A simulated ice surface system and control method thereof

Abstract

The present invention provides a simulated ice surface system and a control method thereof. The simulated ice surface system comprises a draw plate system, a water system and an integrated control system. The draw plate system is used for sending a draw plate pulling instruction to a hydraulic system when a target vehicle is traveling at a speed within a preset speed range and when the front wheel of the target vehicle leaves the draw plate and the rear wheel of the target vehicle is located on the draw plate, so that the hydraulic system controls the lateral movement of the draw plate based on the draw plate pulling instruction; the water system is used for arranging a water film on the road surface in front of the draw plate in the driving direction of the target vehicle and arranging a water obstacle at a preset position on the simulated ice surface road surface; the integrated control system is used for sending a water film arranging instruction to the water film system to control the water film system to start working, and controlling the water film system to stop working when the target vehicle enters the control range of the draw plate system, and controlling the water obstacle system to start working based on the draw plate pulling instruction issued by the draw plate control module, thereby providing a safe and controllable simulated ice surface environment for the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of driving training auxiliary facilities, and in particular to a simulated ice surface system and a control method thereof. Background Art

[0002] Rainy and snowy weather can make roads slippery, posing great challenges to vehicle driving. In this case, the vehicle is prone to wheel slippage and insufficient grip during driving, especially when making sharp turns, emergency braking or rapid acceleration, the stability of the vehicle is significantly reduced, and these factors greatly increase the risk of traffic accidents. In such complex weather conditions, drivers not only face difficulties in vehicle operation, but also need to respond quickly to uncontrollable emergencies, which increases the danger of driving.

[0003] In order to help engineers and researchers deeply understand the dynamic behavior of vehicles on slippery roads and optimize the safety performance design of automobiles, a system that can realistically simulate icy road conditions is needed. Through such a simulated ice system, researchers can systematically test the response of vehicles to different degrees of slipperiness, provide key performance data to automakers, and improve the stability control system and anti-skid function of vehicles. In addition, the simulated ice system can also provide a safe and controllable environment for driver safety driving training. Here, drivers can experience the conditions that may be encountered on slippery roads, practice sharp turns, braking and acceleration control skills, and improve their ability to deal with emergencies. This not only helps to reduce the incidence of traffic accidents in rainy and snowy weather, but also can significantly improve the driver's safety awareness and reaction speed, making driving safer. Summary of the invention

[0004] The invention provides an ice surface simulation system and a control method thereof, which are used to solve the problem of realizing a real simulation of a driving environment on a slippery road in the prior art.

[0005] The present invention provides a simulated ice surface system, comprising:

[0006] A draw plate system, comprising a draw plate, a hydraulic system for controlling the movement of the draw plate, and a draw plate control module; the draw plate control module is used to send a draw plate pulling instruction to the hydraulic system when the front wheel of the target vehicle leaves the draw plate and the rear wheel of the target vehicle is located on the draw plate when the target vehicle is traveling at a speed within a preset speed range, so that the hydraulic system controls the lateral movement of the draw plate based on the draw plate pulling instruction;

[0007] The water system includes a water film system and a water obstacle system; the water film system is used to arrange a water film on the road surface in front of the pumping plate in the driving direction of the target vehicle; the water obstacle system is used to arrange a water obstacle at a preset position of the simulated icy road surface;

[0008] The integrated control system is used to send water film arrangement instructions to the water film system to control the water film system to start working, and to control the water film system to stop working when the target vehicle enters the control range of the draw plate system, and to control the water obstacle system to start working based on the draw plate pulling instruction sent by the draw plate control module.

[0009] According to a simulated ice surface system provided by the present invention, the pumping plate control module is also used to control the hydraulic system to release hydraulic energy based on a first preset opening so that the hydraulic system controls the pumping plate to move laterally a first preset distance, control the hydraulic system to release hydraulic energy based on a second preset opening so that the hydraulic system controls the pumping plate to move laterally a second preset distance, control the hydraulic system to release hydraulic energy based on a third preset opening so that the hydraulic system controls the pumping plate to move laterally a third preset distance, and shut down the hydraulic system so that the pumping plate stops moving within a limit distance; wherein the third preset opening is smaller than the first preset opening, and the first preset opening is smaller than the second preset opening.

[0010] According to a simulated ice surface system provided by the present invention, the integrated control system is also used to determine the positions of water obstacles on the simulated ice surface road surface and the number of water obstacles based on a preset training mode, and send the positions of the water obstacles on the simulated ice surface road surface and the number of water obstacles to the water obstacle system, so that the water obstacle system arranges a corresponding number of water obstacles at the corresponding positions.

[0011] According to a simulated ice surface system provided by the present invention, the simulated ice surface system also includes a speed measuring system; the speed measuring system is used to measure the driving speed of the target vehicle before the target vehicle enters the control range of the pumping system and display the driving speed of the target vehicle in real time on the side screen of the simulated ice surface road surface.

[0012] The present invention also provides a control method for a simulated ice surface system as described in any one of the above, comprising:

[0013] Based on the integrated control system, a water film arrangement instruction is issued to the water film system in the water system to control the water film system to arrange a water film on the road surface in front of the pumping plate of the pumping plate system in the driving direction of the target vehicle, and when the target vehicle enters the control range of the pumping plate system, the water film system is controlled to stop working;

[0014] A pumping plate control module based on the pumping plate system measures the speed of a target vehicle that enters the control range of the pumping plate system, and when the driving speed of the target vehicle is within a preset speed range, when it is determined that the front wheels of the target vehicle leave the pumping plate of the pumping plate system and the rear wheels of the target vehicle are located on the pumping plate, sends a pumping plate pulling instruction to the hydraulic system of the pumping plate system, and controls the hydraulic system to control the lateral movement of the pumping plate based on the pumping plate pulling instruction;

[0015] After the plate pulling control module issues a plate pulling instruction, the water obstacle system is controlled based on the integrated control system to arrange water obstacles at preset positions on the simulated icy road surface.

[0016] According to the control method provided by the present invention, the control of the hydraulic system to control the lateral movement of the pumping plate based on the pumping plate pulling instruction includes:

[0017] Based on a first preset opening, the hydraulic system is controlled to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a first preset distance;

[0018] Based on a second preset opening, the hydraulic system is controlled to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a second preset distance;

[0019] Based on a third preset opening, the hydraulic system is controlled to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a third preset distance;

[0020] The hydraulic system is closed to stop the pumping plate from moving within the limit distance; wherein the third preset opening is smaller than the first preset opening, and the first preset opening is smaller than the second preset opening.

[0021] According to the control method provided by the present invention, the second preset opening is the maximum opening corresponding to the hydraulic system;

[0022] The first preset opening, the third preset opening, the first preset distance, the second preset distance and the third preset distance are determined based on the following method:

[0023] Determine a plurality of first sample openings and a plurality of second sample openings; wherein the first sample opening is smaller than the second preset opening, and the second sample opening is smaller than the first sample opening;

[0024] For any first sample opening and any second sample opening, based on any first sample opening, the hydraulic system is controlled to release hydraulic energy so that the pumping plate starts to move laterally from rest, and an actual displacement of the pumping plate is obtained when the actual opening of the hydraulic system reaches any first sample opening; after the actual opening of the hydraulic system reaches any first sample opening, the hydraulic system is controlled to release hydraulic energy based on the second preset opening until the acceleration of the pumping plate reaches the preset acceleration, and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration is obtained; based on any second sample opening, the hydraulic system is controlled to release hydraulic energy so that the pumping plate starts to move laterally from the preset acceleration, and the actual displacement of the pumping plate is obtained when the actual opening of the hydraulic system reaches any second sample opening; after the actual opening of the hydraulic system reaches any second sample opening, the hydraulic system is closed until the pumping plate stops moving, and the actual displacement of the pumping plate when the pumping plate stops moving is obtained;

[0025] The first preset opening, the first preset distance, and the second preset distance are determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each first sample opening and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration; the third preset opening and the third preset distance are determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each second sample opening, the actual displacement of the pumping plate when the pumping plate stops moving, and the limit distance.

[0026] According to the control method provided by the present invention, the water obstacle system is controlled based on the integrated control system to arrange water obstacles at preset positions of simulated icy roads, including:

[0027] determining the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles based on a preset training mode, and sending the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles to the water obstacle system;

[0028] Based on the water obstacle system, a corresponding number of water obstacles are arranged at corresponding positions.

[0029] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the control methods described above when executing the program.

[0030] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the control method described above is implemented.

[0031] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the control methods described above.

[0032] The present invention provides a simulated ice surface system and a control method thereof. The simulated ice surface system includes a draw plate system, a water system and an integrated control system, wherein the draw plate system includes a draw plate, a hydraulic system for controlling the movement of the draw plate and a draw plate control module, the draw plate control module is used to send a draw plate pulling instruction to the hydraulic system when the front wheel of the target vehicle leaves the draw plate and the rear wheel of the target vehicle is located on the draw plate when the target vehicle is traveling at a speed within a preset speed range, so that the hydraulic system controls the lateral movement of the draw plate based on the draw plate pulling instruction; the water system includes a water film system and a water obstacle system, the water film system is used to arrange a water film on the road surface in front of the draw plate in the driving direction of the target vehicle; the water obstacle system is used to arrange a water obstacle at a preset position on the simulated ice surface road surface; the integrated control system is used to send a water film arrangement instruction to the water film system to control the water film system to start working, and control the water film system to stop working when the target vehicle enters the control range of the draw plate system, and control the water obstacle system to start working based on the draw plate pulling instruction issued by the draw plate control module, thereby truly simulating a slippery road surface and providing a safe and controllable simulated ice surface environment for the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a structural schematic diagram of a simulated ice surface system provided by the present invention;

[0035] Figure 2 It is a flow chart of the control method provided by the present invention;

[0036] Figure 3 It is a flow chart of the plate extraction control method provided by the present invention;

[0037] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0039] Figure 1 Schematic diagram of a simulated ice surface system provided by the present invention. Figure 1 As shown, the system includes: a pumping system 110 , a water system 120 and an integrated control system 130 .

[0040] Wherein, the pumping plate system 110 includes a pumping plate, a hydraulic system for controlling the movement of the pumping plate, and a pumping plate control module. Here, the pumping plate control module is used to send a pumping plate pulling instruction to the hydraulic system when the front wheel of the target vehicle leaves the pumping plate and the rear wheel of the target vehicle is located on the pumping plate when the target vehicle is traveling at a speed within a preset speed range (e.g., 30-60 km / h). The hydraulic system that receives the pumping plate pulling instruction can control the pumping plate to move laterally based on the pumping plate pulling instruction. The pumping plate pulling instruction can include the movement direction and maximum acceleration of the pumping plate. Wherein, the movement direction of the pumping plate can be determined according to the position of the target vehicle on the pumping plate. For example, when the target vehicle is at a position to the left of the pumping plate, the movement direction of the pumping plate can be set to right direction, and when the target vehicle is at a position to the right of the pumping plate, the movement direction of the pumping plate can be set to left direction to ensure the safety of the target vehicle. The maximum acceleration of the pumping plate can be determined according to the speed of the target vehicle. For example, the faster the speed of the target vehicle, the smaller the maximum acceleration.

[0041] In some embodiments, specifically in the process of controlling the lateral movement of the pumping plate, the pumping plate control module is also used to control the hydraulic system to release hydraulic energy based on the first preset opening so that the hydraulic system controls the lateral movement of the pumping plate by a first preset distance, then control the hydraulic system to release hydraulic energy based on the second preset opening so that the hydraulic system controls the lateral movement of the pumping plate by a second preset distance, and then control the hydraulic system to release hydraulic energy based on the third preset opening so that the hydraulic system controls the lateral movement of the pumping plate by a third preset distance, and then close the hydraulic system so that the pumping plate stops moving within the limit distance. Wherein, the third preset opening is smaller than the first preset opening, and the first preset opening is smaller than the second preset opening. The larger the opening of the hydraulic system, the more hydraulic energy it releases. By controlling the pumping plate to move with a lower acceleration, move with a higher acceleration, reduce the acceleration, and decelerate until it stops in turn through the above four-stage control method, it can be ensured that the pumping plate completes the process of acceleration to stop within the limit distance, on the one hand, it can provide a preset lateral acceleration for the target vehicle on the pumping plate in a short time, and on the other hand, it can ensure the stability and safety of the pumping plate during acceleration and deceleration.

[0042] The water system 120 includes a water film system and a water obstacle system, wherein the water film system is used to arrange a water film on the road surface in front of the pumping plate in the driving direction of the target vehicle to simulate a slippery road surface, and the water obstacle system is used to arrange water obstacles at preset positions simulating an icy road surface.

[0043] The integrated control system 130 is used to integrate and control the draw plate system 110 and the water system 120. It can send a water film arrangement instruction to the water film system of the water system 120 to control the water film system to start working (i.e., arrange a water film on the road surface in front of the draw plate), and control the water film system to stop working when the target vehicle enters the control range of the draw plate system 110 (the draw plate system can measure the speed of the target vehicle), and control the water obstacle system of the water system 120 to start working based on the draw plate pulling instruction issued by the draw plate control module of the draw plate system 110. In some embodiments, the integrated control system is also used to determine the position of the water obstacle on the simulated icy road surface and the number of water obstacles based on the preset training mode, and send the position of the water obstacle on the simulated icy road surface and the number of water obstacles to the water obstacle system, so that the water obstacle system arranges a corresponding number of water obstacles at the corresponding position. Among them, the preset training mode can include multiple levels representing different training difficulties. For a higher level of training difficulty, the position of the water obstacle on the simulated icy road surface can be more concentrated in the future driving direction of the target vehicle, and the number of water obstacles is greater. In other embodiments, the future travel direction of the target vehicle can be predicted based on the direction of the pumping plate movement and the speed of the target vehicle, so that the water obstacle can be arranged in the future travel direction of the target vehicle.

[0044] In other embodiments, when the wind speed is high, the water splash of the water obstacle may splash outside the obstacle area, causing the driver's line of sight of the target vehicle to be blocked, affecting the judgment. Especially in a crosswind or headwind environment, it will add additional coping pressure to the driver. In order to solve this problem while ensuring the height and width of the water obstacle to maintain the visual effect as an obstacle, the water obstacle system can install a specially designed water obstacle nozzle at a preset position, and the water obstacle nozzle includes a high-pressure fan-shaped nozzle deployed at a central position and a plurality of low-pressure nozzles arranged around the high-pressure fan-shaped nozzle. Among them, the high-pressure fan-shaped nozzle can generate a stable high-pressure water column. By providing an independent high-pressure water pump for the high-pressure fan-shaped nozzle, it can be ensured that the water column is always in a stable high-pressure state, forming the visual main height and width of the water obstacle. Multiple low-pressure nozzles can form a low-pressure water flow ring around the high-pressure water column, which can cover the area around the high-pressure water column and form a "water curtain" effect around the high-pressure water column. The low-pressure nozzle is supplied with water by a low-pressure water pump. The water flow pressure is lower than that of the high-pressure water column, and the water flow height does not exceed 1 / 3 of the high-pressure water column. This can effectively absorb the splash of the high-pressure water column, prevent it from spreading outward and affecting the driver's sight, while avoiding the height or width of the water obstacle being insufficient and affecting the visual effect of the water obstacle. In addition, the water flow height formed by the low-pressure nozzle is low and will not cause too much interference to the driver. In addition, the wind speed and wind direction can be detected by sensors to adjust the flow or pressure of the peripheral low-pressure water flow in real time. When the wind speed is high, the flow of the peripheral low-pressure water flow is increased to form a denser water curtain barrier, increasing the absorption effect of the high-pressure water column splash.

[0045] The simulated ice surface system also includes a speed measuring system, which is used to measure the running speed of the target vehicle before the target vehicle enters the control range of the pumping plate system and display the running speed of the target vehicle in real time on the side screen of the simulated ice surface road surface.

[0046] In summary, the simulated ice surface system provided by the embodiment of the present invention includes a draw plate system, a water system and an integrated control system, wherein the draw plate system includes a draw plate, a hydraulic system for controlling the movement of the draw plate and a draw plate control module, the draw plate control module is used to send a draw plate pulling instruction to the hydraulic system when the front wheel of the target vehicle leaves the draw plate and the rear wheel of the target vehicle is located on the draw plate when the target vehicle is traveling at a speed within a preset speed range, so that the hydraulic system controls the lateral movement of the draw plate based on the draw plate pulling instruction; the water system includes a water film system and a water obstacle system, the water film system is used to arrange a water film on the road surface in front of the draw plate in the driving direction of the target vehicle; the water obstacle system is used to arrange water obstacles at preset positions on the simulated ice surface road surface; the integrated control system is used to send a water film arrangement instruction to the water film system to control the water film system to start working, and control the water film system to stop working when the target vehicle enters the control range of the draw plate system, and control the water obstacle system to start working based on the draw plate pulling instruction issued by the draw plate control module, thereby truly simulating a slippery road surface and providing a safe and controllable simulated ice surface environment for the vehicle.

[0047] Based on any of the above embodiments, Figure 2 Schematic diagram of the flow of the control method provided by the present invention, the control method is used to control the simulated ice surface system provided by the above embodiment, such as Figure 2 As shown, the method includes:

[0048] Step 210, based on the integrated control system, a water film arrangement instruction is issued to the water film system in the water system to control the water film system to arrange a water film on the road surface in front of the pumping plate of the pumping plate system in the driving direction of the target vehicle, and when the target vehicle enters the control range of the pumping plate system, the water film system is controlled to stop working;

[0049] Step 220, based on the pumping plate control module of the pumping plate system, the speed of the target vehicle entering the control range of the pumping plate system is measured, and when the driving speed of the target vehicle is within the preset speed range, it is determined that when the front wheels of the target vehicle leave the pumping plate of the pumping plate system and the rear wheels of the target vehicle are located on the pumping plate, a pumping plate pulling instruction is issued to the hydraulic system of the pumping plate system, and the hydraulic system is controlled to control the lateral movement of the pumping plate based on the pumping plate pulling instruction;

[0050] Step 230, after the plate pulling control module issues a plate pulling instruction, the water obstacle system is controlled based on the integrated control system to arrange a water obstacle at a preset position of the simulated icy road surface.

[0051] The control method provided by the embodiment of the present invention sends a water film arrangement instruction to a water film system in a water system through an integrated control system to control the water film system to arrange a water film on the road surface in front of a draw plate of a draw plate system in the driving direction of a target vehicle, and controls the water film system to stop working when the target vehicle enters the control range of the draw plate system; a draw plate control module based on the draw plate system measures the speed of the target vehicle entering the control range of the draw plate system, and when the driving speed of the target vehicle is within a preset speed range, it is determined that when the front wheels of the target vehicle leave the draw plate of the draw plate system and the rear wheels of the target vehicle are located on the draw plate, a draw plate pulling instruction is sent to the hydraulic system of the draw plate system, and the hydraulic system is controlled to control the lateral movement of the draw plate based on the draw plate pulling instruction; after the draw plate control module sends the draw plate pulling instruction, the water obstacle system is controlled based on the integrated control system to arrange a water obstacle at a preset position of a simulated icy road surface, which can simulate a real slippery road surface and provide a safe and controllable simulated icy environment for the vehicle.

[0052] Based on any of the above embodiments, Figure 3 As shown, the control of the hydraulic system to control the lateral movement of the draw plate based on the draw plate pulling instruction includes:

[0053] Step 310, based on a first preset opening, controlling the hydraulic system to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a first preset distance;

[0054] Step 320, based on a second preset opening, controlling the hydraulic system to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a second preset distance;

[0055] Step 330, based on a third preset opening, controlling the hydraulic system to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally a third preset distance;

[0056] Step 340, closing the hydraulic system to stop the pumping plate from moving within a limit distance; wherein the third preset opening is smaller than the first preset opening, and the first preset opening is smaller than the second preset opening.

[0057] Based on any of the above embodiments, the second preset opening is the maximum opening corresponding to the hydraulic system;

[0058] The first preset opening, the third preset opening, the first preset distance, the second preset distance and the third preset distance are determined based on the following method:

[0059] Determine a plurality of first sample openings and a plurality of second sample openings; wherein the first sample opening is smaller than the second preset opening, and the second sample opening is smaller than the first sample opening;

[0060] For any first sample opening and any second sample opening, based on any first sample opening, the hydraulic system is controlled to release hydraulic energy so that the pumping plate starts to move laterally from rest, and an actual displacement of the pumping plate is obtained when the actual opening of the hydraulic system reaches any first sample opening; after the actual opening of the hydraulic system reaches any first sample opening, the hydraulic system is controlled to release hydraulic energy based on the second preset opening until the acceleration of the pumping plate reaches the preset acceleration, and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration is obtained; based on any second sample opening, the hydraulic system is controlled to release hydraulic energy so that the pumping plate starts to move laterally from the preset acceleration, and the actual displacement of the pumping plate is obtained when the actual opening of the hydraulic system reaches any second sample opening; after the actual opening of the hydraulic system reaches any second sample opening, the hydraulic system is closed until the pumping plate stops moving, and the actual displacement of the pumping plate when the pumping plate stops moving is obtained;

[0061] The first preset opening, the first preset distance, and the second preset distance are determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each first sample opening and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration; the third preset opening and the third preset distance are determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each second sample opening, the actual displacement of the pumping plate when the pumping plate stops moving, and the limit distance.

[0062] According to the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each first sample opening and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration under the premise of reaching the corresponding first sample opening, the first preset opening can be selected from the first sample openings that meet the following conditions: the sum of the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches the first sample opening and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration under the premise of reaching the first sample opening is less than the preset acceleration distance. According to the determined first preset opening, the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches the first preset opening and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration under the premise of reaching the first preset opening are determined, and the first preset distance and the second preset distance are determined accordingly, wherein the first preset distance is greater than the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches the first preset opening, the second preset distance is greater than the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration under the premise of reaching the first preset opening, and the sum of the first preset distance and the second preset distance is less than the preset acceleration distance.

[0063] Based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each second sample opening, the actual displacement of the pumping plate when the pumping plate stops moving, and the limit distance, the third preset opening and the third preset distance can be determined. Among them, the third preset opening can be selected from the second sample openings that meet the following conditions: the sum of the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches the second sample opening, the actual displacement of the pumping plate when the pumping plate stops moving, and the preset acceleration distance is less than the limit distance. According to the determined third preset opening, the third preset distance can be determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches the third preset opening, wherein the third preset distance is greater than the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches the third preset opening, and the sum of the actual displacement of the pumping plate, the third preset distance, and the preset acceleration distance when the actual opening of the hydraulic system reaches the third preset opening and the pumping plate stops moving after the hydraulic system is turned off is less than the limit distance.

[0064] Based on any of the above embodiments, controlling the water obstacle system to arrange water obstacles at preset positions on the simulated icy road surface based on the integrated control system includes:

[0065] determining the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles based on a preset training mode, and sending the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles to the water obstacle system;

[0066] Based on the water obstacle system, a corresponding number of water obstacles are arranged at corresponding positions.

[0067] Figure 4 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 4As shown, the electronic device may include: a processor (processor) 410, a memory (memory) 420, a communication interface (Communications Interface) 430 and a communication bus 440, wherein the processor 410, the memory 420, and the communication interface 430 communicate with each other through the communication bus 440. The processor 410 can call the logic instructions in the memory 420 to execute the control method, which includes: based on the integrated control system, issuing a water film arrangement instruction to the water film system in the water system to control the water film system to arrange a water film on the road surface in front of the draw plate of the draw plate system in the driving direction of the target vehicle, and when the target vehicle enters the control range of the draw plate system, controlling the water film system to stop working; based on the draw plate control module of the draw plate system, measuring the speed of the target vehicle entering the control range of the draw plate system, and when the driving speed of the target vehicle is within the preset speed range, determining that the front wheel of the target vehicle leaves the draw plate of the draw plate system and the rear wheel of the target vehicle is located on the draw plate, issuing a draw plate pulling instruction to the hydraulic system of the draw plate system, and controlling the hydraulic system to control the lateral movement of the draw plate based on the draw plate pulling instruction; after the draw plate control module issues the draw plate pulling instruction, controlling the water obstacle system to arrange a water obstacle at a preset position of the simulated ice road surface based on the integrated control system.

[0068] In addition, the logic instructions in the above-mentioned memory 420 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0069] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the control methods provided by the above methods, which methods include: based on an integrated control system, issuing a water film arrangement instruction to a water film system in a water system to control the water film system to arrange a water film on the road surface in front of a draw plate of a draw plate system in the driving direction of the target vehicle, and when the target vehicle enters the control range of the draw plate system, controlling the water film system to stop working; based on a draw plate control module of the draw plate system, measuring the speed of a target vehicle entering the control range of the draw plate system, and when the driving speed of the target vehicle is within a preset speed range, determining that the front wheel of the target vehicle leaves the draw plate of the draw plate system and the rear wheel of the target vehicle is located on the draw plate, issuing a draw plate pulling instruction to the hydraulic system of the draw plate system, and controlling the hydraulic system to control the lateral movement of the draw plate based on the draw plate pulling instruction; after the draw plate control module issues the draw plate pulling instruction, based on the integrated control system, controlling the water obstacle system to arrange a water obstacle at a preset position on a simulated ice road surface.

[0070] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented to execute the above-mentioned control methods when executed by a processor, the method comprising: based on an integrated control system, issuing a water film arrangement instruction to a water film system in a water system to control the water film system to arrange a water film on the road surface in front of a draw plate of a draw plate system in the driving direction of the target vehicle, and controlling the water film system to stop working when the target vehicle enters the control range of the draw plate system; based on a draw plate control module of the draw plate system, measuring the speed of a target vehicle entering the control range of the draw plate system, and when the driving speed of the target vehicle is within a preset speed range, determining that the front wheel of the target vehicle leaves the draw plate of the draw plate system and the rear wheel of the target vehicle is located on the draw plate, issuing a draw plate pulling instruction to the hydraulic system of the draw plate system, and controlling the hydraulic system to control the lateral movement of the draw plate based on the draw plate pulling instruction; after the draw plate control module issues the draw plate pulling instruction, controlling the water obstacle system to arrange a water obstacle at a preset position on a simulated icy road surface based on the integrated control system.

[0071] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0072] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A simulated ice surface system, characterized in that: include: A pumping plate system, comprising a pumping plate, a hydraulic system for controlling the movement of the pumping plate, and a pumping plate control module; The draw plate control module is used for sending a draw plate pulling instruction to the hydraulic system when the front wheel of the target vehicle leaves the draw plate and the rear wheel of the target vehicle is located on the draw plate when the target vehicle is traveling at a speed within a preset speed range, so that the hydraulic system controls the lateral movement of the draw plate based on the draw plate pulling instruction; The water system includes a water film system and a water obstacle system; the water film system is used to arrange a water film on the road surface in front of the pumping plate in the driving direction of the target vehicle; the water obstacle system is used to arrange a water obstacle at a preset position of the simulated icy road surface; The integrated control system is used to send water film arrangement instructions to the water film system to control the water film system to start working, and to control the water film system to stop working when the target vehicle enters the control range of the draw plate system, and to control the water obstacle system to start working based on the draw plate pulling instruction sent by the draw plate control module.

2. A simulated ice surface system according to claim 1, characterized in that: The pumping plate control module is also used to control the hydraulic system to release hydraulic energy based on a first preset opening so that the hydraulic system controls the pumping plate to move laterally a first preset distance, control the hydraulic system to release hydraulic energy based on a second preset opening so that the hydraulic system controls the pumping plate to move laterally a second preset distance, control the hydraulic system to release hydraulic energy based on a third preset opening so that the hydraulic system controls the pumping plate to move laterally a third preset distance, and shut down the hydraulic system so that the pumping plate stops moving within a limit distance; wherein the third preset opening is smaller than the first preset opening, and the first preset opening is smaller than the second preset opening.

3. The simulated ice surface system according to claim 1, characterized in that: The integrated control system is also used to determine the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles based on a preset training mode, and send the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles to the water obstacle system, so that the water obstacle system arranges a corresponding number of water obstacles at the corresponding positions.

4. A simulated ice surface system according to any one of claims 1 to 3, characterized in that: The simulated ice surface system also includes a speed measuring system; the speed measuring system is used to measure the driving speed of the target vehicle before the target vehicle enters the control range of the pumping system and display the driving speed of the target vehicle in real time on the side screen of the simulated ice surface road surface.

5. A control method for a simulated ice surface system according to any one of claims 1 to 4, characterized in that: include: Based on the integrated control system, a water film arrangement instruction is issued to the water film system in the water system to control the water film system to arrange a water film on the road surface in front of the pumping plate of the pumping plate system in the driving direction of the target vehicle, and when the target vehicle enters the control range of the pumping plate system, the water film system is controlled to stop working; A pumping plate control module based on the pumping plate system measures the speed of a target vehicle that enters the control range of the pumping plate system, and when the driving speed of the target vehicle is within a preset speed range, when it is determined that the front wheels of the target vehicle leave the pumping plate of the pumping plate system and the rear wheels of the target vehicle are located on the pumping plate, sends a pumping plate pulling instruction to the hydraulic system of the pumping plate system, and controls the hydraulic system to control the lateral movement of the pumping plate based on the pumping plate pulling instruction; After the plate pulling control module issues a plate pulling instruction, the water obstacle system is controlled based on the integrated control system to arrange water obstacles at preset positions on the simulated icy road surface.

6. The control method according to claim 5, characterized in that: The controlling the hydraulic system to control the lateral movement of the draw plate based on the draw plate pulling instruction comprises: Based on a first preset opening, the hydraulic system is controlled to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a first preset distance; Based on a second preset opening, the hydraulic system is controlled to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a second preset distance; Based on a third preset opening, the hydraulic system is controlled to release hydraulic energy so that the hydraulic system controls the pumping plate to move laterally by a third preset distance; The hydraulic system is closed to stop the pumping plate from moving within the limit distance; wherein the third preset opening is smaller than the first preset opening, and the first preset opening is smaller than the second preset opening.

7. The control method according to claim 6, characterized in that: The second preset opening is the maximum opening corresponding to the hydraulic system; The first preset opening, the third preset opening, the first preset distance, the second preset distance and the third preset distance are determined based on the following method: Determine a plurality of first sample openings and a plurality of second sample openings; wherein the first sample opening is smaller than the second preset opening, and the second sample opening is smaller than the first sample opening; For any first sample opening and any second sample opening, based on any first sample opening, the hydraulic system is controlled to release hydraulic energy so that the pumping plate starts to move laterally from rest, and an actual displacement of the pumping plate is obtained when the actual opening of the hydraulic system reaches any first sample opening; after the actual opening of the hydraulic system reaches any first sample opening, the hydraulic system is controlled to release hydraulic energy based on the second preset opening until the acceleration of the pumping plate reaches the preset acceleration, and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration is obtained; based on any second sample opening, the hydraulic system is controlled to release hydraulic energy so that the pumping plate starts to move laterally from the preset acceleration, and the actual displacement of the pumping plate is obtained when the actual opening of the hydraulic system reaches any second sample opening; after the actual opening of the hydraulic system reaches any second sample opening, the hydraulic system is closed until the pumping plate stops moving, and the actual displacement of the pumping plate when the pumping plate stops moving is obtained; The first preset opening, the first preset distance, and the second preset distance are determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each first sample opening and the actual displacement of the pumping plate when the acceleration of the pumping plate reaches the preset acceleration; the third preset opening and the third preset distance are determined based on the actual displacement of the pumping plate when the actual opening of the hydraulic system reaches each second sample opening, the actual displacement of the pumping plate when the pumping plate stops moving, and the limit distance.

8. The control method according to claim 5, characterized in that: The method of controlling the water obstacle system to arrange water obstacles at preset positions of simulated icy roads based on the integrated control system includes: determining the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles based on a preset training mode, and sending the positions of the water obstacles on the simulated icy road surface and the number of the water obstacles to the water obstacle system; Based on the water obstacle system, a corresponding number of water obstacles are arranged at corresponding positions.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control method according to any one of claims 5 to 8 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method according to any one of claims 5 to 8 is implemented.

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