Vibration tactile seat based on simulated driving and vibration method

Abstract

The invention discloses a vibro-tactile seat based on simulated driving and a vibration method thereof, and relates to the technical field of simulated driving, the vibro-tactile seat comprises a vibro-tactile seat body and a main controller, the vibro-tactile seat body is divided into a seat back and a seat cushion, a plurality of vibration devices are embedded in the seat back part and the seat cushion part, and the main controller is connected with the vibro-tactile seat body. Each vibration device comprises a vibrator and a micro motor, one or more vibration devices serve as a vibration set, each vibration set is connected with a driver interface, and the driver interfaces are connected with a main controller of the vibration tactile seat. By arranging the vibration device on the driving seat and using a proper vibration method, road conditions and vehicle actions in real driving can be simulated, so that the sense of reality of driving simulation is enhanced, and a driver is easier to immerse in virtual driving experience.

Description

Technical Field

[0001] The present invention relates to the technical field of simulated driving, and in particular to a vibration tactile seat and a vibration method based on simulated driving. Background Art

[0002] With the continuous progress of technology, the research on simulated driving seats is also constantly developing. Modern simulated driving seats are committed to providing a more realistic driving experience and immersion. A simulated driving seat is a device used to simulate real driving experiences and is widely used in fields such as driver training, entertainment, and human-computer interaction. Early simulated driving seats mainly provided driving experiences by simulating the movements of vehicles, such as tilting, accelerating, and braking. With the progress of technology, simulated driving seats have gradually introduced vibration tactile technology to enhance the realism and immersion of driving. Vibration tactile technology is a technology that stimulates the human tactile system by simulating vibration signals and can provide more realistic tactile feedback during driving. Vibration tactile technology can transmit vibration signals to the driver's body through the vibration devices of the seat, such as the back, buttocks, and thighs, to simulate different driving scenarios, such as uneven roads, acceleration, braking, turning, etc., to provide a more realistic driving experience. The existing vibration tactile arrangements on seats usually use a limited number of vibration devices and are difficult to accurately simulate complex driving scenarios, and there is still room for improvement in providing realism and immersion. More precise and efficient vibration tactile arrangements and vibration methods are needed. Summary of the Invention

[0003] The present invention provides a vibration tactile seat based on simulated driving, including a vibration tactile seat body and a main controller. The vibration tactile seat body is divided into a backrest and a seat cushion. A plurality of vibration devices are embedded in the backrest part and the seat cushion part. The vibration device includes a vibrator and a micro motor. One or more vibration devices form a vibration group, and each vibration group is connected to a driver interface. The driver interface is connected to the main controller of the vibration tactile seat.

[0004] For a vibration tactile seat based on simulated driving as described above, the arrangement of the vibration devices is flexibly designed according to the vibration simulation effects to be achieved in different driving scenarios.

[0005] For a vibration tactile seat based on simulated driving as described above, the micro motor is a 1030 button linear resonant motor, with a resonant frequency of 200 Hz, an input voltage level of 120, and a maximum vibration amplitude of 2.2 m / s2.

[0006] A vibration tactile seat based on simulated driving as described above, wherein the main controller controls the turning on, turning off and vibration frequency of the vibration device through the driver interface. The vibration device has three vibration modes: simultaneous vibration, static vibration and dynamic vibration.

[0007] The present invention also provides a vibration method for a simulated driving seat, including:

[0008] Step1. Set corresponding vibration schemes in the main controller based on different virtual driving scenarios;

[0009] Step2. Establish a driving seat vibration control model according to the set vibration schemes;

[0010] Step3. Real-time collect the interaction information between the scene model and the driving vehicle model, as well as the driving information of the vehicle model during the simulated driving process, and organize them into a judgment data set;

[0011] Step4. Input the judgment data set into the driving seat vibration control model, and determine and execute the vibration method of the driving seat according to the output value.

[0012] A vibration method for a simulated driving seat as described above, wherein setting corresponding vibration schemes in the main controller specifically includes: a road bump vibration scheme, an acceleration and braking vibration scheme, a steering vibration scheme, a collision vibration scheme, and a dangerous situation vibration scheme.

[0013] A vibration method for a simulated driving seat as described above, wherein establishing a driving seat vibration control model specifically includes the following sub-steps:

[0014] Determine the trigger conditions and judgment parameters of each vibration scheme;

[0015] Create a trigger function for the vibration scheme according to the trigger conditions and judgment parameters;

[0016] Fuse each trigger function to establish a driving seat vibration control model.

[0017] A vibration method for a simulated driving seat as described above, wherein determining the vibration method of the driving seat according to the output value specifically includes the following sub-steps:

[0018] Obtain the triggered vibration scheme code according to the judgment data set;

[0019] Set priorities for the vibration schemes, and sort the vibration scheme codes according to the priorities;

[0020] Input the first sorted vibration scheme code into the driving seat vibration control model to determine the vibration frequency level of the scheme;

[0021] Control the vibrator to generate vibrations according to the vibration scheme coding and vibration frequency level.

[0022] The beneficial effects achieved by the present invention are as follows: By arranging a vibration device on the driver's seat and using an appropriate vibration method, the road conditions and vehicle movements in real driving can be simulated, thereby enhancing the realism of driving simulation and making it easier for the driver to immerse in the virtual driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0024] Figure 1 It is a schematic diagram of a vibration tactile seat based on simulated driving provided by Embodiment 1 of the present invention;

[0025] Figure 2 It is a true diagram of static vibration on the left side of the backrest provided by Embodiment 1 of the present invention;

[0026] Figure 3 It is a schematic diagram of static vibration on the left side of the seat cushion provided by Embodiment 1 of the present invention;

[0027] Figure 4 It is a schematic diagram of partial static vibration on the left side of the backrest provided by Embodiment 1 of the present invention;

[0028] Figure 5 It is a schematic diagram of dynamic vibration of the backrest provided by Embodiment 1 of the present invention;

[0029] Figure 6 It is a schematic diagram of dynamic vibration of the seat cushion provided by Embodiment 1 of the present invention;

[0030] Figure 7 It is a schematic diagram of dynamic vibration on the left side of the backrest provided by Embodiment 1 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The vibration tactile seat of the car driving simulator is a seat device that can simulate driving and transmit tactile sensations, and its principle is based on vibration technology and sensation transmission principle. The vibration tactile seat vibration technology simulates different tactile sensations by generating mechanical vibrations through embedding or installing vibration devices in the seat.

[0032] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

[0033] Embodiment 1

[0034] As Figure 1 shown, Embodiment 1 of the present invention provides a vibration tactile seat based on simulated driving, including a vibration tactile seat body and a main controller. The vibration tactile seat body is divided into a backrest and a seat cushion. A plurality of vibration devices are embedded in the backrest part and the seat cushion part. The vibration device includes a vibrator and a micro motor. One or more vibration devices form a vibration group, and each vibration group is connected to a driver interface, and the driver interface is connected to the main controller of the vibration tactile seat;

[0035] The arrangement of the vibration devices is designed according to the vibration simulation effect to be achieved in different driving scenarios. Preferably, as Figure 1 shown in the example diagram, the vibration devices in the backrest part of the vibration tactile seat are arranged in 4 columns, with 6 vibration devices in each column. The vibration devices in the seat cushion part are arranged in a circular shape, and the vibration group is composed of adjacent vibration devices. This arrangement is relatively uniform, and vibration points are set in all directions, which can be used to simulate vibration touch from different directions;

[0036] The micro motor is a 1030 button linear resonant motor, with a resonant frequency of 200 Hz, an input voltage level of 120, and a maximum vibration amplitude of 2.2 m / s2.

[0037] The main controller controls the opening, closing, and vibration frequency of the vibration device through the driver interface. The vibration device has three vibration modes: simultaneous vibration, static vibration, and dynamic vibration.

[0038] ① Simultaneous vibration is further divided into fixed-frequency vibration and variable-frequency vibration. Fixed-frequency vibration means that all vibrators vibrate at the same frequency simultaneously; variable-frequency vibration means that all vibrators vibrate simultaneously and the vibration frequency changes. For example, as the distance of the hazard source approaches, the vibration frequency increases or decreases.

[0039] Static vibration and dynamic vibration also support fixed-frequency vibration and variable-frequency vibration.

[0040] ② Static vibration

[0041] The static vibration mode means that the number and position of the vibrating vibrators are static and will not change. For example, Figure 2 the schematic diagram of static vibration on the left side of the backrest and Figure 3As shown in the schematic diagram of static vibration on the left side of the seat cushion, the two columns on the left side of the seat back and the four vibrators on the left side of the seat cushion vibrate without affecting the vibrators on the right side. This can be used to warn of danger sources on the left side, or to remind you that you should drive on the left side when there are danger sources on the right side. Figure 4 As shown in the schematic diagram of static vibration of the left part of the chair back, in the static vibration mode, three vibration schemes are set respectively, namely, vibration of the upper 2 rows of the 2 columns on the left, vibration of the middle 2 rows of the 2 columns on the left, and vibration of the lower 2 rows of the 2 columns on the left. Then, the execution time sequence is set for these three schemes, so that a dynamic effect of vibration from top to bottom can be achieved. Based on this principle, a dynamic vibration mode can be realized.

[0042] ③Dynamic vibration

[0043] Dynamic vibration mode allows the position and number of vibrators to change dynamically, such as Figure 5 Schematic diagram of dynamic vibration of chair back, Figure 6 As shown in the dynamic vibration diagram of the seat cushion, the 4 rows of vibrators on the backrest vibrate from right to left in sequence, and the seat cushion vibrator vibrates counterclockwise in sequence. Figure 7 As shown in the schematic diagram of the dynamic vibration of the left side of the chair back, the two columns on the left are arranged in a group of two rows, which vibrate sequentially from top to bottom or from bottom to top. The principle is that the main controller presets the start interval time of different vibrators.

[0044] By using different vibration modes and setting different vibration schemes according to the actual driving simulation scenarios, and combining vibration technology and sensory transmission principles, the vibrotactile seat can simulate and transmit various tactile sensations, providing a more immersive seat experience.

[0045] Embodiment 2

[0046] Embodiment 2 of the present invention provides a vibration method based on simulating a driving seat, comprising:

[0047] Step S10: Based on different virtual driving scenarios, corresponding vibration schemes are set in the main controller;

[0048] The virtual driving scene is built based on 3D modeling technology according to the training content and the actual training site. It includes scene models such as roads, obstacles, signboards, and roadside green belts. The driver drives the car model in the virtual driving scene. According to the driving process of the car model in the scene model, the vibration scheme is set in the main controller. Specifically:

[0049] ①Road bump vibration solution

[0050] In simulated driving, the unevenness of the road has a great impact on the driving experience. By designing the vibration scheme when the vehicle passes through undulating and bumpy roads, the bumpy feeling felt by the driver can be simulated. For example, when the vehicle model passes through a road pit, all the vibrators on the seat cushion part of the driver's seat are set to generate short-term high-frequency vibrations.

[0051] ② Acceleration and braking vibration scheme

[0052] Acceleration and braking are common actions during driving and have an important impact on the driving experience. Adding an acceleration and braking vibration scheme can simulate the force and feedback when the vehicle accelerates and brakes. For example, when the driver accelerates, all the vibrators on the backrest can be set to generate moderate vibrations, allowing the driver to feel the driving force of the vehicle; when the driver brakes, all the vibrators on the seat cushion can be set to generate stronger vibrations counterclockwise in sequence to simulate the deceleration feeling of the vehicle.

[0053] ③ Steering vibration scheme

[0054] Steering is one of the important operations during driving. Adding a vibration steering scheme can simulate the force and feedback when the vehicle steers. For example, when the driver turns left, the four columns of vibrators on the backrest of the seat can be set to generate moderate vibrations from left to right, and the seat cushion can generate moderate vibrations clockwise in sequence, allowing the driver to feel the resistance of the steering wheel and the steering force of the vehicle.

[0055] ④ Collision vibration scheme

[0056] In simulated driving, the vibration feedback of a collision should reflect the direction and force of the collision and simulate the reaction force received when the vehicle collides. For example, when a collision occurs on the left side of the vehicle, the vibrators on the left side of the backrest and seat cushion can be set to generate strong vibrations.

[0057] ⑤ Vibration scheme for dangerous situations

[0058] The vibration feedback simulating dangerous situations can help the driver improve their vigilance and response ability. For example, when being too close to the vehicle in front, there may be a risk of rear-ending; when reversing, there may be a risk of hitting an obstacle. The vibrators in the direction of the obstacle or hazard source can be set to generate vibrations to warn and remind the driver.

[0059] Step S20: Establish a driving seat vibration control model according to the set vibration scheme;

[0060] To establish a driving seat vibration control model, it is specifically divided into the following sub-steps:

[0061] ① Determine the trigger conditions and judgment parameters of each vibration scheme

[0062] 1. The triggering condition for the road surface bump vibration scheme is that the road surface element model with a horizontal angle exceeding 15 degrees is touched by the tire of the vehicle model, and the judgment parameter is the road surface element touched by the tire boundary;

[0063] 2. The triggering condition for the acceleration and braking vibration scheme is that the speed change of the vehicle model exceeds the preset percentage, and the judgment parameter is the driving speed of the vehicle model;

[0064] 3. The triggering condition for the steering vibration scheme is that the steering angle of the vehicle model is greater than the preset angle, and the judgment parameter is the steering angle of the vehicle model;

[0065] 4. The triggering condition for the collision vibration scheme is that the vehicle model hits an obstacle, and the judgment parameter is the obstacle touched by the outer contour of the vehicle model and the shock amount exerted on the vehicle model;

[0066] 5. The triggering condition for the dangerous situation vibration scheme is that the distance between the vehicle model and the obstacle model or other vehicle models is less than the preset distance, and the judgment parameter is the distance between the vehicle model and the obstacle or other vehicle models;

[0067] ② Create a trigger function for the vibration scheme according to the triggering condition and judgment parameter

[0068] 1. The trigger function for the road surface bump vibration scheme is: where a is the horizontal angle of the road surface element model currently contacted by the vehicle model. When a is greater than 15°, the A(a) function returns 1, indicating that the road surface bump vibration scheme is triggered. When a is less than or equal to 15°, the A(a) function returns 0, indicating that no vibration scheme is triggered. The calculation formula for a is where h is the height of the road surface element currently contacted by the vehicle model tire, and l is the width of the road surface element currently contacted by the vehicle model tire;

[0069] 2. The trigger function for the acceleration and braking vibration scheme is: where v0 is the initial speed of the vehicle model, v1 is the speed of the vehicle model after acceleration or braking operation, and λ is the preset speed change percentage. When is greater than λ, the B(v0, v1) function returns 2, indicating that the acceleration and braking vibration scheme is triggered. When is less than or equal to λ, the B(v0, v1) function returns 0, indicating that no vibration scheme is triggered;

[0070] 3. The trigger function for the steering vibration scheme is: where q is the steering angle of the vehicle model, and δ is the preset steering angle. When q is greater than δ, the C(q) function returns 3, indicating that the steering vibration scheme is triggered. When q is less than or equal to δ, the C(q) function returns 0, indicating that no vibration scheme is triggered;

[0071] 4. The trigger function for the collision vibration scheme is as follows: Where p is the amount of shock received by the vehicle model collision event, ρ is the preset threshold. When p is greater than or equal to ρ, the D(p) function returns 4, indicating that the collision vibration scheme is triggered. When p is less than ρ, the D(p) function returns 0, indicating that no vibration scheme is triggered. The calculation formula for the amount of vibration p received by the vehicle model collision event is: Where v represents the speed of the vehicle model at the time of collision, ζ1 represents the influence coefficient of speed on the impact force, m is the mass set for the vehicle model, ζ2 represents the influence coefficient of mass on the impact force, t is the duration of the impact event, ζ3 represents the influence coefficient of the impact duration on the impact force, α represents the hardness of the impact obstacle, m a represents the mass of the obstacle, β represents the hardness of the vehicle model, and ζ4 represents the influence coefficient of the obstacle hardness on the impact force;

[0072] 5. The trigger function for the dangerous situation vibration scheme is as follows: d is the distance between the vehicle model and the hazard source, σ is the preset danger distance. When d is less than or equal to σ, the E(d) function returns 5, indicating that the dangerous situation vibration scheme is triggered. When d is greater than σ, the E(d) function returns 0, indicating that no vibration scheme is triggered;

[0073] ③ Establish a driving seat vibration control model by integrating each trigger function

[0074] The driving seat vibration control model is: Where x is the input vibration scheme code, argmin∑ returns the i value when the calculated value of the summation term is the smallest. i is the driving seat vibration frequency level, taking values from 1 to n, where n is the number of driving seat vibration frequency levels. a is the horizontal angle between the current road surface element model contacted by the vehicle model, is the amount of vibration of the vehicle model on a flat road, ε is the shock absorption coefficient of the vehicle model, A i is the vibration amount threshold when the preset vibration frequency level for the road surface bump vibration scheme is i, v0 is the initial speed of the vehicle model, v1 is the speed of the vehicle model after acceleration or braking operations, φ is the change period of the vehicle model speed, is the change amount of the vibration amount when the vehicle speed changes by one φ period, B i is the vibration amount threshold when the preset vibration frequency level for the acceleration and braking vibration scheme is i, q is the steering angle of the vehicle model, δ is the preset steering angle, is the vibration amount of the vehicle model at the preset steering angle, C i is the vibration amount threshold when the preset vibration frequency level for the steering vibration scheme is i, p is the amount of shock received by the vehicle model collision event, D iThe vibration quantity threshold when the vibration frequency level preset for the collision vibration scheme is i, d is the distance between the vehicle model and the hazard source, E i The distance threshold when the vibration frequency level preset for the dangerous situation vibration scheme is i; when the input value is 1, the output The calculation result is used as the vibration frequency level of the vibration scheme encoded as 1. When the input value is 2, the output The calculation result, and so on.

[0075] Step S30: In real-time, collect the interaction information between the scenario model and the driving vehicle model, as well as the driving information of the vehicle model during the simulated driving process, and organize it into a judgment data set;

[0076] Add a lidar component to the driving vehicle model to detect the distance between the vehicle model and the scenario model, collect the real-time motion parameters of the vehicle model, obtain the driving information of the vehicle model from the motion parameters. The driving information includes the vehicle speed and the steering angle of the vehicle. Set detection items on the tires to obtain the model parameters of the road surface elements contacted by the tires, which include the height and length of the road surface element model. Add a detection item to the outer contour of the vehicle model to obtain the obstacles contacted by the vehicle model and the reaction force feedback from the obstacles to the vehicle model. Organize this information into a parameter set required by the driving seat vibration control model and name it the judgment data set.

[0077] Step S40: Input the judgment data set into the driving seat vibration control model, and determine and execute the vibration method of the driving seat according to the output value;

[0078] ① Obtain the encoded vibration scheme triggered according to the judgment data set

[0079] Input the judgment data set into the trigger functions of each vibration scheme, obtain the return value of the trigger function, that is, the encoded vibration scheme, put it into the temporary array T, and exclude the array elements with a return value of 0;

[0080] ② Set priorities for the vibration schemes and sort the encoded vibration schemes according to the priorities

[0081] When two or more vibration schemes need to be executed at the same time, since the vibrator can only execute one command at a time, it is necessary to determine which scheme should be executed at present by setting the execution priority, which can be determined according to actual needs. For example, the numbers of five vibration schemes are 1, 2, 3, 4, and 5 respectively, and the set execution priority is that scheme 5 is the highest, followed by scheme 4, then scheme 2, scheme 3, and scheme 1. The highest priority is represented by the character K1, followed by K2, then K3, K4, and K5. The numbers and priorities are represented as key-value pairs: {(5, K1), (4, K2), (2, K3), (3, K4), (1, K5)}, and the scheme codes in the array T are sorted according to the priority;

[0082] ③ Input the first vibration scheme code after sorting into the driving seat vibration control model to determine the vibration frequency level of this scheme;

[0083] ④ Control the vibrator to generate vibration according to the vibration scheme code and the vibration frequency level

[0084] The main controller finds the setting details of the vibration scheme according to the vibration scheme code, and controls the vibrator to vibrate according to the setting items of the vibration scheme and the vibration frequency level output by the driving seat vibration control model.

[0085] The specific implementation manners described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above is only the specific implementation manner of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the present invention shall be included in the protection scope of the present invention.

Claims

1. A vibration tactile seat based on simulated driving, comprising a vibration tactile seat body and a main controller. The vibration tactile seat body is divided into a backrest and a seat cushion. A plurality of vibration devices are embedded in the backrest part and the seat cushion part. The vibration device includes a vibrator and a micro motor. One or more vibration devices form a vibration group, and each vibration group is connected to a driver interface. The driver interface is connected to the main controller of the vibration tactile seat.

2. The vibration tactile seat based on simulated driving according to claim 1, characterized in that, The arrangement mode of the vibration devices is custom-designed according to the vibration simulation effects to be achieved in different driving scenarios.

3. The vibration tactile seat based on simulated driving according to claim 1, characterized in that, The micro motor is a 1030 button linear resonant motor with a resonant frequency of 200 Hz, an input voltage level of 120, and a maximum vibration amplitude of 2.2 m / s² provided.

4. The vibration tactile seat based on simulated driving according to claim 1, characterized in that, The main controller controls the on / off and vibration frequency of the vibration devices through the driver interface. The vibration devices have three vibration modes: simultaneous vibration, static vibration, and dynamic vibration.

5. A vibration method for a simulated driving seat, comprising: Step1. Set corresponding vibration schemes in the main controller based on different virtual driving scenarios; Step2. Establish a driving seat vibration control model according to the set vibration schemes; Step3. Real-time collect the interaction information between the scene model and the driving vehicle model, as well as the driving information of the vehicle model during the simulated driving process, and organize them into a judgment data set; Step4. Input the judgment data set into the driving seat vibration control model, and determine and execute the vibration method of the driving seat according to the output value.

6. A vibration method based on a simulated driving seat according to claim 6, characterized in that, Setting corresponding vibration schemes in the main controller specifically includes: a road surface bump vibration scheme, an acceleration and braking vibration scheme, a steering vibration scheme, a collision vibration scheme, and a dangerous situation vibration scheme.

7. A vibration method based on a simulated driving seat according to claim 6, characterized in that, Establishing a driving seat vibration control model specifically includes the following sub-steps: Determine the trigger conditions and judgment parameters of each vibration scheme; Create a trigger function for the vibration scheme according to the trigger conditions and judgment parameters; Integrate each trigger function to establish a driving seat vibration control model.

8. A vibration method based on a simulated driving seat according to claim 6, characterized in that, Determining the vibration method of the driving seat according to the output value specifically includes the following sub-steps: Obtain the triggered vibration scheme code according to the judgment data set; Set priorities for the vibration schemes, and sort the vibration scheme codes according to the priorities; Input the first sorted vibration scheme code into the driving seat vibration control model to determine the vibration frequency level of the scheme; Control the vibrator to generate vibration according to the vibration scheme code and the vibration frequency level.

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