JPH0451079A - Riding simulator for two-wheeler - Google Patents

Abstract

PURPOSE:To attain a model travelling with feeling of presence by estimating a traveling speed from the opening extent of the throttle and gear transmissionposition of a model two-wheeler. CONSTITUTION:A computer 40 estimates the traveling speed fromthe opening extent of the throttle and the gear transmission position of the model two- wheeler and controls the travel environment reproducing means composed of a motor-driven fan 29 sending air to a rider, a vibration generator 30, a speaker 31, etc., so as to obtain the feeling of presence corresponding to the estimated traveling speed. Consequently, the sound, vibration travel wind, etc., that the rider feels when actually riding on the vehicle can be reproduced, so travelling simulation which provides the increased feeling of presence is made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a two-wheeled vehicle riding simulation device that performs a riding simulation using a model two-wheeled vehicle on which a person can ride.

(Prior Art) Conventionally, there has been known a simulation device for play that combines a model two-wheeled vehicle and a CRT display, and changes the display screen according to the operation of the steering wheel or accelerator, allowing the user to enjoy the game as if they were riding.
In order to enhance the sense of reality in a darning device, a model motorcycle that can be tilted laterally is also disclosed in Japanese Patent Application Laid-Open No. 61154689.
This method is known from Japanese Utility Model Publication No. 62-1688.

(Problem to be Solved by the Invention) However, the vehicle described in the above publication only tilts the vehicle body due to weight shift, and does not affect the turning feeling, acceleration/deceleration feeling when driving around a corner, or the behavior of the vehicle body while driving. There was a problem in that it was not possible to simulate the actual driving feeling of the vehicle.

The present invention has been made in view of the above-mentioned circumstances, and provides a two-wheeled vehicle riding simulation device that is capable of simulating an actual riding feeling and can be used not only for entertainment but also for two-wheeled vehicle driving education. The purpose is to provide.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a movable base that is provided on a base and is movable in the front and rear, left and right, and up and down directions, and a movable base that drives the movement of the movable base. a driving means, a model two-wheeled vehicle installed on the movable platform and operable by a human being on board, and a driving environment reproducing means for generating at least one of sound, vibration, and driving wind and imparting it to the rider. and a control means for controlling the driving means in accordance with the operations and movements of a rider on the model two-wheeled vehicle, thereby controlling the yaw, roll and pitch movements of the model two-wheeled vehicle.

In this case, the traveling speed is estimated from the throttle opening and gear position of the model two-wheeled vehicle, and the traveling environment reproduction means is controlled according to the estimated traveling speed.

(Function) As described above, by controlling the driving environment reproduction means according to the estimated running speed of the model two-wheeled vehicle, it is possible to reproduce the sounds, vibrations, running wind, etc. that the rider senses when the actual two-wheeled vehicle is running. This makes it possible to simulate driving with a more realistic feel.

For example, the running wind is blown onto the head of the rider of the model two-wheeled vehicle by an electric fan whose rotation speed is controlled according to the estimated running speed.

(Example) First, the mechanical structure of the present invention will be described with reference to FIGS. 1 to 4. In these figures, 1 is the base,
2 is a pair of guide rails Ia on the left and right on the base ■ and rollers 2a.
A moving platform is supported so as to be movable in the backward direction (arrow AB force direction).

Base! , a guide plate Ib is placed upright at the outside of each guide rail Ia, and each guide plate tb
The upper edge of the rack member 3 is bent inward, the guide roller 2b of the movable table 2 is brought into contact with the lower surface of the upper edge, and a rack member 3 with a large number of pins 3a arranged on the outer surface of the upper part of each guide plate Ib is fixed. A drive shaft 4 with pinions 4a attached on both sides that mesh with the bins 3a of each rack member 3 is installed horizontally in the center of the movable table 2. Here, the movable base 2 is moved back and forth along the guide rail Ia by rotating the driving shaft 4 forward and backward through the gearbox 5a by a motor 5 mounted on the movable base 2. The guide rail 1a is composed of a curved rail whose front end side and rear end side are curved upward, and thus, as the moving table 2 moves back and forth, the moving table 2 tilts in the vertical direction (in the direction of arrow EF force). The mobile platform 2 has
A pair of front and rear movable units W6 which are independent of each other and have movement functions in two orthogonal directions, lateral direction (arrow CD direction) and vertical direction (arrow EF force direction) are mounted. That is, each movable unit 6 is mounted on the movable base 2 It is composed of a slide base 7 that is supported so as to be slidable in the horizontal direction on a guide rail 7a installed horizontally above, and an elevator frame 8 that is supported so as to be slidable in the vertical direction on a guide rail 8a that is fixed to the slide base 7. Here, the slide table 7 is moved left and right by forward and reverse rotation of a ball screw 9b connected to a motor 9 mounted on the movable table 2 via a gear box 9a, while the elevating frame 8 is mounted on the slide table 7. A ball screw lOb is connected to the motor 10 via a gearbox IOa.
It is made to move up and down by forward and reverse rotation. This results in
The elevating frame 8, which is the operating end of each movable device 6, is given vertical movement as well as lateral movement due to the movement of the slide table 7.

In this embodiment, as shown in FIG. 3, in order to reduce costs, the movable structure of the movable platform 2 may be eliminated and it may be directly fixed to the ground. In this case, the movement in the pitch direction is substituted by the vertical movement of the pitch movement of the lifting frame 8, which can freely move up and down, of the guide rail 8a.

Then, the support frame 11 is constructed between the elevating frames 8 of both movable devices 6, and the support frame! 1, a model two-wheeled vehicle 13 is supported so as to be tiltable in the lateral direction via a rolling shaft 12 which is longitudinal in the longitudinal direction. In FIG. 4, the rear end of the support frame 11 is connected to the upper part of the elevating frame 8 of the rear movable device 6 via a cross joint 14, and a ball joint 15 is connected to the upper part of the elevating frame 8 of the front movable device 6. The support frame 11 is attached to the linear guide 16 attached through the
The front end of the lift frame 8 of each movable device 6 is engaged with the guide rail Ila on the lower surface of the movable device 6 so as to be slidable in the front-rear direction.
The support frame 11 is configured to be able to tilt vertically and horizontally following the vertical and horizontal movements of the support frame 11. Further, a rolling shaft +2 is installed vertically in the center of the support frame 11 in the horizontal direction, and a motor 17 is mounted on the lower side of the rolling shaft +2. I try to do that. The frame 1 of the model two-wheeled vehicle 13 is mounted on a catch 12a fixed to the center of the rolling shaft 12.
I installed 3a.

Further, reference numerals 18 and I9 are shock absorbers that regulate the movement ranges of the movable base 2 and the slide bases 7 of each movable device 6.

The model two-wheeled vehicle 13 imitates an actual two-wheeled vehicle,
To detect passenger operations, the accelerator, steering wheel,
Various sensors are installed to detect the operation of brakes, clutches, gear chains, etc., as well as weight shifts. These sensors include an accelerator opening sensor 21, a clutch lever angle sensor 22, a handle torque sensor 23, a lean torque sensor 24, a front brake pressure sensor 25, and a rear brake pressure sensor 26. Further, in order to simulate actual driving conditions, various handle switches 27 and gear body switches 28, such as a lighting switch, a daylight switch, a blinker switch, a starter switch, a horn switch, a kill switch, and a switch, are provided.

Further, in order to provide a sense of realism, an electric fan 29 that blows air to the rider, a vibration generator 30, a speaker 31, etc. are attached to the model two-wheeled vehicle 13. Furthermore, in order to reproduce the driving situation of an actual motorcycle with sound and video, a model motorcycle 1 was installed.
There are a total of four speakers 32, R/L and two channels provided before and after the speakers 3, and a display device 33 provided in front of the speakers 32. This display device 33
As shown in the figure, it may be provided separately from the base 1 and the movable base 2, or it may be connected to the movable base 2 as shown in FIG. 5(a). In either case, the display device is designed to move in some way in response to the movement of the simulator so that the passenger can easily see the image. Here, the signals from the above-mentioned sensors are input to the computer, and the image on the display device 33 is changed by the computer according to the driving situation, and the signals from the respective motors 5.9
．． 10,! 7 to reproduce the behavior that can be experienced in the same way as an actual two-wheeled vehicle.

Before describing the simulation control by the computer in detail, first, the overall operation of the present invention will be briefly explained.

For example, when accelerating or decelerating by operating the accelerator or the brake, the motor 5 moves the movable platform 2 back and forth, and the model two-wheeled vehicle moves as shown in FIGS. 5(b) and 5(c).

According to this, the model two-wheeled vehicle 13 moves forward or backward due to the curvature of the guide rail 1a,
Passengers are given a sense of acceleration and deceleration. Furthermore, when the display image approaches a corner and the rider shifts his or her weight, the motor 17 rotates the rolling shaft 12 to tilt the model two-wheeled vehicle 13 laterally, and the motors 9 of both movable devices 6, By activating the lO, the model two-wheeled vehicle 13 is raised in the tilting direction by the combined movement of the slide table 7 and the elevating frame 8, allowing the rider to temporarily experience the centrifugal force during cornering.

In addition, by moving the slide bases 7 of both movable devices 6 in opposite left and right directions, the yaw can be controlled, and by moving these slide bases 7 independently left and right, the slip of the wheel or rear wheel can be reduced. By moving the wheel 8 up and down independently, the movement of the front wheel or the rear wheel is reproduced as shown in FIG. 5(d). Furthermore, as shown in FIGS. 5(e) and 5(f), it is also possible to bend forward or backward.

Next, computer control in the present invention will be explained in detail.

FIG. 6 is a system block diagram showing the electrical configuration of one embodiment of the present invention. Here, the various sensors etc. 21~
The output signals of 28 are manually input to a minicomputer 40.

This minicomputer 40 includes a CPU (not shown), a ROM or RAM for storing control programs, various data, etc.
Under the control of this minicomputer 40, a 6-axis servo motor for driving the model two-wheeled vehicle 13 shown in FIG. 4, an electric fan 29, and a vibration generator 3 are operated.
0, speakers 31, 32. Display outfit! ! 33. The servo motor 35 for steering assist is activated.

The six-axis servo motor generates a yaw angle y (Fig. 7(a)) and a roll angle r (Fig. 7(a)) of the vehicle body of the model two-wheeled vehicle 13.
b)), pitch angle p (Fig. 7(c)) is controlled.Furthermore, the lean torque sensor 24, which detects the inclination of the vehicle body,
It is composed of a load cell, etc., and outputs an electric signal corresponding to the stress (ie, lean torque) generated by tilting the vehicle body.

Further, as shown in FIG. 1, a total of seven speakers are provided, including three speakers 31 located on the vehicle body and four speakers provided outside of the speakers 31.

Here, in order to create a sense of realism, the speaker 31 provided on the vehicle body mainly reproduces low tones, and the external speaker 32 reproduces high tones. On the other hand, the rotational speed of the electric fan 29 is controlled by an inverter or the like in proportion to the traveling speed, and as a result, the wind pressure blown onto the face of the passenger increases as the traveling speed increases. Similarly, vibration generator 30
The vibrations generated are also controlled to increase in proportion to the traveling speed.

FIG. 8 is a flowchart showing calculation processing executed by the mini-computer 40 when the model two-wheeled vehicle 13 actually performs a simulated run. Here, it is assumed that after first starting a simulated run in a straight-ahead state, the vehicle body is tilted and a curved run is performed. First, after setting data regarding various vehicle characteristics in step +00, when the passenger starts driving, this is detected in step 101, and the computer processing proceeds to step 103 via step +02.

Step +03 is a step for calculating the straight movement of the own army. Here, acceleration/deceleration G, speed in the straight direction direction x1 pitch angle p1 vertical movement z1, engine rotation speed Ne, front wheel rotation speed Nf, rear wheel rotation speed Nr, etc. are calculated. Ru. This calculation is performed by the minicomputer 40 according to a predetermined program based on the outputs of each of the sensors. Specifically, we use the throttle opening, clutch stroke, gear position, front brake pressure, and rear brake pressure as input information, and also use the characteristic data of our own force stored in advance.
Engine output torque characteristics, brake characteristics, wheel slip ratio, gear reduction ratio, air resistance, wheel rolling resistance, suspension characteristics, moment of inertia of the vehicle body, weight,
The own army's center of gravity position is used.

In this case, by driving the six-axis servo motor, the model two-wheeled vehicle is caused to move vertically while making a swing motion, thereby giving the rider a sense of acceleration and deceleration. At the beginning of the swing motion, the sense of acceleration and deceleration can be further improved by adding a simple vertical movement (see FIG. 5(d)) or forward/backward bending (see 5(e), (f)). In the present invention, in order to further improve the feeling of acceleration and deceleration, the image displayed on the screen of the display device 33 is changed. Normally, a display device gives the rider an illusion that a model two-wheeled vehicle, which is not actually running, is running, so display devices display images based on the speed, direction of travel, etc. of the model two-wheeled vehicle (for example, whether the two-wheeled model is actually running or not). When the vehicle is running at high speed, the image changes more quickly, and at low speed, the image changes more slowly. Preferably, a display device is fixed to a model motorcycle as shown in FIG.
It is better if the relative positional relationship between the passenger and the display does not change. However, in order to reduce costs, it is possible to adopt a configuration in which the movable platform 2 is placed directly on the ground as shown in FIG. In this case, as shown in FIGS. 13(b) and 13(c), the passenger's viewpoint moves up and down due to the pitch movement when accelerating and decelerating, so if the passenger's viewpoint moves up and down due to acceleration, As shown in FIG. 9, the displayed image was shifted upward compared to when the vehicle was traveling at a constant speed, and on the other hand, when the viewpoint was lowered due to deceleration, the displayed image was shifted downward. In this way, the image is also shifted in the vertical direction according to the vertical pitch movement of the model two-wheeled vehicle due to acceleration and deceleration, so that the rider can feel the acceleration and deceleration without feeling any discomfort. Here, by adding a correction equivalent to the pitch angle of the model two-wheeled vehicle to the pitch angle of the rider's line of sight, the displayed image is moved up and down as described above.

Incidentally, the rotation center height of the swing motion for acceleration/deceleration as shown in FIG. 5 (or FIG. 13) (b) and (c) is as follows:
It is preferable to place it near the passenger's heart. This is because in order to feel the acceleration applied to the head in the same way as when riding a two-wheeled vehicle, the height of the center of rotation of the swing motion must be below the head and not far from the head. This is because it has been found through experiments that this is the case.

After calculating the own vehicle's straight advance as described above, the process proceeds to step +04 in FIG. 8, where the own army's curved advance is calculated.

FIG. 1O is a flowchart showing details of calculation of own army's progress. As shown in steps 201 and 202, in order to calculate the own military advance, first, the lean torque T1 and the steering torque Ts of the model two-wheeled vehicle are detected.

As is well known, two-wheeled vehicles use the rider's weight shift to change the direction of travel. That is, the rider operates the steering wheel and at the same time shifts his or her weight in the direction in which the vehicle is turning. For this reason, in this simulator, the lean torque sensor 24 is provided to detect weight shift as the passenger's control input, in addition to the steering input. As described above, this sensor is constituted by a load cell, detects the force applied thereto, that is, the weight shift of the passenger, and outputs an electric signal to the minicomputer 40 in accordance with the detection result.

Next, steering input will be explained. As this steering input, the steering angle and steering force of the steering wheel can be considered, but in this simulator, the steering force detected by the steering wheel torque sensor 23 is used as the steering input, and the steering angle is calculated based on it.

That is, the turning angle of the steering wheel when operating a two-wheeled vehicle is much smaller than that of a four-wheeled vehicle, and also differs greatly between low speed and high speed. In the low speed range, the turning angle is large, but in the medium and high speed ranges, the turning angle becomes small.

Therefore, when the steering angle is used as a steering input, the sensor is required to have extremely high accuracy. On the other hand, in the case of rudder force, the sensor accuracy range is 5 kg.
In addition, the sensitivity of the steering force is generally not affected by the vehicle speed. For this reason, in this embodiment, steering force is used as the steering input. In addition, by using the steering force as a steering input, for example, when the rider or the model motorcycle is driven without hands, it is possible to drive with only the lean torque associated with the weight shift, and the steering force at that time is 0k.
g-m, making it possible to reproduce hand-off operation.

Next, in step 203 of FIG. 10, the input value 'I
' l and T s are smoothed. This smoothing is necessary to remove noise contained in sensor detection values. After that, in step 2.4, the pre-stored roll gain table is referred to and the next step 2.
In step 05, the roll angle rl is calculated based on the following equation (1).

r+−Tl*GoL + Ts*GoS −(+
) In step 206, the calculated roll angle rl is corrected using the own roll angle correspondence table to obtain the actual roll angle. In step 2.7, the constant g10
- Yaw rate y R (d
e g /s ec ) is determined, and the turning radius Ra is further determined based on the yaw rate.

y, l=g+ jan (r)/v − (2) Ra
= v / y a ·= (3) In the next step 208, coordinates X indicating the current yaw angle y7 and the current traveling position of the own army. , Yn are integrally calculated.

Y n=Yll-+10'/ta'△1-...
(4) Xn=Xn−+−Ra [s in
(yn-+)-sin(yn)]...(5) Yn=Yn-++ Ra [cos (yn-+)
cos (yn)]...(6) By the way, in order to reproduce the feeling of inclination, centrifugal force, etc. due to the roll motion of the model two-wheeled vehicle in this simulator, the following conditions are set.

(1) The commonly used roll angle is preferably within 15°. That is, a roll movement of 15 degrees or more makes it difficult for a rider on the model two-wheeled vehicle to maintain his or her body on the two-wheeled vehicle. In an actual motorcycle, the body of the vehicle may tilt by more than 15 degrees, but in order to reproduce this, in this simulator,
In addition to tilting the model motorcycle, we also tilt the video as described below to create a more realistic feeling.

(2) The rotation center of the roll motion is changed according to the vehicle speed. In this simulator, as shown in FIG. 11, the rotation center of the roll is the grounding point of the model two-wheeled vehicle when it is stopped, and as the vehicle speed increases, the height is increased or the upper limit is set at 1300 mm from the grounding point.

(3) In the low speed range of 25 km/h or less, movement in one direction is activated in synchronization with roll. Note that the yaw operating direction at this time is in the opposite phase to the roll.

For example, when rolling to the right, yaw is generated to the left. In this case, the center of rotation of the yaw is located directly below the seat of the passenger. Also, the vehicle speed increased to 40km/
When the distance is greater than h, such synchronization of yaw and roll is not performed.

Next, in step 105 of FIG. 8, the position lxl,,Y, of the own vehicle obtained by calculating the own military advance as described above is converted into world coordinates (xo, YO). These one-way coordinates are coordinates corresponding to data such as a world map and its scenery that have already been stored, and the scenery is reproduced as an image on the display device based on the current world coordinates. In the next step 106, simulation amounts and movable amounts for controlling the video are calculated, audio signals are generated, and the like. Thereafter, in step +07, the model two-wheeled vehicle, display device, etc. are controlled based on the various control signals calculated so far.

Next, the display device will be explained. This display method is based on a CRT display,
Alternatively, various methods can be considered, such as projecting light from a three primary color projector onto a screen. In addition, as mentioned above, the video footage, such as the scenery seen from a moving vehicle, etc., that has been photographed and stored in advance is used, and this is changed according to the running conditions of the model two-wheeled vehicle, so that the rider can drive as if he or she were driving an actual two-wheeled vehicle. Image control is performed to give the feeling that the person is actually playing the game.

For example, when a rider rolls a model two-wheeled vehicle by shifting his or her weight in order to corner, simply tilting the image does not match the actual driving sensation. For this reason, the first
As shown in Figure 2, by adding together the pitch angle component of the passenger's line of sight, which corresponds to about 20% of the roll angle, the horizontal line of the image is lowered to express the feeling of actual driving. This is a display control that misrates the fact that the passenger's eye position is lower when cornering than when driving straight.

Also, as mentioned above, the actual roll angle of the model two-wheeled vehicle is limited, or to compensate for this, when the roll angle of the vehicle body becomes large, the image is tilted in the opposite direction to the [J-Role direction]. This gives the passenger a more rolling feeling.

(Effects of the Invention) As described above, according to the present invention, there is provided a movable base that is provided on a base and is movable in the front and rear, left and right, and up and down directions, a driving means that drives the movement of the movable base, and a A model two-wheeled vehicle that is installed on a movable platform and can be operated by a human being on board, a driving environment reproducing means that generates at least one of sound, vibration, and running wind and imparts it to the rider, and the model two-wheeled vehicle. control means for controlling the driving means in accordance with the operations and movements of the upper occupant, thereby controlling the yaw, roll and pitch movements of the model two-wheeled vehicle; Since the driving speed is estimated from the gear transmission position and the driving environment reproducing means is controlled according to the estimated driving speed, it is possible to simulate driving with a more realistic feeling.

[Brief Description of the Drawings] Fig. 1 is a side view of a motorcycle riding simulation device according to an embodiment of the present invention, Fig. 2 is a view of the device of the present invention seen from the rear, and Fig. 3 is a view of a model two-wheeled vehicle. A plan view of the device of the present invention in a removed state; FIG. 4 is a perspective view of the support frame;
5 and 13 are diagrams showing various operations of the device of the present invention, FIG. 6 is a system block diagram of the present invention, FIG. 7 is a diagram showing yaw, roll, and pitch motions of a model two-wheeled vehicle, and FIG. Figures 9 and 1θ are flowcharts showing calculation processing performed by a minicomputer, Figures 9 and 12 are diagrams showing video control according to the present invention, and Figure 11 is the relationship between the rotation center of roll motion and vehicle speed. This is a graph showing l... Base, 1a... Guide rail, 2... Moving table, 6 - Movable device, 8... Lifting frame, 11... Support frame,! 2. Rolling axis, 13... Model two-wheeled vehicle, 21
~26...Various sensors, 31.32...Speaker, 3
3...Display device, 4o...Mini computer.

Claims (1)

[Scope of Claims] 1. A device for performing riding simulation using a two-wheeled vehicle, comprising: a moving platform provided on a base and movable in front and rear, left and right, and up and down directions; and a driving means for driving the movement of the moving platform. a model two-wheeled vehicle that is installed on the movable platform and can be operated by a human being on board; and a driving environment reproduction means that generates at least one of sound, vibration, and driving wind and imparts it to the rider; controlling the drive means according to the operations and movements of a rider on the model two-wheeled vehicle;
Therefore, the present invention is equipped with a control means for controlling the yaw, roll and pitch movements of the model two-wheeled vehicle, estimates the running speed from the throttle opening and gear transmission position of the model two-wheeled vehicle, and adjusts the speed according to the estimated running speed. A two-wheeled vehicle riding simulation device characterized by controlling a driving environment reproduction means. 2. As a means of reproducing the driving environment, a duct is provided along the inside of the vehicle body felling ring of the model two-wheeled vehicle, and through the duct, air from an electric fan is discharged toward the rider's head, and the rotation speed of the electric fan is 2. The two-wheeled vehicle riding simulation device according to claim 1, wherein control is performed in accordance with the estimated traveling speed.