Racing car game implementation method

Abstract

The invention provides a racing game implementation method, and relates to the technical field of vehicle-mounted games. According to the method, if it is detected that a target vehicle where the intelligent cockpit system is located enters a preset game mode, an actuator of a steering wheel in a steering system of the target vehicle is controlled to be disconnected with a wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode; according to the input steering control signal of the steering wheel, controlling a target virtual vehicle in the preset racing game, and obtaining advancing state information of the target virtual vehicle; simulation is carried out according to the advancing state information, and steering feedback force simulation signals of the steering wheel are generated; and according to the steering feedback force simulation signal, controlling an actuator of a steering wheel in the steering system to generate a simulation hand feeling of the steering wheel. Therefore, a user can safely and effectively perform a car racing game in the car and can feel the real hand feeling of the steering wheel, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of in-vehicle games, and in particular to a method for realizing a racing game. Background Art

[0002] With the development of wire-controlled steering and smart cockpits, some manufacturers have begun to add the function of playing racing games inside the car. Users can sit in the main driving seat of the car and operate the steering wheel inside the car to control the vehicle in the game.

[0003] The existing solutions have the following problems: the steering wheel can only be used for small-range direction control, the steering wheel does not provide a simulated feel, and the user does not feel like driving a real car when turning the steering wheel, resulting in a poor user gaming experience. Summary of the invention

[0004] The purpose of the present invention is to provide a method for realizing a racing game in view of the above-mentioned deficiencies in the prior art, so as to solve the problems such as poor user gaming experience in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for implementing a racing game, which is applied to a vehicle terminal in a smart cockpit system that presents a graphical user interface of a preset racing game, and the method includes:

[0007] If it is detected that the target vehicle where the smart cockpit system is located enters a preset game mode, the actuator of the steering wheel in the steering system of the target vehicle is controlled to disconnect from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode;

[0008] Controlling a target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel, and acquiring the traveling state information of the target virtual vehicle;

[0009] Perform simulation according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel;

[0010] According to the steering feedback force simulation signal, an actuator of the steering wheel in the steering system is controlled to generate a simulated feel of the steering wheel.

[0011] Optionally, if it is detected that the target vehicle where the smart cockpit system is located enters a preset game mode, before controlling an actuator of a steering wheel in a steering system of the target vehicle to disconnect from a wheel actuator of the target vehicle and controlling the steering system to enter the preset game mode, the method further includes:

[0012] Obtaining a gear position signal, a vehicle speed signal, and a yaw rate signal of the target vehicle;

[0013] Determining whether the target vehicle is in a parking state according to the gear position signal of the target vehicle, the vehicle speed signal, and the yaw rate signal;

[0014] If the target vehicle is in a parking state for a preset time period and an input game start signal is received, it is determined that the target vehicle enters the preset game mode.

[0015] Optionally, the actuator controlling the steering wheel in the steering system of the target vehicle is disconnected from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode, including:

[0016] sending a game mode request signal to the steering system so that the steering system disconnects the actuator of the steering wheel from the wheel actuator;

[0017] If a feedback confirmation signal sent by the steering system is received, a game start signal is sent to the steering system, so that the steering system enters the preset game mode.

[0018] Optionally, if the traveling state information includes vehicle speed information, the simulating according to the traveling state information to generate the steering feedback force simulation signal of the steering wheel includes:

[0019] Obtaining the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle;

[0020] According to the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle, a preset rack force estimation model is used to determine the estimated rack force information of the virtual vehicle;

[0021] The steering feedback force simulation signal of the steering wheel is determined according to the vehicle speed information and the estimated rack force information and using the preset steering wheel hand force model.

[0022] Optionally, if the traveling state information includes: vehicle speed information and rack force information; the simulating according to the traveling state information to generate the steering feedback force simulation signal of the steering wheel includes:

[0023] According to the vehicle speed information and the rack force information, the preset steering wheel hand force model is adopted to determine the steering feedback force simulation signal of the steering wheel.

[0024] Optionally, if the driving state information further includes: tire pressure information, wheel speed information, yaw angular velocity information, lateral acceleration information, road adhesion coefficient, and road roughness;

[0025] Before controlling the actuator of the steering wheel in the steering system to generate the simulated feel of the steering wheel according to the steering feedback force simulation signal, the method further includes:

[0026] Determining the vibration force simulation signal of the steering wheel using a preset road feeling prediction model according to the vehicle speed information, the rack force information, the tire pressure information, the wheel speed information, the yaw angular velocity information, the lateral acceleration information, the road adhesion coefficient, and the road roughness;

[0027] The step of controlling the actuator of the steering wheel in the steering system to generate the simulated feel of the steering wheel according to the steering feedback force simulation signal comprises:

[0028] According to the steering feedback force simulation signal and the vibration force simulation signal, the actuator of the steering wheel in the steering system is controlled to generate the simulated feel of the steering wheel.

[0029] Optionally, before simulating according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel, the method further includes:

[0030] According to the information of the preset racing game and the information of the plurality of preset virtual vehicles in the preset racing game, obtaining the feel calibration parameters of the plurality of preset virtual vehicles;

[0031] The simulating according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel includes:

[0032] A simulation is performed according to the traveling state information and the hand feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

[0033] Optionally, the method further comprises:

[0034] According to the information of the preset racing game and the information of the plurality of preset virtual vehicles in the preset racing game, obtaining maximum steering wheel angle parameters of the plurality of preset virtual vehicles;

[0035] The simulating according to the traveling state information and the hand feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel includes:

[0036] A simulation is performed according to the traveling state information, the feel calibration parameters of the target virtual vehicle, and the maximum steering wheel angle parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

[0037] Optionally, before controlling the target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel, the method further includes:

[0038] Calculating the steering ratio of the target virtual vehicle and the target vehicle according to the maximum steering wheel angle parameter of the target virtual vehicle and the maximum steering wheel angle parameter of the target vehicle;

[0039] The controlling of the target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel comprises:

[0040] Calculate a target steering wheel angle parameter of the target virtual vehicle using the steering ratio according to the steering control signal;

[0041] The target virtual vehicle is controlled according to the target steering wheel angle parameter.

[0042] Optionally, the method further comprises:

[0043] If the target vehicle is not in a parking state, or an input game end signal is received, or the actuator of the steering wheel in the steering system of the target vehicle is connected to the wheel actuator of the target vehicle, it is determined that the target vehicle exits the preset game mode.

[0044] Compared with the prior art, this application has the following beneficial effects:

[0045] The present application provides a method for implementing a racing game. If the method detects that the target vehicle where the intelligent cockpit system is located enters a preset game mode, the actuator of the steering wheel in the steering system of the target vehicle is controlled to disconnect from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode; according to the input steering control signal of the steering wheel, the target virtual vehicle in the preset racing game is controlled, and the travel state information of the target virtual vehicle is obtained; according to the travel state information, a simulation is performed to generate a steering feedback force simulation signal of the steering wheel; according to the steering feedback force simulation signal, the actuator of the steering wheel in the steering system is controlled to generate a simulated feel of the steering wheel. Thus, the user can play the racing game safely and effectively in the car, and can feel the real feel of the steering wheel, which improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic diagram of a process flow of a racing game implementation method provided in this application;

[0048] Figure 2 A flow chart of a method for determining that a target vehicle enters a preset game mode provided in an embodiment of the present application;

[0049] Figure 3 A flowchart of a method for controlling a steering system to enter a preset game mode provided in an embodiment of the present application;

[0050] Figure 4 A schematic flow chart of a method for generating a steering feedback force simulation signal of a steering wheel provided in an embodiment of the present application;

[0051] Figure 5 A schematic flow chart of a method for generating a simulated feel of a steering wheel provided in an embodiment of the present application;

[0052] Figure 6 A flowchart of another method for generating a steering feedback force simulation signal of a steering wheel provided in an embodiment of the present application;

[0053] Figure 7 A flowchart of another method for generating a steering feedback force simulation signal of a steering wheel provided in an embodiment of the present application;

[0054] Figure 8 A flowchart of a method for controlling a target virtual vehicle provided in an embodiment of the present application;

[0055] Fig. 9 A schematic diagram of a racing game implementation device provided in an embodiment of the present application;

[0056] Fig.10 A schematic diagram of a vehicle-mounted terminal provided in an embodiment of the present application.

[0057] Icons: 901 - first control module, 902 - acquisition module, 903 - generation module, 904 - second control module, 1001 - processor, 1002 - storage medium. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0060] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0061] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0062] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0063] The vehicle terminal in the smart cockpit system is used to present the graphical user interface of the preset racing game. Game players can confirm and exit the game on this interface, and can also watch the game screen of the preset racing game on this interface. The vehicle terminal is also connected to the steering system of the car. The vehicle terminal can control the steering system and receive feedback signals from the steering system.

[0064] The following is an explanation of a racing game implementation method provided by the present application through a specific example. Figure 1 This is a flow chart of a method for implementing a racing game provided by the present application. The execution subject of the method is a vehicle-mounted terminal, which has a computing and processing function. Figure 1 As shown, the method includes:

[0065] S101. If it is detected that the target vehicle where the smart cockpit system is located enters a preset game mode, the actuator of the steering wheel in the steering system of the target vehicle is controlled to disconnect from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode.

[0066] The target vehicle is a physical vehicle. If the target vehicle enters the preset game mode, for safety reasons, the target vehicle does not have normal travel, steering and other functions. Therefore, the actuator controlling the steering wheel in the steering system of the target vehicle is disconnected from the wheel actuator of the target vehicle so that the rotation of the steering wheel does not cause the rotation of the wheels, and the steering system is controlled to enter the preset game mode.

[0067] S102: Control a target virtual vehicle in a preset racing game according to a steering control signal inputted from a steering wheel, and obtain driving state information of the target virtual vehicle.

[0068] The user sits in the smart cockpit and turns the physical steering wheel. The steering system transmits the rotation angle of the physical steering wheel to the vehicle terminal. The vehicle terminal controls the virtual steering wheel of the target virtual vehicle in the preset racing game to the corresponding rotation angle according to the rotation angle of the physical steering wheel.

[0069] S103: Perform simulation according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel.

[0070] The traveling state information is information of the target virtual vehicle. The traveling state information is simulated to the target vehicle to simulate a steering feedback force simulation signal of a physical steering wheel generated by the target vehicle under the traveling state information.

[0071] S104: Controlling an actuator of a steering wheel in a steering system to generate a simulated steering wheel feel according to the steering feedback force simulation signal.

[0072] According to the steering feedback force simulation signal, the actuator (motor) of the steering wheel in the steering system is controlled to provide the physical steering wheel with the return force and damping force corresponding to the steering feedback force simulation signal. Since the physical steering wheel already has return force and damping force, when the user turns the steering wheel, the damping force allows the user to feel the steering wheel feel that can only be experienced in real driving, and the return force allows the steering wheel to automatically return to the center without external force.

[0073] As a result, users can play racing games safely and effectively in the car, and can feel the real feel of the steering wheel, which improves the user experience.

[0074] In summary, in this embodiment, if it is detected that the target vehicle where the smart cockpit system is located enters the preset game mode, the actuator of the steering wheel in the steering system of the target vehicle is controlled to disconnect from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode; according to the input steering control signal of the steering wheel, the target virtual vehicle in the preset racing game is controlled, and the travel state information of the target virtual vehicle is obtained; according to the travel state information, a simulation is performed to generate a steering feedback force simulation signal of the steering wheel; according to the steering feedback force simulation signal, the actuator of the steering wheel in the steering system is controlled to generate a simulated feel of the steering wheel. Thus, the user can play the racing game safely and effectively in the car, and can feel the real feel of the steering wheel, which improves the user experience.

[0075] In the above Figure 1 Based on the corresponding embodiments, the embodiments of the present application also provide a method for determining whether a target vehicle enters a preset game mode. Figure 2 A flow chart of a method for determining that a target vehicle enters a preset game mode provided in an embodiment of the present application. Figure 2As shown, if it is detected in S101 that the target vehicle where the smart cockpit system is located enters the preset game mode, the actuator of the steering wheel in the steering system of the target vehicle is controlled to disconnect from the wheel actuator of the target vehicle, and before the steering system is controlled to enter the preset game mode, the method further includes:

[0076] S201. Obtain a gear position signal, a vehicle speed signal, and a yaw rate signal of a target vehicle.

[0077] S202: Determine whether the target vehicle is in a parking state according to the gear position signal, the vehicle speed signal, and the yaw rate signal of the target vehicle.

[0078] For example, if the gear position signal is P gear, the vehicle speed signal is 0, and the yaw rate signal is 0, it is determined that the target vehicle is in a parking state.

[0079] S203: If the target vehicle is in the parking state for a preset time period and an input game start signal is received, it is determined that the target vehicle enters a preset game mode.

[0080] If the target vehicle is in a parking state for a preset time, it indicates that the target vehicle is in a safe parking state and is eligible for starting the game. The game start signal is triggered by a user operation on the graphical user interface.

[0081] In summary, in this embodiment, the gear position signal, vehicle speed signal, and yaw rate signal of the target vehicle are obtained; according to the gear position signal, vehicle speed signal, and yaw rate signal of the target vehicle, it is determined whether the target vehicle is in a parking state; if the target vehicle is in a parking state for a preset time, and an input game start signal is received, it is determined that the target vehicle enters a preset game mode. Thus, the game is started when the target vehicle is in a safe state, ensuring the safety of the user.

[0082] In the above Figure 1 Based on the corresponding embodiments, the embodiments of the present application also provide a method for controlling a steering system to enter a preset game mode. Figure 3 A flow chart of a method for controlling a steering system to enter a preset game mode provided in an embodiment of the present application. Figure 3 As shown, in S101, the actuator of the steering wheel in the steering system of the target vehicle is disconnected from the wheel actuator of the target vehicle, and the steering system is controlled to enter a preset game mode, including:

[0083] S301. Send a game mode request signal to the steering system, so that the steering system disconnects the actuator of the steering wheel and the wheel actuator.

[0084] The steering system disconnects the steering wheel actuator from the wheel actuator. Even if the user turns the physical steering wheel, the wheels of the target vehicle will not turn, ensuring the safety of the vehicle during the game.

[0085] S302: If a feedback confirmation signal sent by the steering system is received, a game start signal is sent to the steering system, so that the steering system enters a preset game mode.

[0086] In summary, in this embodiment, a game mode request signal is sent to the steering system, so that the steering system disconnects the connection between the steering wheel actuator and the wheel actuator; if a feedback confirmation signal is received from the steering system, a game start signal is sent to the steering system, so that the steering system enters the preset game mode. Thus, the vehicle safety is ensured during the game.

[0087] In the above Figure 1 On the basis of the corresponding embodiments, the embodiments of the present application further provide a method for generating a steering feedback force simulation signal of a steering wheel. Figure 4 A flow chart of a method for generating a steering feedback force simulation signal of a steering wheel provided in an embodiment of the present application. If the driving state information includes vehicle speed information, a simplified racing game cannot provide rack force information in the game, but can only provide vehicle speed information.

[0088] like Figure 4 As shown, the simulation in S103 is performed according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel, including:

[0089] S401. Obtain the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle.

[0090] The vehicle load, wheelbase, transmission ratio and cornering stiffness are inherent parameters of the vehicle and can be directly obtained.

[0091] S402: According to the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle, a preset rack force estimation model is used to determine estimated rack force information of the virtual vehicle.

[0092] Among them, the calculation formula of the preset rack force estimation model adopts the existing rack force calculation formula, which will not be repeated here.

[0093] S403: According to the vehicle speed information and the estimated rack force information, a preset steering wheel hand force model is used to determine a steering feedback force simulation signal of the steering wheel.

[0094] The preset steering wheel hand force model pre-stores a mapping relationship table between "vehicle speed, rack force, steering wheel rotation angle" and "return force, damping force". By inputting a set of "vehicle speed, rack force, steering wheel rotation angle", the corresponding set of "return force, damping force" can be determined.

[0095] Based on the real-time received vehicle speed information, estimated rack force information, and the steering wheel rotation angle of the user, the "returning force and damping force" in the steering feedback force simulation signal are determined to make the steering wheel provide a more realistic feel.

[0096] In summary, in this embodiment, if the traveling state information includes: vehicle speed information; obtain the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle; according to the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle, use the preset rack force estimation model to determine the estimated rack force information of the virtual vehicle; according to the vehicle speed information and the estimated rack force information, use the preset steering wheel hand force model to determine the steering feedback force simulation signal of the steering wheel. Thus, the steering wheel provides a more realistic hand feel.

[0097] On the basis of the above embodiment, in another embodiment of the present application, if the travel status information includes: vehicle speed information, rack force information. After receiving the rack force information, the game rack force signal is processed in terms of range and accuracy. For example, if an integer range of rack forces is stored in the vehicle terminal, the integer rack force closest to the rack force signal is determined as the rack force after processing; if the rack force signal has exceeded the stored rack force range, the closest value in the rack force range is determined as the rack force after processing.

[0098] The step S103 of simulating according to the driving state information to generate a steering feedback force simulation signal of the steering wheel includes:

[0099] According to the vehicle speed information and rack force information, a preset steering wheel hand force model is used to determine the steering feedback force simulation signal of the steering wheel.

[0100] A high-end racing game can provide the vehicle speed information and rack force information in the game at the same time, without the need for simulation calculation. The method of determining the steering feedback force simulation signal is similar to the above embodiment and will not be repeated here.

[0101] In summary, in this embodiment, if the driving state information includes: vehicle speed information and rack force information; according to the vehicle speed information and rack force information, a preset steering wheel hand force model is used to determine the steering feedback force simulation signal of the steering wheel, so that the steering wheel provides a more realistic hand feel.

[0102] Based on the above embodiments, the embodiments of the present application further provide a method for generating a simulated feel of a steering wheel. Figure 5 The following is a flow chart of a method for generating a simulated feel of a steering wheel provided in an embodiment of the present application. Figure 5As shown, if the driving status information also includes: tire pressure information, wheel speed information, yaw rate information, lateral acceleration information, road adhesion coefficient, and road roughness. The higher the configuration of the game, the more comprehensive the information provided. The yaw rate information, lateral acceleration information, road adhesion coefficient, and road roughness more realistically restore the driving status and driving scenes in the game.

[0103] Before controlling the actuator of the steering wheel in the steering system to generate the simulated steering wheel feel according to the steering feedback force simulation signal in S104, the method further includes:

[0104] S501, determining a vibration force simulation signal of a steering wheel using a preset road feel prediction model according to vehicle speed information, rack force information, tire pressure information, wheel speed information, yaw angular velocity information, lateral acceleration information, road adhesion coefficient, and road roughness.

[0105] The preset road feel prediction model is an algorithm model based on the joint simulation of vehicle dynamics and steering system models. The vibration force simulation signal of the steering wheel is determined through the driving state information of the above game. The vibration force simulation signal makes the physical steering wheel vibrate, simulating the driving state of the target virtual vehicle more realistically.

[0106] The preset road feel prediction model stores in advance a mapping table between "vehicle speed information, rack force information, tire pressure information, wheel speed information, yaw rate information, lateral acceleration information, road adhesion coefficient, road roughness" and "vibration force". By inputting a set of "vehicle speed information, rack force information, tire pressure information, wheel speed information, yaw rate information, lateral acceleration information, road adhesion coefficient, road roughness", a corresponding set of "vibration force" can be determined.

[0107] Specifically, the mapping relationships in the preset road feel prediction model are multiple sets of mapping relationships pre-calculated by the user based on the vehicle dynamics and steering system model, which can truly reflect the road condition information.

[0108] In S104, according to the steering feedback force simulation signal, the actuator of the steering wheel in the steering system is controlled to generate a simulated steering wheel feel, including:

[0109] S502: Controlling an actuator of a steering wheel in a steering system to generate a simulated steering wheel feel according to the steering feedback force simulation signal and the vibration force simulation signal.

[0110] The steering feedback force simulation signal controls the steering wheel to provide damping force and returning force. The vibration force simulation signal controls the steering wheel to provide vibration force. Through the combined effect of damping force, returning force and vibration force, a more realistic simulated feel is produced for the steering wheel.

[0111] For example, the vibration force simulation signal can be used to simulate the feel of processes such as wheels going over bumps, tire pressure imbalance and deviation, and acceleration deviation.

[0112] In summary, in this embodiment, if the traveling state information also includes: tire pressure information, wheel speed information, yaw rate information, lateral acceleration information, road adhesion coefficient, and road roughness; according to the vehicle speed information, rack force information, tire pressure information, wheel speed information, yaw rate information, lateral acceleration information, road adhesion coefficient, and road roughness, a preset road feeling prediction model is used to determine the vibration force simulation signal of the steering wheel; according to the steering feedback force simulation signal and the vibration force simulation signal, the actuator of the steering wheel in the steering system is controlled to generate the simulated hand feeling of the steering wheel. Thus, the steering wheel provides a more realistic hand feeling.

[0113] It should be noted that during the game, the acceleration action is completed by the player and is not controlled by the target vehicle. However, the user can control the brake pedal of the target vehicle, and the pedal brake transmits the brake signal to the vehicle terminal, and then brakes the target virtual vehicle through the brake information.

[0114] In the above Figure 1 On the basis of the corresponding embodiment, the embodiment of the present application further provides another method for generating a steering feedback force simulation signal of a steering wheel. Figure 6 A flow chart of another method for generating a steering feedback force simulation signal of a steering wheel provided in an embodiment of the present application. Figure 6 As shown, before simulating according to the traveling state information in S103 to generate a steering feedback force simulation signal of the steering wheel, the method further includes:

[0115] S601. Acquire feel calibration parameters of multiple preset virtual vehicles according to information of a preset racing game and information of multiple preset virtual vehicles in the preset racing game.

[0116] For example, according to the identifier of the preset racing game and the identifier of the preset virtual vehicle, the feel calibration parameters of the preset virtual vehicle are obtained. The feel calibration parameters include all inherent parameters of the preset virtual vehicle involved in the embodiment of the present application (for example, maximum vehicle speed, vehicle load), which facilitates the control of the preset virtual vehicle.

[0117] The step S103 of simulating according to the driving state information to generate a steering feedback force simulation signal of the steering wheel includes:

[0118] S602: Perform simulation according to the traveling state information and the hand feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

[0119] Combine dynamic driving status information with inherent feel calibration parameters to generate a more accurate steering feedback force simulation signal.

[0120] In summary, in this embodiment, based on the information of the preset racing game and the information of the preset virtual vehicles in the preset racing game, the hand feel calibration parameters of the preset virtual vehicles are obtained; and based on the driving state information and the hand feel calibration parameters of the target virtual vehicle, a simulation is performed to generate a steering feedback force simulation signal of the steering wheel. Thus, a more accurate steering feedback force simulation signal is generated.

[0121] In the above Figure 6 On the basis of the corresponding embodiments, the embodiments of the present application further provide another method for generating a steering feedback force simulation signal of a steering wheel. Figure 7 A flowchart of another method for generating a steering feedback force simulation signal of a steering wheel provided in an embodiment of the present application is shown. Figure 7 As shown, the method also includes:

[0122] S701. Obtain maximum steering wheel angle parameters of multiple preset virtual vehicles according to information of a preset racing game and information of multiple preset virtual vehicles in the preset racing game.

[0123] For example, according to the identifier of the preset racing game and the identifier of the preset virtual vehicle, the maximum steering wheel angle parameter of the preset virtual vehicle is obtained. The maximum steering wheel angles of different virtual vehicles are different, and the maximum steering wheel angles of some virtual vehicles are 90 degrees, and the maximum steering wheel angles of some virtual vehicles are 180 degrees.

[0124] In S602, simulation is performed according to the travel state information and the hand feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel, including:

[0125] S702 , performing simulation according to the traveling state information, the feel calibration parameters of the target virtual vehicle, and the maximum steering wheel angle parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

[0126] In order to simulate the virtual vehicle more realistically, the maximum steering wheel angle parameter of the target virtual vehicle is used as the maximum steering wheel angle of the target vehicle, so that the visual angle effect when the user turns the physical steering wheel and the virtual steering wheel is the same.

[0127] Furthermore, an end module is set in the virtual steering wheel of the game, and when the steering wheel is turned to the maximum steering wheel angle, there is a reaction force at the end position. According to the maximum steering wheel angle parameter of the target virtual vehicle, it is determined that the end position has been reached, and the reaction force at the end position is added to the steering feedback force simulation signal to make the steering wheel simulation feel more realistic.

[0128] In summary, in this embodiment, according to the information of the preset racing game and the information of the preset virtual vehicles in the preset racing game, the maximum steering wheel angle parameters of the preset virtual vehicles are obtained; according to the driving state information, the feel calibration parameters of the target virtual vehicle and the maximum steering wheel angle parameters of the target virtual vehicle, a simulation is performed to generate a steering feedback force simulation signal of the steering wheel. Thus, the simulated feel of the steering wheel is made more realistic.

[0129] In the above Figure 7 On the basis of the corresponding embodiments, the embodiments of the present application also provide a method for controlling a target virtual vehicle. Figure 8 A flow chart of a method for controlling a target virtual vehicle provided in an embodiment of the present application. Figure 8 As shown, before controlling the target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel in S102, the method further includes:

[0130] S801. Calculate the steering ratio of the target virtual vehicle and the target vehicle according to the maximum steering wheel angle parameter of the target virtual vehicle and the maximum steering wheel angle parameter of the target vehicle.

[0131] For example, the ratio of the maximum steering wheel angle parameter of the target virtual vehicle to the maximum steering wheel angle parameter of the target vehicle is the steering ratio between the two.

[0132] In S102, according to the input steering control signal of the steering wheel, the target virtual vehicle in the preset racing game is controlled, including:

[0133] S802: Calculate a target steering wheel angle parameter of the target virtual vehicle using a steering ratio according to the steering control signal.

[0134] In addition to simulating the maximum steering wheel angle of the target virtual vehicle in the above embodiment, a steering ratio may also be used to convert the maximum steering wheel angle parameter of the target virtual vehicle into a target steering wheel angle parameter so as to control the target steering wheel using the visual angle effect of a physical steering wheel.

[0135] Specifically, the steering wheel angle in the steering control signal is multiplied by the steering ratio to obtain a target steering wheel angle of the target virtual vehicle.

[0136] S803: Control the target virtual vehicle according to the target steering wheel angle parameter.

[0137] Therefore, by calculating the steering ratio, the target virtual vehicle can be accurately controlled.

[0138] In summary, in this embodiment, the steering ratio of the target virtual vehicle and the target vehicle is calculated according to the maximum steering wheel angle parameter of the target virtual vehicle and the maximum steering wheel angle parameter of the target vehicle; the target steering wheel angle parameter of the target virtual vehicle is calculated using the steering ratio according to the steering control signal; and the target virtual vehicle is controlled according to the target steering wheel angle parameter. Thus, the target virtual vehicle can be accurately controlled by calculating the steering ratio.

[0139] In the above Figure 2 On the basis of the corresponding embodiment, in another embodiment of the present application, the method further includes:

[0140] If the target vehicle is not in a parking state, or an input game end signal is received, or an actuator of a steering wheel in a steering system of the target vehicle is connected to a wheel actuator of the target vehicle, it is determined that the target vehicle exits the preset game mode.

[0141] If the gear signal is not P gear, or the vehicle speed signal is not 0, or the yaw rate signal is not 0, it is determined that the target vehicle is not in a parking state. The game end signal is input by the user. If the steering wheel actuator is connected to the wheel actuator, it means that when the user turns the steering wheel, the wheel will also turn, and the target vehicle has a safety hazard.

[0142] In summary, in this embodiment, if the target vehicle is not in a parking state, or receives an input game end signal, or the actuator of the steering wheel in the steering system of the target vehicle is connected to the wheel actuator of the target vehicle, it is determined that the target vehicle exits the preset game mode. Thus, the game exit conditions are accurately detected to ensure user safety.

[0143] The following is a description of a racing game implementation device, equipment, storage medium, etc. provided by the present application for execution. The specific implementation process and technical effects are described above and will not be repeated below.

[0144] Fig. 9 A schematic diagram of a racing game implementation device provided in an embodiment of the present application, such as Fig. 9 As shown, a vehicle terminal for presenting a graphical user interface with a preset racing game in a smart cockpit system is applied, and the device includes:

[0145] The first control module 901 is used to control the actuator of the steering wheel in the steering system of the target vehicle to disconnect from the wheel actuator of the target vehicle and control the steering system to enter the preset game mode if it is detected that the target vehicle where the smart cockpit system is located enters the preset game mode.

[0146] The acquisition module 902 is used to control the target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel, and to acquire the moving state information of the target virtual vehicle.

[0147] The generating module 903 is used to perform simulation according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel.

[0148] The second control module 904 is used to control the actuator of the steering wheel in the steering system to generate a simulated steering wheel feel according to the steering feedback force simulation signal.

[0149] Furthermore, the first control module 901 is specifically used to obtain the gear signal, vehicle speed signal, and yaw angular velocity signal of the target vehicle; determine whether the target vehicle is in a parking state based on the gear signal, vehicle speed signal, and yaw angular velocity signal of the target vehicle; if the target vehicle is in a parking state for a preset time, and an input game start signal is received, it is determined that the target vehicle enters a preset game mode.

[0150] Furthermore, the acquisition module 902 is specifically used to send a game mode request signal to the steering system, so that the steering system disconnects the connection between the steering wheel actuator and the wheel actuator; if a feedback confirmation signal sent by the steering system is received, a game start signal is sent to the steering system, so that the steering system enters a preset game mode.

[0151] Furthermore, the generation module 903 is specifically used for if the travel status information includes: vehicle speed information; obtaining the vehicle load, wheelbase, transmission ratio and lateral stiffness of the target vehicle; according to the vehicle load, wheelbase, transmission ratio and lateral stiffness of the target vehicle, using a preset rack force estimation model to determine the estimated rack force information of the virtual vehicle; according to the vehicle speed information and the estimated rack force information, using a preset steering wheel hand force model to determine the steering feedback force simulation signal of the steering wheel.

[0152] Furthermore, the generation module 903 is specifically used to determine the steering feedback force simulation signal of the steering wheel according to the vehicle speed information and the rack force information by using a preset steering wheel hand force model if the traveling state information includes: vehicle speed information and rack force information.

[0153] Furthermore, the generation module 903 is specifically used to determine the vibration force simulation signal of the steering wheel by using a preset road feel prediction model based on the vehicle speed information, rack force information, tire pressure information, wheel speed information, yaw angular velocity information, lateral acceleration information, road adhesion coefficient, and road roughness if the driving status information also includes: tire pressure information, wheel speed information, yaw angular velocity information, lateral acceleration information, road adhesion coefficient, and road roughness.

[0154] Furthermore, the second control module 904 is specifically configured to control the actuator of the steering wheel in the steering system to generate a simulated feel of the steering wheel according to the steering feedback force simulation signal and the vibration force simulation signal.

[0155] Furthermore, the generation module 903 is specifically used to obtain the feel calibration parameters of multiple preset virtual vehicles according to the information of the preset racing game and the information of multiple preset virtual vehicles in the preset racing game; simulate according to the driving state information and the feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

[0156] Furthermore, the generation module 903 is specifically used to obtain maximum steering wheel angle parameters of multiple preset virtual vehicles based on information of a preset racing game and information of multiple preset virtual vehicles in the preset racing game; simulate according to the driving state information, the feel calibration parameters of the target virtual vehicle and the maximum steering wheel angle parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

[0157] Furthermore, the acquisition module 902 is specifically used to calculate the steering ratio of the target virtual vehicle and the target vehicle based on the maximum steering wheel angle parameter of the target virtual vehicle and the maximum steering wheel angle parameter of the target vehicle; calculate the target steering wheel angle parameter of the target virtual vehicle using the steering ratio according to the steering control signal; and control the target virtual vehicle according to the target steering wheel angle parameter.

[0158] The first control module 901 is used to determine that the target vehicle exits the preset game mode if the target vehicle is not in a parking state, or if an input game end signal is received, or if the actuator of the steering wheel in the steering system of the target vehicle is connected to the wheel actuator of the target vehicle.

[0159] Fig.10 A schematic diagram of a vehicle-mounted terminal provided in an embodiment of the present application, which vehicle-mounted terminal may be a device with computing and processing functions.

[0160] The vehicle-mounted terminal includes: a processor 1001 and a storage medium 1002. The processor 1001 and the storage medium 1002 are connected via a bus.

[0161] The storage medium 1002 is used to store programs, and the processor 1001 calls the programs stored in the storage medium 1002 to execute the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0162] Optionally, the present invention also provides a storage medium, including a program, which is used to execute the above-mentioned method embodiment when executed by a processor. In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0164] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0165] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some 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 (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

Claims

1. A method for implementing a racing game, characterized in that: The method is applied to a vehicle terminal in a smart cockpit system that presents a graphical user interface with a preset racing game, and comprises: If it is detected that the target vehicle where the smart cockpit system is located enters a preset game mode, the actuator of the steering wheel in the steering system of the target vehicle is controlled to disconnect from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode; Controlling a target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel, and acquiring the traveling state information of the target virtual vehicle; Perform simulation according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel; According to the steering feedback force simulation signal, an actuator of the steering wheel in the steering system is controlled to generate a simulated feel of the steering wheel.

2. The method according to claim 1, characterized in that If it is detected that the target vehicle where the smart cockpit system is located enters a preset game mode, the method further includes: controlling an actuator of a steering wheel in a steering system of the target vehicle to disconnect from a wheel actuator of the target vehicle, and controlling the steering system to enter the preset game mode. Acquiring a gear position signal, a vehicle speed signal, and a yaw rate signal of the target vehicle; Determining whether the target vehicle is in a parking state according to the gear position signal of the target vehicle, the vehicle speed signal, and the yaw rate signal; If the target vehicle is in a parking state for a preset time period and an input game start signal is received, it is determined that the target vehicle enters the preset game mode.

3. The method according to claim 1, characterized in that The actuator controlling the steering wheel in the steering system of the target vehicle is disconnected from the wheel actuator of the target vehicle, and the steering system is controlled to enter the preset game mode, including: sending a game mode request signal to the steering system so that the steering system disconnects the actuator of the steering wheel from the wheel actuator; If a feedback confirmation signal sent by the steering system is received, a game start signal is sent to the steering system, so that the steering system enters the preset game mode.

4. The method according to claim 1, characterized in that: If the traveling state information includes: vehicle speed information; the simulation based on the traveling state information to generate the steering feedback force simulation signal of the steering wheel includes: Obtaining the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle; According to the vehicle load, wheelbase, transmission ratio, and cornering stiffness of the target vehicle, a preset rack force estimation model is used to determine the estimated rack force information of the virtual vehicle; According to the vehicle speed information and the estimated rack force information, a preset steering wheel hand force model is used to determine the steering feedback force simulation signal of the steering wheel.

5. The method according to claim 1, characterized in that: If the traveling state information includes: vehicle speed information and rack force information; the simulation based on the traveling state information to generate the steering feedback force simulation signal of the steering wheel includes: According to the vehicle speed information and the rack force information, the preset steering wheel hand force model is adopted to determine the steering feedback force simulation signal of the steering wheel.

6. The method according to claim 5, characterized in that If the driving state information further includes: tire pressure information, wheel speed information, yaw angular velocity information, lateral acceleration information, road adhesion coefficient, and road roughness; Before controlling the actuator of the steering wheel in the steering system to generate the simulated feel of the steering wheel according to the steering feedback force simulation signal, the method further includes: Determining the vibration force simulation signal of the steering wheel using a preset road feeling prediction model according to the vehicle speed information, the rack force information, the tire pressure information, the wheel speed information, the yaw angular velocity information, the lateral acceleration information, the road adhesion coefficient, and the road roughness; The step of controlling the actuator of the steering wheel in the steering system to generate the simulated feel of the steering wheel according to the steering feedback force simulation signal comprises: According to the steering feedback force simulation signal and the vibration force simulation signal, the actuator of the steering wheel in the steering system is controlled to generate the simulated feel of the steering wheel.

7. The method according to claim 1, characterized in that Before simulating according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel, the method further includes: According to the information of the preset racing game and the information of the plurality of preset virtual vehicles in the preset racing game, obtaining the feel calibration parameters of the plurality of preset virtual vehicles; The simulating according to the traveling state information to generate a steering feedback force simulation signal of the steering wheel includes: A simulation is performed according to the traveling state information and the hand feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

8. The method according to claim 7, characterized in that The method further comprises: According to the information of the preset racing game and the information of the plurality of preset virtual vehicles in the preset racing game, obtaining maximum steering wheel angle parameters of the plurality of preset virtual vehicles; The simulating according to the traveling state information and the hand feel calibration parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel includes: A simulation is performed according to the traveling state information, the feel calibration parameters of the target virtual vehicle, and the maximum steering wheel angle parameters of the target virtual vehicle to generate a steering feedback force simulation signal of the steering wheel.

9. The method according to claim 8, characterized in that Before controlling the target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel, the method further includes: Calculating the steering ratio of the target virtual vehicle and the target vehicle according to the maximum steering wheel angle parameter of the target virtual vehicle and the maximum steering wheel angle parameter of the target vehicle; The controlling of the target virtual vehicle in the preset racing game according to the input steering control signal of the steering wheel comprises: Calculate a target steering wheel angle parameter of the target virtual vehicle using the steering ratio according to the steering control signal; The target virtual vehicle is controlled according to the target steering wheel angle parameter.

10. The method according to claim 2, characterized in that The method further comprises: If the target vehicle is not in a parking state, or an input game end signal is received, or the actuator of the steering wheel in the steering system of the target vehicle is connected to the wheel actuator of the target vehicle, it is determined that the target vehicle exits the preset game mode.

Images