CN116824952A - Rail transit train driver training simulator - Google Patents

Abstract

The invention discloses a rail transit train driver training simulator, which comprises: train operation module: providing a train operation simulation environment; signal and communication module: signal lamps and signal sign signal equipment in a simulated rail transit system; and a circuit simulation module: providing different types of rail line simulations; and an environment simulation module: simulating environmental conditions; and the data recording and analyzing module is used for: and recording various data of the driver in the simulated training process, and analyzing and evaluating the data. Through the characteristics of high-reality simulation environment, diversified training scenes, emergency and fault simulation, real-time feedback and evaluation, data recording and analysis, flexible updating and upgrading and the like, the invention can efficiently cultivate qualified rail vehicle drivers, promote the skill level and safety consciousness of the rail vehicle drivers and ensure the safe running of rail traffic vehicles.

Description

Rail transit train driver training simulator

Technical Field

The invention relates to the technical field of rail transit driving virtual simulation, in particular to a rail transit train driver training simulator;

background

At present, the urban process of China is accelerated, and rail traffic which is the dominant force of urban traffic is rapidly developed, so that the demands on train drivers are rapidly increased. The training and skill improvement tasks of the drivers are increasingly heavy, and qualified drivers of the rail vehicles can be efficiently cultivated only by a more professional and effective training method, so that the safe running of the rail transit vehicles is ensured. The daily and monthly variation of the related technology of urban rail transit also provides a great challenge for the comprehensive quality of rail transit drivers. Along with the rapid updating iteration of the technology, the learning cost of a rail driver for a brand new driving system is increased increasingly, the traditional driving simulation training system is limited by the problems of development cost, technical bottlenecks and the like, and the novel technology and the novel method of the rail traffic are difficult to update into the driving training system rapidly, so that the current driving simulation training system cannot meet the training requirements of the rail traffic drivers in the new era no matter in the simulation degree, the updating speed or the cooperative capability. Therefore, a new generation of rail transit driving simulation system with high simulation degree and update iteration speed is needed.

Disclosure of Invention

In order to solve the problems, the invention provides a rail transit train driver training simulator;

in order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:

a rail transit train driver training simulator, comprising: train operation module: providing a train operation simulation environment; signal and communication module: signal lamps and signal sign signal equipment in a simulated rail transit system; and a circuit simulation module: providing different types of rail line simulations; and an environment simulation module: simulating environmental conditions; and the data recording and analyzing module is used for: and recording various data of the driver in the simulated training process, and analyzing and evaluating the data.

Further: the train operation module includes:

motion simulation module: using a motion simulator device to simulate the motion feeling of a train and increase the physical perception of a driver;

and a real-time physical simulation module: simulating movement and dynamic behaviors of the train based on the physical simulation engine;

emergency and fault simulation module: designing train emergency and fault scenarios

Real-time feedback and evaluation module: providing real-time feedback and assessment to help the driver correct errors and improve skills.

Further: the motion simulation module comprises:

dynamic seating: the method comprises the steps of simulating the motion feeling of a train, including acceleration, deceleration and turning, wherein a seat generates multi-axis motion through a motor or a hydraulic device, and the position and the inclination angle of the seat are adjusted in real time according to the motion parameters of the simulated train, so that a driver can feel the physical feeling brought by the motion of the train;

and (3) a control system: the control system receives instructions and signals from the train operation module, calculates the motion parameters of the seat according to real-time data, and controls the motion mode and strength of the seat by controlling the operation of the motor or the hydraulic device;

sensor system: the system is used for acquiring movement data of the train and operation feedback of a driver; the sensor monitors the speed, acceleration and turning radius movement parameters of the train and transmits data to the control system; the sensor also monitors the driver's operation behavior, including turning the steering wheel, depressing the brake pedal;

and a real-time physical simulation module:

modeling a train system: modeling the train system as a multi-body dynamics system;

consider the physical factors: in the physical simulation, physical factors in train movement are considered: inertia, friction, gravity, air resistance; the motion of the train is subjected to inertia, an inertia force is calculated according to the mass, the speed and the acceleration of an object, the friction force is calculated according to the contact characteristic between wheel tracks and the relative motion between the wheel tracks, the gravity is determined by the slope and gradient conditions of the train according to the size and the direction, and the air resistance is calculated according to the speed and the air density parameters of the train;

Simulating train movement: in the simulation process, solving a motion equation of the train through a numerical integration method based on a physical model and physical factors of the train system; according to the operation instruction and input of a driver, accelerating, decelerating and steering, and updating the speed and acceleration of the train; according to the current speed and the motion state of the train, the action of physical factors is considered, and the force and the moment born by the train are calculated; according to the forces and moments, calculating the acceleration and the angular acceleration of the train through Newton's second law and a rigid body dynamics equation; converting the acceleration and angular acceleration of the train into changes in speed and position by using a numerical integration method;

real-time interaction and feedback: the operation of the driver influences the motion state of the train in real time, the operation instruction of the driver is input into a simulation system, the speed, the acceleration and the angular acceleration of the train are changed, the driver can sense the motion result and the influence of the train through visual and auditory feedback, the acceleration of the train changes and the steering effect, and the simulation system can provide corresponding visual and auditory feedback for the driver according to the motion state and the physical simulation result of the train so as to enhance the immersion and the realism;

Emergency and fault simulation module: designing emergency and fault scenes: designing emergency situations and fault scenes aiming at different train systems and equipment, wherein the emergency situations and fault scenes comprise faults of a braking system, faults of signals and faults of power supply; defining the triggering condition and effect of each scene, wherein the braking system failure can lead to the reduction of braking force or complete failure, and the signal failure can lead to the failure of the train to receive an accurate signal instruction; considering the severity and urgency of different emergency situations and fault scenes so as to evaluate and feed back according to the coping situation of the driver;

randomly triggering emergency and malfunction: in simulation training, random triggers are used to simulate the occurrence of emergency situations and fault scenes; the trigger randomly selects and triggers emergency and faults in the simulation based on a certain probability or time interval; after triggering emergency and faults, the simulation system correspondingly changes the motion state and system behavior of the train, including changing braking force and simulating signal loss;

emergency braking scene simulation: the simulation system provides a realistic emergency braking scene, so that a driver can feel the dynamic change and braking effect of the train during emergency braking; in an emergency braking scene, a simulation system simulates the speed reduction and braking process of a train, and a driver experiences the effect of emergency braking by observing the change of the speed of the train and feeling the feedback of a seat;

Real-time feedback and evaluation module:

monitoring operation indexes of a driver: in the simulation training process, the operation behavior of a driver and an input instruction are monitored to obtain related operation indexes, wherein the operation indexes comprise operation accuracy, reaction time and operation flow; capturing operator operation actions and instruction inputs by means of sensors, virtual buttons or a handle device;

real-time feedback: according to the operation index of the driver, the simulation system provides feedback in real time so as to help the driver correct errors and improve skills; feedback is realized through visual effect, sound effect and tactile feedback mode; when the driver operates the device in error, the simulation system displays corresponding warning information or warning lamps, and plays a prompt tone or alarm sound so as to draw the attention of the driver and prompt the driver of the error; the simulation system also adjusts feedback of the environment according to the operation index of the driver, including changing the brightness of the scene and the intensity of the sound so as to provide more visual feedback information;

evaluation results and advice: according to the operation index of the driver and the target of simulation training, the simulation system evaluates the performance of the driver and gives corresponding results and suggestions; according to a preset evaluation standard, the operation accuracy and the reaction time of a driver are evaluated and compared; based on the evaluation results, the simulation system provides specific advice and direction of improvement, helping the driver to improve his skill and level of operation in a targeted manner.

Further: the signal and communication module comprises:

signal equipment simulation: designing and simulating signal equipment in a rail transit system, wherein the signal equipment comprises signal lamps and signal marks, and the signal marks comprise an inbound signal, an outbound signal and a driving signal;

signal change and fault simulation: in the simulation training process, the signal change and fault conditions are simulated by setting conditions or randomly triggering, wherein the simulation system simulates the change of signal lamp states, so that a driver can perform corresponding operation according to different signal instructions, and the simulation system also simulates the faults of signal equipment, including signal lamp faults or signal equipment damages, so that the driver can learn what kind of response and process the fault conditions are included;

communication simulation: in the rail transit system, communication interaction between the train and the control center exists, the communication process is simulated, in the simulated training, the simulation system provides a virtual control center or an operator to perform communication interaction with a driver, and the driver receives instructions, information or warnings from the control center and operates and schedules according to the instructions.

Further: the line simulation module includes:

line topography simulation: establishing a line topography in a simulation environment according to actual track line data and geographic information;

Line type and feature simulation: different types of track circuits are considered, and simulation is carried out according to the characteristics of actual circuits;

curve radius, slope and speed limit simulation: the influence of curve radius, gradient and speed limiting factors on driving is considered, and corresponding simulation and constraint are carried out in simulation.

Further: the environment simulation module includes:

weather simulation: different weather conditions including sunny days, overcast days, rainy days and snowy days are simulated to increase the coping ability of a driver in various weather environments;

realizing weather effects, including simulating the falling effects of raindrops and snowflakes, and adjusting visual effects, including light and color, according to different weather conditions, and considering the influence of weather on road conditions and vehicle performance, including wet road surface and visibility reduction;

visibility simulation: considering different visibility conditions, including good, medium and bad factors, simulating factors of fog and smoke dust influencing visibility, and adjusting visual effects in a simulation environment according to the visibility conditions, including blurring and transparency, so that a driver can experience driving challenges under different visibility;

road condition simulation: simulating different road conditions including flatness, undulation, bending, and road quality and friction coefficient; considering obstacles, traffic signs and road markings on roads to increase the coping capability of a driver in a complex road environment, simulating the factors of the width and the number of lanes of the road, so that the driver can adapt to driving skills under different road conditions;

Time simulation: the driving environment of different time periods is simulated, including daytime, dusk and night, so that a driver is familiar with driving requirements under different illumination conditions, the light and shadow effects of the environment are adjusted, and the illumination characteristics of different time periods are simulated.

Further: the data recording and analyzing module comprises:

and (3) data recording: in the simulation training process, various data of a driver are recorded, including operation data, reaction time and decision accuracy indexes. Recording control inputs of a driver, including throttle, brake and steering wheel rotation angle, recording parameters and states in a simulation environment, including vehicle speed, acceleration and visual field range, and realizing data recording through internal functions of a sensor, simulator equipment or a simulation system;

data analysis: analyzing and evaluating the recorded driver data to reveal potential problems and improvement spaces of the driver, analyzing operation accuracy, reaction time and decision capability indexes of the driver, comparing the operation accuracy, reaction time and decision capability indexes with standard indexes or expert advice, processing and modeling the data by using statistical analysis and a machine learning algorithm to extract useful information and modes, generating personalized training advice and improvement schemes based on data analysis results, and helping the driver to pertinently promote skills and overcome problems;

Visualization and feedback: the data analysis results are visually presented so that a driver can intuitively know the driving performance and the problem of the driver.

Compared with the prior art, the invention has the following technical progress:

highly realistic simulation environment: the system provides a highly simulated train operation simulation environment, including train interior, control panel, motion simulator, etc., which can enable the driver to obtain a real driving experience.

Diversified training scenarios: the system supports simulation of various environmental conditions and route types, including different weather, terrain, road conditions, etc., enabling drivers to cultivate coping capacities in diverse scenes.

Emergency and fault simulation: the system designs the simulation of various emergency situations and fault scenes, so that a driver learns the operation flow and skills for processing the emergency situations and faults, and the emergency capacity and decision making capacity are improved.

Real-time feedback and evaluation: the system provides real-time feedback and evaluation functions, monitors indexes such as operation accuracy, reaction time and the like of the driver, gives evaluation results and suggestions, and helps the driver correct errors and improve skills.

Data recording and analysis: the system can record various data of the driver in the simulated training process, analyze and evaluate the data, help the driver find and improve potential problems, and provide personalized training advice and improvement schemes. The method comprises the steps of carrying out a first treatment on the surface of the

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, do not limit the invention;

in the drawings:

fig. 1 is a system configuration diagram of the present invention.

Detailed Description

The following embodiments are combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

Including fig. 1, a rail transit train driver training simulator, comprising:

train operation module:

a highly real train operation simulation environment is provided, so that a driver can learn and practice various operation skills of the train, such as starting, stopping, gear shifting, braking and the like. The highly simulated train interior and control panel can simulate various complex operation scenes and emergency situations, such as fault treatment, emergency braking and the like.

Signal and communication module:

and simulating signal equipment such as signal lamps, signal signs and the like in the rail transit system, so that a driver learns how to operate and schedule according to signal instructions. The simulation of various signal systems and signal lamp states is supported, and signal change and fault simulation can be carried out according to actual conditions.

And a circuit simulation module:

various rail routes are simulated, including subways, light rails, high-speed rails and the like, so that drivers are familiar with the characteristics and driving skills of different routes. The real line topography, tunnels, bridges and the like are simulated, and the factors such as curve radius, gradient, speed limit and the like of different lines are considered, so that the reality sense and the challenge of training are increased.

And an environment simulation module:

and simulating various environmental conditions such as different weather, visibility, road conditions and the like, so that drivers can cultivate coping capability in various complex environments. Supporting dynamic weather changes, simulating bad weather conditions such as rain, snow, fog and the like, and simulating daytime and night driving in different time periods.

An emergency module:

the emergency situation and emergency events, such as the occurrence of obstacles, passenger emergency diseases and the like, are simulated, so that a driver can quickly respond and treat the emergency situations and emergency events. Simulating various emergencies and emergencies, and culturing the emergency capability and decision capability of a driver through a real simulation and feedback mechanism.

And the data recording and analyzing module is used for:

and recording various data of the driver in the simulated training process, analyzing and evaluating the data, and helping the driver to find and improve potential problems. And (3) recording indexes such as operation data, reaction time, decision accuracy and the like of a driver, and providing personalized training advice and improvement schemes.

Updating and upgrading module:

and the rapid updating and upgrading of the system are supported so as to adapt to the continuously developed rail transit technology and training requirements. The method can flexibly expand and update each module, and rapidly introduce new technology and training content through software update or module replacement.

To implement a train operation module includes:

virtual Reality (VR) technology:

use equipment such as VR helmet and handle to provide the immersive train operation experience for the driver.

Using 3D modeling and rendering techniques, realistic in-train and control panels are created and presented in a VR environment.

The driver can simulate actual operations, such as starting, stopping, shifting gears, braking, and the like, through the handle, and interact with the virtual train.

Motion simulation module: the motion simulator device is used for simulating the motion feeling of the train and increasing the physical perception of a driver. The motion simulator can simulate the motions of acceleration, deceleration, turning and the like of the train, so that a driver obtains more real driving experience in simulation training.

And a real-time physical simulation module: based on the physical simulation engine, the movement and the dynamic behavior of the train are simulated. And the factors such as inertia, friction, gravity and the like of the train are considered, so that accurate train motion simulation is realized. The operation of the driver will affect the movement state of the train in real time so that it can feel the result and effect of the operation.

Emergency and fault simulation module: various train emergency situations and fault scenes, such as brake system faults, signal faults and the like, are designed. These conditions are triggered randomly in the simulation, allowing the driver to learn the operational flow and skills to handle emergency and faults. The simulation can also provide a realistic emergency braking scene, so that a driver can feel the dynamic change and braking effect of the train during emergency braking.

Real-time feedback and evaluation module: during the simulation, real-time feedback and assessment is provided to help the driver correct errors and improve skills. And monitoring the operation accuracy, reaction time and other indexes of the driver, and giving an evaluation result and advice. The driver can feel the accuracy and result of the operation through visual effect, sound effect, tactile feedback and other modes.

Specifically, the method comprises the following steps:

a motion simulator based on a dynamic seat is used, which consists of the following main components:

dynamic seating: simulating the motion feeling of the train, including acceleration, deceleration, turning, etc. The seat can be made to move in multiple axes by means of motors or hydraulics, etc., such as tilting back and forth, moving up and down, swinging left and right, etc. The position and the inclination angle of the seat can be adjusted in real time according to the motion parameters of the simulated train, so that a driver can feel physical sensation brought by the motion of the train.

And (3) a control system: is responsible for controlling the movement and response of the seat. The control system receives instructions and signals from the train operation module and calculates the movement parameters of the seat based on the real-time data. The control system may control the movement pattern and strength of the seat by controlling the operation of the motor or hydraulic means.

Sensor system: for acquiring movement data of the train and operational feedback of the driver. The sensor can monitor the motion parameters of the speed, acceleration, turning radius and the like of the train and transmit the data to the control system. Meanwhile, the sensor can also monitor the operation behaviors of a driver, such as turning a steering wheel, pressing a brake pedal and the like. When a driver performs simulation training, the motion simulator can adjust the motion state of the seat in real time according to the motion parameters of the simulated train and the operation feedback of the driver. For example:

acceleration simulation: when the driver performs acceleration operation, the control system simulates acceleration feeling of the train through tilting and up-and-down movement of the seat. The seat is tilted backward and moved forward, giving the driver an accelerated physical sensation.

And (3) speed reduction simulation: when the driver performs a deceleration operation, the seat is tilted forward and moved backward, simulating the physical sensation of train deceleration.

Turning simulation: when a driver performs turning operation, the seat swings left and right, and the lateral force and turning force of the train during turning are simulated.

In this way, the motion simulator can provide a more realistic train motion feeling for the driver, and the immersion and effectiveness of training are enhanced. The driver can feel the motion state of the train in the simulation environment, and can better master the operation skills and the capability of coping with different driving conditions.

The method of implementing the real-time physical simulation module may utilize a physical engine, such as Newtonian Physics-based simulation engine or multi-body dynamics-based simulation engine, and the following is a detailed example illustration:

modeling a train system: first, it is necessary to model the train system as a multi-body dynamics system. Train systems consist of a plurality of objects (cars, wheels, etc.) between which there are various force interactions. Each object has properties of mass, shape, inertia, etc., and connection relationships with other objects, such as joints, rigid constraints, etc.

Consider the physical factors: in the physical simulation, various physical factors in the movement of the train, such as inertia, friction, gravity, air resistance, and the like, need to be considered. The motion of the train is affected by inertia, and the inertial force needs to be calculated according to the mass, the speed and the acceleration of the object. The friction is the friction between the train and the track and can be calculated from the contact characteristics between the wheel tracks and the relative movement between the wheel tracks. Gravity is the action of gravity on the train, and the size and direction of the gravity are determined by the conditions of slope, gradient and the like on which the train is positioned. The air resistance is the air resistance of the train during high-speed running, and can be calculated according to parameters such as the speed of the train, the air density and the like.

Simulating train movement: in the simulation process, a motion equation of the train is solved through a numerical integration method based on a physical model and physical factors of the train system. The speed and acceleration of the train are updated according to the operation instructions and inputs of the driver, such as acceleration, deceleration, steering, etc. Meanwhile, according to the current speed and motion state of the train, the action of physical factors is considered, and the force and moment born by the train are calculated. From these forces and moments, the acceleration and angular acceleration of the train are calculated by newton's second law and rigid body dynamics equations. The acceleration and angular acceleration of the train are converted to changes in speed and position using numerical integration methods such as the euler method or Verlet integration.

Real-time interaction and feedback: the driver's operation will affect the train's movement state in real time. The operation instruction of the driver is input into the simulation system to change the speed, acceleration and angular acceleration of the train. The driver can perceive the movement result and influence of the train, such as acceleration change, steering effect, etc., of the train through visual and audible feedback.

Meanwhile, the simulation system can provide corresponding visual and auditory feedback for a driver according to the motion state and the physical simulation result of the train so as to enhance the immersion and the realism. Through real-time physical simulation, a driver can feel the real dynamic behavior of the train in simulation training, so that the movement characteristics of the train can be better understood and mastered, and the operation skills and the capability of coping with different driving conditions of the driver are improved.

The implementation of the emergency and fault simulation module comprises:

designing emergency and fault scenes: various emergency situations and fault scenarios are designed for different train systems and equipment, such as brake system faults, signal faults, power supply faults, etc. The triggering conditions and effects of each scenario are defined, for example, a braking system failure may result in a reduced braking force or complete failure, a signal failure may result in a train failing to receive an accurate signal command, etc. The severity and urgency of different emergency and fault scenarios are considered for evaluation and feedback according to the driver's handling situation.

Randomly triggering emergency and malfunction: in simulation training, random triggers are used to simulate the occurrence of emergency and fault scenarios. The triggers may be randomly selected in the simulation and trigger emergency situations and faults based on a certain probability or time interval. After triggering emergency and fault, the simulation system can correspondingly change the motion state and system behavior of the train, such as changing braking force, simulating signal loss and the like.

Learning of operational flows and skills: after triggering emergency and fault, the driver needs to learn and apply corresponding operation flow and skills according to the training requirements and the instruction in the operation manual. The simulation system provides corresponding visual and audible feedback to guide the driver to perform correct operations, such as displaying corresponding warning information, playing emergency sounds, etc. The driver needs to learn how to quickly identify and determine emergency situations and faults and take the correct countermeasures, such as switching standby systems, taking emergency braking measures, etc.

Emergency braking scene simulation: the simulation system can provide a realistic emergency braking scene, so that a driver can feel the dynamic change and braking effect of the train during emergency braking. In an emergency braking scenario, the simulation system simulates the deceleration and braking process of the train, and the driver can experience the effect of emergency braking by observing the change in the speed of the train and feeling the feedback of the seat.

Through emergency and fault simulation, a driver is able to contact and handle various emergency situations and faults in a simulated environment, learn the correct operational procedures and skills, and enhance the ability and confidence in coping with emergency events.

The implementation of the real-time feedback and evaluation module comprises the following steps:

monitoring operation indexes of a driver: in the simulation training process, related operation indexes such as operation accuracy, reaction time, operation flow and the like are obtained by monitoring operation behaviors of a driver and inputting instructions. The operator's operational actions and command inputs may be captured by sensors, virtual buttons or handles, etc.

Real-time feedback: based on the operator's performance criteria, the simulation system may provide feedback in real-time to assist the operator in correcting errors and improving skills. Feedback may be achieved by way of visual effects, sound effects, tactile feedback, and the like. For example, when the driver operates in error, the simulation system may display a corresponding warning message or light, playing a warning tone or sound to draw the driver's attention and alert the driver of the error. Meanwhile, the simulation system can also adjust the feedback of the environment according to the operation index of the driver, such as changing the brightness of the scene, the intensity of sound and the like, so as to provide more visual feedback information.

Evaluation results and advice: according to the operation index of the driver and the target of simulation training, the simulation system can evaluate the performance of the driver and give corresponding results and suggestions. The operation accuracy, the reaction time, and the like of the driver can be evaluated and compared according to the evaluation criteria set in advance. Based on the evaluation, the simulation system may provide specific advice and direction of improvement, helping the driver to improve his skill and level of operation in a targeted manner.

Through real-time feedback and evaluation, a driver can timely know own operation accuracy and result, find errors and improvement space, and adjust and improve according to feedback, so that driving skill and coping capacity are improved.

The implementation of the signal and communication module comprises:

signal equipment simulation: signal equipment such as signal lamps, signal signs and the like which are common in the rail transit system are designed and simulated. Different types of signal equipment, such as an inbound signal, an outbound signal, a driving signal and the like, are considered, and simulation is carried out according to actual conditions. The simulation of different signal states, such as green light, red light, yellow light, etc., and the meaning of the relevant signal indication are supported.

Signal change and fault simulation: in the simulation training process, the signal change and fault conditions can be simulated by setting conditions or randomly triggering. For example, the simulation system can simulate the change of the state of the signal lamp, so that a driver can perform corresponding operation according to different signal instructions. In addition, the simulation system can simulate the faults of signal equipment, such as signal lamp faults or signal equipment damage and the like, so that a driver can learn how to cope with and handle the fault conditions.

Communication simulation: communication interaction between the train and the control center exists in the rail transit system, and the communication process can be simulated. In simulation training, the simulation system may provide a virtual control center or operator in communicative interaction with the driver. The driver may receive instructions, information or warnings from the control center and operate and schedule according to the instructions. Through the realization of the signal and communication module, a driver can learn how to operate and schedule according to the signal indication, so that the understanding and application capability of signal equipment are improved, and the safe running of a train is ensured. Meanwhile, the simulation system can simulate signal change and fault conditions, so that a driver can master skills and experience for coping with sudden conditions.

The implementation of the line simulation module comprises the following steps:

line topography simulation: and establishing the line topography in the simulation environment according to the actual track line data and the geographic information. The method comprises the steps of different terrain features of the ground, tunnels, bridges and the like and corresponding parameters of height, gradient and the like. The line topography may be simulated in a simulated environment by a topography generation algorithm or using actual topography data.

Line type and feature simulation: different types of track lines, such as subways, light rails, high-speed rails and the like, are considered, and simulation is performed according to the characteristics of actual lines. The simulation system can simulate corresponding train driving characteristics, speed limit regulations and the like aiming at different line types. For example, for a subway line, characteristics of a subway platform, a distance between stations, a subway signal system and the like can be simulated.

Curve radius, slope and speed limit simulation: and considering the influence of curve radius, gradient, speed limit and other factors on driving, and performing corresponding simulation and constraint in simulation. The simulation system can simulate the radius and gradient of the curve according to the actual line data and the speed limit rule, and limit the maximum speed of the train. In the simulation training, a driver needs to reasonably adjust the speed and operation according to the line characteristics and the speed limit regulations so as to ensure safe driving. Through the realization of the line simulation module, a driver can be familiar with the characteristics and driving skills of different lines and master the operation requirement of the corresponding lines. The simulation system can provide real line topography, tunnel, bridge and other environments, consider curve radius, gradient, speed limit and other factors, increase training sense of reality and challenge, and improve skill level and coping ability of drivers.

The implementation of the environment simulation module comprises the following steps:

weather simulation: different weather conditions, such as sunny days, cloudy days, rainy days, snowy days and the like, are simulated to increase the coping ability of a driver in various weather environments. The weather effect, such as the simulated raindrop and snowflake falling effect, is realized, and the visual effect, such as light, color and the like, is adjusted according to different weather conditions. The influence of weather on road conditions and vehicle performance, such as wet road surface, visibility degradation, etc., is considered.

Visibility simulation: considering different visibility conditions, such as good, medium, poor and the like, factors influencing the visibility, such as simulation fog, smoke dust and the like, adjust visual effects in a simulation environment, such as blurring, transparency and the like according to the visibility conditions, so that a driver can experience driving challenges under different visibility.

Road condition simulation: simulating different road conditions such as flatness, undulation, bending, etc., as well as the quality and friction coefficient of the road surface. Obstacles on roads, traffic signs, road markings, and the like are considered to increase the coping ability of the driver in a complex road environment. The factors such as the width of the simulated road, the number of lanes and the like enable a driver to adapt to driving skills under different road conditions.

Time simulation: driving environments such as daytime, dusk, night and the like in different time periods are simulated so as to enable a driver to be familiar with driving requirements under different illumination conditions. And adjusting the effects of light, shadow and the like of the environment, and simulating the illumination characteristics of different time periods. Through the implementation of the environment simulation module, a driver can experience various complex driving environments in simulation training, including different weather conditions, visibility, road conditions and time periods. The simulation system can dynamically simulate weather changes, bad weather conditions and driving environments in different time periods, so that drivers can cultivate coping capacity, and adaptability to complex environments and safe driving capacity are improved.

The data recording and analyzing module comprises the following steps:

and (3) data recording: in the simulation training process, various data of a driver are recorded, including indexes such as operation data, reaction time, decision accuracy and the like. Control inputs from the driver, such as throttle, brake, steering wheel angle, etc., may be recorded. Parameters and conditions in the simulated environment, such as vehicle speed, acceleration, field of view, etc., are recorded. The data recording may be accomplished by internal functions of the sensor, simulator device or simulation system.

Data analysis: the recorded driver data is analyzed and evaluated to reveal potential problems and room for improvement for the driver. And analyzing the indexes such as the operation accuracy, the reaction time, the decision capability and the like of the driver, and comparing with standard indexes or expert advice. The data is processed and modeled using statistical analysis and machine learning algorithms to extract useful information and patterns based on the data analysis results, generating personalized training recommendations and improvements that help drivers to improve skills and overcome problems with pertinence.

Visualization and feedback: the data analysis results are visually presented so that a driver can intuitively know the driving performance and the problem of the driver. The data analysis results can be displayed in a chart, a statistical chart, a visual simulation mode and the like. Providing real-time or periodic feedback, presenting analysis results and training advice to the driver, helping them to recognize their own advantages and direction of improvement. Through the realization of the data recording and analyzing module, various data of a driver in the simulated training process can be accurately recorded, and a useful conclusion is obtained through analysis and evaluation. Thus, the driver can find potential problems, improve driving skills, train according to personalized training advice and improve driving capacity and safety.

The system also comprises an updating and upgrading module, which specifically comprises:

and (3) modular design: the rail transit driving simulation system is divided into a plurality of modules, and each module is responsible for different functions or subsystems. Each module should be designed as an independently updatable and replaceable component to enable quick updating and upgrading of the system.

Software updating: a software update mechanism is provided that enables the system to obtain new software versions over a network or other means. The new software version may be deployed into the rail transit driving simulation system by means of automatic or manual updating. The updated software version may contain improved functionality, repaired vulnerabilities, or added training content.

Module replacement: module replacement refers to replacing an old module or device with a new module or device to introduce new technologies and functionality the new module or device should be compatible with the rest of the system and be able to be smoothly integrated into the rail transit driving simulation system. Module replacement may include replacement of hardware devices, upgrade of sensors, replacement of software components, etc.

Compatibility considerations: in performing updates and upgrades, compatibility of the new version needs to be considered to ensure that the new module or software works in coordination with other parts of the existing system. Sufficient testing and verification is required to ensure that the updated and upgraded system can operate properly and meet training requirements. By means of the realization of the updating and upgrading module, the rail transit driving simulation system can timely acquire new technology and training content so as to adapt to the continuously developed rail transit technology and training requirements. The system can quickly acquire a new software version through a software updating mechanism, support module replacement and introduce new modules or devices. Thus, the rail transit driving simulation system can keep up-to-date, and provide latest training experience and technical support.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but the present invention is described in detail with reference to the foregoing embodiments, and modifications and substitutions of some technical features of the foregoing embodiments will be apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

1. A rail transit train driver training simulator, comprising:

train operation module: providing a train operation simulation environment; signal and communication module: signal lamps and signal sign signal equipment in a simulated rail transit system; and a circuit simulation module: providing different types of rail line simulations; and an environment simulation module: simulating environmental conditions; and the data recording and analyzing module is used for: and recording various data of the driver in the simulated training process, and analyzing and evaluating the data.

2. A rail transit train driver training simulator as claimed in claim 1, wherein: the train operation module includes:

Motion simulation module: using a motion simulator device to simulate the motion feeling of a train and increase the physical perception of a driver;

and a real-time physical simulation module: simulating movement and dynamic behaviors of the train based on the physical simulation engine;

emergency and fault simulation module: designing train emergency and fault scenarios

Real-time feedback and evaluation module: providing real-time feedback and assessment to help the driver correct errors and improve skills.

3. A rail transit train driver training simulator as claimed in claim 2, wherein:

the motion simulation module comprises:

dynamic seating: the method comprises the steps of simulating the motion feeling of a train, including acceleration, deceleration and turning, wherein a seat generates multi-axis motion through a motor or a hydraulic device, and the position and the inclination angle of the seat are adjusted in real time according to the motion parameters of the simulated train, so that a driver can feel the physical feeling brought by the motion of the train;

and (3) a control system: the control system receives instructions and signals from the train operation module, calculates the motion parameters of the seat according to real-time data, and controls the motion mode and strength of the seat by controlling the operation of the motor or the hydraulic device;

Sensor system: the system is used for acquiring movement data of the train and operation feedback of a driver; the sensor monitors the speed, acceleration and turning radius movement parameters of the train and transmits data to the control system; the sensor also monitors the driver's operation behavior, including turning the steering wheel, depressing the brake pedal;

and a real-time physical simulation module:

modeling a train system: modeling the train system as a multi-body dynamics system;

consider the physical factors: in the physical simulation, physical factors in train movement are considered: inertia, friction, gravity, air resistance; the motion of the train is subjected to inertia, an inertia force is calculated according to the mass, the speed and the acceleration of an object, the friction force is calculated according to the contact characteristic between wheel tracks and the relative motion between the wheel tracks, the gravity is determined by the slope and gradient conditions of the train according to the size and the direction, and the air resistance is calculated according to the speed and the air density parameters of the train;

simulating train movement: in the simulation process, solving a motion equation of the train through a numerical integration method based on a physical model and physical factors of the train system; according to the operation instruction and input of a driver, accelerating, decelerating and steering, and updating the speed and acceleration of the train; according to the current speed and the motion state of the train, the action of physical factors is considered, and the force and the moment born by the train are calculated; according to the forces and moments, calculating the acceleration and the angular acceleration of the train through Newton's second law and a rigid body dynamics equation; converting the acceleration and angular acceleration of the train into changes in speed and position by using a numerical integration method;

Real-time interaction and feedback: the operation of the driver influences the motion state of the train in real time, the operation instruction of the driver is input into a simulation system, the speed, the acceleration and the angular acceleration of the train are changed, the driver can sense the motion result and the influence of the train through visual and auditory feedback, the acceleration of the train changes and the steering effect, and the simulation system can provide corresponding visual and auditory feedback for the driver according to the motion state and the physical simulation result of the train so as to enhance the immersion and the realism;

emergency and fault simulation module: designing emergency and fault scenes: designing emergency situations and fault scenes aiming at different train systems and equipment, wherein the emergency situations and fault scenes comprise faults of a braking system, faults of signals and faults of power supply; defining the triggering condition and effect of each scene, wherein the braking system failure can lead to the reduction of braking force or complete failure, and the signal failure can lead to the failure of the train to receive an accurate signal instruction; considering the severity and urgency of different emergency situations and fault scenes so as to evaluate and feed back according to the coping situation of the driver;

randomly triggering emergency and malfunction: in simulation training, random triggers are used to simulate the occurrence of emergency situations and fault scenes; the trigger randomly selects and triggers emergency and faults in the simulation based on a certain probability or time interval; after triggering emergency and faults, the simulation system correspondingly changes the motion state and system behavior of the train, including changing braking force and simulating signal loss;

Emergency braking scene simulation: the simulation system provides a realistic emergency braking scene, so that a driver can feel the dynamic change and braking effect of the train during emergency braking; in an emergency braking scene, a simulation system simulates the speed reduction and braking process of a train, and a driver experiences the effect of emergency braking by observing the change of the speed of the train and feeling the feedback of a seat;

real-time feedback and evaluation module:

monitoring operation indexes of a driver: in the simulation training process, the operation behavior of a driver and an input instruction are monitored to obtain related operation indexes, wherein the operation indexes comprise operation accuracy, reaction time and operation flow; capturing operator operation actions and instruction inputs by means of sensors, virtual buttons or a handle device;

real-time feedback: according to the operation index of the driver, the simulation system provides feedback in real time so as to help the driver correct errors and improve skills; feedback is realized through visual effect, sound effect and tactile feedback mode; when the driver operates the device in error, the simulation system displays corresponding warning information or warning lamps, and plays a prompt tone or alarm sound so as to draw the attention of the driver and prompt the driver of the error; the simulation system also adjusts feedback of the environment according to the operation index of the driver, including changing the brightness of the scene and the intensity of the sound so as to provide more visual feedback information;

Evaluation results and advice: according to the operation index of the driver and the target of simulation training, the simulation system evaluates the performance of the driver and gives corresponding results and suggestions; according to a preset evaluation standard, the operation accuracy and the reaction time of a driver are evaluated and compared; based on the evaluation results, the simulation system provides specific advice and direction of improvement, helping the driver to improve his skill and level of operation in a targeted manner.

4. A rail transit train driver training simulator as claimed in claim 1, wherein: the signal and communication module comprises:

signal equipment simulation: designing and simulating signal equipment in a rail transit system, wherein the signal equipment comprises signal lamps and signal marks, and the signal marks comprise an inbound signal, an outbound signal and a driving signal;

signal change and fault simulation: in the simulation training process, the signal change and fault conditions are simulated by setting conditions or randomly triggering, wherein the simulation system simulates the change of signal lamp states, so that a driver can perform corresponding operation according to different signal instructions, and the simulation system also simulates the faults of signal equipment, including signal lamp faults or signal equipment damages, so that the driver can learn what kind of response and process the fault conditions are included;

Communication simulation: in the rail transit system, communication interaction between the train and the control center exists, the communication process is simulated, in the simulated training, the simulation system provides a virtual control center or an operator to perform communication interaction with a driver, and the driver receives instructions, information or warnings from the control center and operates and schedules according to the instructions.

5. A rail transit train driver training simulator as claimed in claim 1, wherein: the line simulation module includes:

line topography simulation: establishing a line topography in a simulation environment according to actual track line data and geographic information;

line type and feature simulation: different types of track circuits are considered, and simulation is carried out according to the characteristics of actual circuits;

curve radius, slope and speed limit simulation: the influence of curve radius, gradient and speed limiting factors on driving is considered, and corresponding simulation and constraint are carried out in simulation.

6. A rail transit train driver training simulator as claimed in claim 1, wherein: the environment simulation module includes:

weather simulation: different weather conditions including sunny days, overcast days, rainy days and snowy days are simulated to increase the coping ability of a driver in various weather environments;

Realizing weather effects, including simulating the falling effects of raindrops and snowflakes, and adjusting visual effects, including light and color, according to different weather conditions, and considering the influence of weather on road conditions and vehicle performance, including wet road surface and visibility reduction;

visibility simulation: considering different visibility conditions, including good, medium and bad factors, simulating factors of fog and smoke dust influencing visibility, and adjusting visual effects in a simulation environment according to the visibility conditions, including blurring and transparency, so that a driver can experience driving challenges under different visibility;

road condition simulation: simulating different road conditions including flatness, undulation, bending, and road quality and friction coefficient; considering obstacles, traffic signs and road markings on roads to increase the coping capability of a driver in a complex road environment, simulating the factors of the width and the number of lanes of the road, so that the driver can adapt to driving skills under different road conditions;

time simulation: the driving environment of different time periods is simulated, including daytime, dusk and night, so that a driver is familiar with driving requirements under different illumination conditions, the light and shadow effects of the environment are adjusted, and the illumination characteristics of different time periods are simulated.

7. A rail transit train driver training simulator as claimed in claim 1, wherein: the data recording and analyzing module comprises:

and (3) data recording: in the simulation training process, various data of a driver are recorded, including operation data, reaction time and decision accuracy indexes. Recording control inputs of a driver, including throttle, brake and steering wheel rotation angle, recording parameters and states in a simulation environment, including vehicle speed, acceleration and visual field range, and realizing data recording through internal functions of a sensor, simulator equipment or a simulation system;

data analysis: analyzing and evaluating the recorded driver data to reveal potential problems and improvement spaces of the driver, analyzing operation accuracy, reaction time and decision capability indexes of the driver, comparing the operation accuracy, reaction time and decision capability indexes with standard indexes or expert advice, processing and modeling the data by using statistical analysis and a machine learning algorithm to extract useful information and modes, generating personalized training advice and improvement schemes based on data analysis results, and helping the driver to pertinently promote skills and overcome problems;

visualization and feedback: the data analysis results are visually presented so that a driver can intuitively know the driving performance and the problem of the driver.