CN103050028B - Driving simulator with stereoscopic vision follow-up function - Google Patents
Driving simulator with stereoscopic vision follow-up function Download PDFInfo
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- CN103050028B CN103050028B CN201210581901.5A CN201210581901A CN103050028B CN 103050028 B CN103050028 B CN 103050028B CN 201210581901 A CN201210581901 A CN 201210581901A CN 103050028 B CN103050028 B CN 103050028B
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Abstract
The invention relates to a driving simulator with a stereoscopic vision follow-up function. The driving simulator comprises a computer, a simulated driving platform, a projector and a vision follow-up device, wherein the computer is provided with driving simulation software, an output signal of the simulated driving platform is input to the computer, the vision follow-up device comprises a sight monitoring device, a rotating holder and a stepping motor which is used for driving the rotating holder to rotate, the sight monitoring device comprises a rotating-angle sensor which is used for monitoring the head rotation of a driver, an output signal of the sight monitoring device is input to the computer, the projector is arranged on the rotating holder, the stepping motor is controlled by the computer, and the output signal of the sight monitoring device can be used for changing an angle between a virtual camera and a virtual vehicle through the computer. According to the driving simulator disclosed by the invention, stereoscopic vision is supplied for the driver in the driving simulator, and the stereoscopic vision is not in distortion.
Description
Technical field
The present invention relates to a kind of driving simulator, particularly there is the driving simulator of vision lag function.
Background technology
Current three-dimensional film adopts vision to be carry out photographed scene with the angle of photographer, but it is indoor at drive simulating to think highly of driver in simulation, continuous motion, vision constantly changes, the object that driver sees has different sight equations, but fixed-analog utensil all has same sight equation to all object visions, if adopt the vision secured not reach good stereoeffect.Because the vision of people is in the process of observing, the visual rotating existed, pupil focal length variations causes viewing distance to change, and the present invention adopts sensor to the tracking of the head movement of driver, the subtense angle of the change adjustment visual pattern of the focusing of pupil, improves and immerses sensation.At present, the vehicle driving simulator mode of employing experiences emulation of driving, but the stereoscopic vision adopted is all be visual object with dead ahead, causes the health mechanics perceived effect that immerses true not.Relatively common monocular vision simulator, the images of left and right eyes of user is seen two width plane pictures of parallax, and in the brain they synthesized and produce stereoscopic vision perception, the stereo display technique of the virtual environment sense of reality can be strengthened, but, if head movement, two ocular vision objects change, and vision end point also changes, if in the process of emulation 3-D view, be all changeless visual object and vision end point, obtaining stereoscopic vision will distortion.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of driving simulator with stereoscopic vision lag function, it for driver in driving simulator provides stereoscopic vision can not distortion.
The present invention solves the problems of the technologies described above adopted technical scheme:
Have the driving simulator of stereoscopic vision lag function, it comprises computing machine, drive simulating platform, the projector with driving simulation software, and the output signal of simulator bridge inputs described computing machine;
Described projector is a pair projector, arranges a polarizer before the camera lens of each projector respectively, and the polarization of two polarizers in a pair projector is orthogonal; Described driving simulator also comprises the polarising glass for watching, and the polarization of two eyeglasses of polarising glass is orthogonal, and the polarization direction of one of them eyeglass is consistent with the polarization direction of a polarizer of projector;
In the driving simulation software of described computing machine, arrange a pair virtual video camera, two virtual video cameras left and right in Virtual Space is arranged, and the virtual scene image collected exports respectively by the projector of two in a pair projector;
Described driving simulator also comprises vision hunting gear, and vision hunting gear comprises sight line monitoring device, rotary head, stepper motor for driving rotary head to rotate; Sight line monitoring device comprises the rotary angle transmitter rotated for monitoring driver head, and the output signal of sight line monitoring device inputs described computing machine, and projector is arranged on rotary head, and stepper motor is controlled by computing machine;
The signal that described sight line monitoring device exports changes the angle between virtual video camera and virtual vehicle by computing machine.
In such scheme, described rotary angle transmitter is electronic compass or the electronic gyroscope of the head being fixed on driver.
In such scheme, vision monitor also comprises the camera of the semi-transparent reflection mirror be fixed on polarising glass and the head being fixed on driver, semi-transparent reflection mirror is arranged on before polarising glass, camera obtains the change of eyeball and pupil by semi-transparent reflection mirror, and the output signal input computing machine of camera is also by computer monitoring pilot's line of vision.
In such scheme, described rotary angle transmitter and semi-transparent reflection mirror are fixed on polarising glass.
In order to improve stereoeffect, the present invention adopts a kind of vision hunting gear, makes the servo-actuated rendering image effect of stereo-picture, obtains the subtense angle obtaining comparing coupling with driver, and obtaining can not the stereoeffect of distortion.
In addition, at the head of driver or glasses, the scene that corner that a rotary angle transmitter or image procossing obtain head and eye pupil observes to emulate driver is installed, more realistic subtense angle can be obtained.
Accompanying drawing explanation
Fig. 1 is the structural representation of driving simulator of the present invention.
Fig. 2 is the structured flowchart of driving simulator of the present invention.
Fig. 3 is the scheme of installation of projector.
Fig. 4-6 is the fundamental diagram of vision monitor.
Fig. 7,8 is the fundamental diagram of camera.
The fundamental diagram that Fig. 9-11 changes for camera acquisition eyeball and pupil.
Figure 12 is the structural representation of driving simulator duty of the present invention.
In figure: a1, a2 are virtual video camera, A1, A2 are projector, and 3 is polarising glass, and 4 is polarizer, and 5 is drive simulating platform, and 6 is screen, and 7 is rotary angle transmitter, and 8 is eyeball, and 9 is head, and 10 is eye socket, and 11 is camera, and 12 is semi-transparent reflection mirror.
Embodiment
The present invention as shown in Figure 1 has the driving simulator embodiment of stereoscopic vision lag function, and it comprises a computing machine with driving simulation software, drive simulating platform 5, projector, screen 6; The output signal input computing machine of simulator bridge, computing machine is by projector output image.
Described projector comprises a pair projector A1, A2, arranges a polarizer 4 before the camera lens of each projector respectively, and the polarization of two polarizers in a pair projector is orthogonal;
In the driving simulation software of described computing machine, a pair virtual video camera a1, a2 are set, in a pair virtual video camera, two virtual video cameras left and right in Virtual Space is arranged, and the position of relative virtual bridge is fixed, the virtual scene image collected is by after computer disposal, export respectively by two projector in a pair projector A1, A2, project in same screen 6.
Described driving simulator also comprises the polarising glass 3 for watching, and the polarization of two eyeglasses of polarising glass is orthogonal, and the polarization direction of one of them eyeglass is consistent with the polarization direction of a polarizer of projector.
As shown in Figure 2, simulator bridge comprises simulative automobile driving platform, and simulative automobile driving platform is provided with the depth transducer of throttle, gear position sensor, key sensor, parking brake sensor, clutch sensor, service brake state sensor and steering wheel angle sensor; Described driving simulation software is automobile driving simulation software.
Driver operates at simulator bridge, the object such as depth transducer, gear position sensor, key sensor, parking brake sensor, clutch sensor, service brake state, steering wheel angle of change throttle in operation, sensor transfers signals to the data-interface of computing machine, computing machine is according to kinetic model, control virtual emphasis vehicle car, change horizontal change amount, longitudinal variable quantity, vertical change amount, course variable quantity, angle of depression variable quantity in scene, sidewinder the variablees such as variable quantity.On the other hand, two virtual video camera a1 and a2 are laid in the position being positioned at two eyes according to driver of pilothouse, and at two angle acquisition video images, and video image is outputted to two video camera A1 and A2, then, through mutual orthogonal polarizer, project in same screen, driver brings the three-dimensional polarising glass of the polarization direction consistent with polaroid, viewing screen driving simulator.
Described driving simulator system adopts Creator modeling, carries out realizing based on the secondary development of Vega instrument under VC++ environment.
What comes into a driver's in the virtual environment that driver sees in front, the traveling behavior of simulator is realized by dynamics simulation module, it is the basic function of driving simulator, Vega software emulation is utilized to realize traffic environment, what comes into a driver's car must travel according to the traffic rules of reality, and travels the characteristic meeting traffic flow in real traffic environment, and main car is as the car of in traffic environment, also can have an impact to the traveling of vehicle in what comes into a driver's simultaneously, with car in what comes into a driver's, mutual behavior occur.The display of whole simulated effect is realized by View Actuation module.This module be situation that driver is operated and sensor gather to analog signals, digital information, obtain the traveling change of main car in what comes into a driver's by the formula scales of kinetic model, the operation by driver is reflected as the behavior of main car in what comes into a driver's.Can see that vehicle traveling is finally realized by the position coordinates of change vehicle by this module.
Simulation system utilizes dynamics of vehicle, kinematics of mechanism, computer technology, under the support of the technology such as electronics, hydraulic pressure and control, from the overall performance of " people one vehicle one road (environment) " closed-loop system, the driving process of vehicle is comprehensively emulated, make driver under the simulated environment of vehicle movement process, obtain driving same impression and operation training with on actual road surface.Hardware interface module is responsible for gathering the various operations of driver, and is supplied to Dynamic simulation module with unified form and calculates.According to the difference of hardware device, the Data Source of collection can be keyboard, game stearing wheel, driving cabin or other equipment.
As shown in Figure 3, described driving simulator also comprises vision hunting gear, and vision hunting gear comprises sight line monitoring device, rotary head, stepper motor for driving rotary head to rotate; Sight line monitoring device comprises the rotary angle transmitter rotated for monitoring driver head, and the output signal of sight line monitoring device inputs described computing machine, and projector is arranged on rotary head, and stepper motor is controlled by computing machine;
The signal that described sight line monitoring device exports changes the angle between virtual video camera and virtual vehicle by computing machine.
Described rotary angle transmitter is electronic compass or the electronic gyroscope of the head being fixed on driver.
As shown in Figure 7, vision monitor also comprises the camera 11 of the semi-transparent reflection mirror 12 be fixed on polarising glass and the head being fixed on driver, semi-transparent reflection mirror is arranged on before polarising glass, camera obtains the change of eyeball and pupil by semi-transparent reflection mirror, and the output signal input computing machine of camera is also by computer monitoring pilot's line of vision.As shown in Figure 8, camera also can be arranged on simulative automobile driving platform, and camera points to driver head.
The principle of work of vision monitor of the present invention is: as shown in Figure 4,5, 6, and described rotary angle transmitter 7 and semi-transparent reflection mirror 12 are fixed on polarising glass 3.Visual angle effect, rotary angle transmitter 7 and image processing method is utilized to measure head 9 steering angle α and eyeball 8 steering angle β, and this steering angle is transported in emulating image process computer processes, computing machine is according to kinetic model, the object that computing machine eyes aim at, carries out image rendering by virtual video camera to the object observed, and by computer drives stepper motor, drive rotary head, change the angle of two projector.
By the principle of camera, computer monitoring pilot's line of vision be:
As illustrated in figures 7-11, the change of eyeball 8 and eye socket 10 reflexes on the camera on side by semi-transparent reflection mirror, camera by the change transmission of video images of eyeball in computing machine, computing machine is by calculating the angle of eyeball, then head steering angle α and eyeball steering angle β sum φ is input to virtual views scene computer data interface, the virtual scene of emulation is according to the spatial relationship of electronic gyroscope and real simulation device, change the angle between virtual video camera and virtual vehicle, gather the image of virtual scene, be transported in projector.
Computing machine by the change of the distance of two of head horizontal point of fixity from the distance in front to side, according to formula:
According to the steering angle of the distance change conversion driver of eye socket, formula is:
α=arcos(L
i/L)
The eye socket image of head is carried out image procossing, according to eyeball and eye socket relative position, according to formula
General proportions β
i=kx, wherein K is relevant to individuality, x unit mm, k roughly at 7-10 (°/mm),
The eye socket image of head is carried out image procossing, according to eyeball and eye socket relative position, according to formula:
Look up and overlook scope smaller, application condition is large, θ
i=C*y, C=20-30 (°/mm).
Upward view angle θ is input to virtual views scene computer data interface, the virtual scene of emulation is according to the spatial relationship of electronic gyroscope and real simulation device, as shown in figure 12, change the angle between virtual video camera and virtual vehicle, gather the image of virtual scene, be transported in projector, computing machine changes the angle of projector, obtain the subtense angle obtaining comparing coupling with driver, obtaining can not the stereoeffect of distortion.
Claims (1)
1. have the driving simulator of stereoscopic vision lag function, it comprises computing machine, drive simulating platform, the projector with driving simulation software, and the output signal of simulator bridge inputs described computing machine;
It is characterized in that:
Described projector is a pair projector, arranges a polarizer before the camera lens of each projector respectively, and the polarization of two polarizers in a pair projector is orthogonal; Described driving simulator also comprises the polarising glass for watching, and the polarization of two eyeglasses of polarising glass is orthogonal, and the polarization direction of one of them eyeglass is consistent with the polarization direction of a polarizer of projector;
In the driving simulation software of described computing machine, arrange a pair virtual video camera, two virtual video cameras left and right in Virtual Space is arranged, and the virtual scene image collected exports respectively by the projector of two in a pair projector;
Described driving simulator also comprises vision hunting gear, and vision hunting gear comprises sight line monitoring device, rotary head, stepper motor for driving rotary head to rotate; Sight line monitoring device comprises the rotary angle transmitter rotated for monitoring driver head, and the output signal of sight line monitoring device inputs described computing machine, and projector is arranged on rotary head, and stepper motor is controlled by computing machine;
The signal that described sight line monitoring device exports changes the angle between virtual video camera and virtual vehicle by computing machine;
Described rotary angle transmitter is electronic compass or the electronic gyroscope of the head being fixed on driver;
Vision monitor also comprises the camera of the semi-transparent reflection mirror be fixed on polarising glass and the head being fixed on driver, semi-transparent reflection mirror is arranged on before polarising glass, camera obtains the change of eyeball and pupil by semi-transparent reflection mirror, and the output signal input computing machine of camera is also by computer monitoring pilot's line of vision;
Described rotary angle transmitter and semi-transparent reflection mirror are fixed on polarising glass;
Described driving simulator utilizes rotary angle transmitter and image processing method to measure head steering angle and eyeball steering angle, and this steering angle is transported in emulating image process computer processes, computing machine is according to kinetic model, calculate the object that eyes aim at, by virtual video camera, image rendering is carried out to the object observed, and by computer drives stepper motor, drive rotary head, change the angle of two projector;
Described computing machine is by calculating the angle of eyeball, then head steering angle and eyeball steering angle sum are input to virtual views scene computer data interface, the virtual scene of emulation is according to the spatial relationship of electronic gyroscope and real simulation device, change the angle between virtual video camera and virtual vehicle, gather the image of virtual scene, be transported in projector.
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| CN201210581901.5A CN103050028B (en) | 2012-12-28 | 2012-12-28 | Driving simulator with stereoscopic vision follow-up function |
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| CN201210581901.5A CN103050028B (en) | 2012-12-28 | 2012-12-28 | Driving simulator with stereoscopic vision follow-up function |
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| CN103050028B true CN103050028B (en) | 2015-04-08 |
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| CN103745627A (en) * | 2013-12-16 | 2014-04-23 | 北京交控科技有限公司 | Three-dimension visual simulation method and three-dimension visual simulation system for driving simulation |
| CN104036668A (en) * | 2014-05-15 | 2014-09-10 | 北海市鑫业智能科技有限公司 | Intelligent automobile simulating driving device |
| CN105575048B (en) * | 2016-02-25 | 2018-10-02 | 京东方科技集团股份有限公司 | It bows rotary head alarm set and its control method, the helmet |
| CN105810039A (en) * | 2016-05-27 | 2016-07-27 | 福州大学 | Three-dimensional driving test simulation system based on immersive VR and implementation method of three-dimensional driving test simulation system |
| CN106530891A (en) * | 2017-01-03 | 2017-03-22 | 刘晨 | Driving simulation system based on VR technology |
| CN206788491U (en) * | 2017-04-10 | 2017-12-22 | 深圳市大疆创新科技有限公司 | UAS component and UAS |
| CN107572385B (en) * | 2017-09-13 | 2019-05-21 | 徐州重型机械有限公司 | Crane |
| CN108830942A (en) * | 2018-06-29 | 2018-11-16 | 成都博士信智能科技发展有限公司 | Display methods and display system |
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| CN112270864B (en) * | 2020-11-05 | 2022-06-21 | 中电海康集团有限公司 | Driving training teaching method and system based on first-person sight position adjustment |
| CN113432843B (en) * | 2021-08-27 | 2021-12-10 | 江西佳铭特实业有限公司 | Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof |
| CN113888907B (en) * | 2021-09-30 | 2023-07-18 | 潍坊学院 | Mobile projection type fine class video line-of-sight guiding system |
| CN113640318B (en) * | 2021-10-19 | 2022-08-23 | 四川京龙光电科技有限公司 | Four mirror surface intellectual detection system equipment of monocular |
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