CN116863783A - Driving simulation system and driving simulation method based on control-by-wire chassis - Google Patents

Abstract

The application discloses a drive simulation system and a drive simulation method based on a drive-by-wire chassis. The driving simulation system includes: an inertial sensor configured to collect pitch information and roll information; an active suspension configured to determine attitude information; a steer-by-wire module configured to obtain a steering wheel angle signal; a brake-by-wire module configured to obtain a brake pedal opening; the drive-by-wire throttle module is configured to acquire the opening of the throttle pedal; a chassis domain controller configured to transmit pitch information, roll information, vehicle body height, steering wheel angle signal, brake pedal opening and accelerator pedal opening to the driving simulation module in a case where the driving simulation function is turned on; the driving simulation module is configured to control the virtual vehicle according to the steering wheel angle signal, the brake pedal opening degree and the accelerator pedal opening degree, and adjust the posture of the virtual vehicle according to the pitching information, the rolling information and the vehicle body height. The application can improve the experience of the driving simulation of the user.

Description

Driving simulation system and driving simulation method based on wire-controlled chassis

Technical field

This application relates to the field of driving simulation technology, and specifically to a driving simulation system and driving simulation method based on a control-by-wire chassis.

Background technique

Currently, people usually perform driving simulation through driving simulators. The driving simulator consists of a cockpit, a visual computer, a video screen, operating sensors, a data acquisition card, headphones and a microphone. The cockpit usually only contains some parts including the steering wheel, clutch, foot brake, accelerator and handbrake. Due to its relatively simple structure, the driving simulator can only perform virtual reality simulation, which is difficult to meet users' needs for simulated driving realism, resulting in users having a poor simulated driving experience. In addition, most driving simulators are supplied as separate devices, which has the problem of high cost. Therefore, the driving simulation system in the prior art has the problems of poor simulated driving experience and high cost.

Contents of the invention

The purpose of the embodiments of the present application is to provide a driving simulation system and driving simulation method based on a control-by-wire chassis to solve the problems of poor simulated driving experience and high cost of driving simulation systems in the prior art.

In order to achieve the above purpose, the first aspect of this application provides a driving simulation system based on a control-by-wire chassis. The driving simulation system includes:

an inertial sensor configured to collect pitch information and roll information;

an active suspension configured to determine attitude information;

A steering-by-wire module configured to obtain a steering wheel angle signal;

a brake-by-wire module configured to obtain the brake pedal opening;

A drive-by-wire throttle module configured to obtain the accelerator pedal opening;

The chassis domain controller communicates with the inertial sensor, active suspension, steering-by-wire module, brake-by-wire module and throttle-by-wire module respectively, and is configured to determine the vehicle height based on attitude information when the driving simulation function is turned on, and Send pitch information, roll information, vehicle height, steering wheel angle signal, brake pedal opening and accelerator pedal opening to the driving simulation module;

The driving simulation module communicates with the chassis domain controller and is configured to control the virtual vehicle based on the steering wheel angle signal, brake pedal opening, and accelerator pedal opening, and adjust the attitude of the virtual vehicle based on pitch information, roll information, and body height.

In the embodiment of this application, the driving simulation module is also configured to:

Receive steering feel style setting instructions, brake pedal style setting instructions and accelerator pedal style setting instructions;

Determine the steering feel style parameters according to the steering feel style setting instructions, determine the brake pedal style parameters according to the brake pedal style setting instructions, and determine the accelerator pedal style parameters according to the accelerator pedal style setting instructions;

Determine the vehicle speed, lateral acceleration, longitudinal acceleration, kinematic characteristic parameters and dynamic characteristic parameters of the virtual vehicle;

Send the vehicle speed, lateral acceleration, longitudinal acceleration, kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters to the chassis domain controller.

In the embodiment of this application, the chassis domain controller is also configured to:

Receive kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters;

Based on the kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters, change the kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal Initial settings for pedal style parameters.

In the embodiment of this application, the chassis domain controller is also configured to:

According to the vehicle speed and longitudinal acceleration of the virtual vehicle, the brake pedal force and accelerator pedal force are determined respectively;

Brake pedal force is sent to the brake-by-wire module, and accelerator pedal force is sent to the throttle-by-wire module.

In the embodiment of the present application, the brake-by-wire module is further configured to simulate the corresponding braking resistance according to the brake pedal force; the throttle-by-wire module is further configured to simulate the corresponding throttle resistance according to the accelerator pedal force.

In the embodiment of this application, the chassis domain controller is also configured to:

Receive vehicle speed, lateral acceleration and steering wheel speed data;

Perform hand feel parameter fitting based on vehicle speed, lateral acceleration and steering wheel rotation speed to obtain parameter fitting results;

Send the parameter fitting results to the steering-by-wire module.

In this embodiment of the present application, the steering-by-wire module is also configured to perform hand feel simulation based on parameter fitting results.

In the embodiment of this application, the chassis domain controller is also configured to:

Receive virtual vehicle attitude information sent by the driving simulation module;

The active suspension is controlled according to the virtual vehicle attitude information so that the attitude information is the same as the virtual vehicle attitude information.

In the embodiment of this application, the steer-by-wire module includes a hand feel simulator and a road feel actuator, the brake-by-wire module includes a brake pedal feel simulator and a brake, and the chassis domain controller is also configured to:

Determine whether to turn on the driving simulation function;

With the driving simulation function turned on, disconnect the hand feel simulator from the road feel actuator, and disconnect the brake pedal feel simulator from the brake.

In the embodiment of this application, the driving simulation system also includes:

The display module communicates with the driving simulation module and is configured to receive and display image information sent by the driving simulation module.

In the embodiment of this application, the driving simulation system also includes:

The sound module communicates with the driving simulation module and is configured to receive and play the sound information sent by the driving simulation module.

The second aspect of this application provides a driving simulation method based on a wired chassis, which is applied to a driving simulation system based on a wired chassis. The driving simulation system includes an inertial sensor, an active suspension, a steering by wire module, a brake by wire module, and a wired steering module. Throttle control module, chassis domain controller and driving simulation module. The chassis domain controller communicates with the inertial sensor, active suspension, steering by wire module, brake by wire module, throttle by wire module and driving simulation module respectively. The driving simulation method include:

Collect pitch information and roll information through inertial sensors;

Determine attitude information through active suspension;

Obtain the steering wheel angle signal through the steering-by-wire module;

Obtain the brake pedal opening through the brake-by-wire module;

Obtain the accelerator pedal opening through the wire-controlled throttle module;

When the driving simulation function is turned on, the chassis domain controller determines the vehicle height based on attitude information;

Send pitch information, roll information, vehicle height, steering wheel angle signal, brake pedal opening and accelerator pedal opening to the driving simulation module;

The driving simulation module controls the virtual vehicle based on the steering wheel angle signal, brake pedal opening and accelerator pedal opening, and adjusts the attitude of the virtual vehicle based on pitch information, roll information and body height.

Beneficial effects of this application:

(1) This application can improve the driving simulation experience through inertial sensors, active suspension, steering-by-wire modules, brake-by-wire modules, throttle-by-wire modules, chassis domain controllers and driving simulation modules;

(2) This application builds a driving simulation system based on the wire-controlled chassis of the actual vehicle, which can reduce the cost of the driving simulation system;

(3) This application builds a driving simulation system based on the wire-controlled chassis of the actual vehicle, which can meet the user's needs for vehicle playability functions.

Description of the drawings

The drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the description. Together with the following specific implementation modes, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the attached picture:

Figure 1 schematically shows the structural diagram of a driving simulation system based on a control-by-wire chassis according to an embodiment of the present application;

Figure 2 schematically shows a schematic diagram of a vehicle body coordinate system according to an embodiment of the present application;

Figure 3 schematically shows a flow chart of a driving simulation method based on a control-by-wire chassis according to an embodiment of the present application.

Among them, 110-inertial sensor; 120-active suspension; 130-wire steering module; 140-wire brake module; 150-wire throttle module; 160-chassis domain controller; 170-driving simulation module; 180-display Module; 190-sound module.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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. It should be understood that what is mentioned here The described specific implementations are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It should be noted that if there are directional instructions (such as up, down, left, right, front, back...) in the embodiments of the present application, the directional instructions are only used to explain the position of a certain posture (as shown in the accompanying drawings). The relative positional relationship, movement conditions, etc. between the components under the display). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving “first”, “second”, etc. in the embodiments of this application, the descriptions of “first”, “second”, etc. are only for descriptive purposes and shall not be understood as indications or implications. Its relative importance or implicit indication of the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist. , nor is it within the scope of protection required by this application.

Figure 1 schematically shows the structural diagram of a driving simulation system based on a control-by-wire chassis according to an embodiment of the present application. As shown in Figure 1, an embodiment of the present application provides a driving simulation system based on a control-by-wire chassis. The driving simulation system may include:

Inertial sensor 110 is configured to collect pitch information and roll information;

active suspension 120 configured to determine attitude information;

The steering-by-wire module 130 is configured to obtain the steering wheel angle signal;

a brake-by-wire module 140 configured to obtain the brake pedal opening;

The throttle-by-wire module 150 is configured to obtain the accelerator pedal opening;

The chassis domain controller 160 communicates with the inertial sensor 110, the active suspension 120, the steering-by-wire module 130, the brake-by-wire module 140 and the throttle-by-wire module 150 respectively, and is configured to, when the driving simulation function is turned on, perform the driving simulation according to the posture. The information determines the height of the vehicle body, and sends the pitch information, roll information, vehicle height, steering wheel angle signal, brake pedal opening and accelerator pedal opening to the driving simulation module 170;

The driving simulation module 170 communicates with the chassis domain controller 160 and is configured to control the virtual vehicle according to the steering wheel angle signal, brake pedal opening and accelerator pedal opening, and adjust the virtual vehicle according to pitch information, roll information and body height. attitude.

In the embodiment of the present application, the driving simulation system based on a wire-controlled chassis includes an inertial sensor 110, an active suspension 120, a wire-steering module 130, a wire-brake module 140, a wire-controlled throttle module 150, a chassis domain controller 160 and a driving system. Simulation module 170. The inertial sensor 110 is a sensor that detects and measures acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom motion, and can be used to collect pitch information and roll information of the vehicle. The active suspension 120 can automatically adjust the suspension stiffness and damping according to the road surface and driving conditions, so that the vehicle can actively control the vertical vibration and the posture of the body or frame. Therefore, the posture of the vehicle can be determined through the active suspension 120 information. The vehicle's wired chassis refers to a vehicle chassis that uses wires to replace mechanical, hydraulic or pneumatic connections, including active suspension 120, wired steering module 130, wired brake module 140 and wired throttle module 150. Among them, the steering-by-wire module 130 includes a steering wheel, a hand feeling simulator and a road feeling actuator. The steering-by-wire module 130 can obtain the steering wheel angle signal. The brake-by-wire module 140 includes a brake pedal feel simulator and a brake, and can obtain the brake pedal opening. The drive-by-wire throttle module 150 includes an accelerator pedal feel simulator that can obtain the accelerator pedal opening.

The chassis domain controller 160 communicates with the inertial sensor 110, the active suspension 120, the steering by wire module 130, the brake by wire module 140 and the throttle by wire module 150 respectively. By determining whether the driving simulation module 170 receives an instruction input by the user to enable the driving simulation function, it may be determined whether to enable the driving simulation function. When the driving simulation function is turned on, the chassis domain controller 160 can determine the height of the vehicle body based on the attitude information, and send the pitch information, roll information, vehicle height, steering wheel angle signal, brake pedal opening and accelerator pedal opening to Driving simulation module 170. The driving simulation module 170 controls the virtual vehicle according to the steering wheel angle signal, brake pedal opening and accelerator pedal opening, and adjusts the attitude of the virtual vehicle according to the pitch information, roll information and body height to implement driving simulation.

This application can determine pitch information, roll information, attitude information, steering wheel angle signal, Brake pedal opening and accelerator pedal opening, and after the chassis domain controller determines the vehicle height based on attitude information, it sends pitch information, roll information, vehicle height, steering wheel angle signal, and brake pedal opening through the chassis domain controller and accelerator pedal opening are sent to the driving simulation module, so that the driving simulation module can control the virtual vehicle based on the steering wheel angle signal, brake pedal opening and accelerator pedal opening when the driving simulation function is turned on, and based on the pitch information, side Tilt information and body height adjust the attitude of the virtual vehicle. This application can perform driving simulation based on the vehicle's wire-controlled chassis, improve the user's driving simulation experience, and reduce the cost of the driving simulation system.

In the embodiment of the present application, the steer-by-wire module 130 may include a hand feel simulator and a road feel actuator, the brake-by-wire module 140 may include a brake pedal feel simulator and a brake, and the chassis domain controller 160 may also be configured to:

Determine whether to turn on the driving simulation function;

With the driving simulation function turned on, disconnect the hand feel simulator from the road feel actuator, and disconnect the brake pedal feel simulator from the brake.

In the embodiment of the present application, the steer-by-wire module 130 may include a hand feel simulator and a road feel actuator, and the brake-by-wire module 140 may include a brake pedal feel simulator and a brake. To ensure the safety of the driving simulation process, the chassis domain controller 160 may determine whether the driving simulation module 170 receives an instruction input by the user to enable the driving simulation function, thereby determining whether to enable the driving simulation function. When the driving simulation function is turned on, the chassis domain controller 160 can disconnect the hand feeling simulator and the road feeling actuator, so that when the angle of the hand feeling simulator changes, the road feeling actuator does not perform actions to prevent the tires from rotating in place. Moreover, when the driving simulation function is turned on, the chassis domain controller 160 can disconnect the brake pedal feel simulator and the brake, so that the brake will not perform corresponding actions due to changes in the brake pedal opening, thereby reducing energy consumption.

In this embodiment of the present application, the driving simulation module 170 can also be configured to:

Receive steering feel style setting instructions, brake pedal style setting instructions and accelerator pedal style setting instructions;

Determine the steering feel style parameters according to the steering feel style setting instructions, determine the brake pedal style parameters according to the brake pedal style setting instructions, and determine the accelerator pedal style parameters according to the accelerator pedal style setting instructions;

Determine the vehicle speed, lateral acceleration, longitudinal acceleration, kinematic characteristic parameters and dynamic characteristic parameters of the virtual vehicle;

The vehicle speed, lateral acceleration, longitudinal acceleration, kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters are sent to the chassis domain controller 160 .

In the embodiment of the present application, in order to further enhance the user's driving simulation experience, the driving simulation system allows the user to set the steering feel style, brake pedal style and accelerator pedal style. The driving simulation module 170 can receive the steering feel style setting instruction, the brake pedal style setting instruction and the accelerator pedal style setting instruction input by the user, and determine the steering feel style parameters according to the steering feel style setting instruction, and determine the steering feel style parameters according to the brake pedal style. The setting instruction determines the brake pedal style parameter, and the accelerator pedal style parameter is determined according to the accelerator pedal style setting instruction. At the same time, the driving simulation module 170 can determine the vehicle speed, lateral acceleration, longitudinal acceleration, kinematic characteristic parameters and dynamic characteristic parameters of the virtual vehicle, and combine the vehicle speed, lateral acceleration, longitudinal acceleration, kinematic characteristic parameters, dynamic characteristic parameters, steering The feel style parameters, brake pedal style parameters and accelerator pedal style parameters are sent to the chassis domain controller 160 . In this way, the chassis domain controller 160 can be enabled to change parameter settings, and control the steering-by-wire module 130, the brake-by-wire module 140, and the throttle-by-wire module 150 to perform hand feel simulation and foot feel simulation.

In this embodiment of the present application, the chassis domain controller 160 can also be configured to:

Receive kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters;

Based on the kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters, change the kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal Initial settings for pedal style parameters.

In the embodiment of the present application, in order to further enhance the user's driving simulation experience, the driving simulation system allows the user to set the steering feel style, brake pedal style and accelerator pedal style. The chassis domain controller 160 may receive the kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters sent by the driving simulation module 170, thereby based on the kinematic characteristic parameters and the dynamic characteristic parameters. , steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters, change the initial setting values of kinematic characteristic parameters, dynamic characteristic parameters, steering feel style parameters, brake pedal style parameters and accelerator pedal style parameters. In this way, users' needs for different styles of driving simulation can be met.

In this embodiment of the present application, the chassis domain controller 160 can also be configured to:

According to the vehicle speed and longitudinal acceleration of the virtual vehicle, the brake pedal force and accelerator pedal force are determined respectively;

Brake pedal force is sent to the brake-by-wire module 140 and accelerator pedal force is sent to the throttle-by-wire module 150 .

In the embodiment of the present application, after receiving the vehicle speed and longitudinal acceleration of the virtual vehicle sent by the driving simulation module 170, the chassis domain controller 160 can determine the brake pedal force and the accelerator pedal force respectively, and send the brake pedal force to The brake-by-wire module 140 , and sends the accelerator pedal force to the throttle-by-wire module 150 . In this way, the brake-by-wire module 140 can perform foot feel simulation based on the brake pedal force, and the throttle-by-wire module 150 can perform foot feel simulation based on the accelerator pedal force.

In the embodiment of the present application, the brake-by-wire module 140 can also be configured to simulate corresponding braking resistance according to the brake pedal force; the throttle-by-wire module 150 can also be configured to simulate the corresponding throttle resistance according to the accelerator pedal force.

In the embodiment of the present application, after the brake-by-wire module 140 receives the brake pedal force sent by the chassis domain controller 160, through the brake pedal feel simulator in the brake-by-wire module 140, the brake-by-wire module 140 can simulate the corresponding braking resistance. After the throttle-by-wire module 150 receives the accelerator pedal force sent by the chassis domain controller 160, the throttle-by-wire module 150 can simulate the corresponding throttle resistance through the accelerator pedal feel simulator in the throttle-by-wire module 150. In this way, the brake-by-wire module 140 can perform foot feel simulation based on the brake pedal force, and the throttle-by-wire module 150 can perform foot feel simulation based on the accelerator pedal force.

In this embodiment of the present application, the chassis domain controller 160 can also be configured to:

Receive vehicle speed, lateral acceleration and steering wheel speed data;

Perform hand feel parameter fitting based on vehicle speed, lateral acceleration and steering wheel rotation speed to obtain parameter fitting results;

The parameter fitting results are sent to the steer-by-wire module 130 .

In this embodiment of the present application, the chassis domain controller 160 can perform hand feel parameter fitting in order to perform hand feel simulation. The chassis domain controller 160 may receive the vehicle speed and lateral acceleration of the virtual vehicle sent by the driving simulation module 170, and receive the steering wheel speed data collected by the speed sensor. Further, the chassis domain controller can perform feel parameter fitting based on vehicle speed, lateral acceleration, and steering wheel rotation speed to obtain parameter fitting results, and send the parameter fitting results to the steering-by-wire module 130 . In this way, the steering-by-wire module 130 can facilitate subsequent hand feeling simulation.

In this embodiment of the present application, the steering-by-wire module 130 can also be configured to perform hand feel simulation based on parameter fitting results.

In this embodiment of the present application, the chassis domain controller 160 can perform feel parameter fitting based on vehicle speed, lateral acceleration, and steering wheel rotation speed to obtain parameter fitting results, and send the parameter fitting results to the steering-by-wire module 130 . After receiving the parameter fitting results, the steer-by-wire module 130 can perform hand feel simulation through a hand feel simulator based on the parameter fitting results. In this way, the user's experience during the driving simulation process can be improved.

In this embodiment of the present application, the chassis domain controller 160 can also be configured to:

Receive virtual vehicle attitude information sent by the driving simulation module 170;

The active suspension is controlled according to the virtual vehicle attitude information so that the attitude information is the same as the virtual vehicle attitude information.

Figure 2 schematically shows a schematic diagram of a vehicle body coordinate system according to an embodiment of the present application. As shown in Figure 2, in this embodiment of the present application, based on the pitch information and roll information of the virtual vehicle in the body coordinate system, the driving simulation module 170 can determine the virtual vehicle attitude information and send the virtual vehicle attitude information to the chassis domain. Controller 160. The chassis domain controller 160 may receive the virtual vehicle attitude information sent by the driving simulation module 170 and control the active suspension 120 according to the virtual vehicle attitude information. The active suspension 120 can automatically adjust the suspension stiffness and damping according to the road surface and driving conditions, so that the vehicle can actively control the posture of its body or frame. By controlling the active suspension 120, the chassis domain controller 160 can control the attitude of the vehicle so that the attitude information of the vehicle is the same as the virtual vehicle attitude information. In this way, the user's experience during the driving simulation process can be improved.

As shown in Figure 1, in this embodiment of the present application, the driving simulation system may also include:

The display module 180 is in communication with the driving simulation module 170 and is configured to receive and display image information sent by the driving simulation module 170 .

In this embodiment of the present application, the driving simulation system may further include a display module 180 . The display module 180 communicates with the driving simulation module 170 and can receive and display the image information sent by the driving simulation module 170 in real time. In one example, the display module 180 may be an Augmented Reality Head Up Display (ARHUD) module. In this way, the image information of the driving simulation process can be displayed in real time through the display module 180 to meet the user's needs for the driving simulation process.

In the embodiment of this application, the driving simulation system may also include:

The sound module 190 communicates with the driving simulation module 170 and is configured to receive and play the sound information sent by the driving simulation module 170 .

In this embodiment of the present application, the driving simulation system may also include an audio module 190 . The audio module 190 communicates with the driving simulation module 170 and can receive and play the sound information sent by the driving simulation module 170 in real time. In this way, the sound information of the driving simulation process can be played in real time through the sound module 190 .

Figure 3 schematically shows a flow chart of a driving simulation method based on a control-by-wire chassis according to an embodiment of the present application. As shown in Figure 3, the embodiment of the present application also provides a driving simulation method based on a wire-controlled chassis, which is applied to a driving simulation system based on a wire-controlled chassis. The driving simulation system includes an inertial sensor, an active suspension, and a steering-by-wire module. Brake-by-wire module, throttle-by-wire module, chassis domain controller and driving simulation module. The chassis domain controller is respectively connected with the inertial sensor, active suspension, steering-by-wire module, brake-by-wire module, throttle-by-wire module and driving simulation module. Communication, the driving simulation method may include:

Step 301: Collect pitch information and roll information through inertial sensors;

Step 302: Determine attitude information through active suspension;

Step 303: Obtain the steering wheel angle signal through the steering-by-wire module;

Step 304: Obtain the brake pedal opening through the brake-by-wire module;

Step 305: Obtain the accelerator pedal opening through the wire-controlled throttle module;

Step 306: When the driving simulation function is turned on, determine the height of the vehicle body based on the attitude information through the chassis domain controller;

Step 307: Send the pitch information, roll information, vehicle height, steering wheel angle signal, brake pedal opening and accelerator pedal opening to the driving simulation module;

Step 308: Use the driving simulation module to control the virtual vehicle according to the steering wheel angle signal, brake pedal opening and accelerator pedal opening, and adjust the attitude of the virtual vehicle according to the pitch information, roll information and body height.

In the embodiment of the present application, the driving simulation method based on the wire-controlled chassis is applied to the driving simulation system based on the wire-controlled chassis. The driving simulation system based on the wired chassis includes inertial sensors, active suspension, wired steering module, wired brake module, wired throttle module, chassis domain controller and driving simulation module. The chassis domain controller communicates with the inertial sensor, active suspension, steer-by-wire module, brake-by-wire module, throttle-by-wire module and driving simulation module respectively. Inertial sensors are sensors that detect and measure acceleration, tilt, impact, vibration, rotation, and multi-degree-of-freedom motion. They can be used to collect pitch and roll information of the vehicle. Active suspension can automatically adjust suspension stiffness and damping according to the road surface and driving conditions, so that the vehicle can actively control vertical vibration and the attitude of its body or frame. Therefore, the attitude information of the vehicle can be determined through active suspension. The vehicle's wired chassis refers to a vehicle chassis that uses wires to replace mechanical, hydraulic or pneumatic connections, including wired steering modules, wired brake modules and wired throttle modules. Among them, the steering-by-wire module includes a steering wheel, a hand feel simulator and a road feel actuator. The steering wheel angle signal can be obtained through the steering-by-wire module. The brake-by-wire module includes a brake pedal feel simulator and a brake. The brake pedal opening can be obtained through the brake-by-wire module. The throttle-by-wire module includes an accelerator pedal feel simulator, and the throttle pedal opening can be obtained through the throttle-by-wire module.

The driving simulation system can determine whether to enable the driving simulation function by determining whether the driving simulation module receives an instruction input by the user to enable the driving simulation function. When the driving simulation function is turned on, the vehicle body height can be determined based on attitude information through the chassis domain controller. Moreover, the pitch information, roll information, vehicle height, steering wheel angle signal, brake pedal opening and accelerator pedal opening can be further sent to the driving simulation module through the chassis domain controller. Through the driving simulation module, the driving simulation system can control the virtual vehicle based on the steering wheel angle signal, brake pedal opening and accelerator pedal opening, and adjust the attitude of the virtual vehicle based on pitch information, roll information and body height to achieve driving simulation.

This application can determine pitch information, roll information, attitude information, steering wheel angle signal, Brake pedal opening and accelerator pedal opening, and after the chassis domain controller determines the vehicle height based on attitude information, it sends pitch information, roll information, vehicle height, steering wheel angle signal, and brake pedal opening through the chassis domain controller and accelerator pedal opening are sent to the driving simulation module, so that the driving simulation module can control the virtual vehicle based on the steering wheel angle signal, brake pedal opening and accelerator pedal opening when the driving simulation function is turned on, and based on the pitch information, side Tilt information and body height adjust the attitude of the virtual vehicle. This application can perform driving simulation based on the vehicle's wire-controlled chassis, improve the user's driving simulation experience, and reduce the cost of the driving simulation system.

Embodiments of the present application also provide a machine-readable storage medium, with instructions stored on the machine-readable storage medium. The instructions are used to cause the machine to execute the above-mentioned driving simulation method based on a control-by-wire chassis.

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-volatile memory in computer-readable media, random access memory (RAM), and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information. Information may be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory. (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, tape disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device. As defined in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, good, or device that includes the element.

The above are only examples of the present application and are not used to limit the present application. To those skilled in the art, various modifications and variations may be made to this application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application shall be included in the scope of the claims of this application.

Claims (12)

1. A drive-by-wire chassis-based driving simulation system, the driving simulation system comprising:

an inertial sensor configured to collect pitch information and roll information;

an active suspension configured to determine attitude information;

a steer-by-wire module configured to obtain a steering wheel angle signal;

a brake-by-wire module configured to obtain a brake pedal opening;

the drive-by-wire throttle module is configured to acquire the opening of the throttle pedal;

a chassis domain controller in communication with the inertial sensor, the active suspension, the steer-by-wire module, the brake-by-wire module, and the throttle-by-wire module, respectively, configured to determine a vehicle height from the attitude information and transmit the pitch information, the roll information, the vehicle height, the steering wheel angle signal, the brake pedal opening, and the throttle pedal opening to a driving simulation module when a driving simulation function is turned on;

the driving simulation module is in communication with the chassis domain controller and is configured to control a virtual vehicle in accordance with the steering wheel angle signal, the brake pedal opening and the accelerator pedal opening, and adjust a posture of the virtual vehicle in accordance with the pitch information, the roll information and the body height.

2. The chassis-by-wire based driving simulation system of claim 1, wherein the driving simulation module is further configured to:

receiving a steering hand feeling style setting instruction, a brake pedal style setting instruction and an accelerator pedal style setting instruction;

determining steering feel style parameters according to the steering feel style setting instructions, determining brake pedal style parameters according to the brake pedal style setting instructions, and determining accelerator pedal style parameters according to the accelerator pedal style setting instructions;

determining the speed, the transverse acceleration, the longitudinal acceleration, the kinematic characteristic parameters and the dynamic characteristic parameters of the virtual vehicle;

and transmitting the vehicle speed, the transverse acceleration, the longitudinal acceleration, the kinematic characteristic parameter, the dynamic characteristic parameter, the steering feel style parameter, the brake pedal style parameter and the accelerator pedal style parameter to the chassis domain controller.

3. The drive-by-wire chassis-based driving simulation system of claim 2, wherein the chassis domain controller is further configured to:

receiving the kinematic characteristic parameter, the dynamic characteristic parameter, the steering feel style parameter, the brake pedal style parameter and the accelerator pedal style parameter;

and changing initial set values of the kinematic characteristic parameter, the dynamic characteristic parameter, the steering feel style parameter, the brake pedal style parameter and the accelerator pedal style parameter based on the kinematic characteristic parameter, the dynamic characteristic parameter, the steering feel style parameter, the brake pedal style parameter and the accelerator pedal style parameter.

4. The drive-by-wire chassis-based driving simulation system of claim 2, wherein the chassis domain controller is further configured to:

determining brake pedal force and accelerator pedal force according to the speed and longitudinal acceleration of the virtual vehicle;

the brake pedal force is sent to the brake-by-wire module, and the accelerator pedal force is sent to the accelerator-by-wire module.

5. The chassis-by-wire based driving simulation system of claim 4, wherein the brake-by-wire module is further configured to simulate a corresponding braking resistance in accordance with the brake pedal force; the throttle-by-wire module is further configured to simulate a corresponding throttle resistance based on the throttle pedal force.

6. The drive-by-wire chassis-based driving simulation system of claim 2, wherein the chassis domain controller is further configured to:

receiving the vehicle speed, the lateral acceleration and steering wheel rotational speed data;

performing hand feeling parameter fitting based on the vehicle speed, the transverse acceleration and the steering wheel rotating speed to obtain a parameter fitting result;

and sending the parameter fitting result to the steer-by-wire module.

7. The chassis-by-wire based driving simulation system of claim 6, wherein the steer-by-wire module is further configured to perform a feel simulation based on the parameter fitting results.

8. The drive-by-wire chassis-based driving simulation system of claim 1, wherein the chassis domain controller is further configured to:

receiving virtual vehicle attitude information sent by the driving simulation module;

and controlling the active suspension according to the virtual vehicle posture information so that the posture information is the same as the virtual vehicle posture information.

9. The drive-by-wire chassis-based driving simulation system of claim 1, wherein the steer-by-wire module comprises a feel simulator and a feel actuator, the brake-by-wire module comprises a brake pedal feel simulator and a brake, and the chassis domain controller is further configured to:

judging whether to start the driving simulation function;

and under the condition that a driving simulation function is started, the link between the hand feeling simulator and the road feeling actuator is disconnected, and the link between the brake pedal feeling simulator and the brake is disconnected.

10. The drive-by-wire chassis-based driving simulation system of claim 1, further comprising:

and the display module is communicated with the driving simulation module and is configured to receive and display the image information sent by the driving simulation module.

11. The drive-by-wire chassis-based driving simulation system of claim 1, further comprising:

and the sound module is communicated with the driving simulation module and is configured to receive and play the sound information sent by the driving simulation module.

12. The driving simulation method based on the drive-by-wire chassis is characterized by being applied to a driving simulation system based on the drive-by-wire chassis, wherein the driving simulation system comprises an inertial sensor, an active suspension, a drive-by-wire steering module, a drive-by-wire throttle module, a chassis domain controller and a driving simulation module, and the chassis domain controller is respectively communicated with the inertial sensor, the active suspension, the drive-by-wire steering module, the drive-by-wire throttle module and the driving simulation module, and comprises the following steps of:

acquiring pitch information and roll information by the inertial sensor;

determining attitude information through the active suspension;

acquiring a steering wheel angle signal through the steer-by-wire module;

acquiring the opening degree of a brake pedal through the brake-by-wire module;

acquiring the opening degree of an accelerator pedal through the drive-by-wire accelerator module;

under the condition of starting a driving simulation function, determining the height of the vehicle body according to the attitude information through the chassis domain controller;

transmitting the pitch information, the roll information, the vehicle body height, the steering wheel angle signal, the brake pedal opening and the accelerator pedal opening to a driving simulation module;

and controlling a virtual vehicle through the driving simulation module according to the steering wheel angle signal, the brake pedal opening degree and the accelerator pedal opening degree, and adjusting the posture of the virtual vehicle according to the pitching information, the rolling information and the vehicle body height.