Signal data control method and control system for game steering wheel

Abstract

The present invention discloses a signal data control method and a control system for a game steering wheel, and relates to the technical field of game steering wheel force feedback control, comprising the following steps: obtaining a direction data set of the game steering wheel and a running state data set of a game car; based on the direction data set and the running state data set, performing calculations on simulated collision feedback force, simulated bump feedback force and simulated steering feedback force, and obtaining the magnitude and direction of the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force, which are collectively referred to as simulated feedback force; the present invention is used to solve the problem that in the existing game steering wheel force feedback control technology, the feedback force cannot be calculated through car running data, and the magnitude and direction of the collision feedback force are inaccurately obtained, resulting in inaccurate feedback force generated by a feedback motor.

Description

Technical Field

[0001] The present invention relates to the technical field of game steering wheel force feedback control, and in particular to a signal data control method and a control system for game steering wheels. Background Art

[0002] The game steering wheel force feedback control technology is a technology that simulates the real driving experience. It detects the angle of the player's steering wheel operation and the data and speed of the game car through sensors, and then generates corresponding reaction force through feedback motors, so that players can feel the steering feedback force and road feedback of real vehicles. The feedback motor generates corresponding reaction force, including the processing and control method of the signal data of the feedback motor. This technology enhances the immersion and realism of the game, making players feel as if they are really driving a car.

[0003] The existing technical sensors detect the angle of the player's steering wheel operation and the data and speed of the game car. For example, the collision feedback force requires the installation of a collision force detection device, and the magnitude of the collision force is used as the magnitude of the feedback force. The magnitude of the collision force cannot be directly obtained according to the speed of the game car. In the case of acceleration or deceleration, the overall resultant force of the car is not zero. Under the influence of the overall resultant force, the detected collision force is directly used as the collision feedback force, and there are errors in the magnitude and direction. For example, in the patent application with application publication number CN116726478A, a game feel feedback method, equipment, device and medium based on a steering wheel are disclosed. The scheme directly obtains the feedback force during the collision, but does not specify the magnitude of the feedback force. The direction of the feedback force used is directly opposite to the collision, and does not take into account the situation where there is an overall resultant force under acceleration or deceleration, resulting in insufficient data reliability. The existing game steering wheel force feedback control technology cannot calculate the feedback force through the car operation data, and the magnitude and direction of the collision feedback force are inaccurate, and the obtained data is inaccurate, resulting in the problem of inaccurate feedback force generated by the feedback force simulator. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent, by performing simulated feedback force calculation based on a direction data set and an operation status data set to obtain a corresponding simulated feedback force, generating a real feedback force based on the size and direction of the simulated feedback force, and adjusting the simulated feedback force based on the real feedback force felt by the user himself, so as to solve the problem that in the existing game steering wheel force feedback control technology, the feedback force cannot be calculated through automobile operation data and the size and direction of the collision feedback force are inaccurately obtained, resulting in inaccurate feedback force generated by the feedback motor.

[0005] To achieve the above objectives, in a first aspect, the present application provides a signal data control method for a game steering wheel, characterized in that it comprises the following steps:

[0006] Get the direction dataset of the game steering wheel and the running status dataset of the game car;

[0007] Based on the direction data set and the running state data set, simulated collision feedback force, simulated bump feedback force and simulated steering feedback force are calculated to obtain the magnitude and direction of the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force, and the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force are collectively referred to as simulated feedback force;

[0008] Based on the size and direction of the simulated feedback force, the size and direction of the real collision feedback force, the real bump feedback force and the real steering feedback force are simulated on the game steering wheel. The real collision feedback force, the real bump feedback force and the real steering feedback force are collectively referred to as the real feedback force, which is adjusted based on the user's own ability to withstand the real feedback force.

[0009] Furthermore, based on the direction data set and the running state data set, the simulated collision feedback force is calculated to obtain the magnitude and direction of the simulated collision feedback force, including the following sub-steps:

[0010] Establish a rectangular coordinate system;

[0011] Get a top view of the game car, set it as the top view of the car, get the central axis of the top view of the car, the central axis is parallel to the line connecting the front wheel and the rear wheel on the same side of the car, set the direction of the rear wheel on the same side of the car toward the front wheel as the first direction, and the top view of the car is symmetrical along the central axis; place the top view of the car in the first quadrant of the rectangular coordinate system, make the central axis parallel to the Y axis, and keep the first direction the same as the positive direction of the Y axis.

[0012] Furthermore, based on the direction data set and the running state data set, the simulated collision feedback force is calculated to obtain the magnitude and direction of the simulated collision feedback force, which further includes the following sub-steps:

[0013] When the game car collides, the speed v1 of the game car at the time of collision, the speed v2 at t seconds before the collision, and the weight m of the game car are obtained from the running status data set;

[0014] Get the acceleration of the game car: a=(v1-v2) / t;

[0015] Set the coordinate point of the game car in the rectangular coordinate system to (x i ,y i ), get an x ​​respectively i The maximum value of x i The minimum value of y i The maximum value of y i The coordinates of the minimum value of max ,y 1 )、(xmin ,y 2 )、(x 1 ,y max ) and (x 2 ,y min ), then get (x max ,y 1 ) and parallel to the Y axis, through (x min ,y 2 ) and parallel to the Y axis, through (x 1 ,y max ) and parallel to the X-axis and the line segment passing through (x 2 ,y min ) and parallel to the X-axis. The four line segments form a rectangle. Get the lower left corner point of the rectangle (x zx ,y zx ) and the upper right corner (x ys ,y ys ), get point , marked as the center point of the car;

[0016] If a>0, Fc=m*a, vector Take the center point of the car as the starting point and the direction is toward the positive direction of the Y axis;

[0017] If a=0, Fc=0, the vector No direction;

[0018] If a<0, Fc=m*a, vector Take the center point of the car as the starting point and the direction is in the opposite direction of the Y axis;

[0019] Where Fc is the overall force of the game car in driving state, is the vector of the overall force.

[0020] Furthermore, based on the direction data set and the running state data set, the simulated collision feedback force is calculated to obtain the magnitude and direction of the simulated collision feedback force, which further includes the following sub-steps:

[0021] Get the collision point of the car, then connect the collision point of the car and the center point of the car, mark it as a collision line segment, and get the angle θ between the collision line segment and the positive direction of the X-axis;

[0022] Get the relative speed v3 of the game car and the collision object at the moment of collision, and obtain the magnitude of the collision force Fz according to the collision function: Fz=o+p*v3, where o and p are constants;

[0023] When a>0 or a<0, get The component on the X axis is 0. The component on the Y axis is Fc;

[0024] Get The component on the X-axis is cosθ*Fz, The component on the Y axis is sinθ*Fz;

[0025] calculate and The resultant force is: ;

[0026] The angle with the positive direction of the X axis is: ;

[0027] When a=0, Fh=Fz, and the direction is the same as that of Fz;

[0028] The simulated collision feedback force is obtained as: Fpf=K1*Fh, where Fpf and Fh have the same direction, and K1 is the simulated collision feedback force coefficient.

[0029] Furthermore, based on the direction data set and the running state data set, the simulated collision feedback force is calculated to obtain the magnitude and direction of the simulated collision feedback force, which further includes the following sub-steps:

[0030] The same game car collision data is obtained, and the first number of the same game cars are selected for collision simulation training, which is marked as collision simulation training. The values ​​of o and p in the collision function are obtained through the collision simulation training. The collision simulation training of the game cars includes:

[0031] The collision object is collided with at different simulated relative speeds v4, and then the simulated collision force Fm is obtained by the sensor equipment in the collision simulation training, where different v4 are represented as: v4 1 , v4 2 , ..., v4 i ;

[0032] Among them v4 2 The speed is v4 1 2 times, and so on, V4 i The speed is V4 1 i times of ;

[0033] The average value of the first quantity Fm under v4 is calculated and marked as Fmp;

[0034] V4 is the horizontal coordinate data, and Fmp is the vertical coordinate data. Input it into the training coordinate system to obtain the Fmp scatter plot. According to the simulated collision function: Fmp=o+p*v4, perform regression fitting on the Fmp scatter plot to obtain the values ​​of o and p.

[0035] Input the newly added first number of game car collision data into the collision simulation training, and update o and p once.

[0036] Further, based on the direction data set and the running status data set, the simulated steering feedback force is calculated to obtain the magnitude and direction of the simulated steering feedback force, including the following sub-steps:

[0037] Set the game steering wheel angle to 0° when the game car is driving in a straight line, set the clockwise direction as the positive direction of the steering wheel, obtain the steering angle α of the steering wheel from the direction data set, and obtain the maximum rotation angle α of the game steering wheel to the positive direction of the steering wheel fz , get the front tire on one side of the game car, marked as the first steering tire, the maximum angle α of the first steering tire turning to one side qz , get the distance d between the front wheel and the rear wheel on the same side of the game car c ;

[0038] Get the steering angle α of the first steering tire z is: α*(α qz / α fz );

[0039] Then the turning radius of the first steering tire is: R = dc / sin|α z |;

[0040] Get the current speed v5 from the running status dataset;

[0041] Then the steering force is calculated as: Fx=m*(v5) 2 / R;

[0042] The simulated steering feedback force is obtained as: Fxf=K2*Fx. When α is greater than 0, the direction of the simulated steering feedback force is counterclockwise, and when α is less than 0, the direction of the simulated steering feedback force is clockwise, where K2 is the simulated steering feedback force coefficient.

[0043] Further, based on the direction data set and the running state data set, the simulated turbulence feedback force is calculated to obtain the magnitude and direction of the simulated turbulence feedback force, including the following sub-steps:

[0044] The height of the game vehicle when it bumps is obtained through the running status data set. q , get h q Time taken t q , then h q =0.5*a h *t q 2 , where a h is the vertical acceleration;

[0045] Then a h =2*h q / t q 2 ;

[0046] Then the turbulence force is calculated as: Fd=a h *m;

[0047] The simulated bump feedback force is calculated according to the formula: Fdf=K3*Fd. When the game car moves upward, the direction of the force is vertically upward, where K3 is the simulated bump feedback force coefficient.

[0048] Further, based on the magnitude and direction of the simulated feedback force, the magnitude and direction of the real collision feedback force, the real bump feedback force and the real steering feedback force are simulated on the game steering wheel. The real collision feedback force, the real bump feedback force and the real steering feedback force are collectively referred to as the real feedback force. Adjusting the simulated feedback force based on the real feedback force felt by the user includes the following sub-steps:

[0049] Based on the direction data set and the running status data set, simulated collision feedback force, simulated bump feedback force and simulated steering feedback force are calculated to obtain the magnitude and direction of the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force, which are collectively referred to as simulated feedback force; according to the magnitude and direction of the simulated feedback force, the magnitude and direction of the real feedback force are simulated on the steering wheel;

[0050] K1, K2 and K3 are adjusted based on the user's tolerance to the actual feedback force.

[0051] Furthermore, according to the magnitude and direction of the simulated feedback force, simulating the magnitude and direction of the real feedback force on the steering wheel specifically includes the following steps:

[0052] Converting analog feedback force into electrical signals;

[0053] The electrical signal is amplified by an amplifier and then subjected to noise reduction processing by a filter, which is marked as a processed electrical signal;

[0054] converting the processed electrical signal into a digital signal using an analog-to-digital converter;

[0055] The digital signal is sent to the controller, and the controller calculates the target current; the controller sends the target current to the driver;

[0056] The drive control feedback force simulator simulates the magnitude and direction of the real feedback force.

[0057] In a second aspect, the present application also provides a signal data control system for a game steering wheel, including a data acquisition module, a data analysis module and a data feedback module;

[0058] The data acquisition module is used to acquire a direction data set of a game steering wheel and a running status data set of a game car;

[0059] The data analysis module is used to calculate the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force based on the direction data set and the running state data set, and obtain the magnitude and direction of the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force, and the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force are collectively referred to as simulated feedback force;

[0060] The data feedback module is used to simulate the size and direction of real collision feedback force, real bump feedback force and real steering feedback force on the game steering wheel based on the size and direction of the simulated feedback force. The real collision feedback force, real bump feedback force and real steering feedback force are collectively referred to as real feedback force, which is adjusted based on the user's own ability to withstand the real feedback force.

[0061] Beneficial effects of the present invention: The present invention obtains the corresponding simulated feedback force by performing simulated feedback force calculation based on the direction data set and the running state data set, generates the real feedback force based on the magnitude and direction of the simulated feedback force, and adjusts the simulated feedback force based on the real feedback force felt by the user himself. The advantage is that the resultant force of the car before the collision is obtained in the feedback force calculation, and the simulated collision feedback force is obtained according to the total resultant force of the car before the collision and the collision force. The centripetal force of the game car steering is used as the simulated steering feedback force, and the resultant force of the game car under the action of bumps and undulations is used as the simulated bump feedback, so that the simulated feedback force is obtained through calculation, so that the obtained simulated feedback force is closer to the real force data, and the user can adjust the real feedback force, which can adapt to the usage of different users;

[0062] The present invention obtains the values ​​of collision functions o and p by performing collision simulation training on game cars. The advantage is that the magnitude of the collision force can be directly obtained according to the speed, thereby reducing the workload of the collision force sensor in the game. The collision simulation training data is updateable, so that the values ​​of the collision functions o and p obtained by training are more accurate, thereby improving the calculation accuracy of the simulated collision feedback force. In addition, during the training process, regression fitting is performed on the Fz scatter plot, and there is no need to perform simulated collision training on all speed data, thereby reducing the amount of simulated collision training and improving data processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 is a functional block diagram of the system of the present invention;

[0064] Figure 2 A schematic diagram of obtaining the center point of the game car of the present invention;

[0065] Figure 3 is a schematic diagram of the relationship between Fh, Fz and Fc of the present invention;

[0066] Figure 4Schematic diagram of the R calculation method of the present invention;

[0067] Figure 5 It is a schematic diagram of the simulated collision function fitting line of the present invention;

[0068] Figure 6 is a schematic diagram of a method for simulating real feedback force of the present invention;

[0069] Figure 7 The figure is a flow chart of the steps of the method of the present invention. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0071] Example 1, please refer to Figure 1 As shown, in the first aspect, the present application provides a signal data control system for a game steering wheel, including a data acquisition module, a data analysis module and a data feedback module;

[0072] The data acquisition module is used to obtain the direction data set of the game steering wheel and the running status data set of the game car;

[0073] The data analysis module is used to calculate the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force based on the direction data set and the running state data set, and obtain the magnitude and direction of the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force. The simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force are collectively referred to as simulated feedback force. The data analysis module includes a simulated collision feedback force unit, a simulated steering feedback force unit and a simulated bump feedback force unit;

[0074] The simulated collision feedback force unit is configured with a simulated collision feedback force calculation strategy, and the simulated collision feedback force calculation strategy includes: establishing a rectangular coordinate system;

[0075] Obtain a top view of the game car, set it as the top view of the car, obtain the central axis of the top view of the car, the central axis is parallel to the line connecting the front wheel and the rear wheel on the same side of the car, set the direction of the rear wheel on the same side of the car toward the front wheel as the first direction, and the top view of the car is symmetrical along the central axis; place the top view of the car in the first quadrant of the rectangular coordinate system, make the central axis parallel to the Y axis, and keep the first direction the same as the positive direction of the Y axis. By establishing a rectangular coordinate system and limiting the placement position of the top view of the car, the subsequent calculation of the simulated collision feedback force is convenient;

[0076] When a game car collides, the speed v1 of the game car at the time of collision, the speed v2 at t seconds before the collision, and the weight m of the game car are obtained from the running status data set; in the real simulation car game, in order to make the game more realistic, the data of the game car will have different running status data according to different models, such as setting game cars of different weights according to the weight m of the game car;

[0077] The acceleration of the game car is obtained as: a=(v1-v2) / t; the acceleration at time t before the collision is used as the acceleration at the time of collision, so the shorter the time, the more accurate a is, but the time interval is too short, the accuracy of speed acquisition is too high, and it is difficult to distinguish between two similar speed values. Therefore, t is set according to the human reaction time, which is generally between 0.15-0.5s, and 0.15s is preferred; this setting can more accurately obtain the acceleration at the time of collision, and at the same time facilitates data acquisition and calculation;

[0078] See also Figure 2 As shown, the coordinate point of the game car in the rectangular coordinate system is set to (x i ,y i ), get an x ​​respectively i The maximum value of x i The minimum value of y i The maximum value of y i The coordinates of the minimum value of max ,y 1 )、(x min ,y 2 )、(x 1 ,y max ) and (x 2 ,y min ), then get (x max ,y 1 ) and parallel to the Y axis, through (x min ,y 2 ) and parallel to the Y axis, through (x 1 ,y max ) and parallel to the X-axis and the line segment passing through (x 2 ,y min ) and parallel to the X-axis. The four line segments form a rectangle. Get the lower left corner point of the rectangle (x zx ,y zx ) and the upper right corner (x ys ,y ys ), get point , marked as the center point of the car; the shape of the game car is usually an irregular image, and the center point of the car cannot be directly obtained. Therefore, the above method is used to obtain the position of the center point of the car. In this case, at the coordinate point (x i ,y i ), first obtain all the pixels containing the game car, obtain the center point of all the pixels, and use the center point of the pixels as the coordinate point, that is, (x i ,y i ) contains the center point of all pixels in the top view of the game car;

[0079] In practical applications, we obtain an x i The maximum value of x i The minimum value of y i The maximum value of y i The coordinates of the minimum value are marked as (10, 5), (4, 5), (5, 12) and (6, 2), and then the line segment passing through (10, 5) and parallel to the Y axis, the line segment passing through (2, 5) and parallel to the Y axis, the line segment passing through (5, 12) and parallel to the X axis, and the line segment passing through (6, 2) and parallel to the X axis are obtained. The four line segments form a rectangle. The lower left corner point (4, 12) and the upper right corner point (10, 2) of the rectangle are obtained. The coordinates of the midpoint of the line connecting the lower left corner point (4, 12) and the upper right corner point (10, 2) are obtained as (7, 7), which is marked as the center point of the car.

[0080] If a>0, Fc=m*a, vector Take the center point of the car as the starting point and the direction is toward the positive direction of the Y axis;

[0081] If a=0, Fc=0, the vector No direction;

[0082] If a<0, Fc=m*a, vector Take the center point of the car as the starting point and the direction is in the opposite direction of the Y axis;

[0083] Where Fc is the overall force of the game car in driving state, is the vector of the overall resultant force. In the process of driving, the game car is often affected by many forces such as air resistance, friction and car traction. The analysis of force is a very complicated process. Here, for the convenience of analysis and calculation, all forces are regarded as a whole, that is, Fc is the overall resultant force of the game car in the driving state;

[0084] In practical applications, it should be noted that the speed unit is generally km / h. When calculating in this formula, the speed unit needs to be converted into m / s. If v1=60km / h, v2=59km / h, then v1=16.67m / s, v2=16.39m / s, t is the human reaction time, preferably t=0.15, then a=1.87m / s 2 , a game car m = 900kg, then Fc = 1683N, the above calculations are rounded to two decimal places, vector Take the center point of the car as the starting point and the direction is toward the positive direction of the Y axis;

[0085] Get the collision point of the car, then connect the collision point of the car and the center point of the car, mark it as a collision line segment, and get the angle θ between the collision line segment and the positive direction of the X-axis;

[0086] Get the relative speed v3 of the game car and the collision object at the moment of collision, and obtain the magnitude of the collision force Fz according to the collision function: Fz=o+p*v3, where o and p are constants; the reason for using the relative speed instead of the game car speed is that if the game car is stationary and the collision object is in a moving state, there will be a collision force between the game car and the collision object, so the correlation between the game car speed and the collision force is weak;

[0087] When a>0 or a<0, get The component on the X axis is 0. The component on the Y axis is Fc;

[0088] Get The component on the X-axis is cosθ*Fz, The component on the Y axis is sinθ*Fz;

[0089] calculate and The resultant force is: ; Fh is and The combined force of

[0090] The angle with the positive direction of the X axis is: ;

[0091] When a=0, Fh=Fz, and the direction is the same as that of Fz;

[0092] The simulated collision feedback force is obtained as: Fpf=K1*Fh, where Fpf and Fh have the same direction, Fpf is the simulated collision feedback force, and K1 is the simulated collision feedback force coefficient; through and The resultant force of the collision is used as the simulated collision feedback force, so that the direction and strength of the real collision feedback force are more realistic. When the user adjusts K1, if the collision force is directly used as the simulated collision feedback force, the user will be subjected to a larger real collision feedback force, resulting in the user being unable to operate the steering wheel; at the same time, by adjusting the value of K1, the above problem can be avoided. For example, the adjustable range of K1 is between 0.001 and 0.009.

[0093] In practical applications, according to the collision simulation training, the value of o is 8.7633, and the value of p is 99.747, then Fz=99.747*v3+8.7633, and the speed at that time is v3=100km / h. Substitute it into the above formula to calculate Fz=99.747*30+8.7633=3001. Here, the calculation result of the force is rounded to an integer, and θ is 45 degrees. Then sinθ and cosθ are calculated by taking 0.707. When a>0 or a<0, obtain The component on the X axis is 0. The component on the Y axis is Fc=1683N; get The component on the X-axis is cosθ*Fz=2123N, The components on the Y axis are sinθ*Fz=2123N, Fh=4362N, β=60.8°;

[0094] When the user sets K1=0.002, Fpf=K1*Fh=8.724N, and the angle between the direction and the positive direction of the X-axis is β=60.8°;

[0095] Obtain the same game car collision data, select the first number of the same game cars for collision simulation training, marked as collision simulation training, obtain the values ​​of o and p in the collision function through collision simulation training, and the collision simulation training of the game car includes: colliding with the collision object at different simulated relative speeds v4, and then obtaining the simulated collision force Fm through the sensor device in the collision simulation training, where different v4 are respectively represented as: v4 1 , v4 2 , ..., v4 i ;

[0096] Among them v4 2 The speed is v4 1 2 times, and so on, V4 i The speed is V4 1 i times of ;

[0097] The average value of the first quantity Fm under v4 is calculated and marked as Fmp;

[0098] V4 is the horizontal coordinate data, Fmp is the vertical coordinate data, and the simulated collision force point is obtained and input into the training coordinate system to obtain the Fmp scatter plot. According to the simulated collision function: Fmp=o+p*v4, the Fmp scatter plot is regressed and fitted to obtain the simulated collision function fitting line, and the values ​​of o and p are obtained;

[0099] Input the newly added first number of game car collision data into the collision simulation training, and update o and p once.

[0100] For practical applications, please refer to Figure 4 As shown, here v4 1 Can be set according to needs, v4 1 The smaller the value, the higher the accuracy, but it also increases the difficulty of calculation. Therefore, it is adjusted according to the maximum speed of the car. Taking the maximum speed of 200km / h as an example, v4 1 =20km / h, v4 2 =40km / h, ..., v4 10 =200km / h relative speed to collide with the collision object, and obtain the simulated collision force Fm through the sensor equipment in the collision simulation training, and obtain the Fmp at the corresponding speeds: 2020.23, 4030.56, ..., 19980.26; perform regression fitting on the Fmp scatter plot and obtain the formula Fmp= 99.747*v4 + 8.7633; obtain the value of o as 8.7633, and the value of p as 99.747.

[0101] The simulated steering feedback force unit is configured with a simulated steering feedback force calculation strategy, which includes: setting the game steering wheel angle to 0° when the game car is driving in a straight line, setting the clockwise direction as the positive direction of the steering wheel, obtaining the steering angle α of the steering wheel from the direction data set, and obtaining the maximum rotation angle α of the game steering wheel to the positive direction of the steering wheel fz , get the front tire on one side of the game car, marked as the first steering tire, the maximum angle α of the first steering tire turning to one side qz , get the distance d between the front wheel and the rear wheel on the same side of the game car c ;

[0102] Get the steering angle α of the first steering tire z is: α*(α qz / α fz ); The rotation angle of the corresponding car tire can be obtained through the rotation angle of the game steering wheel;

[0103] Then the turning radius of the first steering tire is: R = dc / sin|α z |;

[0104] Get the current speed v5 from the running status dataset;

[0105] Then the steering force is calculated as: Fx=m*(v5) 2 / R; Here, the centripetal force generated when the car turns is calculated by the turning radius of the first steering tire, and the centripetal force is used as the steering force. In this way, the steering force can be obtained according to the speed of the game car and the turning angle of the game wheel;

[0106] The simulated steering feedback force is obtained as follows: Fxf=K2*Fx, where Fxf is the simulated steering feedback force. When α is greater than 0, the direction of the simulated steering feedback force is counterclockwise, and when α is less than 0, the direction of the simulated steering feedback force is clockwise. K2 is the simulated steering feedback force coefficient. When the user adjusts K2 during the simulated steering feedback force, if the steering force is directly used as the simulated steering feedback force, the user will be subjected to a larger real simulated steering feedback force, resulting in the user being unable to operate the steering wheel. The above problem can be avoided by adjusting the value of K2. For example, the adjustable range of K2 is between 0.001 and 0.009.

[0107] For practical applications, please refer to Figure 5 As shown, the steering angle of the steering wheel is 360° from the direction data set, the maximum rotation angle of the game steering wheel in the positive direction is 540°, the maximum angle of the first steering tire turning to one side is 45°, the distance between the front wheel and the rear wheel on the same side of the game car is 3 meters, and the steering angle α of the first steering tire is obtained. z =30°, then the turning radius of the first steering tire is R=6 meters, v5=3m / s, and the steering force is calculated as: Fx=m*v5 2 / R=1358N, set K2=0.002, then the simulated steering feedback force is: Fxf=K2*Fx=2.716N.

[0108] The simulated bump feedback force unit is configured with a simulated bump feedback force calculation strategy, which includes: obtaining the game vehicle's bump height h through the running state data set q , get h q Time taken t q , then h q =0.5*a h *t q 2 , where a h is the vertical acceleration;

[0109] Then a h =2*h q / t q 2 When there is no turbulence, the vertical velocity is zero. When turbulence occurs, the time t obtained according to the above calculation process isq The average acceleration in the vertical direction is taken as the vertical acceleration;

[0110] Then the turbulence force is calculated as: Fd=a h *m; Here, Newton's second law is used to obtain the total vertical upward force, and the total vertical upward force is taken as the bump force. In this way, the setting can be based on the undulation height h q , and reach h q Time taken t q , calculate the magnitude of the bumping force;

[0111] The simulated bump feedback force is calculated according to the formula: Fdf=K3*Fd, where Fdf simulates the bump feedback force. When the game car moves upward, the force is directed vertically upward, and K3 is the simulated bump feedback force coefficient. When the user adjusts K3 during the simulation of the bump feedback force, if the bump force is directly used as the simulated bump feedback force, the user will be subjected to a larger real bump steering feedback force, which makes the user unable to operate the steering wheel. The above problem can be avoided by adjusting the value of K3. For example, the adjustable range of K3 is between 0.001 and 0.009.

[0112] In practical applications, the obtained h q = 0.2 m, t q =0.5 seconds, then a=2m / s 2 , Fd=a h *m=1800N, here the user adjusts K3=0.002, then Fdf=K3*Fd=3.6N force, the direction is vertically upward.

[0113] See also Figure 6 As shown, the data feedback module is used to simulate the magnitude and direction of the real collision feedback force, the real bump feedback force and the real steering feedback force on the game steering wheel based on the magnitude and direction of the simulated feedback force. The real collision feedback force, the real bump feedback force and the real steering feedback force are collectively referred to as the real feedback force, and are adjusted based on the user's own tolerance of the real feedback force;

[0114] The data feedback module is configured with a data feedback strategy, which includes: converting the analog feedback force into an electrical signal;

[0115] The electrical signal is amplified by an amplifier, and then subjected to noise reduction processing by a filter, which is marked as the processed electrical signal; the acquired electrical signal data is usually very weak and may not be convenient for subsequent equipment to process, so the electrical signal is amplified; the processing error is reduced by noise reduction processing;

[0116] Use analog-to-digital converters to convert processed electrical signals into digital signals; this facilitates processing by computers or other digital devices, making the data more accurate;

[0117] The digital signal is sent to the controller, and the controller calculates the target current; the controller sends the target current to the driver;

[0118] The driver controls the feedback force simulator to simulate the size and direction of the real feedback force. Here, the simulated feedback force can be further compared with the real feedback force. If the real feedback force is lower than the simulated feedback force, the controller will increase the current of the motor. If the real feedback force is higher than the simulated feedback force, the controller will reduce the current to make the output real feedback force more accurate. Existing game steering wheel feedback force simulators generally use feedback motors to simulate corresponding torques. Therefore, when feedback motors are used to simulate torques, the real feedback force can be further converted into corresponding torques, and then simulated using feedback motors.

[0119] Example 2, please refer to Figure 7 As shown, in a second aspect, the present application provides a signal data control method for a game steering wheel, comprising the following steps: Step S1, obtaining a direction data set of a game steering wheel and a running status data set of a game car.

[0120] Step S2, based on the direction data set and the running state data set, calculate the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force to obtain the magnitude and direction of the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force, the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force are collectively referred to as simulated feedback force, and step S2 includes the following sub-steps:

[0121] Step S21, based on the direction data set and the running state data set, calculate the simulated collision feedback force to obtain the magnitude and direction of the simulated collision feedback force. Step S21 includes the following sub-steps:

[0122] Step S2101, establishing a rectangular coordinate system; obtaining a top view of the game car, setting it as the top view of the car, obtaining a central axis of the top view of the car, the central axis being parallel to the line connecting the front wheel and the rear wheel on the same side of the car, setting the direction from the rear wheel on the same side of the car to the front wheel as a first direction, and the top view of the car being symmetrical along the central axis; placing the top view of the car in the first quadrant of the rectangular coordinate system, making the central axis parallel to the Y axis, and keeping the first direction the same as the positive direction of the Y axis;

[0123] Step S2102, when the game car collides, obtain the speed v1 of the game car at the time of collision, the speed v2 at t seconds before the collision, and the weight m of the game car from the running state data set; obtain the acceleration of the game car as: a=(v1-v2) / t;

[0124] Step S2103, setting the coordinate point of the game car in the rectangular coordinate system to (x i ,y i), get an x ​​respectively i The maximum value of x i The minimum value of y i The maximum value of y i The coordinates of the minimum value of max ,y 1 )、(x min ,y 2 )、(x 1 ,y max ) and (x 2 ,y min ), then get (x max ,y 1 ) and parallel to the Y axis, through (x min ,y 2 ) and parallel to the Y axis, through (x 1 ,y max ) and parallel to the X-axis and the line segment passing through (x 2 ,y min ) and parallel to the X-axis. The four line segments form a rectangle. Get the lower left corner point of the rectangle (x zx ,y zx ) and the upper right corner (x ys ,y ys ), get point , marked as the center point of the car;

[0125] Step S2104, if a>0, Fc=m*a, vector Starting from the center of the car, the direction is toward the positive direction of the Y axis; if a=0, Fc=0, the vector No direction; if a<0, Fc=m*a, vector Starting from the center of the car, the direction is in the opposite direction of the Y axis; Fc is the overall force when the game car is in motion. is the vector of the overall resultant force;

[0126] Step S2105, obtain the collision point of the car, then connect the collision point of the car and the center point of the car, mark them as collision line segments, obtain the angle θ between the collision line segment and the positive direction of the X-axis; obtain the relative speed v3 of the game car and the collision object at the moment of collision, and obtain the magnitude of the collision force Fz according to the collision function: Fz=o+p*v3, where o and p are constants;

[0127] Step S2105 includes the following sub-steps:

[0128] Step S21051, obtaining the same game car collision data, selecting the first number of the same game cars for collision simulation training, marking it as collision simulation training, obtaining the values ​​of o and p in the collision function through the collision simulation training, and the collision simulation training of the game car includes: colliding with the collision object at different simulated relative speeds v4, and then obtaining the simulated collision force Fm through the sensor device in the collision simulation training, wherein different v4 are respectively represented as: v4 1 , v4 2 , ..., v4 i ; Among them v4 2 The speed is v4 1 2 times, and so on, V4 i The speed is V4 1 i times of ;

[0129] Step S21052, respectively calculate the average value of the first quantity Fm under v4, marked as Fmp;

[0130] V4 is the horizontal coordinate data, and Fmp is the vertical coordinate data. Input it into the training coordinate system to obtain the Fmp scatter plot. According to the simulated collision function: Fmp=o+p*v4, perform regression fitting on the Fmp scatter plot to obtain the values ​​of o and p.

[0131] Step S21053, inputting the newly added first number of game car collision data into the collision simulation training, and updating o and p once;

[0132] Step S2106: when a>0 or a<0, obtain The component on the X axis is 0. The component on the Y axis is Fc; get The component on the X-axis is cosθ*Fz, The component on the Y axis is sinθ*Fz; calculate and The resultant force is: ; The angle with the positive direction of the X axis is: ; When a=0, Fh=Fz, and the direction is the same as that of Fz;

[0133] Step S2107, obtaining the simulated collision feedback force: Fpf=K1*Fh, Fpf and Fh have the same direction, and K1 is the simulated collision feedback force coefficient.

[0134] Step S22, based on the direction data set and the running status data set, performs simulation steering feedback force calculation to obtain the magnitude and direction of the simulation steering feedback force. Step S22 includes the following sub-steps:

[0135] Step S2201, set the game steering wheel angle to 0° when the game car is driving in a straight line, set the clockwise direction as the positive direction of the steering wheel, obtain the steering angle α of the steering wheel from the direction data set, and obtain the maximum rotation angle α of the game steering wheel to the positive direction of the steering wheel fz , get the front tire on one side of the game car, marked as the first steering tire, the maximum angle α of the first steering tire turning to one side qz , get the distance d between the front wheel and the rear wheel on the same side of the game car c ;

[0136] Step S2202, obtaining the steering angle α of the first steering tire z is: α*(α qz / α fz ); then the turning radius of the first steering tire is: R = dc / sin|α z |;

[0137] Step S2203, obtain the current speed v5 from the running status data set; then calculate the steering force as: Fx=m*(v5) 2 / R;

[0138] Step S2204, obtaining the simulated steering feedback force: Fxf=K2*Fx, when α is greater than 0, the direction of the simulated steering feedback force is counterclockwise, and when α is less than 0, the direction of the simulated steering feedback force is clockwise, wherein K2 is the simulated steering feedback force coefficient.

[0139] Step S23, based on the direction data set and the running state data set, calculate the simulated bump feedback force to obtain the magnitude and direction of the simulated bump feedback force. Step S23 includes the following sub-steps:

[0140] Step S2301, obtain the height h of the game vehicle when it is bumpy through the running status data set q , get h q Time taken t q , then h q =0.5*a h *t q 2 , where a h is the vertical acceleration;

[0141] Then a h =2*h q / t q 2 ; Then the calculation of the bump force is: Fd=a h *m;

[0142] Step S2302, the simulated bump feedback force is calculated according to the formula: Fdf=K3*Fd, when the game car moves upward, the direction of the force is vertically upward, where K3 is the simulated bump feedback force coefficient.

[0143] Step S3, based on the magnitude and direction of the simulated feedback force, the magnitude and direction of the real collision feedback force, the real bump feedback force and the real steering feedback force are simulated on the game steering wheel, the real collision feedback force, the real bump feedback force and the real steering feedback force are collectively referred to as the real feedback force, and the simulated feedback force is adjusted based on the real feedback force felt by the user. Step S3 also includes the following sub-steps: Step S301, converting the simulated feedback force into an electrical signal;

[0144] Step S302, amplifying the electrical signal through an amplifier, and then performing noise reduction processing through a filter, which is marked as a processed electrical signal;

[0145] Step S303, using an analog-to-digital converter to convert the processed electrical signal into a digital signal; sending the digital signal to a controller, and the controller calculates a target current; the controller sends the target current to the driver;

[0146] Step S304, the driver controls the feedback force simulator to simulate the magnitude and direction of the real feedback force;

[0147] Step S305: adjusting K1, K2 and K3 based on the user's tolerance of the real feedback force.

[0148] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read Only Memory, referred to as EPROM), programmable read-only memory (Programmable Red-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0149] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, 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 communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

Claims

1. A signal data control method for a game steering wheel, characterized in that: The steps include: Get the direction dataset of the game steering wheel and the running status dataset of the game car; Based on the direction data set and the running state data set, simulated collision feedback force, simulated bump feedback force and simulated steering feedback force are calculated to obtain the magnitude and direction of the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force, and the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force are collectively referred to as simulated feedback force; Based on the magnitude and direction of the simulated feedback force, the magnitude and direction of the real collision feedback force, the real bump feedback force and the real steering feedback force are simulated on the game steering wheel. The real collision feedback force, the real bump feedback force and the real steering feedback force are collectively referred to as the real feedback force, and are adjusted based on the user's own tolerance of the real feedback force; Based on the direction data set and the running status data set, the simulated collision feedback force is calculated to obtain the magnitude and direction of the simulated collision feedback force, including the following sub-steps: Establish a rectangular coordinate system; Obtain a top view of the game car, set it as the top view of the car, obtain the central axis of the top view of the car, the central axis is parallel to the line connecting the front wheel and the rear wheel on the same side of the car, set the direction of the rear wheel on the same side of the car toward the front wheel as the first direction, and the top view of the car is symmetrical along the central axis; place the top view of the car in the first quadrant of the rectangular coordinate system, make the central axis parallel to the Y axis, and keep the first direction the same as the positive direction of the Y axis; Based on the direction data set and the running status data set, the simulated collision feedback force is calculated, and obtaining the magnitude and direction of the simulated collision feedback force also includes the following sub-steps: When the game car collides, the speed v1 of the game car at the time of collision, the speed v2 at t seconds before the collision, and the weight m of the game car are obtained from the running status data set; Get the acceleration of the game car: a=(v1-v2) / t; Set the coordinate point of the game car in the rectangular coordinate system to (x i ,y i ), get an x ​​respectively i The maximum value of x i The minimum value of y i The maximum value of y i The coordinates of the minimum value of max , y1), (x min , y2), (x1, y max ) and (x2, y min ), then get (x max , y1) and parallel to the Y axis, through (x min , y2) and parallel to the Y axis, through (x1, y max ) and parallel to the X-axis and the line segment passing through (x2, y min ) and parallel to the X-axis. The four line segments form a rectangle. Get the lower left corner point of the rectangle (x zx ,y zx ) and the upper right corner (x ys ,y ys ), get point , marked as the center point of the car; If a>0, Fc=m*a, vector Take the center point of the car as the starting point and the direction is toward the positive direction of the Y axis; If a=0, Fc=0, the vector No direction; If a<0, Fc=m*a, vector Take the center point of the car as the starting point and the direction is in the opposite direction of the Y axis; Where Fc is the overall force of the game car in driving state, is the vector of the overall resultant force; Based on the direction data set and the running status data set, the simulated collision feedback force is calculated, and obtaining the magnitude and direction of the simulated collision feedback force also includes the following sub-steps: Get the collision point of the car, then connect the collision point of the car and the center point of the car, mark it as a collision line segment, and get the angle θ between the collision line segment and the positive direction of the X-axis; Get the relative speed v3 of the game car and the collision object at the moment of collision, and obtain the magnitude of the collision force Fz according to the collision function: Fz=o+p*v3, where o and p are constants; When a>0 or a<0, get The component on the X axis is 0. The component on the Y axis is Fc; Get The component on the X-axis is cosθ*Fz, The component on the Y axis is sinθ*Fz; calculate and The resultant force is: ; The angle with the positive direction of the X axis is: ; When a=0, Fh=Fz, and the direction is the same as that of Fz; The simulated collision feedback force is obtained as: Fpf=K1*Fh, where Fpf and Fh have the same direction, and K1 is the simulated collision feedback force coefficient; Based on the direction data set and the running status data set, the simulated collision feedback force is calculated, and obtaining the magnitude and direction of the simulated collision feedback force also includes the following sub-steps: The same game car collision data is obtained, and the first number of the same game cars are selected for collision simulation training, which is marked as collision simulation training. The values ​​of o and p in the collision function are obtained through the collision simulation training. The collision simulation training of the game cars includes: The collision object is collided with at different simulated relative speeds v4, and then the simulated collision force Fm is obtained by the sensor device in the collision simulation training, where different v4 are represented as: v41, v42, ..., v4 i ; The speed of v42 is twice that of v41, and so on. i The speed is i times that of V41; The average value of the first quantity Fm under v4 is calculated and marked as Fmp; V4 is the horizontal coordinate data, and Fmp is the vertical coordinate data. Input it into the training coordinate system to obtain the Fmp scatter plot. According to the simulated collision function: Fmp=o+p*v4, perform regression fitting on the Fmp scatter plot to obtain the values ​​of o and p. Input the newly added first number of game car collision data into the collision simulation training, and update o and p once.

2. The signal data control method for a game steering wheel according to claim 1, characterized in that: Based on the direction data set and the running status data set, the simulated steering feedback force is calculated to obtain the magnitude and direction of the simulated steering feedback force, including the following sub-steps: Set the game steering wheel angle to 0° when the game car is driving in a straight line, set the clockwise direction as the positive direction of the steering wheel, obtain the steering angle α of the steering wheel from the direction data set, and obtain the maximum rotation angle α of the game steering wheel to the positive direction of the steering wheel fz , get the front tire on one side of the game car, marked as the first steering tire, the maximum angle α of the first steering tire turning to one side qz , get the distance d between the front wheel and the rear wheel on the same side of the game car c ; Get the steering angle α of the first steering tire z is: α*(α qz / α fz ); Then the turning radius of the first steering tire is: R = dc / sin|α z |; Get the current speed v5 from the running status dataset; Then the steering force is calculated as: Fx=m*(v5) 2 / R; The simulated steering feedback force is obtained as: Fxf=K2*Fx. When α is greater than 0, the direction of the simulated steering feedback force is counterclockwise, and when α is less than 0, the direction of the simulated steering feedback force is clockwise, where K2 is the simulated steering feedback force coefficient.

3. The signal data control method for a game steering wheel according to claim 2, characterized in that: Based on the direction data set and the running status data set, the simulated turbulence feedback force is calculated to obtain the magnitude and direction of the simulated turbulence feedback force, including the following sub-steps: The height of the game vehicle when it bumps is obtained through the running status data set. q , get h q Time taken t q , then h q =0.5*a h *t q 2 , where a h is the vertical acceleration; Then a h =2*h q / t q 2 ; Then the turbulence force is calculated as: Fd=a h *m; The simulated bump feedback force is calculated according to the formula: Fdf=K3*Fd. When the game car moves upward, the direction of the force is vertically upward, where K3 is the simulated bump feedback force coefficient.

4. The signal data control method for a game steering wheel according to claim 3, characterized in that: Based on the magnitude and direction of the simulated feedback force, the magnitude and direction of the real collision feedback force, the real bump feedback force and the real steering feedback force are simulated on the game steering wheel. The real collision feedback force, the real bump feedback force and the real steering feedback force are collectively referred to as the real feedback force. Adjusting the simulated feedback force based on the real feedback force felt by the user includes the following sub-steps: Based on the direction data set and the running state data set, simulated collision feedback force, simulated bump feedback force and simulated steering feedback force are calculated to obtain the magnitude and direction of the simulated collision feedback force, simulated bump feedback force and simulated steering feedback force, which are collectively referred to as simulated feedback force; According to the magnitude and direction of the simulated feedback force, the magnitude and direction of the real feedback force are simulated on the steering wheel; K1, K2 and K3 are adjusted based on the user's tolerance to the actual feedback force.

5. The signal data control method for a game steering wheel according to claim 4, characterized in that: According to the magnitude and direction of the simulated feedback force, simulating the magnitude and direction of the real feedback force on the steering wheel specifically includes the following steps: Converting analog feedback force into electrical signals; The electrical signal is amplified by an amplifier and then subjected to noise reduction processing by a filter, which is marked as a processed electrical signal; converting the processed electrical signal into a digital signal using an analog-to-digital converter; The digital signal is sent to the controller, and the controller calculates the target current; the controller sends the target current to the driver; The drive control feedback force simulator simulates the magnitude and direction of the real feedback force.

6. A signal data control system for a game steering wheel, used to implement the signal data control method for a game steering wheel according to any one of claims 1 to 5, characterized in that: It includes a data acquisition module, a data analysis module and a data feedback module; The data acquisition module is used to acquire a direction data set of a game steering wheel and a running status data set of a game car; The data analysis module is used to calculate the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force based on the direction data set and the running state data set, and obtain the magnitude and direction of the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force, and the simulated collision feedback force, the simulated bump feedback force and the simulated steering feedback force are collectively referred to as simulated feedback force; The data feedback module is used to simulate the size and direction of real collision feedback force, real bump feedback force and real steering feedback force on the game steering wheel based on the size and direction of the simulated feedback force. The real collision feedback force, real bump feedback force and real steering feedback force are collectively referred to as real feedback force, which is adjusted based on the user's own ability to withstand the real feedback force.

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