle includes a front wheel, the front wheel is controlled by a direction controller, and the training platform further includes an elastic cord, one end of the elastic cord is fixed to the front wheel.
在一些實施例中，電腦系統還用以儲存一段時間內的虛擬畫面以所形成影片，並且將某一情境的時間點紀錄於資料庫。電腦系統還用以回放時間點所對應的影片。In some embodiments, the computer system is also used to store virtual images over a period of time to form a video, and record the time point of a certain situation in the database. The computer system is also used to play back the video corresponding to the time point.
在一些實施例中，電腦系統還用以計算虛擬車具與一路口之間的距離，計算距離相對於時間的微分，藉此判斷虛擬車具是否遵循道路方向。In some embodiments, the computer system is also used to calculate the distance between the virtual vehicle and an intersection, calculate the differential of the distance with respect to time, and thereby determine whether the virtual vehicle follows the road direction.
在一些實施例中，電腦系統還用以判斷虛擬車具是否發生撞擊。當虛擬車具在第一方向發生撞擊時，電腦系統透過運動控制器控制擺動平台，使得車具的俯仰角先朝向第二方向移動再朝向第一方向移動，第二方向相反於第一方向。In some embodiments, the computer system is also used to determine whether the virtual vehicle has collided. When the virtual vehicle collides in the first direction, the computer system controls the swing platform through the motion controller so that the pitch angle of the vehicle first moves toward the second direction and then toward the first direction. The second direction is opposite to the first direction.
本揭露的實施例提出一種防禦性駕駛的訓練方法，適用於上述的訓練系統。此訓練方法包括：透過運動控制器取得油門的油門值以及方向控制器的車具方向；建立虛擬環境，並且提供模擬車具在虛擬環境的虛擬畫面給虛擬實境顯示器，此虛擬實境顯示器具有畫面更新週期，畫面更新週期小於運動控制週期；將上次運動控制模組更新的第一時間加上控制更新週期以取得第二時間，根據油門值與車具方向計算虛擬車具在第二時間的目標行駛速度；以及將目標行駛速度、現在時間、第一時間、畫面更新週期代入連續可微分函數以計算出在虛擬車具在現在時間的行駛速度，藉此更新傳送給虛擬實境顯示器的虛擬畫面。Embodiments of the present disclosure provide a defensive driving training method, which is suitable for the above training system. This training method includes: obtaining the throttle value of the accelerator and the vehicle direction of the steering controller through the motion controller; establishing a virtual environment, and providing a virtual image of the simulated vehicle in the virtual environment to the virtual reality display. The virtual reality display has The screen update cycle is smaller than the motion control cycle; add the first time of the last motion control module update to the control update cycle to obtain the second time, and calculate the second time of the virtual vehicle based on the throttle value and vehicle direction. The target driving speed; and substituting the target driving speed, current time, first time, and screen update period into the continuous differentiable function to calculate the driving speed of the virtual vehicle at the current time, thereby updating the data sent to the virtual reality display. Virtual screen.
透過上述的訓練系統與訓練方法，可以進行防禦性駕駛的訓練，優點包括減少暈眩感、平台容易移動、可回放模擬畫面等。Through the above-mentioned training system and training methods, defensive driving training can be carried out. The advantages include reducing dizziness, easy movement of the platform, and playback of simulation images, etc.
為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, embodiments are given below and described in detail with reference to the accompanying drawings.
關於本文中所使用之「第一」、「第二」等，並非特別指次序或順位的意思，其僅為了區別以相同技術用語描述的元件或操作。The terms "first", "second", etc. used in this article do not specifically refer to the order or order, but are only used to distinguish components or operations described with the same technical terms.
圖1是根據一實施例繪示防禦性駕駛的訓練系統的示意圖。請參照圖1，訓練系統100包括了車具110、訓練平台120、虛擬實境顯示器130與電腦系統140。使用者(駕駛者)騎在車具110上並頭戴虛擬實境顯示器130，以虛擬實境的方式駕駛車輛在虛擬環境中。在此實施例中，車具110為一台摩托車，車具110包含了油門112與方向控制器114，方向控制器114也可以稱為龍頭。在一些實施例中，車具110也可以是汽車，油門可以是腳踏板，方向控制器可以是方向盤。電腦系統140用以建立虛擬環境，車具110對應至此虛擬環境中的一個虛擬車具，電腦系統140可提供虛擬車具在虛擬環境中的虛擬畫面給虛擬實境顯示器130。虛擬實境顯示器130為頭戴式顯示器，用以提供對應左眼與右眼的虛擬畫面，藉此讓駕駛者在視覺上形成立體影像。在此實施例中，電腦系統140可以設置在訓練平台120的底座(在擺動平台121下方)，但在其他實施例也可以設置在其他任意位置。FIG. 1 is a schematic diagram illustrating a defensive driving training system according to an embodiment. Referring to FIG. 1 , the training system 100 includes a vehicle 110 , a training platform 120 , a virtual reality display 130 and a computer system 140 . The user (driver) rides on the vehicle 110 and wears the virtual reality display 130 on his head, and drives the vehicle in the virtual environment in a virtual reality manner. In this embodiment, the vehicle 110 is a motorcycle, and the vehicle 110 includes a throttle 112 and a direction controller 114. The direction controller 114 can also be called a faucet. In some embodiments, the vehicle 110 may also be a car, the accelerator may be a foot pedal, and the direction controller may be a steering wheel. The computer system 140 is used to create a virtual environment, and the vehicle 110 corresponds to a virtual vehicle in the virtual environment. The computer system 140 can provide a virtual image of the virtual vehicle in the virtual environment to the virtual reality display 130 . The virtual reality display 130 is a head-mounted display used to provide virtual images corresponding to the left eye and the right eye, thereby allowing the driver to visually form a three-dimensional image. In this embodiment, the computer system 140 can be disposed at the base of the training platform 120 (under the swing platform 121), but it can also be disposed at any other location in other embodiments.
訓練平台120包括了擺動平台121、運動控制模組122、控制面板123、訊號轉接盒124、螢幕支架125、通訊設備126、通訊設備127以及多根支架128。車具110設置在擺動平台121之上，擺動平台121包括了多軸擺動機構，多軸擺動機構受控於運動控制模組122，用以提供俯仰(pitch)角、翻滾(roll)角的運動來模擬行車體感。運動控制模組122例如是可程式化邏輯控制器（programmable logic controller，PLC），除了控制擺動平台121以外還可以擷取關於車具110的各種訊號，例如關於油門112的油門值、關於方向控制器114的車具方向、剎車值、燈號等等，運動控制模組122也電性連接至電腦系統140並將所擷取的訊號傳送給電腦系統140。控制面板123包括了電源、啟動、停止、電腦開關等按鈕。螢幕支架125上可以設置一螢幕(未繪示)，讓其他使用者看到駕駛者目前看到的畫面或其他任意合適的畫面。訊號轉接盒124可電性連接至螢幕與電腦系統140，藉此電腦系統140可傳送訊號至螢幕。通訊設備126可以是無線串流器，用以透過無線的方式通訊連接至虛擬實境顯示器130，此外電腦系統140電性連接至通訊設備126，電腦系統140透過通訊設備126傳送上述虛擬畫面的串流給虛擬實境顯示器130。通訊設備127可以是虛擬實境基地台，是以有線的方式(為了簡化起見並未繪示有線線路)通訊連接至虛擬實境顯示器130，虛擬實境基地台是用以定位虛擬實境顯示器130在虛擬環境中的位置。每根支架128包括了上臂128a與直立柱128b，上臂128a與直立柱128b之間形成一角度，此角度小於180度，並且在上臂128a與直立柱128b之間設置了肘節夾鉗128c。肘節夾鉗128c可固定上臂128a與直立柱128b之間的角度不變，也可以解開讓上臂128a與直立柱128b之間彎折，這可以減少整體的高度，方便訓練平台120移動。在此實施例中，通訊設備126、127是設置在上臂128a的頂端。The training platform 120 includes a swing platform 121, a motion control module 122, a control panel 123, a signal transfer box 124, a screen bracket 125, a communication device 126, a communication device 127 and a plurality of brackets 128. The vehicle 110 is arranged on a swing platform 121. The swing platform 121 includes a multi-axis swing mechanism. The multi-axis swing mechanism is controlled by the motion control module 122 to provide motion in pitch and roll angles. to simulate the driving experience. The motion control module 122 is, for example, a programmable logic controller (PLC). In addition to controlling the swing platform 121, it can also capture various signals about the vehicle 110, such as the throttle value of the throttle 112 and direction control. The motion control module 122 is also electrically connected to the computer system 140 and transmits the captured signals to the computer system 140. The control panel 123 includes power, start, stop, computer switch and other buttons. A screen (not shown) can be disposed on the screen bracket 125 to allow other users to see the screen currently seen by the driver or any other suitable screen. The signal transfer box 124 can be electrically connected to the screen and the computer system 140, whereby the computer system 140 can transmit signals to the screen. The communication device 126 may be a wireless streamer for connecting to the virtual reality display 130 through wireless communication. In addition, the computer system 140 is electrically connected to the communication device 126. The computer system 140 transmits the above-mentioned string of virtual images through the communication device 126. Streamed to the virtual reality display 130. The communication device 127 may be a virtual reality base station, which is connected to the virtual reality display 130 in a wired manner (wired lines are not shown for simplicity). The virtual reality base station is used to position the virtual reality display. 130 position in the virtual environment. Each bracket 128 includes an upper arm 128a and an upright column 128b. The upper arm 128a and the upright column 128b form an angle that is less than 180 degrees, and a toggle clamp 128c is provided between the upper arm 128a and the upright column 128b. The toggle clamp 128c can fix the angle between the upper arm 128a and the upright column 128b unchanged, or can be released to allow the upper arm 128a and the upright column 128b to bend, which can reduce the overall height and facilitate the movement of the training platform 120. In this embodiment, the communication devices 126 and 127 are disposed at the top of the upper arm 128a.
圖2是根據一實施例繪示訓練平台的外觀上視圖，圖3是根據一實施例繪示訓練平台的外觀側視圖。在圖2與圖3中標示了訓練平台上各個元件的尺寸，單位是毫米(mm)。從上視圖來看，上述的虛擬實境基地台需要一個100cm 100cm的空間才能定義虛擬空間。基於工安要求，使用者乘坐於車具上需有至少120cm 120cm的空間便於操作，而訓練平台的底座長度與寬度都是165cm。從側視圖來看，為了減少底座高度，擺動平台121採用水平式擺動機構。底座加上車具110以及使用者的乘坐高度約是190cm，加上支架128的高度約是204cm，這已經超過標準室內門高。在此實施例中由於設置了肘節夾鉗128c，這可以放倒上臂128a讓整體高度降至170cm以內。然而，圖2與圖3僅是範例，本揭露並不限制訓練平台中各個元件的尺寸。 FIG. 2 is an external top view of the training platform according to an embodiment, and FIG. 3 is an external side view of the training platform according to an embodiment. The dimensions of each component on the training platform are marked in Figures 2 and 3, in millimeters (mm). From the top view, the above virtual reality base station requires a 100cm Only 100cm of space can define the virtual space. Based on industrial safety requirements, users must be at least 120cm tall when riding on the vehicle The 120cm space is convenient for operation, and the base length and width of the training platform are both 165cm. From the side view, in order to reduce the height of the base, the swing platform 121 adopts a horizontal swing mechanism. The seating height of the base plus the vehicle 110 and the user is approximately 190 cm, and the height plus the bracket 128 is approximately 204 cm, which exceeds the standard indoor door height. In this embodiment, due to the toggle clamp 128c, the upper arm 128a can be lowered to reduce the overall height to less than 170 cm. However, FIG. 2 and FIG. 3 are only examples, and the present disclosure does not limit the size of each component in the training platform.
以下將說明關於虛擬實境的各種技術手段。首先，在一些實施例中是要模擬工廠內的環境，因此可以採用360度雷射掃描儀在工廠內移動進行掃描，由於工廠內為開放式環境，可能無法掃瞄出準確的深度，因此可以搭配一個360度環景相機隨車跟拍。環景相機與掃描儀所取得的影像與點雲等資料可經過縫合拼接、輪廓萃取、以網格重塑三維物件等等，再經過各種物理渲染模擬表面材質以後可以完成虛擬環境。然而，本揭露並不限制虛擬環境如何建置，在一些實施例中也可以從任意的資料庫取得。Various technical means regarding virtual reality will be explained below. First of all, in some embodiments, the environment in the factory is simulated, so a 360-degree laser scanner can be used to move around the factory for scanning. Since the factory is an open environment, it may not be possible to scan the accurate depth, so it can Equipped with a 360-degree panoramic camera to follow the car. Data such as images and point clouds obtained by panoramic cameras and scanners can be stitched together, contour extracted, three-dimensional objects reshaped with meshes, etc., and then the virtual environment can be completed through various physical renderings to simulate surface materials. However, the present disclosure does not limit how the virtual environment is constructed. In some embodiments, it can also be obtained from any database.
接下來說明行車動態方程式，用以計算出模擬車具的加速度與速度，此方程式如以下數學式1所示。 [數學式1] Next, the driving dynamic equation is explained, which is used to calculate the acceleration and speed of the simulated vehicle. This equation is shown in the following mathematical formula 1. [Mathematical formula 1]
其中M為車具加上使用者的重量， 為加速度， 為車具產生的力， 為車具與地面之間的磨擦力， 為車具所面臨的風阻力， 為剎車力。 為車具所產生的轉矩， 為車具的輪胎半徑， 為重力加速度， 為摩擦力系數。 與“21.15”都是風阻係數。 為車具與使用者的迎風截面積。 為車具在時間 的速度。 為油門值， 為轉矩系數，油門值與轉矩(T)以tanh函數模擬來計算轉矩 ，“213”是常數。根據牛頓運動第二定律可以計算出加速度 ，經過積分以後可以得到速度 ，也稱為行駛速度。如果再把速度積分則可以得到距離。 Where M is the weight of the vehicle plus the user, is the acceleration, The force generated by the vehicle, is the friction force between the vehicle and the ground, For the wind resistance faced by the vehicle, for braking force. is the torque generated by the vehicle, is the tire radius of the vehicle, is the acceleration due to gravity, is the friction coefficient. and "21.15" are both drag coefficients. It is the windward cross-sectional area of the vehicle and the user. for vehicles in time speed. is the throttle value, is the torque coefficient. The throttle value and torque (T) are simulated by tanh function to calculate the torque. , "213" is a constant. Acceleration can be calculated from Newton's second law of motion , after integration, the speed can be obtained , also called driving speed. If you integrate the speed, you can get the distance.
在轉彎時，運動控制模組122擷取方向控制器114的旋轉角度 ，此旋轉角度也稱為行駛方向，定義為龍頭指向方向與車具正前方之間的夾角，正值代表右轉，負值代表左轉。根據以下數學式2可將速度劃分為前進分量 與左右分量 。將速度積分以後如數學式3所示可以得到前進位移 以及左右位移 。 [數學式2] [數學式3] When turning, the motion control module 122 captures the rotation angle of the direction controller 114 , this rotation angle is also called the driving direction, and is defined as the angle between the direction in which the faucet is pointing and the front of the vehicle. A positive value represents a right turn, and a negative value represents a left turn. The speed can be divided into forward components according to the following mathematical formula 2 with left and right components . After integrating the velocity, the forward displacement can be obtained as shown in mathematical formula 3 and left and right displacement . [Mathematical formula 2] [Mathematical formula 3]
在一些實施例中，運動控制模組122還可以控制擺動平台121以調整俯仰角( )以及翻滾(roll)角。俯仰角的控制如以下數學式4所示，翻滾角則如數學式5所示。 [數學式4] [數學式5] In some embodiments, the motion control module 122 can also control the swing platform 121 to adjust the pitch angle ( ) and roll angle. The pitch angle is controlled as shown in Mathematical Expression 4 below, and the roll angle is controlled as Mathematical Expression 5 below. [Mathematical formula 4] [Mathematical formula 5]
在數學式4中， 是俯仰角的角速度，Gun為油門值，Brake是剎車值，v為當下的行駛速度。換言之，當油門值為0時，以角速度等於10調整俯仰角至0；當剎車值大於0且行駛速度小於等於30時，以角速度等於10調整俯仰角至0；當剎車值大於70且行駛速度大於30時，以角速度等於50調整俯仰角至-1，造成前傾的體感；當油門值大於0時，以角速度等於10調整俯仰角至3，造成後仰的體感。在數學式5中， 代表龍頭方向(車具方向)，sign()用以取得正負號(輸出為+1或是-1)， 為翻滾角的角速度。換言之，當速度大於0時，以角速度等於2調整翻滾角至+1(向右)或是-1(向左)。 In mathematical formula 4, is the angular velocity of the pitch angle, Gun is the throttle value, Brake is the brake value, and v is the current driving speed. In other words, when the throttle value is 0, adjust the pitch angle to 0 with an angular speed equal to 10; when the brake value is greater than 0 and the driving speed is less than or equal to 30, adjust the pitch angle to 0 with an angular speed equal to 10; when the brake value is greater than 70 and the driving speed is less than or equal to 30 When the throttle value is greater than 30, adjust the pitch angle to -1 with an angular velocity equal to 50, resulting in a forward-leaning sensation; when the throttle value is greater than 0, adjust the pitch angle to 3 with an angular velocity equal to 10, resulting in a backward-leaning sensation. In mathematical equation 5, Represents the direction of the faucet (vehicle direction), sign() is used to obtain the positive and negative signs (the output is +1 or -1), is the angular velocity of the roll angle. In other words, when the speed is greater than 0, the roll angle is adjusted to +1 (right) or -1 (left) with an angular speed equal to 2.
在一些實施例中，運動控制模組122還可以模擬經過鐵軌的顛簸(Jolt)還有撞擊(Hit)，分別如以下數學式6與數學式7所示。 [數學式6] [數學式7] In some embodiments, the motion control module 122 can also simulate jolts and hits on the railway track, as shown in the following Mathematical Equations 6 and 7 respectively. [Mathematical formula 6] [Mathematical formula 7]
在數學式6中， 為當下的俯仰角，當遇到顛簸時，運動平台121以角速度等於100向前擺動至角度( )然後再瞬間拉回原本角度( )。對於撞擊，由於電腦系統知道模擬車具與其他物件在虛擬環境中的位置，因此可以判斷模擬車具從哪個方向被撞擊。當從前方或左方撞擊時，數值 設定為1；當從後方或是右方撞擊時，數值 設定為-1。藉由數值 的設定，當被撞擊時，運動平台121會朝相反方向移動一小角度再瞬間拉回一大角度，營造瞬間的晃動感。換言之，當虛擬車具在第一方向發生撞擊時，電腦系統140透過運動控制器122控制擺動平台121，使得車具110的俯仰角先朝向第二方向移動再朝向第一方向移動，其中第二方向相反於第一方向。第二方向可以是前方、後方、左方及右方，而第一方向則分別是後方、前方、右方及左方。 In mathematical equation 6, is the current pitch angle. When encountering bumps, the moving platform 121 swings forward with an angular velocity equal to 100 to an angle ( ) and then instantly pull back to the original angle ( ). For impact, since the computer system knows the location of the simulated vehicle and other objects in the virtual environment, it can determine from which direction the simulated vehicle was hit. When hit from the front or left, the value Set to 1; when hit from behind or from the right, the value Set to -1. by numerical value setting, when hit, the motion platform 121 will move a small angle in the opposite direction and then pull back to a large angle instantly, creating an instant feeling of shaking. In other words, when the virtual vehicle collides in the first direction, the computer system 140 controls the swing platform 121 through the motion controller 122 so that the pitch angle of the vehicle 110 first moves toward the second direction and then moves toward the first direction, where the second The direction is opposite to the first direction. The second direction may be front, rear, left and right, and the first direction may be rear, front, right and left respectively.
在虛擬環境中包含了各種場景，例如單一車道、十字路口、平交道、路面積水、等待行人、保持安全距離、道路施工、以及大車右轉等等，這些場景供駕駛者養成防禦性駕駛觀念。電腦系統可以透過演算法來偵測行車狀況並且判斷是否符合訓練目的。舉例來說，模擬車具行徑路口時可在停止線上架設不可見的光柵，判斷模擬車具的輪子是否壓線，以及是否觸發闖紅燈遭大車側向撞擊事件；模擬車具行徑路口時，可透過虛擬實境顯示器130上的眼動儀或是陀螺儀判斷使用者是否轉頭或捕捉視線；大車右轉則是顯示大車的內輪軌跡提醒並偵測使用者是否過於靠近；行進車道則是判斷虛擬車具是否駛於正確車道。在一些實施例中，行進車道的判斷必須要先偵測模擬車具的行進方向，有些路段的路線並非筆直，終點與起點之間存在蜿蜒道路，因此可先計算虛擬車具與下一個路口之間的距離，例如為歐式距離，接著計算此距離相對於時間的微分，如果微分大於0表示使用者正遠離下一個路口，若小於0則是靠近路口。根據模擬車具是否遠離下一個路口可以判斷模擬車具是否遵循目前道路的道路方向或是逆向。The virtual environment contains various scenarios, such as single lanes, intersections, level crossings, water accumulation on the road, waiting for pedestrians, maintaining a safe distance, road construction, and large vehicles turning right, etc. These scenarios allow drivers to develop defensive driving concepts. . The computer system can detect the driving conditions through algorithms and determine whether it meets the training purpose. For example, when simulating vehicle movement at an intersection, invisible gratings can be set up on the stop line to determine whether the wheels of the simulated vehicle are pressed against the line, and whether an event of running a red light and being hit by a large vehicle from the side is triggered; when simulating a vehicle movement at an intersection, you can The eye tracker or gyroscope on the virtual reality display 130 is used to determine whether the user turns his head or captures the line of sight; when the cart turns right, the track of the inner wheel of the cart is displayed to remind and detect whether the user is too close; the driving lane It is to determine whether the virtual vehicle is driving in the correct lane. In some embodiments, the determination of the traveling lane must first detect the traveling direction of the simulated vehicle. The route of some road sections is not straight, and there is a winding road between the end and the starting point. Therefore, the virtual vehicle and the next intersection can be calculated first. The distance between them, for example, is the Euclidean distance, and then the differential of this distance with respect to time is calculated. If the differential is greater than 0, it means that the user is moving away from the next intersection. If the differential is less than 0, the user is approaching the intersection. Depending on whether the simulated vehicle is far away from the next intersection, it can be judged whether the simulated vehicle follows the road direction of the current road or is going in the opposite direction.
圖4至圖6是根據一實施例繪示虛擬環境中的範例畫面。在一些實施例中，電腦系統140可以設定虛擬環境中的各種天候，例如白天、夜晚、雨天等。電腦系統140也可以切換使用者的視角，例如第一人稱視角(如圖4所示)或是第三人稱視角(如圖5所示)，這種視角提供給其他學員觀看學習。訓練過程中會觸發上述的情境給駕駛者互動練習，也可以創造歷史事件給駕駛者親身體驗危機感，例如圖6中發生大車從左側撞擊。訓練結束後將透過合適的介面總結學習成績與違規事項，若是訓練過程中不幸違規造成重大事故，除了在當下有撞擊體感以外，也有畫面供使用者警惕。透過這樣的情境設計，讓駕駛者與其他學員從多視角觀察反省。4 to 6 illustrate example screens in a virtual environment according to an embodiment. In some embodiments, the computer system 140 can set various weather conditions in the virtual environment, such as day, night, rainy days, etc. The computer system 140 can also switch the user's perspective, such as a first-person perspective (as shown in Figure 4) or a third-person perspective (as shown in Figure 5). This perspective is provided for other students to watch and learn. During the training process, the above-mentioned scenarios will be triggered for drivers to practice interactively, and historical events can also be created to give drivers a personal experience of the sense of crisis. For example, in Figure 6, a large car hit from the left. After the training, the learning results and violations will be summarized through an appropriate interface. If an unfortunate violation occurs during the training and a major accident occurs, in addition to the immediate physical impact, there will also be a screen for the user to be alert. Through such situational design, drivers and other students can observe and reflect from multiple perspectives.
在使用虛擬實境顯示器130時，有部分使用者會出現暈眩的症狀，在此提供幾個技術手段來減輕暈眩的情形。造成數位暈眩的原因包含虛擬環境與過往經驗不協調，虛擬畫面變化以及個人生理因素等。虛擬畫面常因為過於逼真導致消耗大量的運算造成畫面卡頓，因此可以將顯示的物件模糊化或是果凍化，降低運算量，另外在物件光照的模擬方面也可以使用先行模擬代替及時運算，這些手段雖然會降低物件的擬真度，但不影響防禦性駕駛的訓練。在一些實施例中，為了降低使用者眼睛的負擔，可以使用自動對焦，也就是讓遠景模糊並讓近景清晰的技術，這也可以降低遠景的運算量。然而，如圖5所示，虛擬環境中的路面標記510通常橫跨了近景與遠景，在上述自動對焦的技術中可能會導致不斷在模糊與清晰之間切換，這產生鋸齒狀閃爍反而增加人眼負擔。因此，在此實施例中可以將路面標記510切割為多個區塊，這些區塊獨自模糊化，當區塊與虛擬車具之間的距離大於一臨界值時則模糊化此區塊，如果區塊與虛擬車具之間的距離小於等於臨界值則清晰顯示，如此一來可以降低運算量也可以減少暈眩。When using the virtual reality display 130, some users may experience symptoms of dizziness. Here, several technical means are provided to alleviate the dizziness. The causes of digital dizziness include inconsistency between the virtual environment and past experience, changes in the virtual screen, and personal physiological factors. Virtual images are often too realistic, which consumes a lot of calculations and causes screen freezes. Therefore, the displayed objects can be blurred or jelly-ified to reduce the amount of calculations. In addition, in terms of simulating the lighting of objects, advance simulation can also be used instead of real-time calculations. These Although the method will reduce the realism of the object, it will not affect the training of defensive driving. In some embodiments, in order to reduce the burden on the user's eyes, autofocus can be used, which is a technology that blurs the distant scene and makes the close scene clear, which can also reduce the computational load of the distant scene. However, as shown in Figure 5, the pavement markings 510 in the virtual environment usually span the near and far views. The above-mentioned autofocus technology may cause continuous switching between blur and clear, which produces jagged flickering and increases the number of people. Eye burden. Therefore, in this embodiment, the road marking 510 can be cut into multiple blocks, and these blocks are individually blurred. When the distance between the block and the virtual vehicle is greater than a critical value, the block is blurred. If If the distance between the block and the virtual vehicle is less than or equal to the critical value, it will be clearly displayed, which can reduce the computational load and reduce dizziness.
為了讓使用者有視覺上的流暢感，虛擬實境顯示器130需要較高的畫面更新率(例如每秒50張畫面)，但運動控制模組122的更新率可能不同，通常較低(例如每秒5次)。在一些實施例中，虛擬實境顯示器130的畫面更新週期小於運動控制模組122的控制更新週期，不同步的更新週期會導致畫面卡頓或控制不協調感，造成暈眩，在此提出擬和同步的手段來解決更新週期不相同的問題。在此假設畫面更新週期為 ，而控制更新週期為 ，兩者之間的關係為 ，其中n為正整數。在此 表示上次運動控制模組122更新的時間(亦稱第一時間)，將第一時間 加上控制更新週期 可以得到第二時間 ，這是下次運動控制模組122更新的時間。電腦系統140可以透過運動控制模組122取得車具110的油門值與車具方向，透過上述數學式1~3可以計算虛擬車具在第一時間的行駛速度與第二時間的行駛速度(表示為 ，亦稱目標行駛速度)，也就是說模擬車具到第二時間時必須加速到 ，由於從第一時間到第二時間之間包含了n次的畫面更新，在此每次更新畫面時必須平滑地更新行駛速度才不會造成暈眩。具體來說，可以將目標行駛速度 、一個現在時間 、第一時間 、畫面更新週期 代入一個連續可微分函數以計算出虛擬車具在現在時間 的行駛速度，根據此行駛速度更新虛擬實境顯示器130所顯示的虛擬畫面可以降低暈眩感。在一些實施例中，上述的連續可微分函數如以下數學式8所示。 [數學式8] In order to provide the user with a smooth visual experience, the virtual reality display 130 requires a higher frame update rate (eg, 50 frames per second), but the motion control module 122 may have a different update rate, which is usually lower (eg, every second). 5 times per second). In some embodiments, the picture update cycle of the virtual reality display 130 is shorter than the control update cycle of the motion control module 122. An unsynchronized update cycle may cause screen freezes or a sense of incoherence in control, resulting in dizziness. A proposal is proposed here. And synchronization means to solve the problem of different update cycles. It is assumed here that the screen update cycle is , and the control update period is , the relationship between the two is , where n is a positive integer. here Indicates the time when the motion control module 122 was last updated (also known as the first time). The first time Plus control update cycle can get second time , this is the time for the next motion control module 122 update. The computer system 140 can obtain the throttle value and direction of the vehicle 110 through the motion control module 122, and can calculate the driving speed of the virtual vehicle at the first time and the driving speed at the second time (expressed by the above mathematical formulas 1 to 3). for , also known as the target driving speed), that is to say, the simulated vehicle must accelerate to , since there are n screen updates from the first time to the second time, the driving speed must be updated smoothly each time the screen is updated to avoid dizziness. Specifically, the target driving speed can be , a present time , the first time , screen update cycle Substituting a continuously differentiable function to calculate the current time of the virtual vehicle The driving speed of the vehicle, and updating the virtual image displayed on the virtual reality display 130 according to the driving speed can reduce the feeling of dizziness. In some embodiments, the above-mentioned continuously differentiable function is as shown in the following mathematical formula 8. [Mathematical formula 8]
其中 為一常數，代表衰退率，可選擇任意合適的實數。數學式8中計算的是速度 ，只要經過位移便可以得到現在時間的速度 。 in is a constant representing the decay rate, and any suitable real number can be selected. What is calculated in mathematical formula 8 is the speed , as long as the displacement is used, the speed at the current time can be obtained .
請參照圖1，由於車具110設置在擺動平台121上，車具110並不會有左右傾倒的情形，這與實際上使用者的經驗不相同，使用者容易在起步時根據過往經驗為了補償平衡感而頻繁轉動龍頭，造成畫面過度旋轉而不適。請參照圖1，車具110的前輪116與擺動平台121之間缺乏摩擦力，這也會增加不協調感。根據這些理由，在此實施例中在前輪116的左右兩側設置了彈力繩118，彈力繩118的一端固定在前輪116，另一側則固定在訓練平台任意合適的位置。當方向控制器114旋轉時，彈力繩118會產生相反方向的拉力來模擬與地面的摩擦力。Please refer to Figure 1. Since the vehicle 110 is installed on the swing platform 121, the vehicle 110 will not tilt left and right. This is different from the actual user's experience. The user can easily compensate based on past experience when starting. Frequently turning the faucet due to lack of balance may cause excessive rotation of the screen and cause discomfort. Referring to Figure 1, there is a lack of friction between the front wheel 116 of the vehicle 110 and the swing platform 121, which will also increase the sense of disharmony. Based on these reasons, in this embodiment, elastic ropes 118 are provided on the left and right sides of the front wheel 116. One end of the elastic rope 118 is fixed on the front wheel 116, and the other side is fixed on any suitable position on the training platform. When the direction controller 114 rotates, the elastic cord 118 will generate a pulling force in the opposite direction to simulate friction with the ground.
在一些實施例中，電腦系統140也可以在虛擬畫面中顯示一個空間參考物件，例如圖7中的空間參考物件710，此空間參考物件710在虛擬環境中的位置維持不變，使用者可以注視這樣的空間參考物件710，讓使用者生理上不會喪失空間感，可以減少暈眩感。In some embodiments, the computer system 140 can also display a spatial reference object in the virtual screen, such as the spatial reference object 710 in FIG. 7 . The position of the spatial reference object 710 in the virtual environment remains unchanged, and the user can gaze at it. Such a spatial reference object 710 prevents the user from losing the physiological sense of space and reduces dizziness.
在一些實施例中，電腦系統140還可以儲存所顯示的虛擬畫面或是任意其他視角的虛擬畫面，一段時間內的虛擬畫面形成影片儲存在資料庫中。電腦系統140也可以在資料庫中記錄各種情境(包含違規事件)的時間點。當有需要的時候，可以透過電腦系統140回放任意時間點所對應的影片，也可以提供播放、快慢轉、時間跳躍、切換視角等功能。In some embodiments, the computer system 140 can also store the displayed virtual picture or the virtual picture from any other perspective, and the virtual picture within a period of time forms a video and is stored in the database. The computer system 140 may also record the time points of various situations (including violation events) in the database. When necessary, the video corresponding to any time point can be played back through the computer system 140, and functions such as playback, fast and slow rotation, time jump, and perspective switching can also be provided.
圖8是根據一實施例繪示防禦性駕駛的訓練方法的流程圖。請參照圖8，此方法適用於上述的訓練系統，使用此方法可以降低暈眩感。在步驟801中，透過運動控制器122取得油門112的油門值以及方向控制器114的車具方向。在步驟802，建立虛擬環境，並且提供模擬車具在虛擬環境的虛擬畫面給虛擬實境顯示器130。在步驟803，將上次運動控制模組122更新的第一時間加上控制更新週期以取得第二時間，根據油門值與車具方向計算虛擬車具在第二時間的目標行駛速度。在步驟804，將目標行駛速度、現在時間、第一時間、畫面更新週期代入連續可微分函數以計算出虛擬車具在現在時間的行駛速度，藉此更新傳送給虛擬實境顯示器130的虛擬畫面。然而，圖8中各步驟已詳細說明如上，在此便不再贅述。值得注意的是，圖8中各步驟可以實作為多個程式碼或是電路，本發明並不在此限。此外，圖8的方法可以搭配以上實施例使用，也可以單獨使用。換言之，圖8的各步驟之間也可以加入其他的步驟。FIG. 8 is a flowchart illustrating a defensive driving training method according to an embodiment. Please refer to Figure 8. This method is suitable for the above training system. Using this method can reduce dizziness. In step 801 , the throttle value of the throttle 112 and the vehicle direction of the direction controller 114 are obtained through the motion controller 122 . In step 802, a virtual environment is established, and a virtual image of the simulated vehicle in the virtual environment is provided to the virtual reality display 130. In step 803, the first time of the last update of the motion control module 122 is added to the control update period to obtain the second time, and the target driving speed of the virtual vehicle at the second time is calculated based on the throttle value and vehicle direction. In step 804, the target driving speed, the current time, the first time, and the screen update period are substituted into the continuous differentiable function to calculate the driving speed of the virtual vehicle at the current time, thereby updating the virtual screen transmitted to the virtual reality display 130 . However, each step in Figure 8 has been described in detail above and will not be described again here. It is worth noting that each step in Figure 8 can be implemented as multiple program codes or circuits, and the present invention is not limited thereto. In addition, the method in Figure 8 can be used in conjunction with the above embodiments or alone. In other words, other steps can also be added between the steps in Figure 8 .
雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed above through embodiments, they are not intended to limit the present invention. Anyone with ordinary knowledge in the technical field may make some modifications and modifications without departing from the spirit and scope of the present invention. Therefore, The protection scope of the present invention shall be determined by the appended patent application scope.
100:訓練系統 110:車具 112:油門 114:方向控制器 116:前輪 118:彈力繩 120:訓練平台 121:擺動平台 122:運動控制模組 123:控制面板 124:訊號轉接盒 125:螢幕支架 126:通訊設備 127:通訊設備 128a:上臂 128b:直立柱 128c:肘節夾鉗 128:支架 130:虛擬實境顯示器 140:電腦系統 510:路面標記 710:空間參考物件 801~803:步驟 100:Training system 110: Vehicle equipment 112:Throttle 114: Direction controller 116:Front wheel 118:Elastic rope 120:Training platform 121:Swinging platform 122:Motion control module 123:Control Panel 124:Signal transfer box 125:Screen stand 126:Communication equipment 127:Communication equipment 128a: Upper arm 128b:upright column 128c: Toggle clamp 128:Bracket 130:Virtual reality display 140:Computer system 510: Pavement markings 710: Spatial reference object 801~803: Steps
圖1是根據一實施例繪示防禦性駕駛的訓練系統的示意圖。 圖2是根據一實施例繪示訓練平台的外觀上視圖。 圖3是根據一實施例繪示訓練平台的外觀側視圖。 圖4至圖6是根據一實施例繪示虛擬環境中的範例畫面。 圖7是根據一實施例繪示虛擬畫面中空間參考物件的示意圖。 圖8是根據一實施例繪示防禦性駕駛的訓練方法的流程圖。 FIG. 1 is a schematic diagram illustrating a defensive driving training system according to an embodiment. FIG. 2 is a top view illustrating the appearance of the training platform according to an embodiment. FIG. 3 is an appearance side view of the training platform according to an embodiment. 4 to 6 illustrate example screens in a virtual environment according to an embodiment. FIG. 7 is a schematic diagram illustrating spatial reference objects in a virtual screen according to an embodiment. FIG. 8 is a flowchart illustrating a defensive driving training method according to an embodiment.
100:訓練系統 100:Training system
110:車具 110: Vehicle equipment
112:油門 112:Throttle
114:方向控制器 114: Direction controller
116:前輪 116:Front wheel
118:彈力繩 118:Elastic rope
120:訓練平台 120:Training platform
121:擺動平台 121:Swinging platform
122:運動控制模組 122:Motion control module
123:控制面板 123:Control Panel
124:訊號轉接盒 124:Signal transfer box
125:螢幕支架 125:Screen stand
126,127:通訊設備 126,127: Communication equipment
128a:上臂 128a: Upper arm
128b:直立柱 128b:upright column
128c:肘節夾鉗 128c: Toggle clamp
128:支架 128:Bracket
130:虛擬實境顯示器 130:Virtual reality display
140:電腦系統 140:Computer system
Claims (10)
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| TW111121866A TWI817553B (en) | 2022-06-13 | 2022-06-13 | System and method for training defensive driving |
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| TWI267806B (en) * | 2005-04-28 | 2006-12-01 | Chung Shan Inst Of Science | Vehicle control training system and its method |
| US8777623B2 (en) * | 2011-05-10 | 2014-07-15 | Thomas Byrne | Apparatus for teaching defensive driving |
| CN105788401B (en) * | 2016-04-20 | 2018-09-28 | 公安部交通管理科学研究所 | Defensive drive simulation based on real vehicle body experiences training system |
| US10825350B2 (en) * | 2017-03-28 | 2020-11-03 | Wichita State University | Virtual reality driver training and assessment system |
| JP7075741B2 (en) * | 2017-11-10 | 2022-05-26 | 株式会社アイロック | Autobrake simulation experience device for four-wheeled vehicles |
| CN109102734A (en) * | 2018-09-04 | 2018-12-28 | 北京精英智通科技股份有限公司 | Drive simulating training system and method |
| KR102205691B1 (en) * | 2018-11-23 | 2021-01-21 | 주식회사 쓰리디아이 | Method and apparatus for motion sickness decrease in vr motion platform |
| CN111798717B (en) * | 2020-07-03 | 2022-05-03 | 福建百信信息技术有限公司 | Electric vehicle control system and method supporting VR driving training |
| TWM613762U (en) * | 2021-03-29 | 2021-06-21 | 梁郁哲 | Virtual reality driving training system |
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