JPH0451081A - Motorcycle riding simulation device - 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 (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 allows the display screen to change 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 such a device, a model motorcycle that can be tilted laterally is also disclosed in Japanese Patent Application Laid-Open No. 61-15468.
This method is known from Publication No. 9 and Japanese Utility Model Application Publication No. 1688/1988.

(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 is a motorcycle riding simulator that can be used not only for entertainment but also for motorcycle driving education by simulating the feeling of actual driving. The purpose is to provide a Soyon device.

(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 back and forth, left and right, and downward.
A driving means for driving the movement of the movable base; a model two-wheeled vehicle installed on the movable base and operable by a human riding on the movable base; and a model two-wheeled vehicle disposed in front of the model two-wheeled vehicle to display a pre-stored image. The display device and the driving means are controlled according to the operations and movements of the rider on the model two-wheeled vehicle, and thus,
The present invention includes a control means for controlling the yaw, roll and pitch movements of the model two-wheeled vehicle and for changing the image displayed on the display device according to the simulated running state of the model two-wheeled vehicle.

In this case, the image signal to the display device was controlled so that the image was rotated in a direction opposite to the roll direction in accordance with an increase in the roll angle of the body of the model two-wheeled vehicle.

(Function) When a two-wheeled vehicle actually runs, centrifugal force is generated when the vehicle body rolls, but this cannot be generated in a simulator.

In order to compensate for this point, we made the body of the model two-wheeler less inclined than the actual two-wheeler, and the horizontal line in the image on the screen was inclined in the opposite direction to the roll direction. Gravity is now applied to the vehicle, causing the passenger to feel a turning sensation. Furthermore, by moving the image in the pitch direction as well as in the roll direction, the image seen by the rider during cornering can be made to feel similar to that of an actual two-wheeled vehicle.

(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 the base! Rolling wheels 2a are attached to the upper left and right pair of guide rails la.
A moving table is shown that is supported so as to be movable in the front-rear direction (in the direction of arrow AB).

In the base 1, a guide plate 1b is provided upright so as to be positioned outside each guide rail 1a, and each guide plate 1b
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 thereof, 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 1b 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 1a by rotating the drive shaft 4 forward and backward through a gear box 5a by a motor 5 mounted on the movable base 2. The guide rail 1a is composed of a curved rail whose curved end side and rear end side are curved upward, and thus, as the moving table 2 moves back and forth, the moving table 2 is tilted in the vertical direction (in the direction of arrow EF force). The movable platform 2 has
Mutually independent front and rear 1 with movement functions in two orthogonal directions, lateral direction (arrow CD direction) and vertical direction (arrow EF force direction)
A pair of movable devices 6 are mounted. That is, each movable device 6
The slide table 7 is supported so as to be slidable in the horizontal direction on a guide rail 7a installed horizontally on the movable table 2, and the elevating frame is supported so as to be slidable in the vertical direction on a guide rail 8a fixed to the slide table 7. It consists of 8. Here, slide stand 7
is moved left and right by forward and reverse rotation of a ball screw 9b connected to a motor 9 mounted on a moving table 2 via a gearbox 9.
On the other hand, a ball screw 10 is connected to a motor 10 with an elevating frame 8 mounted on a slide table 7 via a gearbox IOa.
It is made to move up and down by forward and reverse rotation of b. As a result, 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. 13, 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 interlocking of the pitch movement of the lifting frame 8, which is movable up and down, of the guide rail 8a.

A support frame 11 is installed between the elevating frames 8 of both movable devices 6, and a model two-wheeled vehicle 13 is supported on the support frame 11 so as to be tiltable in the lateral direction via a longitudinally elongated rolling shaft I2. 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 vertically movable frame 8 of each movable device 6 is assembled by engaging the curved end portion of the movable device 6 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, and the motor 17 rotates the rolling shaft 12 via a speed reducer 17a and a gear +7b. I try to do that. A model two-wheeled vehicle is mounted on the catch 12a fixed to the center of the rolling shaft 12! 3 frame 1
I installed 3a.

Further, reference numerals 18 and 19 are shock absorbers that regulate the movement ranges of the movable base 2 and the slide bases 7 of each movable device 16.

The model two-wheeled vehicle 13 imitates an actual two-wheeled vehicle,
To detect passenger operations, the accelerator, steering wheel,
Various sensors are provided to detect operations such as brakes, clutches, gear changes, and weight shifts. These sensors include accelerator opening sensor 2! , 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 position switches 28 such as a lighting switch, a dayr switch, a turn signal switch, a starter switch, a horn switch, and a kill 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 speaker 32, 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
, l0117 to reproduce the behavior that can be felt 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 l3 is mounted on the guide rail 1a.
The curvature of the wheel causes it to move forward or backward, giving the rider a sense of acceleration or 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 both movable devices 6
The motors 9 and IO are operated to raise the model two-wheeled vehicle 13 in the tilting direction by the combined operation of the slide table 7 and the lifting frame 8, allowing the rider to temporarily experience the feeling of turning 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 front or rear wheels can be reduced. By moving up and down independently, the cushioning action on the front wheel side or the rear wheel side is reproduced as shown in FIG. 5(d). Furthermore, as shown in FIG. 5(e), Cf), it is also possible to bend forward or backward.

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

FIG. 13 is a system block diagram showing the electrical configuration of one embodiment of the present invention. Here, the various sensors etc. 21
28 output signals are input to the minicomputer 40. This minicomputer 40 includes a CPU (not shown), a ROM or r(
Under the control of this minicomputer 40, the model two-wheeled vehicle 13 shown in FIG.
6-axis servo motor for driving, electric fan 29, vibration generator 30, speakers 31, 32, display device 33,
The servo motor 35 for steering assist is activated. The 6-axis servo motor allows the yaw angle y (Fig. 7 (a)), roll angle r (Fig. 7 (b)), and pitch angle p (Fig. 7 (C)) of the vehicle body of the model two-wheeled vehicle 13 to be controlled. controlled.

The lean torque sensor 24, which detects the tilt of the vehicle body, is composed of a load cell or the like, and outputs an electric signal corresponding to the stress (that is, 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
Also the driving speed? The generated vibration is controlled to increase proportionally.

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 line, the vehicle body is tilted and the vehicle is run in a curved direction. First, after setting data regarding various vehicle characteristics in step 100, when the passenger starts driving, this is detected in step 101, and the computer processing begins in step! Step 103 is entered via step 02.

Step +03 is a step in which the own vehicle is calculated in 1-ary terms. Here, acceleration/deceleration G1 straight direction speed X, pitch angle p, vertical movement z1, engine rotation speed Ne, front wheel rotation speed Nf, rear wheel rotation speed Nr, etc. is calculated. This calculation is performed by the minicomputer 40 according to a predetermined program based on the outputs of each of the sensors. Specifically, the throttle opening, clutch stroke, gear position, front brake pressure, and rear brake pressure are used as input information, and as the characteristic data of the 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 is used to create images that are given to the model motorcycle according to its speed, running direction, etc. (for example, if the motorcycle is actually 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 is shifted upward compared to when the vehicle is traveling at a constant speed, and on the other hand, when the viewpoint is lowered due to deceleration ζ, the displayed image is not 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 tilted 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 best to place it near the passenger's chest. 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 straight advance of the own army as described above, the process then proceeds to step 104 in FIG. 8, where the calculation of the straight advance of the own army is performed.

FIG. 10 is a flowchart showing the details of the own army's march calculation. 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 accuracy required of the sensor changes greatly depending on the vehicle speed. On the other hand, in the case of rudder force, the sensor accuracy range is 5k
g or less, and the sensitivity of the steering force is generally not easily affected by vehicle speed. For these reasons, in this example,
The steering force is used as the steering input. In addition, by using the steering force as a steering input, for example, when the rider drives the model motorcycle without his hands, he can drive it only with the lean torque that comes with his weight shift, and the steering force at that time is 0.
kg-m, making it possible to reproduce hand-off driving.

Next, in step 203 of FIG. 1O, the input value T
Perform smoothing of I and Ts. This smoothing is necessary to remove noise contained in sensor detection values. After that, in step 204, the roll gain table stored in advance is referred to, and the next step 20 is performed.
5, the roll angle r1 is calculated based on the following equation (1).

r + = T 1 * G o L + T s
*G o S (1) In step 206, the calculated roll angle r1 is corrected using the own vehicle roll angle correspondence table to obtain the actual roll angle r.

In step 207, the yaw rate yR (deg/5ec) is determined using the constant g, the roll angle r, and the own speed V.
The turning radius Ra is further determined based on the yaw rate.

ys+=gatan(r)/v−(2)Ra=
v/y s+... (3) Next step 20
8, coordinates X indicating the current yaw angle y0 and the current traveling position of the own army. ,Y.

Calculate the integral.

Y n"'yn-1+yR'△t ・-(4)X-=
Xo-+ Ra [s in (yn-+
) sin(y, )] ... (5) Yn” Yn-1+ Ra [COS (Y n-
+)-cos(yn)] ... (6) By the way,
In order to reproduce the feeling of inclination and centrifugal force caused by the roll motion of a model two-wheeled vehicle using this simulator, the following conditions have been set.

(1) It is desirable that the commonly used roll angle be within +5'. That is, if the roll motion exceeds 15 degrees, it becomes difficult for the 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 depending on the roadway. In this simulator, as shown in FIG. 11, when stopped, the center of rotation of the roll is the grounding point of the model two-wheeled vehicle, and as the vehicle speed increases, the height is increased, but the upper limit is set at 600 mm from the grounding point.

(3) In a low speed range of 25 km/h or less, the movement in one direction of the yaw is operated in synchronization with the 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.

Next, the coordinates X of the own army obtained by calculating the progress of the own army as described above. , Y, l are converted into world coordinate images (xo, yo) in step 105 of FIG. These world coordinates are coordinates corresponding to already stored data such as a world map and its scenery, 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 107, 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 uses 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 display control simulates the fact that the passenger's eyes are lower when cornering than when driving straight.

Further, as mentioned above, the actual roll angle of the model two-wheeled vehicle is limited, but to compensate for this, when the roll angle of the vehicle body becomes large, the image is tilted in the opposite direction to the roll 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 display device that is placed in front of the model two-wheeled vehicle and displays pre-stored images; and a display device that is operated by a rider on the model two-wheeled vehicle. and controls the driving means according to the movement, thereby controlling the yaw, roll and pitch movements of the model two-wheeled vehicle, and controlling the image displayed on the display device according to the simulated running state of the model two-wheeled vehicle. and control means for controlling the image signal to change the image signal, and the display device was controlled to rotate the image in a direction opposite to the roll direction in accordance with an increase in the roll angle of the body of the model two-wheeled vehicle. This has the effect that the roll motion of the vehicle body and its turning feeling can be more realistically sensed by the passenger.

[Brief explanation of the drawing]

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 the device of the present invention with the model motorcycle removed. 4 is a perspective view of the support frame,
Fig. 5 and Fig. 13 are diagrams showing various operations of the device of the present invention, Fig. 6 is a system block diagram of the invention, Fig. 7 is a diagram showing the yaw, roll, and pitch movements of a model two-wheeled vehicle; 8
Figures 1 and 10 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 1+ is the relationship between the rotation center of roll motion and vehicle speed. This is a graph showing DESCRIPTION OF SYMBOLS 1... Base, 1a... Guide rail, 2... Moving table, 6... Movable device, 8... Lifting frame, 11... Support frame, 12... Rolling axis, 13 ...Model two-wheeled vehicle, 21-26...Various sensors, 31.32...Speaker, 33...Display device, 40...Mini combination coater.

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 person riding on it; a display device that is placed in front of the model two-wheeled vehicle and displays pre-stored images; The driving means is controlled according to the operator's operations and movements, thereby controlling the yaw, roll and pitch movements of the model two-wheeled vehicle, and displaying the image displayed on the display device in a simulated running state of the model two-wheeled vehicle. control means for controlling the video signal to change in accordance with the roll angle of the model two-wheeled vehicle, and controlling the display device to rotate the video in a direction opposite to the roll direction in response to an increase in the roll angle of the body of the model two-wheeled vehicle. A motorcycle riding simulation device featuring: 2. According to claim 1, the video signal to the display device is controlled so that when the body of the model two-wheeled vehicle is tilted and rolled, the video is also moved in the pitch direction according to the roll angle. motorcycle riding simulation device. 3. The two-wheeled vehicle riding simulation device according to claim 1, wherein the video signal to the display device is controlled so that the video is moved in a pitch direction in accordance with the simulated acceleration of the model two-wheeled vehicle. 4. When the model two-wheeled vehicle is rolled, the actual roll angle of the vehicle body is within a predetermined angle range, and for roll motions beyond that, the display device is set so that the image is tilted in the opposite direction to the roll direction. A motorcycle riding simulation device characterized by controlling video signals.