Control method and device of automobile driving simulator and automobile driving simulator

Abstract

The present invention provides a control method and device of a car driving simulator and a car driving simulator. The control method comprises: obtaining a driving scene of the car driving simulator and a rotation speed of a steering wheel; the driving scene comprises normal driving, road bumps or collisions; based on the driving scene and the rotation speed of the steering wheel, determining a damping parameter of the steering wheel, the damping parameter comprising a shaking frequency and a damping force; based on the damping parameter, applying damping to the steering wheel to simulate the driving scene. The present invention can solve the problem of steering wheel distortion during the simulation process of the car driving simulator and improve the driving experience of the user.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile driving simulation, and in particular to a control method and device of an automobile driving simulator and an automobile driving simulator. Background Art

[0002] The steering wheel of a car driving simulator has no steering mechanical structure and lacks corresponding stress, resulting in a large gap between the steering wheel of a car driving simulator and the steering wheel of a real car.

[0003] At present, the reduction gear and the weight of the steering wheel are mostly used to increase the steering stress of the steering wheel and improve the user experience. At that time, this method could not reflect the actual situation of road bumps, speed changes, vehicle collisions, etc. There was still a big gap between the steering wheel in the real scene and the driving simulation process was seriously distorted. Summary of the invention

[0004] The present invention provides a control method and device for a car driving simulator and a car driving simulator, which can solve the problem of steering wheel distortion of the car driving simulator during a simulation process and improve the driving experience of users.

[0005] In a first aspect, the present invention provides a control method for a car driving simulator, comprising: obtaining a driving scene of the car driving simulator and a steering wheel rotation speed; the driving scene includes normal driving, road bumps or collisions; based on the driving scene and the steering wheel rotation speed, determining the damping parameters of the steering wheel, the damping parameters including jitter frequency and damping force; based on the damping parameters, applying damping to the steering wheel to simulate the driving scene.

[0006] The present invention provides a control method for a car driving simulator. During the simulation process of the car driving simulator, a damping parameter is determined based on the driving scene and the rotation speed of the steering wheel, and damping is applied to the steering wheel based on the jitter frequency and damping force in the damping parameter. Since the driving scene and the rotation speed are constantly changing, the applied jitter frequency and damping force are also constantly changing, so that the embodiment of the present invention can apply a variable damping force to the steering wheel during the simulation process, simulate the jitter and stress of the steering wheel in various scenes, solve the problem of steering wheel distortion during the simulation process of the car driving simulator, and improve the user's driving experience.

[0007] In one possible implementation, the damping parameters of the steering wheel are determined based on the driving scenario and the steering wheel rotation speed, including: determining the road bumps and vehicle collision conditions based on the driving scenario; determining the steering wheel shake level based on the road bumps and vehicle collision conditions; determining the shake frequency based on the shake level.

[0008] In one possible implementation, the rotation speed includes the rotation speed at a current moment and the rotation speed at a previous moment; based on the driving scenario and the rotation speed of the steering wheel, the damping parameters of the steering wheel are determined, including: if the driving scenario is normal driving or bumpy road, then based on the rotation speed of the steering wheel at a current moment and the rotation speed at a previous moment, PI calculation is performed to determine the damping force in the damping parameters.

[0009] In a possible implementation, based on the current rotation speed of the steering wheel and the previous rotation speed, PI calculation is performed to determine the damping force in the damping parameter, including: determining the magnitude of the damping force based on the following formula;

[0010] F 2 =P 1 (S 0 -S n )+P 2 (S 0 -S n- 1 );

[0011] Among them, F2 is the damping force in the damping parameter, P1 is the proportional coefficient of PI adjustment, S0 is the set speed of the steering wheel, S n is the current rotation speed of the steering wheel, P2 is the integral coefficient of PI adjustment, S n-1 is the rotation speed of the steering wheel at the previous moment.

[0012] In one possible implementation, the damping parameters of the steering wheel are determined based on the driving scenario and the rotation speed of the steering wheel, including: if the driving scenario is a collision, determining the first damping force based on the vehicle speed and body angle of the vehicle when the collision occurs; determining the second damping force based on the rotation speed of the steering wheel at the current moment, the rotation speed at the previous moment, and the rotation angle of the steering wheel; determining the damping force in the damping parameters based on the first damping force and the second damping force.

[0013] In a possible implementation, before obtaining the driving scene of the car driving simulator and the steering wheel rotation speed, it also includes: obtaining the steering wheel rotation angle at a current moment and the rotation angle at a previous moment; determining the angular displacement of the steering wheel based on the steering wheel rotation angle at a current moment and the rotation angle at a previous moment; determining the steering wheel rotation speed based on the steering wheel angular displacement and the sampling period.

[0014] In one possible implementation, damping is applied to the steering wheel based on the damping parameters to simulate a driving scenario, including: determining the forward and reverse switching frequency of the drive motor based on the jitter frequency in the damping parameters; determining the duty cycle of the control signal of the drive motor based on the damping force in the damping parameters; and controlling the drive motor based on the forward and reverse switching frequency and the duty cycle of the control signal to apply damping to the steering wheel.

[0015] In the second aspect, an embodiment of the present invention provides a control device for a car driving simulator, which includes: a communication module for acquiring the driving scene of the car driving simulator and the rotation speed of the steering wheel; the driving scene includes normal driving, road bumps or collisions; a processing module for determining the damping parameters of the steering wheel based on the driving scene and the rotation speed of the steering wheel, the damping parameters including jitter frequency and damping force; based on the damping parameters, damping is applied to the steering wheel to simulate the driving scene.

[0016] In one possible implementation, the processing module is specifically used to determine road bumps and vehicle collision conditions based on the driving scenario; determine the steering wheel vibration level based on the road bumps and vehicle collision conditions; and determine the vibration frequency based on the vibration level.

[0017] In one possible implementation, the rotation speed includes the rotation speed at a current moment and the rotation speed at a previous moment; the processing module is specifically used to perform PI calculation based on the rotation speed of the steering wheel at a current moment and the rotation speed at a previous moment to determine the damping force in the damping parameter if the driving scene is normal driving or bumpy road.

[0018] In a possible implementation, the processing module is specifically configured to determine the magnitude of the damping force based on the following formula;

[0019] F 2 =P 1 (S 0 -S n )+P 2 (S 0 -S n- 1 );

[0020] Among them, F2 is the damping force in the damping parameter, P1 is the proportional coefficient of PI adjustment, S0 is the set speed of the steering wheel, S n is the current rotation speed of the steering wheel, P2 is the integral coefficient of PI adjustment, S n-1 is the rotation speed of the steering wheel at the previous moment.

[0021] In one possible implementation, the processing module is specifically used to determine a first damping force based on the vehicle speed and body angle of the vehicle when the collision occurs if the driving scenario is a collision; determine a second damping force based on the current rotation speed of the steering wheel, the rotation speed at the previous moment, and the rotation angle of the steering wheel; and determine the damping force in the damping parameter based on the first damping force and the second damping force.

[0022] In one possible implementation, the communication module is also used to obtain the current rotation angle of the steering wheel and the rotation angle of the previous moment; the processing module is also used to determine the angular displacement of the steering wheel based on the current rotation angle of the steering wheel and the rotation angle of the previous moment; and determine the rotation speed of the steering wheel based on the angular displacement of the steering wheel and the sampling period.

[0023] In one possible implementation, the processing module is specifically used to determine the forward and reverse switching frequency of the drive motor based on the jitter frequency in the damping parameters; determine the duty cycle of the control signal of the drive motor based on the damping force in the damping parameters; and control the drive motor based on the forward and reverse switching frequency and the duty cycle of the control signal to apply damping to the steering wheel.

[0024] In the third aspect, an embodiment of the present invention provides a single-chip microcomputer, which includes a memory and a processor, the memory stores an algorithm program, and the processor is used to call and run the algorithm program stored in the memory to execute the steps of the method described in the first aspect and any possible implementation method of the first aspect.

[0025] In a fourth aspect, an embodiment of the present invention provides a car driving simulator, comprising: a steering wheel, a steering wheel spindle, a drive motor, a transmission device, and an electronic device; the electronic device executes the steps of the method described in the first aspect and any possible implementation method of the first aspect, controls the drive motor, and applies damping to the steering wheel through the transmission device and the steering wheel spindle to simulate the driving scene of the car driving simulator.

[0026] In one possible implementation, the electronic device includes a memory and a processor, the memory stores an algorithm program, and the processor is used to call and run the algorithm program stored in the memory to perform the steps of the method described in the first aspect and any possible implementation of the first aspect.

[0027] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores an algorithm program, and wherein when the algorithm program is executed by a processor, the steps of the method described in the first aspect and any possible implementation method of the first aspect are implemented.

[0028] The technical effects brought about by any implementation method of the second to fifth aspects mentioned above can refer to the technical effects brought about by the corresponding implementation method of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 It is a structural schematic diagram of a steering wheel of a car driving simulator provided by an embodiment of the present invention;

[0031] Figure 2 It is a flow chart of a control method of a vehicle driving simulator provided by an embodiment of the present invention;

[0032] Figure 3 is a schematic structural diagram of a control device for a vehicle driving simulator provided by an embodiment of the present invention;

[0033] Figure 4 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0035] In the description of the present invention, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" and "plurality" refer to two or more. The words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be different.

[0036] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0037] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include other steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the following will be described through specific embodiments in conjunction with the accompanying drawings of the present invention.

[0039] As described in the background art, current automobile driving simulators have the problem of steering wheel distortion during the simulation process.

[0040] To solve the above technical problems, Figure 1 As shown, an embodiment of the present invention provides a steering wheel for a car driving simulator.

[0041] In an embodiment of the present application, the steering wheel of the car driving simulator includes a steering wheel, a steering wheel spindle, a drive motor, a transmission device and a control device.

[0042] Exemplarily, the transmission device may include a small synchronous pulley, a synchronous belt, a damper, a large synchronous pulley, a large gear and a small pulley.

[0043] Among them, the driving motor, under the control of the control device, drives the main shaft to vibrate through the transmission device and applies damping force to the main shaft to simulate the car driving scene.

[0044] In this way, the embodiment of the present invention sets a lightweight DC motor and applies a controllable force with shaking frequency, damping force and damping direction to the steering wheel through a transmission device, thereby simulating road bumps and vehicle collisions, and completing an immersive driving experience in simulated driving at a relatively low cost.

[0045] like Figure 2 As shown, an embodiment of the present invention provides a control method of a vehicle driving simulator. The execution subject is a control device of the vehicle driving simulator. The control method includes steps S101-S103.

[0046] S101: Obtain a driving scene of a car driving simulator and a steering wheel rotation speed.

[0047] In the embodiment of the present application, the driving scenarios include normal driving, road bumps or collisions.

[0048] As a possible implementation manner, the control device may determine the rotation speed of the steering wheel based on steps A1-A3 before step S101.

[0049] A1. Obtain the current rotation angle of the steering wheel and the previous rotation angle.

[0050] In some embodiments, the steering wheel rotation angle is the angle between the real-time state of the steering wheel and the steering wheel return state.

[0051] It should be noted that the control device can periodically detect the position sensor of the steering wheel, obtain the rotation angle of the steering wheel, and thus calculate the rotation speed of the steering wheel. The control device can also control the motor voltage through PWM, and apply reverse force to the steering wheel through the synchronous belt. The applied force is fuzzy processed according to the steering wheel speed and start-up time, so as to achieve the best feel, with the advantages of no sticking feeling, soft and adjustable resistance.

[0052] A2. Determine the angular displacement of the steering wheel based on the current rotation angle of the steering wheel and the rotation angle of the steering wheel at the previous moment.

[0053] A3. Determine the rotation speed of the steering wheel based on the angular displacement of the steering wheel and the sampling period.

[0054] As a possible implementation manner, the control device may determine the rotation angle of the steering wheel based on the following formula.

[0055] J n =3*360(V n -V left ) / (V right -V n );

[0056] Among them, J n V is the steering wheel rotation angle at the nth acquisition; n is the collected voltage value corresponding to the steering wheel rotation angle during the nth collection, V left is the voltage value corresponding to the maximum angle when the steering wheel turns left, V right It is the voltage value corresponding to the maximum angle when the steering wheel turns right.

[0057] It should be noted that the control device can collect the voltage value of the Hall sensor through the Hall sensor arranged on the steering wheel, and calculate the rotation angle of the steering wheel.

[0058] As a possible implementation manner, the control device may determine the rotation speed of the steering wheel based on the following formula.

[0059] S n =(J n -J n-1 ) / T;

[0060] Among them, S n is the steering wheel rotation speed during the nth acquisition, J n is the steering wheel rotation angle during the nth acquisition; J n-1 is the steering wheel rotation angle during the n-1th acquisition; T is the sampling period.

[0061] S102: Determine a damping parameter of the steering wheel based on the driving scenario and the rotation speed of the steering wheel.

[0062] In the embodiment of the present application, the damping parameters include the vibration frequency and the damping force.

[0063] As a possible implementation manner, the control device may determine the rotation speed of the steering wheel based on steps B1-B3.

[0064] B1. Determine road bumps and vehicle collision conditions based on driving scenarios.

[0065] B2. Determine the vibration level of the steering wheel based on road bumps and vehicle collision conditions.

[0066] B3. Based on the jitter level, determine the jitter frequency.

[0067] In some embodiments, the rotation speed includes the rotation speed at the current moment and the rotation speed at the previous moment.

[0068] Optionally, the control device may adjust the damping force in the damping parameters based on the rotation speed of the steering wheel in different scenarios.

[0069] As a possible implementation method, if the driving scene is normal driving or road bumps, the control device can perform PI calculation based on the current rotation speed of the steering wheel and the rotation speed at the previous moment to determine the damping force in the damping parameters.

[0070] Exemplarily, the control device may determine the magnitude of the damping force based on the following formula:

[0071] F 2 =P 1 (S 0 -S n )+P 2 (S 0 -S n- 1 );

[0072] Among them, F2 is the damping force in the damping parameter, P1 is the proportional coefficient of PI adjustment, S0 is the set speed of the steering wheel, S n is the current rotation speed of the steering wheel, P2 is the integral coefficient of PI adjustment, S n-1 is the rotation speed of the steering wheel at the previous moment.

[0073] It should be noted that the set speed of the steering wheel is related to the vehicle type and the steering wheel angle in the car driving simulator. The control device can set different set speeds for different types of vehicles and different steering wheel angles in driving scenarios.

[0074] As another possible implementation, if the driving scene is a collision, the control device may analyze the vehicle condition at the time of the collision, thereby determining the damping force in the damping parameter. Exemplarily, it may be implemented as steps C1-C3.

[0075] C1. Determine the first damping force based on the vehicle speed and body angle when the collision occurs.

[0076] As a possible implementation manner, the control device may determine the first damping force based on the vehicle speed and body angle of the vehicle by searching a preset mapping relationship table.

[0077] As another possible implementation, the control device may also calculate the first damping force based on a fuzzy function, wherein the fuzzy function is an empirical function obtained through experiments.

[0078] C2. Determine a second damping force based on the current rotation speed of the steering wheel, the rotation speed at the previous moment, and the rotation angle of the steering wheel.

[0079] C3. Determine the damping force in the damping parameter based on the first damping force and the second damping force.

[0080] It should be noted that when the actual scenario is normal driving or road bumps, the damping of the steering wheel comes from the steering transmission device of the vehicle. When the actual scenario is a collision, the damping source of the steering wheel is related to the vehicle and body angle of the vehicle in addition to the steering transmission device of the vehicle. Therefore, the present invention calculates the damping force of the steering wheel in different scenarios through different calculation methods, which is more in line with the actual driving scenario and improves the user's driving experience.

[0081] S103: Apply damping to the steering wheel based on the damping parameter to simulate a driving scenario.

[0082] As a possible implementation manner, the control device may apply damping to the steering wheel based on steps S1031 - S1033 .

[0083] S1031. Determine the forward and reverse switching frequency of the drive motor based on the jitter frequency in the damping parameter.

[0084] S1032: Determine a duty cycle of a control signal for driving the motor based on the damping force in the damping parameter.

[0085] S1033: Based on the forward / reverse switching frequency and the duty cycle of the control signal, control the drive motor to apply damping to the steering wheel.

[0086] The present invention provides a control method for a car driving simulator. During the simulation process of the car driving simulator, a damping parameter is determined based on the driving scene and the rotation speed of the steering wheel, and damping is applied to the steering wheel based on the jitter frequency and damping force in the damping parameter. Since the driving scene and the rotation speed are constantly changing, the applied jitter frequency and damping force are also constantly changing, so that the embodiment of the present invention can apply a variable damping force to the steering wheel during the simulation process, simulate the jitter and stress of the steering wheel in various scenes, solve the problem of steering wheel distortion during the simulation process of the car driving simulator, and improve the user's driving experience.

[0087] For example, after receiving the vibration signal, the control device quickly changes the direction and magnitude of the drive motor voltage, and controls the steering wheel through the synchronous belt to produce low-frequency and small-angle vibrations to simulate the vibration of the engine during clutch semi-clutch and hill start. Different levels of vibration effects can be achieved by changing the forward and reverse frequency and voltage of the drive motor through parameters.

[0088] In addition, when the control device receives a collision signal, the drive motor controls the vehicle to quickly rotate to a set angle and quickly rebound to its original position. The collision force and direction are adjustable. Since the driver's hands are on the steering wheel, they are most sensitive to vibrations. This function is used to simulate the imbalance effect of the vehicle after a collision.

[0089] It should be noted that the vibration base frequency of different engines is within 18-40Hz at idle speed according to the number of cylinders and speed, and the vibration intensity is obtained from the vibration measurement data of real typical car models, including engine vibration of common models under several working conditions such as starting, idling, hill start, and oil-clutch mismatch, as well as additional suspension low-frequency vibration. Finally, the actual output value to be simulated is obtained through a three-dimensional array to obtain the simulated vibration frequency and intensity under different environments. At each frequency and intensity switching moment, the abruptness of the switching is weakened through sliding window filtering.

[0090] At the moment of vehicle collision, the PWM intensity, frequency, and direction are obtained through the table lookup method through different vehicle body accelerations and collision directions. The driving motor drives the steering wheel to produce different accelerations, quickly turn in a certain direction and then quickly return to its original position, simulating the momentary loss of control caused by the body deviation due to the instantaneous deceleration of the vehicle body, and obtaining the feeling of loss of control caused by collisions of different intensities.

[0091] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0092] The following is an embodiment of the device of the present invention. For details not described in detail, reference may be made to the corresponding method embodiments described above.

[0093] Figure 3 The schematic diagram of the structure of a control device of a vehicle driving simulator provided by an embodiment of the present invention is shown. The control device 200 includes a communication module 201 and a processing module 202 .

[0094] The communication module 201 is used to obtain the driving scene of the car driving simulator and the rotation speed of the steering wheel; the driving scene includes normal driving, road bumps or collisions.

[0095] The processing module 202 is used to determine the damping parameters of the steering wheel based on the driving scene and the rotation speed of the steering wheel, the damping parameters including the vibration frequency and the damping force; based on the damping parameters, damping is applied to the steering wheel to simulate the driving scene.

[0096] In a possible implementation, the processing module 202 is specifically used to determine the road bumps and vehicle collision conditions based on the driving scenario; determine the steering wheel vibration level based on the road bumps and vehicle collision conditions; and determine the vibration frequency based on the vibration level.

[0097] In one possible implementation, the rotation speed includes the rotation speed at the current moment and the rotation speed at the previous moment; the processing module 202 is specifically used to perform PI calculation based on the rotation speed of the steering wheel at the current moment and the rotation speed at the previous moment if the driving scene is normal driving or road bumps, and determine the damping force in the damping parameter.

[0098] In a possible implementation, the processing module 202 is specifically configured to determine the magnitude of the damping force based on the following formula:

[0099] F 2 =P 1 (S 0 -S n )+P 2 (S 0-S n- 1 );

[0100] Among them, F2 is the damping force in the damping parameter, P1 is the proportional coefficient of PI adjustment, S0 is the set speed of the steering wheel, S n is the current rotation speed of the steering wheel, P2 is the integral coefficient of PI adjustment, S n-1 is the rotation speed of the steering wheel at the previous moment.

[0101] In one possible implementation, the processing module 202 is specifically used to determine a first damping force based on the vehicle speed and body angle of the vehicle when the collision occurs if the driving scenario is a collision; determine a second damping force based on the current rotation speed of the steering wheel, the rotation speed at the previous moment, and the rotation angle of the steering wheel; and determine the damping force in the damping parameter based on the first damping force and the second damping force.

[0102] In one possible implementation, the communication module 201 is further used to obtain the current rotation angle of the steering wheel and the rotation angle of the previous moment; the processing module 202 is further used to determine the angular displacement of the steering wheel based on the current rotation angle of the steering wheel and the rotation angle of the previous moment; and determine the rotation speed of the steering wheel based on the angular displacement of the steering wheel and the sampling period.

[0103] In one possible implementation, the processing module 202 is specifically used to determine the forward and reverse switching frequency of the drive motor based on the jitter frequency in the damping parameters; determine the duty cycle of the control signal of the drive motor based on the damping force in the damping parameters; and control the drive motor based on the forward and reverse switching frequency and the duty cycle of the control signal to apply damping to the steering wheel.

[0104] Figure 4 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 4 As shown, the electronic device 300 of this embodiment includes: a processor 301, a memory 302, and an algorithm program 303 stored in the memory 302 and executable on the processor 301. When the processor 301 executes the algorithm program 303, the steps in the above-mentioned method embodiments are implemented, for example Figure 2 Alternatively, when the processor 301 executes the algorithm program 303, the functions of each module / unit in the above-mentioned device embodiments are realized, for example, Figure 3 The functions of the communication module 201 and the processing module 202 are shown.

[0105] Exemplarily, the algorithm program 303 may be divided into one or more modules / units, which are stored in the memory 302 and executed by the processor 301 to implement the present invention. The one or more modules / units may be a series of algorithm program instruction segments that can implement specific functions, and the instruction segments are used to describe the execution process of the algorithm program 303 in the electronic device 300. For example, the algorithm program 303 may be divided into Figure 3 The communication module 201 and the processing module 202 are shown.

[0106] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0107] The memory 302 may be an internal storage unit of the electronic device 300, such as a hard disk or memory of the electronic device 300. The memory 302 may also be an external storage device of the electronic device 300, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 300. Further, the memory 302 may also include both an internal storage unit of the electronic device 300 and an external storage device. The memory 302 is used to store the algorithm program and other programs and data required by the terminal. The memory 302 may also be used to temporarily store data that has been output or is to be output.

[0108] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0109] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0111] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0113] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0114] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through an algorithm program. The algorithm program can be stored in a computer-readable storage medium, and the algorithm program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the algorithm program includes an algorithm program code, and the algorithm program code can be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the algorithm program code, a recording medium, a U disk, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium.

[0115] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A control method for a vehicle driving simulator, characterized in that: include: Get the driving scene of the car driving simulator and the turning speed of the steering wheel; The driving scenarios include normal driving, road bumps or collisions; Based on the driving scenario and the rotation speed of the steering wheel, determining damping parameters of the steering wheel, wherein the damping parameters include a vibration frequency and a damping force; Applying damping to the steering wheel based on the damping parameter to simulate the driving scenario; The determining of the damping parameters of the steering wheel based on the driving scenario and the rotation speed of the steering wheel includes: determining a road bump condition and a vehicle collision condition based on the driving scenario; determining a shaking level of the steering wheel based on the road bump condition and the vehicle collision condition; and determining the shaking frequency based on the shaking level; The rotation speed includes the rotation speed at the current moment and the rotation speed at the previous moment; the determining the damping parameter of the steering wheel based on the driving scene and the rotation speed of the steering wheel includes: if the driving scene is normal driving or road bumps, performing PI calculation based on the rotation speed of the steering wheel at the current moment and the rotation speed at the previous moment to determine the damping force in the damping parameter; The PI calculation is performed based on the current rotation speed of the steering wheel and the rotation speed of the previous moment to determine the damping force in the damping parameter, including: determining the magnitude of the damping force based on the following formula: 2 =P 1 (S 0 -S n )+P 2 (S 0 -S n- 1 ); wherein F2 is the damping force in the damping parameter, P1 is the proportional coefficient of PI adjustment, S0 is the set speed of the steering wheel, S n is the current rotation speed of the steering wheel, P2 is the integral coefficient of PI adjustment, S n-1 is the rotation speed of the steering wheel at the previous moment; The determining of the damping parameters of the steering wheel based on the driving scenario and the rotation speed of the steering wheel includes: if the driving scenario is a collision, determining a first damping force based on the vehicle speed and body angle of the vehicle when the collision occurs; determining a second damping force based on the rotation speed of the steering wheel at a current moment, the rotation speed at a previous moment, and the rotation angle of the steering wheel; and determining the damping force in the damping parameters based on the first damping force and the second damping force.

2. The control method of the vehicle driving simulator according to claim 1, characterized in that: Before obtaining the driving scene of the vehicle driving simulator and the rotation speed of the steering wheel, the method further includes: Obtaining the current rotation angle and the previous rotation angle of the steering wheel; Determining the angular displacement of the steering wheel based on the current rotation angle of the steering wheel and the previous rotation angle; The rotation speed of the steering wheel is determined based on the angular displacement of the steering wheel and a sampling period.

3. The control method of the vehicle driving simulator according to claim 1, characterized in that: The step of applying damping to the steering wheel based on the damping parameter to simulate the driving scenario includes: Determine the forward and reverse switching frequency of the drive motor based on the jitter frequency in the damping parameter; Determining a duty cycle of a control signal for driving the motor based on the damping force in the damping parameter; Based on the forward / reverse switching frequency and the duty cycle of the control signal, the drive motor is controlled to apply damping to the steering wheel.

4. A control device for a car driving simulator, characterized in that: include: A communication module is used to obtain the driving scene of the car driving simulator and the rotation speed of the steering wheel; The driving scenarios include normal driving, road bumps or collisions; A processing module, configured to determine a damping parameter of a steering wheel based on the driving scenario and a rotation speed of the steering wheel, wherein the damping parameter includes a vibration frequency and a damping force; and based on the damping parameter, apply damping to the steering wheel to simulate the driving scenario; The processing module is specifically used to determine the road bumps and vehicle collision conditions based on the driving scenario; determine the shaking level of the steering wheel based on the road bumps and vehicle collision conditions; and determine the shaking frequency based on the shaking level; The rotation speed includes the rotation speed at the current moment and the rotation speed at the previous moment; the processing module is specifically used to perform PI calculation based on the rotation speed of the steering wheel at the current moment and the rotation speed at the previous moment to determine the damping force in the damping parameter if the driving scene is normal driving or road bumps; The processing module is specifically used to determine the magnitude of the damping force based on the following formula; F 2 =P 1 (S 0 -S n )+P 2 (S 0 -S n- 1 ) ； Among them, F2 is the damping force in the damping parameter, P1 is PI The proportional coefficient of adjustment, S0 is the set speed of the steering wheel, S n is the current rotation speed of the steering wheel, P2 is PI Adjusted integral coefficient, S n-1 is the rotation speed of the steering wheel at the previous moment; The processing module is specifically used to determine a first damping force based on the vehicle speed and body angle of the vehicle when the collision occurs if the driving scenario is a collision; determine a second damping force based on the rotation speed of the steering wheel at a current moment, the rotation speed at a previous moment, and the rotation angle of the steering wheel; and determine the damping force in the damping parameter based on the first damping force and the second damping force.

5. A single chip microcomputer, characterized in that: The single chip microcomputer comprises: a memory and a processor, wherein the memory stores an algorithm program, and the processor is used to call and run the algorithm program stored in the memory to execute the method as claimed in any one of claims 1 to 3.

6. A car driving simulator, characterized in that: include: Steering wheels, steering wheel spindles, drive motors, transmissions, and electronic equipment; The electronic device executes the method as claimed in any one of claims 1 to 3, controls the drive motor, and applies damping to the steering wheel through the transmission device and the steering wheel spindle to simulate the driving scene of the car driving simulator.

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