JPH04232829A - Steering reaction force generating device for driving simulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention is a steering reaction force generating device for a driving simulator, in particular, it can simulate the reaction force generated according to the steering angle of the steering wheel when the vehicle is running, and can obtain a steering operation feeling close to that of the actual driving. The present invention relates to a steering reaction force generating device for a driving simulator.

0002

[Prior Art] It has been desired to develop a driving simulator that allows driving with a feeling similar to that of actually driving a vehicle, and such a driving simulator can be used, for example, as a driving simulator for driving lessons at a driving school. It can be used not only as a simulator for driving game machines but also for a wide range of other purposes.

However, with the conventional technology, it is not possible to accurately simulate the reaction force that acts on the steering wheel when the vehicle is actually running, so there is a problem that the steering operation feeling is different from that when the vehicle is actually driving and lacks reality. was there.

In particular, in the conventional technology, only a spring or the like is used to generate a reaction force on the steering shaft that is proportional to the steering angle, and the reaction force thus applied is dependent on the running speed of the vehicle and the steering angle. This was completely different from the reaction force, which changes slightly depending on the steering angle, etc.

[0005]

[Problems to be Solved by the Invention] The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to provide a system that allows steering operations to be performed with a feeling similar to that of an actual vehicle, and that is simple. An object of the present invention is to provide a steering reaction force generating device for a driving simulator that has a configuration with good responsiveness.

[0006]

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a steering reaction force generating device for a driving simulator that calculates the reaction force acting on the steering wheel when the vehicle is running and applies the reaction force to the steering wheel as a load.
A steering angle detection means that detects the steering angle of the steering wheel and outputs it as a steering angle detection signal, and a reaction force calculation that calculates the reaction force acting on the steering based on the steering angle detection signal and the driving speed of the driving simulator. means, and the reaction force calculation means includes a function converter that outputs a function signal obtained by converting the steering angle by a predetermined function based on the steering angle detection signal, and a function converter that converts the steering angle by a predetermined function based on the driving speed of the driving simulator. It is characterized by comprising a restoring force calculation means having an attenuation rate calculation unit that calculates the attenuation rate of the signal, and an attenuation unit that attenuates the function signal and outputs it as a signal representing the restoring force based on the calculated attenuation rate. shall be.

[0007]Furthermore, the reaction force calculation means according to claim 2,
The present invention is characterized in that it includes vibration calculation means for calculating a reaction force acting as vibration on the steering wheel based on at least one of the traveling speed of the driving simulator and the engine rotation speed.

[0008] Further, the reaction force calculation means according to claim 3:
The present invention is characterized in that it includes a road resistance calculation means for determining the rotational direction and angular velocity of the steering wheel from the steering angle detection signal and calculating a reaction force acting on the steering wheel as road resistance based on the rotational direction and angular velocity.

Further, in the apparatus according to claim 4, the steering angle detecting means detects a steering angle of a steering wheel;
The reaction force calculation means is formed to output a voltage signal proportional to the steering angle as a steering angle detection signal, and the reaction force calculation means
The vehicle is characterized by including a level shift means for shifting the voltage signal to a predetermined level depending on the situation and calculating and setting a situation in which the steering wheel is turned in a predetermined steering direction.

0010

[Operation] Next, the operation of the present invention will be explained.

[0011] When the vehicle actually travels, the force that acts on the steering as a reaction force changes from time to time depending on the vehicle's traveling conditions.

The device according to claim 1 of the present invention has a simple configuration, has good responsiveness, and can better simulate the reaction force that acts as a restoring force on the steering wheel during driving. This restoring force is a reaction force that acts to always restore the steering to the straight direction when the vehicle is running. If the reaction force to the steering angle of the steering wheel is changed by a function rather than a straight line like a spring, the restoring force of a vehicle traveling at a constant speed under a predetermined driving condition can be better simulated. Moreover, if the reference restoring force obtained in this way is attenuated according to the running speed of the vehicle, the restoring force changes at high speed to follow both the steering angle and the speed of the vehicle when the vehicle is running. force can be accurately simulated.

[0013] Furthermore, the device according to claim 2 simulates the reaction force that acts as vibration on the steering wheel during driving. For example, when a vehicle is running, engine vibrations, knocking, etc. are transmitted to the steering wheel as vibrations. This device can accurately simulate such a case by calculating the reaction force that acts on the steering as vibration.

[0014] Furthermore, the apparatus according to claim 3 simulates the reaction force acting on the steering as road surface resistance when performing a steering operation. That is, when the steering wheel is operated, road surface resistance acts as a reaction force to hinder the steering operation. The road resistance calculation means of the present invention calculates the road resistance based on the angular velocity of the steering operation and the vehicle running speed, thereby accurately simulating the actual road resistance.

Furthermore, the apparatus according to claim 4 simulates a state in which the steering wheel is turned in a predetermined steering direction. For example, when a vehicle passes a road surface that is inclined in a direction that intersects with the direction of straight travel, a reaction force acts on the steering wheel so that the steering wheel is steered in the direction of the inclination. The device according to claim 4 can simulate a situation where the steering wheel is turned by shifting the steering angle detection signal representing the steering angle of the steering wheel in a predetermined steering direction.

[0016] As described above, the invention according to claim 1 can accurately simulate the reaction force that acts on the steering as a restoring force, and the device according to claim 2 can accurately simulate the reaction force that acts on the steering as vibration. can be simulated. Furthermore, the device according to claim 3 can accurately simulate the reaction force that acts on the steering wheel as road resistance during steering operation, and the device according to claim 4 can simulate the state in which the steering wheel is steered in a predetermined steering direction. I can do it.

Therefore, by using the devices of claims 1 to 4 alone or in combination as necessary, it is possible to accurately simulate the reaction force acting on the steering wheel under various driving conditions, and to simulate the reaction force that is close to that of actual driving. You can feel the operation of the handle.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, preferred embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 2 shows a preferred example of a driving simulator for driving training to which the present invention is applied. ,
It is configured to operate various parts such as the accelerator, clutch, and handbrake.

[0020] Also, this driving simulator:
A display 16 is provided at a position corresponding to the front window of the vehicle. The CPU (not shown) calculates various driving environments of the vehicle, and when the vehicle travels within the calculated driving environment, a display 16 displays the scenery in front of the vehicle that can be seen from the driver's seat through the front window.
Display above. The driver then displays display 1.
The driver operates the steering wheel 12, brakes 14, etc. while looking at the scenery displayed on the screen 6, and drives the vehicle in the same way as in an actual vehicle.

The steering wheel 18 of this embodiment also includes the aforementioned handle 12, a steering shaft 20 whose one end is fixed to the handle 12, and a shaft connected to the steering shaft 20 by a universal joint 22 at its tip. 24, and when the handle 12 is rotated,
Shafts 20, 24 connected thereto are also configured to rotate. The steering angle θ of the steering wheel 18 is detected by the steering angle detection section 28 and output as a steering angle detection signal V2.

A feature of the present invention is that the reaction force acting on the steering wheel during vehicle operation is simulated, and the reaction force is applied to the steering wheel as a load. This provides a steering feel that is almost the same as in an actual vehicle, allowing the driver to drive as if they were riding in an actual vehicle.

For this reason, the device of the present invention has a load generating section 3.
0, and a reaction force calculation circuit 48 that controls this load generation section 30.
and is configured to apply a predetermined load to the shaft 24 as a reaction force.

In this embodiment, the load generating section 30 includes a DC servo motor 32 and a deceleration mechanism 34 that decelerates the rotational output of the servo motor 32.
By passing the belt 38 between the pulley 36 provided on the output shaft of the servo motor 32 and the pulley 26 provided on the shaft 24, the load generated by the servo motor 32 is transferred to the shaft 2.
4.

FIG. 1 shows a preferred example of the steering angle detection section 28 and the reaction force calculation circuit 48 according to the present embodiment. The system is configured to calculate the reaction force acting on the steering wheel 18 during driving based on V2, control the DC servo motor 32 using the servo controller 60, and apply the same reaction force to the steering wheel 18 as in the actual vehicle.

Here, the steering angle detection section 28 of the embodiment
includes a variable resistor 40, a level shifter 42, and a center adjustment circuit 44. The variable resistor 40 has one end grounded and the other end connected to a +5 volt DC power supply, and is configured as a voltage divider circuit that changes its resistance value and outputs a voltage signal of V1 as the shaft 24 rotates. Ru.

FIG. 3(a) shows a voltage signal V1 output from the variable resistor 40. As shown in the figure, the voltage signal V1 is proportional to the steering angle θ and is 2.5V when the steering angle is θ=0. Voltage is output.

The level shifter 42 changes the voltage signal V1 outputted from the variable resistor 40 by -2 so that the output voltage passes through the 0 point when the steering angle is θ=0 as shown in FIG. 3(b).
．． The signal is shifted by 5V and outputted to the reaction force calculation circuit 48 as the steering angle detection signal V2. Note that when the steering angle θ=0, if the output V2 deviates from the 0 point, a shift adjustment is performed using the center adjustment circuit 44 so that the output voltage V2 passes through the 0 point.

The reaction force calculation circuit 48 calculates and outputs the reaction force acting on the steering wheel during driving, and in this embodiment, a restoring force calculation circuit 50 and a vibration calculation circuit 54 are used.
, a road surface resistance calculation circuit 52, and a level shift circuit 94 that calculates the situation in which the steering wheel is turned.

The restoring force calculation circuit 50 calculates and outputs a reaction force that acts so that the steering wheel 18 returns to the straight direction (steering angle θ=0). This restoring force changes at any time depending on not only the steering angle of the steering wheel, but also the traveling speed of the vehicle and the road surface condition. In order to calculate such a restoring force, the restoring force calculation circuit 52 of the embodiment includes a function conversion section 6
2, limiter 64, and programmable attenuator 6
6, a first attenuation rate calculation section 68, and a DA converter 70
including.

The function converter 62 converts the steering angle detection signal using a function that can approximate constant speed running of the vehicle, and in the embodiment, the level shifter 4
The steering angle detection signal V2 outputted from 2 as shown in FIG. 3(b) is converted into a voltage signal representing a logarithm corresponding to the steering angle θ as shown in FIG. output to the programmable attenuator 66. That is, the present inventor found that when the vehicle runs at a constant speed, the restoring force increases logarithmically with respect to an increase in the steering angle θ of the steering wheel. Therefore, the logarithmically converted signal output from the function converter 62 via the limiter 64 simulates the restoring force acting on the steering of a vehicle traveling at a constant speed under predetermined conditions. Note that a limiter 64 is provided after the function converter 62.
was established for the following reasons. That is, the function conversion section 6
Depending on the circuit configuration of No. 2, logarithmic conversion may not be performed reliably when the steering angle θ becomes large. Taking this into consideration, it is assumed that when the steering angle θ becomes a certain angle or more, the restoring force also saturates to a certain value, and the output of the function converter 62 is converted and output as shown in FIG. 3(d). It's for a reason. Therefore, if the characteristics of the function conversion section 62 are good, it is not necessary to provide this limiter 64.

In this way, the restoring force is simulated logarithmically with respect to the steering angle θ, but as mentioned above, this restoring force depends on the running speed and acceleration of the vehicle, the type of vehicle, and whether it is power steering or not. It also varies depending on the condition of the road surface on which the vehicle is traveling (for example, the condition of the road surface such as a gravel road or a snowy road). For this reason, the damping rate calculation unit 68 sets the damping rate in advance according to the type of vehicle to be simulated, and further sets the damping rate based on the input traveling speed v of the vehicle, acceleration α, and coefficient μ representing the road surface condition. is calculated, and this attenuation rate is outputted to the programmable attenuator 66 via the DA converter 70. Thereby, the programmable attenuator 66 performs attenuation control on the input restoring force logV2 based on this attenuation rate, and outputs it to the adder 56. For example, when the velocity v and acceleration α input to the damping rate calculation unit 68 are large,
Set the attenuation rate small and use the program attenuator 6.
The restoring force output from 6 is controlled to a relatively large value. On the contrary, when the velocity v and the acceleration α are small, the damping rate output from the damping rate calculating section 68 is set to a large value,
The restoring force output from the program attenuator 66 is controlled to be relatively small.

In this way, the restoring force calculation circuit 50 of the embodiment calculates the steering angle θ, the speed v, and the acceleration α.
It becomes possible to accurately simulate and calculate and output the restoring force that changes in accordance with the fluctuations in the road surface condition and the fluctuations in the coefficient μ representing the road surface condition.

The road resistance calculation circuit 52 calculates and outputs the reaction force acting on the steering wheel 18 as road resistance when the steering wheel is operated. This road resistance is not so noticeable when the angular velocity of turning the handle 12 is small, but becomes more noticeable as the angular velocity increases. Furthermore, this road resistance is determined by the vehicle running speed,
It also changes depending on the acceleration, and is noticeable when driving at low speeds and low accelerations, and becomes a relatively small value when driving at high speeds and high accelerations.

Therefore, the road resistance calculation circuit 52 of the embodiment
The rotation direction and angular velocity detection section 72 and the limiter 74
, a programmable attenuator 76 , a second attenuation rate calculation section 78 , and a DA converter 80 .

The rotational direction and angular velocity detection section 72 differentiates the input steering angle detection signal V2, detects the rotational direction of the steering wheel and its angular velocity ω, and converts this into a voltage as shown in FIG. 3(e). Output as a signal.

Here, the region where the angular velocity ω is positive means that the steering wheel is rotated to the right,
A region where the angular velocity ω is negative means that the steering wheel is rotated to the left.

The limiter 74 sets an upper limit VS, - to the amplitude of the voltage signal shown in FIG. 3(e) output in this way.
VS is set, and the angular velocity ω is |ω as shown in Fig. 3(f).
The output voltage is a constant value VS in the region of ｜≧ωS
Output as follows. As a result, when the rotational angular velocity of the steering wheel 18 is small (absolute value |ω|≦ωs)
, a resistance is generated according to the angular velocity, and as the rotational angular velocity of the steering wheel 18 increases (|ω|≧ωS), a certain resistance is generated.

Furthermore, as described above, road resistance changes depending on the speed, acceleration, and road surface condition of the vehicle. Therefore, the second damping rate calculation unit 78 calculates the traveling speed v, acceleration α,
The attenuation rate is calculated based on the coefficient μ representing the road surface condition, and is outputted to the programmable attenuator 76 via the DA converter 80. Thereby, the programmable attenuator 76 attenuates the voltage representing the road surface resistance outputted from the limiter 74 as shown in FIG. α,
It is outputted to the adder 56 as the road resistance generated under the conditions of the coefficient μ representing the road surface condition and the steering angular velocity ω.

In this manner, the road resistance calculation circuit 52 of the embodiment satisfactorily simulates the road resistance that changes from time to time in accordance with the rotational angular velocity of the steering wheel, the running speed of the vehicle, the acceleration, and the road surface condition, and calculates and outputs the result. be able to.

The vibration calculation circuit 54 calculates and outputs a reaction force that acts as vibration on the steering wheel depending on the running state of the vehicle. Such vibrations occur, for example, when a vehicle drives at high speed, when the engine knocks, or when the vehicle hits something. For this reason, the vibration calculation circuit 54 of the embodiment includes a high-speed operation oscillator 90 that generates a 20 Hz rectangular wave, and converts and outputs the amplitude of this oscillation output into three types of oscillation signals having high, medium, and bottom amplitudes. Attenuator 92 and 10H
Knocking and impact oscillator 84 that generates a square wave of z
an attenuator 86 that converts and outputs the amplitude of this oscillation output into four types of oscillation signals having amplitudes of high, slightly high, slightly low, and low; and a selector 82 that selectively outputs the output of each of the attenuators 92 and 86. A selector control section 88 that controls the selection operation of the selector 82 is included.

When the selector control section 88 determines that the vehicle is traveling at high speed based on the vehicle speed v and engine rotation speed R, the selector control section 88 selects three types of oscillation outputs output from the attenuator 96. The selector 82 selects the appropriate one and outputs it to the adder 56. Further, when simulating an engine knocking state or when simulating a state where the vehicle collides with something, the selector 82 selects an appropriate predetermined signal from the oscillation outputs of four different amplitudes output from the attenuator 86. and output to the adder 56.

In this way, the vibration calculation circuit 5 of the embodiment
4 can accurately simulate the vibrations that occur during high-speed driving, engine knocking, vibrations that occur when the vehicle collides with something, etc., and can output them to the adder 56.

The adder 56 adds up the reaction forces calculated and outputted from each calculation circuit 50, 52, and 54 in this way, and outputs the result to the servo controller 60 via the buffer 58.

[0045] As a result, the servo controller 60
To control the rotation of the servo motor 32 so as to accurately simulate the restoring force that acts on the steering wheel, the road resistance that acts when the steering wheel is rotated, and the vibration that acts as a reaction force on the steering wheel under various conditions. Therefore, the driver must hold the steering wheel 1 when driving the vehicle.
2, it is possible to experience the reaction force actually acting on the steering wheel 18 from the road surface, etc., and it is possible to obtain a steering operation feeling close to that of an actual vehicle.

In addition to this, the reaction force calculation circuit 4 of this embodiment
8 is provided with a level shift circuit 94 as described above, and this level shift circuit 94 simulates a situation in which the handle is moved in a predetermined operating direction. For example, in a driving simulator such as the embodiment, in order to simulate a situation where the vehicle is traveling on an inclined road surface or a state where the vehicle is spinning, it is necessary to simulate the situation in which the steering wheel is turned in a predetermined steering direction. It needs to be simulated accurately. Therefore, the level shift circuit 94 controls the voltage V2 output from the level shifter 42 based on the driving information of the driving simulator.
The steering wheel is controlled to shift in the plus or minus direction by a predetermined level at any time, thereby simulating a situation in which the steering wheel is steered in a predetermined direction.

The present embodiment has the above configuration, and its operation will be explained next.

First, when the driver sits on the seat 10 and starts driving the driving simulator, the CPU (not shown) of the driving simulator controls the brake 14.
In addition to calculating the running speed and acceleration of the vehicle in accordance with the operation of the accelerator and the like, the road surface condition μ to be simulated is also calculated, and furthermore, the scenery in front as seen from the front window of the vehicle is displayed on the display 16.

At this time, the steering angle θ of the handle 12, that is, the steering wheel 18 is detected by the steering angle detection section 28,
A voltage V2 proportional to the steering angle θ is input as a steering angle detection signal to the restoring force calculation circuit 50 and the road surface resistance calculation circuit 52.

Then, the restoring force calculation circuit 50 determines the straight direction of the vehicle (θ=0 ) is calculated and outputted to the adder 56 to restore the steering angle θ. In particular, in the device of the present invention, the restoring force is controlled to vary logarithmically with respect to the steering angle, and this restoring force is attenuated according to the vehicle speed, acceleration, and road surface condition μ, so the steering angle The restoring force that changes from time to time based on θ, speed v, acceleration α, and road surface condition μ can be accurately simulated and applied to the steering wheel 18 as a reaction force.

Therefore, according to the device of the embodiment, when the driver turns the steering wheel 12 in a predetermined steering direction at a curve, for example, a restoring force acts on the shaft 24 as a reaction force in the same way as in an actual vehicle. Therefore, it is possible to obtain a steering operation feeling similar to that of driving an actual vehicle.

Furthermore, by calculating the damping rate based on the road surface condition μ, the CPU simulates the road surface condition,
For example, it is possible to obtain a steering operation feeling similar to that experienced when driving on an actual snowy road, gravel road, etc.

Furthermore, the road surface resistance calculation circuit 52 detects the rotational direction and rotational angular velocity of the steering wheel 18 based on the steering angle detection signal V2. The detected rotational direction, rotational angular velocity, and vehicle speed v calculated by a CPU (not shown)
, acceleration α, and road surface condition μ.
The road resistance that acts as a reaction force is calculated and output.

As a result, the driving simulator of this embodiment can accurately simulate the road resistance that acts on the steering wheel 18 when, for example, the vehicle is parked in a garage, parallel parked, or when the steering wheel is suddenly rotated while the vehicle is running. This allows you to experience the same steering sensation as if you were parking your vehicle in a real vehicle.

Furthermore, in the driving simulator of the embodiment, situations such as when the vehicle is traveling at high speed, when the engine knocks due to poor operation by the driver, etc.
Furthermore, it is designed to simulate the situation when the vehicle collides with some kind of obstacle.

The vibration calculation circuit 54 of the embodiment inputs such various simulated information calculated and outputted by the CPU to the selector control unit 88, and uses the selector control unit 88 to select and output the information via the selector 82. Controls vibration signals. That is, the vibration calculation circuit 54 calculates vibrations generated when the vehicle travels at high speed based on the traveling speed v and the engine rotation speed R, selects a corresponding signal from the output of the attenuator 92, and sends it to the adder 56. Output the selected direction. Furthermore, when simulating the state when the engine knocks, a corresponding signal is selected from the output of the attenuator 86 and output to the adder 56. Furthermore, when the vehicle collides with some obstacle, the corresponding signal is selected from the output of the attenuator 86 and output to the adder 56.

In this way, the vibration calculation circuit 5 of the embodiment
4 is the vibration, knocking, and knocking that occur when a vehicle runs at high speed.
It is possible to accurately simulate vibrations that occur during a collision, etc., and apply it as a reaction force to the steering wheel 18.
In such situations, the driver will be able to perform steering operations in a manner similar to that of an actual vehicle.

Furthermore, the driving simulator of the embodiment is configured to simulate a situation where the steering wheel is taken off while driving on an inclined road surface or a situation where the steering wheel is taken off when the vehicle is spinning. In such a case, the level shift circuit 94 of the embodiment levels-shifts the voltage of the signal V2 output from the level shifter 42 according to the situation, based on control information output from the CPU of the driving simulator (not shown). As a result, under such circumstances, the steering wheel 18
It is possible to accurately reproduce the situation in which the steering wheel is steered in a predetermined steering direction.

As described above, the driving simulator of this embodiment accurately simulates various reaction forces acting on the steering wheel 18 in various driving environments calculated by the CPU, and provides a feeling close to that of the actual vehicle. The steering wheel 18 is controlled so that the steering wheel 18 can be operated. Therefore, the driver can operate the steering wheel 18 with the same feeling as when driving an actual vehicle, and the driving simulator faithfully reproduces the conditions of driving on a practice course at a driving school or on an actual road. becomes possible.

It should be noted that the present invention is not limited to the above embodiments, and various modifications can be made within the scope of the gist of the present invention.

For example, in the embodiment described above, the reaction force calculation circuit 48
As, a restoring force calculation circuit 50, a road resistance calculation circuit 52,
Although the explanation has been given using an example that includes both the vibration arithmetic circuit 54 and the level shift circuit 94, the present invention is not limited to this, and the present invention may include any one of these arithmetic circuits 50, 52, 54, 94 or the like as necessary. The reaction force calculation circuit 48 can also be constructed by arbitrarily combining a plurality of them.

For example, in a driving simulator that does not require simulating a situation where the steering wheel is taken,
The level shift circuit 94 can be omitted.Furthermore, in the embodiment described above, the function conversion section 62 performs logarithmic conversion. , various other functions may be used as necessary, as long as they can approximate constant speed running of the vehicle.

[0063]Also, in the above-mentioned embodiments, the present invention has been explained by taking as an example a case where the present invention is applied to a driving simulator for a driving school, but the present invention is not limited to this. It can also be widely applied to various other uses.

Furthermore, in the embodiment described above, the damping rate calculation units 64 and 78 calculate the damping rate based on the factors of velocity v, acceleration α, and road surface condition μ. Since the velocity v is a major factor that determines the attenuation rate, the attenuation rate may be calculated without considering factors such as α and μ, if necessary.

Furthermore, in the above embodiments, each part of the circuit is configured as hardware, but the present invention is not limited to this. It is also possible to configure it in software.

[0066]

[Effects of the Invention] As explained above, according to the present invention,
When driving with a driving simulator, it is possible to accurately simulate the reaction force that acts on the steering as a restoring force.

Further, according to the second aspect of the invention, it is possible to accurately simulate the reaction forces that act as various vibrations on the steering wheel during driving.

Furthermore, according to the third aspect of the invention, it is possible to accurately simulate the reaction force that acts on the steering wheel as road resistance from the road surface when the steering wheel is operated.

In addition, according to the invention of claim 4, it is possible to accurately simulate a situation in which the steering wheel is steered in a predetermined steering direction when the vehicle is running; for example, when the vehicle is running on an inclined road surface. It is possible to accurately simulate the steering feeling as if the steering wheel were turned in a predetermined steering direction when the vehicle is spinning or when the vehicle spins.

[Brief explanation of the drawing]

FIG. 1 is a steering reaction force calculation circuit diagram used in the device of the present invention.

FIG. 2 is a schematic explanatory diagram of a driving simulator to which the present invention is applied.

3A to 3F are explanatory diagrams of output waveforms of various parts of the circuit shown in FIG. 1;

[Explanation of symbols]

18 Steering 28 Steering angle detection section 30 Load generation part 48 Reaction force calculation circuit 50 Restoration force calculation circuit 52 Road resistance calculation circuit 54 Vibration calculation circuit 94 Level shift circuit

Claims (4)

[Claims] 1. A steering reaction force generating device for a driving simulator that calculates the reaction force acting on the steering wheel when the vehicle is running and applies it as a load to the steering wheel, which detects the steering angle of the steering wheel and outputs it as a steering angle detection signal. angle detection means; reaction force calculation means for calculating a reaction force acting on the steering based on the steering angle detection signal and the traveling speed of the driving simulator; the reaction force calculation means detects the steering angle. a function conversion unit that outputs a function signal obtained by converting the steering angle by a predetermined function based on the signal; a damping rate calculation unit that calculates the attenuation rate of the function signal based on the traveling speed of the driving simulator; and a calculated attenuation. 1. A steering reaction force generating device for a driving simulator, comprising: a restoring force calculating means having attenuating means for attenuating the function signal and outputting it as a signal representing a restoring force based on the ratio. 2. A steering reaction force generating device for a driving simulator that calculates the reaction force acting on the steering wheel when the vehicle is running and applies it as a load to the steering wheel, which detects the steering angle of the steering wheel and outputs it as a steering angle detection signal. angle detection means; reaction force calculation means for calculating a reaction force acting on the steering based on the steering angle detection signal and the driving speed of the driving simulator; A steering reaction force generating device for a driving simulator, comprising vibration calculation means for calculating a reaction force acting as vibration on the steering wheel based on at least one of speed and engine rotational speed. 3. In either of claims 1 and 2, the reaction force calculation means determines the rotational direction and angular velocity of the steering wheel from the steering angle detection signal, and acts on the steering wheel as road surface resistance based on the rotational direction and angular velocity. 1. A steering reaction force generating device for a driving simulator, comprising a road surface resistance calculation means for calculating a reaction force generated by a driving simulator. 4. In any one of claims 1 to 3, the steering angle detection means detects a steering angle of a steering wheel,
The reaction force calculation means is formed to output a voltage signal proportional to the steering angle as a steering angle detection signal, and the reaction force calculation means
A steering reaction force generating device for a driving simulator, comprising a level shift means for shifting the voltage signal to a predetermined level depending on the situation and calculating and setting a situation in which the steering wheel is turned in a predetermined steering direction.