Gesture Coordinate Transformation And Fusion Algorithm And Applications In Driving Simulator Of High-speed Train

Virtual reality technology has been used in many fields,such as rail transportation,due to its advantages in immersion,interactivity,and multi-perception.Virtual reality technology can effectively overcome the weaknesses of traditional training methods in rail transportation,which are limited by time,space,cost,etc.This thesis proposes a gesture coordinate transformation and fusion algorithm based on virtual reality technology and virtual hand interaction technology,to address the current problems of high cost,fixed perspective,and poor flexibility of high-speed railway driving simulators.Thus this algorithm can realize interaction with physical objects in a virtual reality environment and be applied to high-speed railway driving simulation.Firstly,the investigation on gesture coordinate transformation and fusion algorithm has been performed.The Leap Motion and interactive objects were positioned using the HTC Vive headset and HTC Vive tracker,respectively.The three-dimensional coordinates of hands and interactive objects were integrated into HTC Vive Lighthouse positioning system through coordinate transformation and mapped to virtual space.There is a one-to-one model of the interactive object in virtual space,so that the model positioning point’s coordinates are the same as the HTC Vive tracker’s coordinates in virtual space.The relative positional relationship between the virtual hand and the model in the virtual environment is consistent with the positional relationship between the hand and the interactive object in reality,so the interactive object can be operated.Secondly,the gesture coordinate transformation and fusion algorithm are applied to the high-speed railway driving simulation.Based on the gesture coordinate transformation and fusion algorithm,the interaction with the operating device on the physical console was realized.Besides,the classification of four interactive gestures was achieved using support vector machine based on the joint data collected by Leap Motion and the analysis of the actual operating gestures.Different interaction logics were designed for each operating element on the console model based on the classification results and collision detection.For the operating handle model,the rotation angle depends on the solid handle rotation angle,and the handle rotation angle is obtained by palm trajectory and palm coordinates at different moments,and then the handle model is rotated to make the virtual and real corresponding handle rotation angles consistent.A control terminal and a simulated driving terminal were developed.The control terminal can set faults and change the weather of the simulated driving terminal.For the simulated driving terminal,basic terrain was created using terrain editing tools;dynamic loading was used to load objects into the scene;weather simulation made use of particle system,lighting component,and skybox;and finite state machine was used for fault state switching to achieve fault handling and driving functions.A three-degreeof-freedom motion platform was used to simulate the physical feedback that is given to the user during high-speed railway operation,and the movement of the motion platform is controlled by the running speed,acceleration and deceleration of the high-speed railway,and the angle of the track bending.Finally,a complete high-speed railway driving simulation system was built in the laboratory to realize communication among the control terminal,motion platform,and the simulated driving terminal.What’s more,virtual-real interaction,driving simulation,weather simulation,fault handling simulation,and somatosensory simulation were all tested.The simulation operation of the high-speed railway simulation driving console was realized in a virtual-real interaction mode,which enhances the sensation of realism and immersion in operation.