Simulation of a predetermined motor vehicle

Abstract

The invention relates to a method (300) for controlling a first motor vehicle (105) so as to emulate a second motor vehicle (110), the method comprising the steps of: acquiring a description of the second motor vehicle (110); detecting a control input, generated by a person (100) on board the first motor vehicle (105), for controlling a function of the first motor vehicle (105); determining, based on the description, a response of the second motor vehicle (110) to the control input; and controlling the first motor vehicle (105) in such a way that it reproduces the response of the second motor vehicle (110) for the person (100).

Description

[0001] Simulating a predetermined motor vehicle

[0002] The present invention relates to the development of a motor vehicle. In particular, the invention relates to the simulation of a predetermined motor vehicle for a test subject.

[0003] A driving simulator can be used to give a person the impression of driving a motor vehicle. For example, a person's behavior can be analyzed in relation to a traffic situation or driving condition. The driving simulator can be configured to replicate a specific vehicle, for example, to test a planned modification to the vehicle.

[0004] However, it can be complex to equip the driving simulator in such a way that a person gets the impression that they are on board the specific vehicle.

[0005] One of the problems underlying the present invention is to provide an improved technique for simulating a predetermined motor vehicle for a person. The invention solves this problem by means of the subject matter of the independent claims. Dependent claims describe preferred embodiments.

[0006] It is proposed to control a real first motor vehicle in such a way that it behaves for a person on board like a predetermined second motor vehicle. The first motor vehicle should be easily adaptable to simulate different second motor vehicles as needed. The invention can be used, for example, to conduct a test subject study, a driving event, an experiential demonstration, or a driver trial with reduced effort.According to a first aspect of the present invention, a method for controlling a first motor vehicle based on the model of a second motor vehicle comprises steps of acquiring a description of the second motor vehicle; acquiring a control input for controlling a function of the first motor vehicle by a person on board the first motor vehicle; determining, based on the description, a response of the second motor vehicle to the control input; and controlling the first motor vehicle in such a way as to convey the response of the second motor vehicle to the person.

[0007] By using the first motor vehicle, the person can already be introduced to many aspects of a real vehicle, so that they can get a more realistic impression than in a stationary driving simulator.

[0008] Details that make up the second vehicle can be dynamically recreated, allowing the person to get an impression of the actual second vehicle.

[0009] Descriptions of different second vehicles can be provided, from which one can easily be selected to simulate an assigned second vehicle. Converting the first vehicle to simulate different second vehicles can be done dynamically and requires very little effort. Preparation time for a test drive can be significantly reduced, allowing more test drives to be conducted in the same amount of time.

[0010] The control input can relate to the movement of the first vehicle. In particular, the control input can relate to longitudinal control, i.e., acceleration or deceleration, or lateral control, i.e., steering of the first vehicle. The first vehicle can be controlled to move in the same way as the second vehicle would in response to the control input. The parameter of the first vehicle can be controlled such that it does not exceed a maximum value of a corresponding parameter of the second vehicle. Such a parameter could, for example, relate to acceleration, deceleration, or a steering angle.

[0011] A range in which the parameter of the first vehicle can lie preferably includes a range in which the parameter of the second vehicle can lie. The parameter of the first vehicle can be restricted to the range of the second vehicle by appropriate control, so that the driving dynamics of the first vehicle do not exceed those of the second. Put simply, a more powerful first vehicle can be restricted so that it simulates a less powerful second vehicle.

[0012] For example, the first vehicle might have a drive motor capable of producing a maximum acceleration of 0.6 g, while the second vehicle has a drive motor capable of producing a maximum acceleration of 0.4 g. To simulate the second vehicle, the acceleration of the first vehicle can be limited to the maximum value of the second vehicle, ensuring that the first vehicle does not produce an acceleration greater than 0.4 g. The description of the second vehicle can include its maximum acceleration, and the drive motor of the first vehicle can be controlled so that any actual acceleration remains below this maximum.

[0013] It is preferred that the vehicle dynamics parameter of the first vehicle can lie within the widest possible range of values. In particular, it is preferred that the range of values ​​is large enough to allow the simulation of several second vehicles with different, smaller parameter ranges. Generally, a parameter's range of values ​​can be limited on one or both sides. By controlling one or more vehicle dynamics parameters of the first vehicle, for example, engine power, transmission configuration, inertia, maneuverability, or shifting behavior can be controlled according to the model of the second vehicle.

[0014] It is further preferred that virtual reality methods be used to give the person the most realistic impression possible of the behavior of the second motor vehicle.

[0015] In one embodiment, a view of the interior of the second motor vehicle is provided to the person by means of a display device attached to the person's head. Such a display device is also known as a head-mounted display (HMD) and can, for example, include VR glasses or a VR helmet.

[0016] The display device can show the person an image whose perspective changes with the person's movement. In particular, a head movement relative to the first vehicle can be accompanied by a shift in the displayed image, giving the person the impression that an optically displayed object is part of their real surroundings.

[0017] Preferably, the display device replaces or overlays a direct view of the interior with an image of the interior of the second vehicle, so that the person perceives the interior of the first vehicle visually as the interior of the second vehicle.

[0018] In another embodiment, only a portion of the interior of the second vehicle can be visually superimposed onto the view of the first vehicle. For example, a dashboard, door panels, or a touchscreen can be virtually displayed based on the description of the second vehicle, while another part, such as a steering wheel or speedometer on board the first vehicle, can be viewed unchanged by the person. The HMD can include a camera that scans the person's surroundings, so that parts of the scanned image and parts of the view of the interior of the second vehicle can be aligned and displayed to the person.

[0019] In one embodiment, a visual impression from an exterior space of the first vehicle, for example, the view from a front or side window, is neither altered nor blocked, allowing the person to gain a realistic impression of their surroundings. This can be particularly important if the person is the driver of the vehicle. The person can also orient themselves spatially even if a virtually represented section of the interior of the second vehicle is faulty or unavailable. This can improve the driving safety of the first vehicle.

[0020] In another embodiment, the exterior of a motor vehicle can be visually represented based on a digital model. A perspective on the model can be determined relative to the vehicle's position. The model can be defined relative to the vehicle's surroundings, so that the view of the surroundings changes accordingly as the vehicle moves through them. Thus, the first vehicle can drive through a real environment while the person on board is presented with a dynamic view of a virtual environment in the model. The real movement of the first vehicle through the real environment and the virtual movement through the model can be synchronized. The person can experience the real movement of the vehicle combined with a visual representation of movement through the model. This can create a particularly realistic driving experience.At the same time, the risk of a real-world driving error or accident can be reduced if the first vehicle moves within a clear area. For example, an obstacle or a passage the person must navigate through can be displayed virtually as part of the model, while no corresponding real-world obstacle exists. Should the first vehicle be steered in such a way that it touches the obstacle or misses the passage, no real damage can occur.

[0021] In a further embodiment, a response from the second vehicle to the person is provided by means of a haptic output device. The haptic output device is preferably controllable in order to implement a plurality of haptic output devices that can be installed on board one or more different second vehicles. By appropriately controlling the output device, different second vehicles can be simulated.

[0022] The haptic output device can, in various embodiments, form a contact surface or an input surface for the person. A contact surface can be touched by the person without controlling any function of the first vehicle. For example, a seat, a door panel, or an armrest can form a contact element. An input surface can also be touched and used to control a function of the first vehicle. For example, a button or a switch in the person's vicinity can form an input surface. In both cases, the person can touch the surface and receive haptic feedback. Preferably, the output device can be controlled to provide predetermined haptic feedback, thus simulating a predetermined contact surface and / or a predetermined input surface.

[0023] Visual feedback of the input surface activation can be provided to the user via the HMD. For example, a smooth surface, such as glass, can be provided on board the first vehicle, simulating a touchscreen on board the second vehicle. Content displayed on the screen can be shown to the user via the HMD, and haptic feedback can be received by touching the smooth surface.

[0024] Furthermore, a technique for dynamically providing haptic feedback can be used, in which, for example, the sensation of touch can be conveyed by superimposing ultrasound waves without touching a solid object. In this way, for instance, a switch or control lever of the second vehicle can be dynamically simulated by combining visual and haptic stimuli in the first vehicle.

[0025] According to a further aspect of the present invention, a device for controlling a first motor vehicle based on the model of a second motor vehicle comprises a data storage device for storing a description of the second motor vehicle; an input device for receiving a control input for controlling a function of the first motor vehicle by a person on board the first motor vehicle; a processing device for determining a reaction of the second motor vehicle to the control input; and an actuator for controlling the first motor vehicle in such a way that it conveys the reaction of the second motor vehicle to the person.

[0026] The device can be used to simulate the second motor vehicle using the first motor vehicle. The device, and in particular the processing unit, can be configured to partially or completely execute a method described herein. For this purpose, the processing unit can be electronic and may include, for example, an integrated circuit, a programmable logic device, or a programmable microcomputer. The method can be implemented as a configuration or as a computer program product with program code means for the processing unit. The configuration or the computer program product can be stored on a computer-readable data carrier. Features or advantages of the method can be transferred to the device or vice versa.

[0027] The device may include a display unit for attachment to the person's head; the processing unit being configured to convey to the person a visual response from the second vehicle by means of the display unit. The visual response is preferably conveyed in the correct orientation at the first vehicle, so that the person has the impression of observing a visual response from the second vehicle at the first vehicle. The response may, for example, include a visual output or the movement of an adjustable element. For example, a visual response to touching a control surface for operating a window regulator may include the observation of a window raising or lowering.

[0028] The device can further include a haptic element for the user, wherein the haptic element is configurable to replicate a haptic element on board the second motor vehicle. Preferably, the configuration of the element is carried out by an electronic control and requires no manual intervention. The haptic element can, in particular, form a contact surface or an input surface.

[0029] The haptic element can be configured to replicate a predetermined input or output device of the second vehicle. In particular, the element can detect when a person activates an input surface. The haptic output upon activation can be determined based on a corresponding element of the second vehicle. For example, a button, switch, or similar control element of the second vehicle can be replicated on board the first vehicle using a suitably controlled haptic output element.

[0030] According to yet another aspect of the present invention, a first motor vehicle comprises a device described herein. The first motor vehicle can be largely stripped of conventional equipment, so that the person on board is surrounded as little as possible only by elements that are difficult or impossible to simulate. For example, the first motor vehicle may still include a seat, a steering wheel, and accelerator pedals. However, a dashboard, a door panel (or the entire door), a windshield, or a roof may be removed. These removed elements can be dynamically recreated, depending on the conditions on board a second motor vehicle to be simulated, by appropriately configuring or controlling a corresponding device on board the first motor vehicle.

[0031] According to a further aspect of the invention, a system is proposed for flexibly equipping a first motor vehicle described herein in such a way that it can simulate various second motor vehicles for a person on board. For this purpose, several interaction elements are provided, each assigned to a different second motor vehicle and each configured to be attached to the first motor vehicle in such a way that they are in positions relative to the person that they would occupy in the respective second motor vehicle relative to a person.

[0032] Such interaction elements may include, for example, a cushion, a support, a seat, a lever or a switch, which are difficult to simulate using a controllable device.

[0033] The invention will now be described in more detail with reference to the attached drawings, in which: Figure 1 shows a person on board a first motor vehicle, which simulates a second motor vehicle;

[0034] Figure 2 shows a schematic representation of a device for controlling a first motor vehicle; and

[0035] Figure 3 illustrates a flowchart of a procedure for controlling a first motor vehicle.

[0036] Figure 1 shows a person 105 on board a first motor vehicle 105. The first motor vehicle 105 can perform a variety of functions, which may relate to the movement control of the first motor vehicle 105 or to the function of a system or subsystem on board the first motor vehicle 105. Such a system may, for example, relate to a navigation system, an air conditioning (heating, ventilation, air conditioning, HVAC) system, or an entertainment system.

[0037] To simulate a second motor vehicle 110, it is proposed to replace elements of the first motor vehicle 105 that are perceptible to person 100 as consistently as possible with controllable elements, which are then controlled in such a way that they are perceived by person 100 as corresponding elements of the second motor vehicle 110. Perceptible elements of the second motor vehicle 110 are shown with dashed lines in Figure 1.

[0038] It is specifically proposed that elements of the second motor vehicle 110, which person 100 can only or primarily perceive visually due to their position on board the first motor vehicle 105, should only be visually adapted to the elements of the second motor vehicle. For example, an exterior mirror of the second motor vehicle 110 can be replaced by a corresponding optical display on the first motor vehicle 105. Elements that person 100 can or must touch on board the first motor vehicle 105 can either be physically present or simulated by means of controllable devices. For example, a seat 115 on which person 100 sits or a steering wheel 125 for directional control can be physically present on board the first motor vehicle 105. A display device 125 of the second motor vehicle 110, on the other hand, can only be simulated as optical information for person 100.

[0039] The first motor vehicle 105 is preferably actually roadworthy, and person 100 can drive the first motor vehicle 105. Alternatively, person 100 can also be a passenger on board the first motor vehicle 105.

[0040] Figure 2 shows a schematic representation of a device 200 for controlling a first motor vehicle 105 based on the model of a predetermined second motor vehicle 110. The device 200 is preferably mounted on board a first motor vehicle 105 and is configured to provide a person 100 on board the first motor vehicle 105 with sensory impressions that they might have in a comparable situation on board the second motor vehicle 110.

[0041] The device 200 comprises a processing unit 205 and a data storage unit 210 for storing a description of at least one second motor vehicle 110. A device, system, or subsystem of the first motor vehicle 105 can be controlled via an interface 215. For example, a drive motor, a braking system, or an actuator for operating an adjustable element of the first motor vehicle 105 can be controlled. Such an actuator can, for example, operate a window regulator, a convertible top, or a seat adjustment mechanism. A display device 220 is configured to provide a visual impression to the person 100, which in particular depicts the interior of the first motor vehicle 105.Preferably, the display device 220 is attached to the head of person 100, and an image shown to person 100 is modified based on the orientation or movement of the head so that person 100 has the optical impression of being inside the second motor vehicle 100. The display device 220 is preferably wirelessly connected to the processing device 205 by means of a communication device 225; a wired version is also possible.

[0042] The device 200 is preferably connected to an input element 230, which the person 100 can operate to control the first motor vehicle 105. The input element 230 is shown by way of example as a pedal; furthermore, the input element 230 can also comprise a steering wheel or another element that acts directly on the first motor vehicle 105.

[0043] Another input element 235 is configurable to behave like a real input element on board the second motor vehicle 110. In the illustrated embodiment, the further input element 235 comprises a surface on which a touch or a gesture can be detected. For this purpose, the surface can, for example, include a capacitive sensor, or the touch or gesture can be detected in another way, such as by means of a camera 240.

[0044] Preferably, one or more output devices are provided to convey to person 100 a sensory impression that they might have on board the second motor vehicle 110 in a driving situation corresponding to the driving situation of the first motor vehicle 105. Examples include an acoustic output device 245, an olfactory output device 250, and a haptic output device 255.

[0045] Figure 3 shows a flowchart of a method 300 for controlling a first motor vehicle 105 based on the model of a predetermined second motor vehicle 110. The method 300 can in particular be carried out by means of a device 200 on board a first motor vehicle 105 in order to give a person 100 on board the impression that they are driving the second motor vehicle 110.

[0046] In step 305, person 100 is on board the first motor vehicle 105. Without limiting the generality, it is assumed that person 100 is the driver of the first motor vehicle 105 and can control its movement.

[0047] In step 310, a description of the second vehicle is determined or selected from several existing descriptions. The description can include a driving dynamics parameter, a physical specification, a view of the interior, an available function, or a control element. Further or other information is also possible.

[0048] Person 100 on board the first motor vehicle 105 can now be given an impression of the second motor vehicle 110. Such an impression can, in particular, include a view of the interior or a control element of the second motor vehicle 110.

[0049] In step 315, a control input from person 100 on board the first motor vehicle 105 is determined. The control input can, for example, relate to longitudinal or lateral steering. In step 320, a reaction of the second motor vehicle 110 to the control input is determined. It should be noted that no real second motor vehicle 110 is required to actually execute this reaction; rather, a hypothetical reaction is to be determined in the manner of a simulation.

[0050] In step 325, the first motor vehicle 105 can be controlled to transmit a specific response from the second motor vehicle 110 to person 100. For example, the control input can involve pressing an accelerator pedal 230. Depending on the power output of the second motor vehicle 110's drive motor and its mass, an acceleration with which the second motor vehicle 110 would react can be determined. A drive motor of the first motor vehicle 105 can then be controlled, depending on the mass of the first motor vehicle 105, to exhibit the specified acceleration. Further parameters can be taken into account in this process, such as the current speed, an incline or decline, or prevailing wind conditions.

[0051] In step 330, a view of the interior of the second motor vehicle 110 can also be displayed in the first motor vehicle 105. In particular, if the input from person 100 includes immediate visual or haptic feedback, such as the actuation of a lever or switch, the actuation can be reproduced in the view. A reaction of the first motor vehicle 105 to the actuation can be controlled in the manner described, modeled on a specific reaction of the second motor vehicle 110 to the actuation, and presented to person 100. Reference numeral

[0052] 100 people

[0053] 105 first motor vehicle

[0054] 110 second motor vehicle

[0055] 115 seats

[0056] 120 steering wheel

[0057] 125 Display device

[0058] 200 Device

[0059] 205 Processing facility

[0060] 210 data storage

[0061] 215 Interface

[0062] 220 Display device

[0063] 225 Communication device

[0064] 230 Input element

[0065] 235 further input element

[0066] 240 camera

[0067] 245 acoustic output device

[0068] 250 olfactory output device

[0069] 255 haptic output device

[0070] 300 procedures

[0071] 305 people on board the first motor vehicle

[0072] 310 Determine description for second motor vehicle

[0073] 315 Determine the person's tax input

[0074] 320 Determine the reaction of the second motor vehicle

[0075] 325. Drive the first motor vehicle to convey the same response to the person.

[0076] 330 Show view of second motor vehicle in first motor vehicle

Claims

Claims 1. Method (300) for steering a first motor vehicle (105) according to the model of a second motor vehicle (110), wherein the method (300) comprises the following steps: Recording (310) a description of the second motor vehicle (110); Receiving (315) a control input to control a function of the first motor vehicle (105) by a person (100) on board the first motor vehicle (105); Determine (320), based on the description, a response of the second motor vehicle (110) to the control input; and control (325) the first motor vehicle (105) such that it conveys to the person (100) the response of the second motor vehicle (110).

2. Method (300) according to claim 1, wherein the control input relates to a movement of the first motor vehicle (105).

3. Method (300) according to claim 2, wherein a vehicle dynamics parameter of the first motor vehicle (105) is controlled such that it does not exceed a maximum value of a corresponding parameter of the second motor vehicle.

4. Method (300) according to one of the preceding claims, wherein a view of an interior of the second motor vehicle (110) is provided to the person (100) by means of a display device (330) which is attached to the head of the person (100).

5. Method (300) according to one of the preceding claims, wherein a reaction of the second motor vehicle (110) is provided to the person (100) by means of a haptic output device (325).

6. Device (200) for controlling a first motor vehicle (105) based on the model of a second motor vehicle (110); the device (200) comprising the following elements: a data storage device (210) for storing a description of the second motor vehicle (110); an input device (230, 235) for receiving a control input for controlling a function of the first motor vehicle (105) by a person (100) on board the first motor vehicle (105); a processing device (205) for determining a response of the second motor vehicle (110) to the control input; and an actuator (215, 220, 245-255) for controlling the first motor vehicle (105) such that it conveys the response of the second motor vehicle (110) to the person (100).

7. Device (200) according to claim 6, further comprising a display device (220) for attachment to the head of the person (100); wherein the processing device (205) is configured to convey to the person (100) an optical reaction of the second motor vehicle (110) by means of the display device.

8. Device (200) according to claim 6 or 7, further comprising a haptic element (235) for the person (100), wherein the haptic element is configurable to replicate a haptic element on board the second motor vehicle (110).

9. Device (200) according to claim 8, wherein the haptic element (235) can be configured to replicate a predetermined input or output device of the second motor vehicle (110).

10. Motor vehicle (105) comprising a device (200) according to any one of claims 6 to 9.

11. Motor vehicle (105) according to claim 10, further comprising several interaction elements which are assigned to different second motor vehicles (110) and are each configured to be attached to the first motor vehicle (105) in such a way that they are configured with respect to the Person (100) are in positions which they occupy in the respective second motor vehicle (110) with respect to a person (100).

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