Real vehicle driving simulation system for HMI test

Abstract

The invention relates to the technical field of driving simulation, in particular to an HMI test-oriented real vehicle driving simulation system, which comprises a visual simulation system, a steering force feedback simulation system, a real vehicle pedal signal acquisition system, a scene simulation system, a physiological data acquisition system and a data synchronization system. According to the HMI test-oriented real vehicle driving simulation system provided by the invention, the visual simulation system and the scene simulation system are arranged, so that the road driving condition can be reproduced more truly, and the steering force feedback simulation system and the real vehicle pedal signal acquisition system can feed back the test data of the actual tested vehicle, so that the real vehicle driving simulation system can be applied to the real vehicle driving simulation system. Through the physiological data acquisition system and the data synchronization system, actual behaviors and actions of a driver can be associated with specific environments and events in a simulation environment, and effective data conditions are provided for an HMI test, so that the performance of an HMI human-machine interface is well identified and tested.

Description

Technical Field

[0001] The present invention relates to the technical field of simulated driving, and in particular to a real vehicle driving simulation system for HMI testing. Background Art

[0002] Driving simulation systems are used for the development and testing of intelligent driving and human-machine interfaces (HMIs). They address the need to study and evaluate HMI human-machine interaction characteristics in the early stages of R&D and design. They can test and evaluate driver sensory input, driver operation, driver fatigue, and mental state detection systems in terms of usability, comfort, and system level. However, in the past, test environments were often built based on prototype driving simulation cockpits rather than on the environment of actual mass-produced models. Therefore, HMI tests cannot fully reproduce road driving conditions, and thus cannot well identify and test the performance of the HMI human-machine interface. Summary of the invention

[0003] The purpose of the present invention is to provide a real vehicle driving simulation system for HMI testing to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions: a real vehicle driving simulation system for HMI testing, comprising a visual simulation system, a steering force feedback simulation system, a real vehicle pedal signal acquisition system, a scene simulation system, a physiological data acquisition system, and a data synchronization system; The visual simulation system includes a forward visual simulation system and a rearward visual simulation system, which are respectively used to present the forward and rearward visual images rendered in the simulation environment; The steering force feedback simulation system, the vehicle under test is fixed on the steering force feedback simulation system, and the front wheels of the vehicle under test are mechanically clamped to the steering simulation rotating table by mechanical fixing. When the front wheels of the vehicle under test rotate, the steering force feedback simulation system can collect the front wheel angle and apply the calculated steering load force to the front wheel, thereby achieving a force feedback effect; The real vehicle pedal signal acquisition system is equipped with pedal travel sensors on the accelerator and brake pedals of the real vehicle. The driver of the tested vehicle can operate the actual pedals. When the pedal position deviates from the initial empty travel position, the pedal travel signal collected by the sensor will be sent to the vehicle model of the simulation environment, thereby controlling the acceleration and deceleration actions of the simulated vehicle. The scenario simulation system uses professional intelligent driving simulation software to build a test environment for testing, including roads, weather, and surrounding buildings, and presents them on the front and rear vision simulation systems through graphic rendering. After obtaining these visual inputs, the driver of the tested vehicle performs actual driving operations; The physiological data acquisition system is installed on the actual vehicle under test and can collect the eye movements, head movements, and physiological indicators of the driver of the vehicle under test, providing objective evaluation indicators for HMI testing; The data synchronization system synchronously records the data of the scene simulation system and the physiological data acquisition system, associates the driver's actual behavior and actions with the specific environment and events in the simulation environment, and provides effective data conditions for HMI testing.

[0005] Preferably, the forward vision simulation system uses five projectors to receive images rendered by scene simulation software, and projects multiple images onto the ring screen structure through software fusion technology. The software fusion technology can process the fusion bands between the images of multiple projectors, on the one hand, to achieve the matching of the geometric curvature of the image and the ring screen system, and on the other hand, to eliminate the overlap between the images, ensuring that there is no gap in the projected image and the brightness is uniform and consistent; The rearview scene simulation system uses three small-size displays to receive the rearview mirror images rendered by the scene simulation software, including two exterior rearview mirrors and one interior rearview mirror. The rearview mirror images include the rendering of the exterior body surface and the interior of the vehicle, thereby ensuring that the images seen by the driver are close to the images in the real world.

[0006] Preferably, the steering force feedback simulation system needs to collect the front wheel turning angle of the actual vehicle under test. This part mechanically fixes the front wheel to the force feedback simulation system by mechanical clamping. At this time, when the front wheel turns, it will drive the steering simulation mechanism gear to rotate, and the rotation angle will be collected by the force feedback simulation system. After that, the collected turning angle will be sent to the vehicle dynamics model of the scene simulation software to calculate the load resistance between the virtual vehicle and the virtual environment road surface at this time, and the resistance target value will be sent to the force feedback simulation motor for applying the load force. The simulated load force is finally reflected on the steering wheel through the real vehicle steering system.

[0007] Preferably, the real vehicle pedal signal acquisition system collects pedal stroke changes caused by driver operation through sensors installed on the accelerator and brake pedals of the real vehicle. The pedal stroke information is sent to the vehicle dynamics model of the scenario simulation software, thereby causing acceleration and deceleration behavior of the virtual vehicle.

[0008] Preferably, the physiological data acquisition system detects the driver's head movements, expressions, eyes, etc. through eye trackers and head trackers installed on the center console of the actual vehicle to obtain the driver's driving status. At the same time, the physiological detector can also collect the driver's pulse, heartbeat, EEG, skin electricity and other information through sensors installed on the driver's body to obtain the driver's physiological characteristics, and then determine whether the driver has characteristics such as tension and anger.

[0009] Preferably, the data synchronization system sends the environment, events of the scenario simulation software, and the eye movement, head movement, and physiological data of the physiological data acquisition system to the synchronization platform through the Ethernet communication protocol, so as to support the association of the actual behaviors and actions of the driver with the specific environment and events in the simulation environment, providing effective data conditions for HMI testing.

[0010] Preferably, the forward vision scene simulation system includes a projection board, and a central column is connected to the back of the projection board. The central column is movably connected to an installation cross beam. A support rod is arranged on one side surface of the installation cross beam. A spherical sleeve is arranged in the middle of the central column. The end of the support rod is a spherical structure and is rotatably connected in the spherical sleeve. A set of connecting columns is arranged at each end of the installation cross beam. The end of the connecting column is connected to a side column. An adjusting push rod is movably installed at the upper and lower ends of the side column respectively. The end of the adjusting push rod is fixedly installed with a connecting rod, and the end of the connecting rod is movably connected to the frame of the projection board. The installation cross beam is movably installed in a fixed frame, and a lifting push rod is installed at the bottom of the fixed frame. The upper end of the lifting push rod is fixed on the bottom surface of the installation cross beam.

[0011] Preferably, the forward vision scene simulation system further includes a first installation frame. The first installation frame is in a C-shaped structure. Five projection devices are arranged at one end inside the first installation frame. An installation rotating shaft is arranged at one end of the projection device and is rotatably installed in the first installation frame. A first friction wheel is arranged on the installation rotating shaft. A first adjusting motor is arranged in the first installation frame. A motor fixing frame is arranged outside the first adjusting motor. The output end of the first adjusting motor is connected with a telescopic driving shaft. The telescopic driving shaft is of a two-section structure. The front section of the telescopic driving shaft is a cross structure. The front section of the telescopic driving shaft is movably inserted into the rear section. The end of the front section of the telescopic driving shaft is fixedly installed with a second friction wheel. A bearing sleeve is sleeved on the second friction wheel. Two side plates are arranged on the side wall of the bearing sleeve. A set of first push rods is arranged between the side plates and the motor fixing frame. An installation rotating ring is arranged below the first installation frame. A set of second push rods is fixedly connected to both ends of the installation rotating ring. The top ends of the second push rods are fixedly connected to the bottom surface of the first installation frame. An installation inner plate is rotatably arranged inside the installation rotating ring. A second adjusting motor is installed in the middle of the installation inner plate. The output end of the second adjusting motor passes through the square hole on the bottom surface of the first installation frame and the top end is connected with an installation frame. A upper fixing rod is arranged at each end of the installation frame. The upper ends of the upper fixing rods are correspondingly inserted into the insertion holes on the motor fixing frame. A set of positioning holes is opened on the bottom surface of the first installation frame and corresponds to the upper fixing rods. A lower fixing rod is arranged on the upper surface of the installation inner plate on both sides of the second adjusting motor. The lower fixing rods correspond to the positioning holes one by one.

[0012] Preferably, the first adjusting motor is rotatably connected to the top surface of the first installation frame via a vertical shaft.

[0013] Preferably, a third friction wheel is connected to the bottom surface of the second adjusting motor, the first mounting frame is fixedly installed in the second mounting frame by a plurality of bolts, a fourth friction wheel is rotatably installed in the second mounting frame, the fourth friction wheel corresponds to the third friction wheel, both ends of the bottom shaft pass through the side walls of the second mounting frame and are rotatably connected to the second mounting frame, a first gear is arranged on one end of the bottom shaft, a third mounting frame is arranged on the outer side of the second mounting frame, the third mounting frame and the second mounting frame are rotatably connected via a docking shaft, a second gear is arranged on the docking shaft, and the second gear is meshingly connected to the first gear.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention proposes a real vehicle driving simulation system for HMI testing. Because it is provided with a visual simulation system and a scene simulation system, it can reproduce road driving conditions more realistically. Moreover, the steering force feedback simulation system and the real vehicle pedal signal acquisition system can feed back the test data of the actual tested vehicle. Through the physiological data acquisition system and the data synchronization system, the actual behavior and action of the driver can be associated with the specific environment and events in the simulation environment, thereby providing effective data conditions for HMI testing, thereby well identifying and testing the performance of the HMI human-machine interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the principle structure of the present invention.

[0016] Figure 2 It is a schematic diagram of the structure of the forward vision simulation system of the present invention.

[0017] Figure 3 This is a structural connection diagram of the projection board of the present invention.

[0018] Figure 4 This is a second viewing angle diagram of the projection board of the present invention.

[0019] Figure 5 This is a third viewing angle diagram of the projection board of the present invention.

[0020] Figure 6 This is a connection structure diagram of the first installation frame of the present invention.

[0021] Figure 7 for Figure 6 Another perspective view of the structure.

[0022] Figure 8 This is a diagram showing the internal structure of the first installation frame of the present invention.

[0023] Fig. 9 This is the connection diagram of the first regulating motor structure diagram of the present invention.

[0024] Fig.10 for Fig. 9 Enlarged view of point A in the middle.

[0025] Fig.11 This is a connection diagram of the bottom shaft end of the present invention.

[0026] In the figure: projection board 1, central column 2, mounting beam 3, connecting column 4, side column 5, adjusting push rod 6, connecting rod 7, fixing frame 8, lifting push rod 9, first mounting frame 10, projection device 11, mounting shaft 12, first friction wheel 13, first adjusting motor 14, motor fixing frame 15, telescopic drive shaft 16, second friction wheel 17, bearing sleeve 18, side plate 19, first push rod 20, second push rod 21, mounting swivel 22, mounting inner plate 23, second adjusting motor 24, mounting frame 25, upper fixing rod 26, lower fixing rod 27, positioning hole 28, third friction wheel 29, second mounting frame 30, bottom shaft 31, first gear 3101, fourth friction wheel 32, third mounting frame 33, docking shaft 34, second gear 3401. DETAILED DESCRIPTION

[0027] 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.

[0028] See also Figures 1 to 11 The present invention provides a technical solution: a real vehicle driving simulation system for HMI testing, including a visual simulation system, a steering force feedback simulation system, a real vehicle pedal signal acquisition system, a scene simulation system, a physiological data acquisition system, and a data synchronization system.

[0029] The visual simulation system includes a forward-looking visual simulation system and a rear-looking visual simulation system, which are used to present the forward-looking and rear-looking visual images rendered in the simulation environment respectively; the forward-looking visual simulation system uses five projectors to receive the images rendered by the scene simulation software, and projects the multi-channel images onto the ring screen structure through software fusion technology. The software fusion technology can process the fusion bands between the multi-channel projector images, on the one hand to achieve the matching of the geometric curvature of the image and the ring screen system, and on the other hand to eliminate the overlap between the images, ensuring that there is no gap in the projected image and the brightness is uniform; the rear-view visual simulation system uses three small-size displays to receive the rearview mirror images rendered by the scene simulation software, including two exterior rearview mirrors and one interior rearview mirror. The rearview mirror image includes the rendering of the external body surface and the interior interior of the vehicle, thereby ensuring that the image seen by the driver is close to the image in the real world.

[0030] Steering force feedback simulation system, the vehicle under test is fixed on the steering force feedback simulation system, and the front wheels of the vehicle under test are mechanically clamped to the steering simulation turntable by mechanical fixation. When the front wheels of the vehicle under test rotate, the steering force feedback simulation system can collect the front wheel angle and apply the calculated steering load force to the front wheels, thereby achieving a force feedback effect; the steering force feedback simulation system needs to collect the front wheel angle of the actual vehicle under test. This part mechanically connects the front wheels to the force feedback simulation system by mechanical clamping. At this time, when the front wheel turns, it will drive the steering simulation mechanism gear to rotate, and the rotation angle is collected by the force feedback simulation system. After that, the collected angle will be sent to the vehicle dynamics model of the scene simulation software to calculate the load resistance between the virtual vehicle and the virtual environment road surface at this time, and the resistance target value will be sent to the force feedback simulation motor for applying the load force. The simulated load force is finally reflected on the steering wheel through the real vehicle steering system.

[0031] The real vehicle pedal signal acquisition system installs pedal travel sensors on the accelerator and brake pedals of the real vehicle. The driver of the tested vehicle can operate the actual pedal. When the pedal position deviates from the initial empty travel position, the pedal travel signal collected by the sensor will be sent to the vehicle model in the simulation environment, thereby controlling the acceleration and deceleration of the simulated vehicle; the real vehicle pedal signal acquisition system collects the pedal travel changes caused by the driver's operation through sensors installed on the accelerator and brake pedals of the real vehicle. The pedal travel information will be sent to the vehicle dynamics model of the scenario simulation software, resulting in the acceleration and deceleration behavior of the virtual vehicle.

[0032] The scene simulation system uses professional intelligent driving simulation software to build the test environment for testing, including roads, weather, surrounding buildings, etc., and presents them on the front and rear vision simulation systems through graphic rendering. After obtaining these visual inputs, the driver of the tested vehicle performs actual driving operations; The physiological data acquisition system is installed on the actual vehicle under test and can collect the eye movements, head movements, and physiological indicators (such as blood pressure, pulse, EEG, skin charge, etc.) of the driver of the vehicle under test, providing objective evaluation indicators for HMI testing; the physiological data acquisition system detects the driver's head movements, expressions, eyes, etc. through the eye tracker and head tracker equipment installed on the center console of the actual vehicle, and obtains the driver's driving status, whether he is driving fatigued, etc. At the same time, the physiological detector can also collect the driver's pulse, heartbeat, EEG, skin charge and other information through the sensors installed on the driver's body, obtain the driver's physiological characteristics, and then judge whether the driver has characteristics such as tension and anger.

[0033] The data synchronization system synchronously records the data of the scene simulation system and the physiological data acquisition system, associates the driver's actual behavior and actions with the specific environment and events in the simulation environment, and provides effective data conditions for HMI testing. The data synchronization system sends the environment and events of the scene simulation software and the eye movement, head movement, and physiological data of the physiological data acquisition system to the synchronization platform through the Ethernet communication protocol, thereby supporting the association of the driver's actual behavior and actions with the specific environment and events in the simulation environment, and providing effective data conditions for HMI testing.

[0034] Because of the visual simulation system and scene simulation system, the road driving conditions can be reproduced more realistically, and the steering force feedback simulation system and the real vehicle pedal signal acquisition system can feedback the test data of the actual vehicle under test. Through the physiological data acquisition system and the data synchronization system, the driver's actual behavior and action can be associated with the specific environment and events in the simulation environment, providing effective data conditions for HMI testing, thereby well identifying and testing the performance of the HMI human-machine interface.

[0035] The front view visual simulation system includes a projection board 1. A central column 2 is connected to the back surface of the projection board 1. The central column 2 is movably connected to an installation cross beam 3. A support rod is arranged on one side surface of the installation cross beam 3. A spherical sleeve is arranged in the middle of the central column 2. The end of the support rod is of a spherical structure and is rotatably connected in the spherical sleeve. A set of connecting columns 4 are arranged at both ends of the installation cross beam 3. The end of the connecting column 4 is connected to a side column 5. An adjusting push rod 6 is movably installed at the upper and lower ends of the side column 5. The end of the adjusting push rod 6 is fixedly installed with a connecting rod 7. The end of the connecting rod 7 is movably connected to the frame of the projection board 1. The end of the connecting rod 7 is of a spherical structure. The end of the connecting rod 7 is rotatably embedded in the spherical shell of the frame of the projection board 1. By controlling the extension and retraction of the adjusting push rod 6, the state of the projection board 1 can be changed. For example, by fully extending or shortening the adjusting push rod 6, the curvature of the projection board 1 can be changed. And by changing the lengths of the connecting rods 7 above and below, the elevation angle of the projection board 1 can be changed. The installation cross beam 3 is movably installed in a fixed frame 8. A lifting push rod 9 is installed at the bottom of the fixed frame 8. The upper end of the lifting push rod 9 is fixed on the bottom surface of the installation cross beam 3. Controlling the extension and retraction of the lifting push rod 9 can control the lifting of the installation cross beam 3, and further adjust the installation height of the projection board 1, and further adjust it to the best viewing angle.

[0036] The front view visual simulation system further includes a first installation frame 10. The first installation frame 10 is of a U-shaped structure. Five projection devices 11 are arranged at one end inside the first installation frame 10. An installation rotating shaft 12 is arranged at one end of the projection device 11. The installation rotating shaft 12 is rotatably installed in the first installation frame 10. A first friction wheel 13 is arranged on the installation rotating shaft 12. A first adjusting motor 14 is arranged in the first installation frame 10. The first adjusting motor 14 is rotatably connected to the top surface of the first installation frame 10 through a vertical shaft. A motor fixing frame 15 is arranged outside the first adjusting motor 14. The output end of the first adjusting motor 14 is connected to a telescopic driving shaft 16. The telescopic driving shaft 16 is of a two-section structure. The front section of the telescopic driving shaft 16 is of a cross structure. The front section of the telescopic driving shaft 16 is movably inserted into the rear section. A second friction wheel 17 is fixedly installed at the end of the front section of the telescopic driving shaft 16. A bearing sleeve 18 is sleeved on the second friction wheel 17. Two side plates 19 are arranged on the side wall of the bearing sleeve 18. A set of first push rods 20 are arranged between the side plates 19 and the motor fixing frame 15. A mounting swivel 22 is provided at the bottom of the first mounting frame 10, and a group of second push rods 21 are fixedly connected at both ends of the mounting swivel 22, and the top of the second push rod 21 is fixedly connected to the bottom surface of the first mounting frame 10, and a mounting inner plate 23 is rotatably provided inside the mounting swivel 22, and a second adjusting motor 24 is installed in the middle of the mounting inner plate 23, and the output end of the second adjusting motor 24 passes through the square hole on the bottom surface of the first mounting frame 10 and the top is connected to a mounting frame 25, and an upper fixing rod 26 is respectively provided at both ends of the mounting frame 25, and the upper ends of the upper fixing rods 26 are correspondingly plugged into the plug-in holes on the motor fixing frame 15, and a group of positioning holes 28 are opened on the bottom surface of the first mounting frame 10, and the positioning holes 28 correspond to the upper fixing rods 26, and a lower fixing rod 27 is respectively provided on both sides of the second adjusting motor 24 on the upper surface of the mounting inner plate 23, and the lower fixing rods 27 and the positioning holes 28 correspond one to one.

[0037] A third friction wheel 29 is connected to the bottom surface of the second adjusting motor 24, and the first mounting frame 10 is fixedly mounted in the second mounting frame 30 by several bolts. A fourth friction wheel 32 is rotatably mounted in the second mounting frame 30, and the fourth friction wheel 32 corresponds to the third friction wheel 29. Both ends of the bottom shaft 31 pass through the side walls of the second mounting frame 30 and are rotatably connected to the second mounting frame 30. A first gear 3101 is arranged on one end of the bottom shaft 31, and a third mounting frame 33 is arranged on the outer side of the second mounting frame 30. The third mounting frame 33 and the second mounting frame 30 are rotatably connected through a docking shaft 34, and a second gear 3401 is arranged on the docking shaft 34. The second gear 3401 is meshed with the first gear 3101, and a locking device is arranged on the inner wall of the second mounting frame 30. When adjustment is not required, the locking device fixes the bottom shaft 31 to prevent it from moving.

[0038] By controlling the first push rod 20 to extend and push the side plate 19 forward, the second friction wheel 17 is pressed against the first friction wheel 13. The friction between the second friction wheel 17 and the first friction wheel 13 is very large, and the connection between the two is similar to bevel gears and can rotate synchronously. Therefore, the first adjusting motor 14 is controlled to start to drive the telescopic drive shaft 16, so that the second friction wheel 17 drives the first friction wheel 13 and the mounting shaft 12, so that the projection device 11 can be rotated by a certain angle, thereby adjusting its horizontal orientation. By controlling the second adjusting motor 24 to start and drive the mounting frame 25 and the upper fixing rod 26 to rotate, so that the upper fixing rod 26 drives the motor fixing frame 15 and the first adjusting motor 14 to rotate, the second friction wheel 17 and the first friction wheel 13 corresponding to the other projection devices 11 can correspond to each other, so that The angle of each projection device 11 can be adjusted individually, which is more practical. If the pitch angle of the projection device 11 needs to be adjusted, the second push rod 21 needs to be controlled to extend so that the mounting swivel 22 descends. At this time, the upper fixing rod 26 is inserted into the positioning hole 28, and the lower fixing rod 27 is pulled out from the positioning hole 28. The second push rod 21 is continued to extend so that the third friction wheel 29 and the fourth friction wheel 32 are tightly fitted. The connection between the two is similar to the second friction wheel 17 and the first friction wheel 13. When the second adjustment motor 24 is started, the second adjustment motor 24 itself will rotate, thereby driving the bottom shaft 31 to rotate, and the first gear 3101 rotates around the second gear 3401, thereby changing the pitch angle of the second mounting frame 30, and then changing the pitch angle of the projection device 11, so as to achieve the best projection viewing angle.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A real vehicle driving simulation system for HMI testing, characterized by: It includes visual simulation system, steering force feedback simulation system, real vehicle pedal signal acquisition system, scene simulation system, physiological data acquisition system, and data synchronization system; The visual simulation system includes a forward visual simulation system and a rearward visual simulation system, which are respectively used to present the forward and rearward visual images rendered in the simulation environment; The steering force feedback simulation system, the vehicle under test is fixed on the steering force feedback simulation system, and the front wheels of the vehicle under test are mechanically clamped to the steering simulation rotating table by mechanical fixing. When the front wheels of the vehicle under test rotate, the steering force feedback simulation system can collect the front wheel angle and apply the calculated steering load force to the front wheel, thereby achieving a force feedback effect; The real vehicle pedal signal acquisition system is equipped with pedal travel sensors on the accelerator and brake pedals of the real vehicle. The driver of the tested vehicle can operate the actual pedals. When the pedal position deviates from the initial empty travel position, the pedal travel signal collected by the sensor will be sent to the vehicle model of the simulation environment, thereby controlling the acceleration and deceleration actions of the simulated vehicle. The scenario simulation system uses professional intelligent driving simulation software to build a test environment for testing, including roads, weather, and surrounding buildings, and presents them on the front and rear vision simulation systems through graphic rendering. After obtaining these visual inputs, the driver of the tested vehicle performs actual driving operations; The physiological data acquisition system is installed on the actual vehicle under test and can collect the eye movements, head movements, and physiological indicators of the driver of the vehicle under test, providing objective evaluation indicators for HMI testing; The data synchronization system synchronously records the data of the scene simulation system and the physiological data acquisition system, associates the driver's actual behavior and actions with the specific environment and events in the simulation environment, and provides effective data conditions for HMI testing.

2. The real vehicle driving simulation system for HMI testing according to claim 1, characterized in that: The forward vision simulation system uses five projectors to receive the images rendered by the scene simulation software, and projects the multi-channel images onto the ring screen structure through software fusion technology. The software fusion technology can process the fusion bands between the multi-channel projector images, on the one hand, to achieve the matching of the geometric curvature of the image and the ring screen system, and on the other hand, to eliminate the overlap between the images, ensuring that there is no gap in the projected image and the brightness is uniform. The rearview scene simulation system uses three small-size displays to receive the rearview mirror images rendered by the scene simulation software, including two exterior rearview mirrors and one interior rearview mirror. The rearview mirror images include the rendering of the exterior body surface and the interior of the vehicle, thereby ensuring that the images seen by the driver are close to the images in the real world.

3. The real vehicle driving simulation system for HMI testing according to claim 1, characterized in that: The steering force feedback simulation system needs to collect the front wheel turning angle of the actual vehicle under test. This part mechanically connects the front wheel to the force feedback simulation system by mechanical clamping. At this time, when the front wheel turns, it will drive the steering simulation mechanism gear to rotate, and the rotation angle will be collected by the force feedback simulation system. After that, the collected turning angle will be sent to the vehicle dynamics model of the scene simulation software to calculate the load resistance between the virtual vehicle and the virtual environment road surface at this time, and the resistance target value will be sent to the force feedback simulation motor for applying the load force. The simulated load force is finally reflected on the steering wheel through the real vehicle steering system.

4. The real vehicle driving simulation system for HMI testing according to claim 1, characterized in that: The real vehicle pedal signal acquisition system collects pedal travel changes caused by driver operation through sensors installed on the accelerator and brake pedals of the real vehicle. The pedal travel information is sent to the vehicle dynamics model of the scenario simulation software, resulting in acceleration and deceleration behavior of the virtual vehicle.

5. The real vehicle driving simulation system for HMI testing according to claim 1, characterized in that: The physiological data acquisition system detects the driver's head movements, expressions, eyes, etc. through the eye tracker and head tracker installed on the center console of the actual vehicle to obtain the driver's driving status. At the same time, the physiological detector can also collect the driver's pulse, heartbeat, brain electricity, skin electricity and other information through the sensors installed on the driver's body to obtain the driver's physiological characteristics. Then judge whether the driver has characteristics such as tension and anger.

6. The real vehicle driving simulation system for HMI testing according to claim 1, characterized in that: The data synchronization system sends the environment and events of the scene simulation software and the eye movement, head movement, and physiological data of the physiological data acquisition system to the synchronization platform through the Ethernet communication protocol, thereby supporting the association of the driver's actual behavior and actions with the specific environment and events in the simulation environment, providing effective data conditions for HMI testing.

7. The real vehicle driving simulation system for HMI testing according to claim 2, characterized in that: The forward vision simulation system comprises a projection board (1), the back of the projection board (1) is connected to a central column (2), the central column (2) is movably connected to a mounting crossbeam (3), a support rod is arranged on one side surface of the mounting crossbeam (3), a spherical sleeve is arranged in the middle of the central column (2), the end of the support rod is a spherical structure and is rotatably connected in the spherical sleeve, a group of connecting columns (4) are arranged at each end of the mounting crossbeam (3), the end of the connecting column (4) is connected to a side column (5), an adjusting push rod (6) is movably installed at the upper and lower ends of the side column (5), a connecting rod (7) is fixedly installed at the end of the adjusting push rod (6), and the end of the connecting rod (7) is movably connected to the frame of the projection board (1), the mounting crossbeam (3) is movably installed in a fixed frame (8), a lifting push rod (9) is installed at the bottom of the fixed frame (8), and the upper end of the lifting push rod (9) is fixed to the bottom surface of the mounting crossbeam (3).

8. The real vehicle driving simulation system for HMI testing according to claim 2, characterized in that: The front view vision simulation system further includes a first mounting frame (10). The first mounting frame (10) is of a U-shaped structure. Five projection devices (11) are arranged at one end inside the first mounting frame (10). An installation rotating shaft (12) is arranged at one end of the projection device (11). The installation rotating shaft (12) is rotatably installed in the first mounting frame (10). A first friction wheel (13) is arranged on the installation rotating shaft (12). A first adjusting motor (14) is arranged in the first mounting frame (10). A motor fixing frame (15) is arranged outside the first adjusting motor (14). The output end of the first adjusting motor (14) is connected with a telescopic driving shaft (16). The telescopic driving shaft (16) is of a two-section structure. The front section of the telescopic driving shaft (16) is of a cross structure. The front section of the telescopic driving shaft (16) is movably inserted into the rear section. The end of the front section of the telescopic driving shaft (16) is fixedly installed with a second friction wheel (17). A bearing sleeve (18) is sleeved on the second friction wheel (17). Two side plates (19) are arranged on the side wall of the bearing sleeve (18). A group of first push rods (20) are arranged between the side plates (19) and the motor fixing frame (15). An installation rotating ring (22) is arranged below the first mounting frame (10). A group of second push rods (21) are fixedly connected to both ends of the installation rotating ring (22). The top ends of the second push rods (21) are fixedly connected to the bottom surface of the first mounting frame (10). An installation inner plate (23) is rotatably arranged inside the installation rotating ring (22). A second adjusting motor (24) is installed in the middle of the installation inner plate (23). The output end of the second adjusting motor (24) passes through the square hole on the bottom surface of the first mounting frame (10) and the top end is connected with an installation frame (25). One upper fixing rod (26) is arranged at each end of the installation frame (25). The upper ends of the upper fixing rods (26) are correspondingly inserted into the insertion holes on the motor fixing frame (15). A group of positioning holes (28) are opened on the bottom surface of the first mounting frame (10). The positioning holes (28) correspond to the upper fixing rods (26). One lower fixing rod (27) is arranged on each side of the second adjusting motor (24) on the upper surface of the installation inner plate (23). The lower fixing rods (27) correspond to the positioning holes (28) one by one.

9. The real vehicle driving simulation system for HMI testing according to claim 8, characterized in that: The first adjusting motor (14) is rotatably connected to the top surface of the first mounting frame (10) through a vertical shaft.

10. The real vehicle driving simulation system for HMI testing according to claim 8, characterized in that: The bottom surface of the second adjustment motor (24) is connected to a third friction wheel (29); the first mounting frame (10) is fixedly mounted in the second mounting frame (30) by means of a plurality of bolts; a fourth friction wheel (32) is rotatably mounted in the second mounting frame (30); the fourth friction wheel (32) corresponds to the third friction wheel (29); both ends of the bottom shaft (31) pass through the side walls of the second mounting frame (30) and are rotatably connected to the second mounting frame (30); a first gear (3101) is arranged on one end of the bottom shaft (31); a third mounting frame (33) is arranged on the outer side of the second mounting frame (30); the third mounting frame (33) and the second mounting frame (30) are rotatably connected via a docking shaft (34); a second gear (3401) is arranged on the docking shaft (34); the second gear (3401) and the first gear (3101) are meshingly connected.

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