CN-122023734-A - Semi-physical simulation system and method for tracked vehicle driving training

CN122023734ACN 122023734 ACN122023734 ACN 122023734ACN-122023734-A

Abstract

The invention provides a semi-physical simulation system and method for crawler driving training, wherein the system comprises a computer, a control and input device, a motion feedback device and an immersive display and positioning device, the computer is used for resolving a dynamic model and rendering a virtual scene, the control and input device is used for collecting control instructions of a user, the motion feedback device is used for receiving and presenting posture changes of a virtual vehicle in real time and providing somatosensory feedback, and the immersive display and positioning device comprises virtual reality glasses, a matched positioning base station and a tracker. The invention breaks through the technical barriers that the traditional professional simulation software environment is closed and is difficult to deeply integrate with the high-immersion VR system, and provides a more open and extensible solution for high-performance simulation of the tracked vehicle.

Inventors

LU GUANGXING
MA ZHIGUO
FANG YAN
LI SHUN
DONG YUN
HU XIAOCHEN

Assignees

中国融通集团第六十研究所

Dates

Publication Date: 20260512
Application Date: 20251223

Claims (10)

1. The semi-physical simulation system for the crawler driving training is characterized by comprising a computer, a control and input device, a motion feedback device and an immersive display and positioning device; the computer is used for running simulation software, resolving the dynamic model and rendering the virtual scene; The control and input device is a semi-physical driving platform and comprises a driving steering wheel, a gear, a brake and an accelerator, and is connected with a computer through a universal serial bus and used for collecting control instructions of a user; The motion feedback device comprises a six-degree-of-freedom platform, is connected with the computer through a network cable, and is used for receiving and presenting the posture change of the virtual vehicle in real time and providing somatosensory feedback; The immersive display and positioning device comprises virtual reality VR glasses, a positioning base station and a tracker, wherein the positioning base station and the tracker are matched, the virtual reality VR glasses are connected with a computer through a display port line and a Universal Serial Bus (USB) line and are used for displaying virtual scenes, the positioning base station is used for tracking the position and the gesture of a user head in real time through optical positioning and Bluetooth communication and updating a virtual visual angle, the tracker is used for tracking the position and the gesture of a user trunk and limbs in real time through inertial positioning and Bluetooth communication, and data are synchronously mapped into a virtual world.
2. The system of claim 1, wherein the workflow of the system comprises: the instruction issuing and scene initialization, wherein a user selects training design through guiding control software, and simulation software loads a corresponding virtual environment and a crawler model; Real-time simulation of a human in a loop, namely, a trainer wears virtual reality VR glasses and operates a semi-physical driving platform, and control instructions are acquired in real time and input to a computer; the simulation software calculates a multi-body dynamics coupling model system of the crawler mechanism in real time according to the control instruction and the virtual environment; A multi-channel synchronous feedback mechanism is performed, including a somatosensory feedback channel, a visual feedback channel, and a directional tactile feedback channel.
3. The system of claim 2, wherein the motion feedback channel comprises the system driving the six-degree-of-freedom platform in real time to reproduce the corresponding physical motion through a motion mapping algorithm and a low-delay communication protocol based on the calculated motion state of the high-frequency vehicle, and adding plastic flow correction on the yield surface of the Deruak-Prager cap according to Deruak-Prague criterion Drucker.
4. The system of claim 3, wherein the visual feedback path comprises driving the rendering engine to generate a corresponding scene based on real-time updated vehicle dynamics and pose data, introducing an adaptive radial blur post-processing algorithm, dynamically adjusting the rendering effect in the virtual simulation platform Unity high precision rendering pipeline HDRP according to the solved vehicle body speed and acceleration, and presenting realistic motion blur in the virtual reality VR glasses that is consistent with human high speed visual perception.
5. The system of claim 4, wherein the adaptive radial blur post-processing algorithm comprises first finding a radial blur vector for a circular field of view according to the following formula: Wherein the method comprises the steps of As the radial blur vector of the object, As a vector of the center point of the field of view, R is a radial fuzzy radius for the pixel point vector of the screen; Adopting a formula of R=k 1 v+k 2 |a|, wherein k 1 ,k 2 is a weight coefficient, and v, a are the speed and the acceleration of the vehicle in running respectively; Changing The vector value of the visual field center can simulate the fuzzy center of the speed direction, and the formula is as follows: Wherein, the For the screen center point vector, K is the offset matrix, θ is the attitude matrix of the vehicle, expressed as: Wherein k y is a yaw-to-horizontal offset coefficient, k p is a pitch-to-vertical offset coefficient, k r is a roll-to-horizontal offset coefficient, k' r is a roll-to-vertical offset coefficient, pitch is the pitch angle of the vehicle, yaw is the yaw angle of the vehicle, and roll is the roll angle of the vehicle; using an initial sampling formula Wherein the method comprises the steps of For the initial sampling of screen pixels, i.texcord is normalized texture vector, the kth sampling is Wherein the method comprises the steps of For the kth sampled screen pixel, For the radial blur vector, the accumulated color value a is calculated as: wherein, the Iteration is the total number of sampling iterations; t is a bilinear sampling function, and the expression is: T(u,v)＝(1-t x )(1-t y )Tex(x 0 +y 0 )+t x (1-t y )Tex(x 1 +y 0 )+(1-t x )t y Tex(x 0 +y 1 )+t x t y Tex(x 1 +y 1 ), Wherein Tex is a discrete pixel matrix of texture, x 0 ,y 0 is the abscissa and ordinate of the lower left corner pixel of the screen, x 1 ,y 1 is the abscissa and ordinate of the upper right corner pixel of the screen, and t x ,t y is the interpolation factor of the sampling point in a2×2 pixel cell.
6. The system of claim 5, wherein the directional haptic feedback path comprises a directional haptic feedback mechanism, wherein the system simulates continuous acceleration inertia through electric seat belt contraction according to longitudinal acceleration, simulates emergency braking inertia through a seat back servo push rod, and provides directional force sense stimulation synchronous with vision and somatosensory for the chest and back of a user on a static base to form a multi-dimensional sensory closed loop; The human body inertia force is calculated according to the acceleration of the vehicle, and the tension F b of the safety belt is obtained according to the inertia force: wherein m is the mass of the passenger, θ is the included angle between the direction of the safety belt and the movement direction, and μ is the friction force between the human body and the safety belt; The force F c generated by the back pushrod against the occupant is described using a spring damper model: Where k s is the equivalent stiffness between the occupant and the backrest, c s is the contact damping, x sb is the displacement of the backrest, x is the displacement of the occupant's chest and back relative to the vehicle body, In order to achieve the speed of movement of the backrest, Chest and back speed for the occupant; the contribution ratio of the two channels is dynamically distributed according to the acceleration and the direction of the vehicle: w b (a)+w c (a)=1, wherein w b (a) is the dynamics weight of the safety belt channel, w c (a) is the dynamics weight of the backrest push rod channel, and the calculation formula is as follows:
7. a semi-physical simulation method for driving training of a tracked vehicle based on the system according to any one of claims 1 to 6, comprising the steps of: step 1, system initialization and instruction acquisition: constructing a virtual prototype of the tracked vehicle in the Unity, and continuously acquiring a control instruction from a semi-physical driving platform; Step 2, resolving a multi-body dynamics coupling model system of the crawler mechanism and updating and driving crawler movement tension; Torque is directly applied to the drive wheels to simulate power input, and to establish a drive wheel track coupling relationship, the track derived tractive effort F t is calculated according to the following formula: F t ＝M k /r k ; Wherein F t is the pulling force of the driving wheel driving the caterpillar to move, M k is the driving wheel moment, and r k is the driving wheel power radius; step 3, modeling ground interaction, namely calculating tangential reaction force of the ground to the crawler belt through the following formula And normal stress F R : Wherein, the The tangential reaction force of the ground on the crawler belt, F is the ground deformation resistance coefficient, F R is the normal stress of the ground on the crawler belt, F d is the equivalent driving force on the bogie wheel, A unit vector of the sliding speed of the track contact point relative to the ground, The projected vector of the forward vector at the ground tangent plane, Is the projected vector of the right vector on the ground tangent plane; Wherein the function is F R is the normal stress of the ground on the crawler belt, b is the width of the crawler belt, k d is the ground modulus, R rw is the road wheel radius, s is the road wheel subsidence amount, In the form of an angular coordinate, the angular coordinate, N is the pressure-subsidence index, which is the angle of contact wheel arc; plastic flow correction on yield face of Prager cap by adding Deruker-Prrag criterion Drucker, normal stress after correction The method comprises the following steps: where f pl is the plastic flow factor, Is the Deruak-Prager yield function value of Drucker-Prager criterion; corrected tangential reaction force The method comprises the following steps: And 4, updating the position of the road wheels according to the normal stress of the ground, and then calculating the vertical force F z of the suspension on the vehicle body according to the following formula by establishing a suspension model: wherein F z is the acting force applied by the suspension, k s is the equivalent torsional rigidity of the suspension, z is the vertical position of the bogie wheel, c is the equivalent damping constant of the suspension, t is the simulation step length, delta is the increment; And 5, simulating the internal loss of the system and driving the vehicle to move.
8. The method of claim 7, wherein step 5 comprises calculating sliding friction force F f between the bogie wheel and the crawler track and sliding friction force F id between the guide wheel and the crawler track according to the following formula for simulating internal loss of the system: F f ＝signμ|F R |, Wherein F f is the friction force between the bogie wheel and the crawler, mu is the friction coefficient between the bogie wheel and the crawler, F R is the positive pressure acting on the contact surface of the bogie wheel and the crawler, and the parameter sign takes + -1 according to the direction of the friction force; Wherein F id is the friction force between the guide wheel and the crawler belt, T 0 and R id is the radius of the guide wheel, delta t track shoe thickness for the tension around both sides of the guide wheel; and finally, calculating the final traction force acting on the vehicle body by combining all resultant forces born by the crawler belt, and driving the vehicle to move.
9. An electronic device comprising a processor and a memory, the memory storing program code that, when executed by the processor, causes the processor to perform the steps of the method of claim 7.
10. A storage medium storing a computer program or instructions which, when run on a computer, performs the steps of the method of claim 7.

Description

Semi-physical simulation system and method for tracked vehicle driving training Technical Field The invention relates to the technical field of virtual simulation, in particular to a semi-physical simulation system and method for crawler driving training. Background In the 21 st century, with the rapid development of computer graphics and real-time rendering technology, the traditional simulation technology is difficult to meet the increasing demands due to insufficient immersion, and the three-dimensional virtual simulation technology is driven to become a key tool for industry and research. Under the background, the Unity engine has become one of the most widely used three-dimensional development platforms worldwide by virtue of its strong cross-platform capability, open ecosystem and continuously optimized performance. The crawler-type travelling mechanism is widely applied to special vehicles in the fields of construction, training, mining and the like due to high trafficability and maneuverability. The dynamics and control response characteristics of the vehicle are studied deeply, and the vehicle control method has important significance in improving the reliability and the trafficability of the vehicle under complex working conditions. At present, simulation research on crawler-type running mechanisms is mostly dependent on professional multi-body dynamics software such as DADS, ADAMS/ATV, recurrDyn and the like. The tool has advantages in the aspect of accurate theoretical analysis of the mechanism, but has limitations in the aspects of processing complex environment interaction and multi-rigid-flexible body coupling simulation and meeting the visualization and interaction requirements of high real-time performance and high immersion, and is difficult to be directly applied to real-time simulation scenes requiring 'people in a loop' such as driving training, working condition previewing and the like. Although the Unity engine greatly improves the calculation performance through ECS, burst Compiler and other technologies, and achieves the rendering effect with high fidelity by means of HDRP, SHADER GRAPH and other technologies, the original physical engine is not designed for a complex multi-body system such as a crawler-type running mechanism. Therefore, a set of special models and solutions capable of accurately describing complex dynamic coupling relationships between tracks, drive wheels, bogie wheels, guide wheels and the ground are lacking in Unity. The technical blank causes that the advantages of Unity on high market share and strong rendering capability cannot be fully utilized to construct the simulation training system of the tracked vehicle with high dynamic precision and high immersion. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a semi-physical simulation system and a semi-physical simulation method for driving training of a tracked vehicle, which solve the technical contradiction that the existing professional simulation software cannot meet the real-time interactive training with high immersion sense and a Unity platform lacks a high-precision dynamic model special for the tracked, and realize full-link integrated simulation from dynamic calculation to visual-somatosensory feedback of the tracked vehicle under a complex virtual working condition. The system comprises a computer, a control and input device, a motion feedback device and an immersive display and positioning device; the computer is used for running simulation software, resolving the dynamic model and rendering the virtual scene; The control and input device is a semi-physical driving platform and comprises a driving steering wheel, a gear, a brake and an accelerator, and is connected with a computer through a universal serial bus (Universal Serial Bus, USB) and used for collecting control instructions of a user; The motion feedback device comprises a six-degree-of-freedom platform, is connected with the computer through a network cable, and is used for receiving and presenting the posture change of the virtual vehicle in real time and providing somatosensory feedback; The immersive Display and positioning device comprises Virtual Reality (VR) glasses, a matched positioning base station and a tracker, wherein the Virtual Reality VR glasses are connected with a computer through a Display Port (DP) line and a Universal Serial Bus (USB) line and are used for displaying Virtual scenes, the positioning base station is used for tracking the position and the gesture of a user head in real time through optical positioning and Bluetooth communication and updating a Virtual view angle, and the tracker is used for tracking the position and the gesture of a user trunk and limbs in real time through inertial positioning and Bluetooth communication and synchronously mapping data into a Virtual world. The workflow of the system comprises: the instruction issuing and scene initialization, wherein