JPH08248872A - Simulated driving test device - Google Patents

Abstract

PURPOSE: To prevent or reduce unpleasantness for a driver without reducing movable range for a rocking table. CONSTITUTION: In a simulated driving test device that is rocked by extending or contracting plural hydraulic cylinders 36 of which the top parts are connected via universal joints 56 with a rocking table consisting of a rocking table 40, holding plate 46 and an upper base plate 52, and with a dome together with a vehicle model 44 mounted on, this rocking table is rocked with the rocking center point as the rocking center by setting a rocking reference point Q at the same height and position (the movable range of the rocking table becomes widest) as the hydraulic cylinders 36 are connected to the table, and another rocking reference point R at the height corresponding to the driver's head sitting on the driver's seat of the vehicle model 44 and computing the position of the rocking center point by means of rocking table so that the distance up to the rocking reference point R decreases as simulating acceleration increases in its rate.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving simulation test apparatus, and more particularly, to swing a rocking table provided with a simulated driver's seat and an operating section in accordance with a driving operation of a driver seated in the simulated driver's seat. The present invention relates to a driving simulation test device that is rocked by a moving device.

[0002]

2. Description of the Related Art Conventionally, a driving simulator has been known as a device for supporting driver's training and research and development of automobiles. The driving simulator is
It is equipped with a simulated driver's seat on which the driver sits, a rocking device for rocking the rocking table on which the simulated driver's seat is installed, a display device for displaying images, a sound device for producing sound, etc. Based on the driving operation of the seated driver, the state of the virtual vehicle traveling according to the driving operation (acceleration applied to the vehicle, driver's field of view, sound heard by the driver, etc.) is determined, and the swing device is used. By oscillating the rocking platform, the acceleration applied to the vehicle is simulated, and the display device displays a simulated visual field image corresponding to the visual field of the driver to simulate the running sound heard by the driver from the audio device. The sound is generated to give the driver a feeling close to that of driving an actual vehicle.

In a driving simulator, a simulated visual field image is generated on the assumption that the host vehicle is traveling on a preset simulated driving route. However, the simulated driving route for any situation is preset and the host vehicle simulates this. By generating and displaying a simulated field-of-view image as if you are traveling on a road,
For example, it is possible to simulate a driving operation in an arbitrary situation such as passing through an intersection or traveling on a highway, and it is particularly difficult to actually carry out a dangerous operation (for example, danger of contact with another vehicle or a pedestrian). It is possible to safely and repeatedly carry out tests and training under certain conditions.

By the way, various types of rocking devices have been proposed in the past, but as an example, in Japanese Patent Laid-Open No. 61-194465, six rocking devices are mounted on the lower surface of the rocking base via a joint. The upper ends of the hydraulic cylinders are connected together to support the rocking base in cooperation with the hydraulic cylinders, and the rocking base can be rocked in 6 degrees of freedom by controlling the drive of each hydraulic cylinder. A rocking device is shown. In the rocking device having such a structure, the rocking table is rocked with the vicinity of the joint portion at the upper end of the hydraulic cylinder as the rocking center (fulcrum) to widen the movable range of the rocking table with respect to the stroke of the hydraulic cylinder. ing.

Generally, in an aircraft, although a large acceleration is applied to the airframe during takeoff and landing, the change in acceleration is gradual. For this reason, a flight simulator for training operations such as takeoff and landing of an aircraft should be able to simulate a gradual change in acceleration. On the other hand, in a vehicle, the acceleration applied to the vehicle during deceleration is large and changes rapidly,
It exhibits a complicated behavior in which pitch movement, roll movement, and yaw movement occur simultaneously. It is necessary for the driving simulator to reproduce the dangerous situation that requires a driving operation such as sudden braking, the range of acceleration change to be simulated is wider than that of the flight simulator, and the complicated behavior as described above is required. Since it is required to be able to simulate, it is very important to widen the movable range of the rocking table as described above.

[0006]

However, the center of the swing (for example, pitch motion) that occurs when braking or the like is performed in an actual vehicle substantially coincides with the position of the center of gravity of the vehicle. The position of the center of rocking when the rocking device rocks the rocking table, which is in the vicinity, is a position corresponding to the position of the center of gravity of the vehicle when viewed from the driver sitting in the simulated driver's seat. Is very different from. Therefore, in order to simulate the deceleration of the vehicle by the rocking device, if a pitch motion (rocking around an axis along the vehicle left-right direction) is generated with the rocking center as a fulcrum, the driver is larger than it actually is. The driver feels uncomfortable by feeling the pitch motion, and the driver sometimes feels discomfort such as so-called simulator sickness.

The present invention has been made in consideration of the above facts, and a driving simulation test capable of preventing or reducing discomfort to a driver without narrowing the movable range of the rocking base. The purpose is to obtain a device.

[0008]

In order to achieve the above object, the invention according to claim 1 is a simulated driver's seat on which a driver sits and an operation for a driver seated on the simulated driver's seat to perform a driving operation. A rocking table on which at least a portion is installed, a rocking device that rocks the rocking table and can change the position of the rocking center in the rocking, and the driving based on the driving operation of the driver. Control means for calculating a virtual acceleration applied by an operation, and causing the rocking device to rock the rocking base with a predetermined rocking center point as a rocking center so that the calculated acceleration is simulated. Swing center changing means for changing the position of the swing center point so that the distance between the driver sitting in the simulated driver's seat and the swing center point changes according to the change in the calculated acceleration. It is configured to include.

According to a second aspect of the present invention, in the first aspect of the present invention, the swing center changing means is configured to change the swing center point and the simulated driver's seat when the speed of change of the calculated acceleration is a predetermined value or more. It is characterized in that the position of the swing center point is changed so that the distance to the driver seated on the vehicle becomes smaller.

[0010]

In the conventional driving simulation test device, the discomfort felt by the driver, such as simulator sickness, occurs because the center of the swing by the swing device is significantly different from the driver's position, and the driver feels a great deal of discomfort. The magnitude changes according to the change in acceleration to be simulated.

Therefore, according to the first aspect of the present invention, there is provided a rocking platform having at least a simulated driver's seat on which a driver is seated and an operating section for a driver seated on the simulated driver's seat to perform a driving operation. The position of the center of rocking is rocked by a rocking device capable of changing the position. As the swinging device capable of changing the position of the swinging center, for example, as described above, a swinging device having a configuration of swinging the swinging base by a plurality of actuators such as hydraulic cylinders can be applied.

Further, when the driver seated in the simulated driver's seat performs a driving operation through the operation section, the control means causes the virtual acceleration (for example, the object to be simulated to be applied) by the driving operation to be based on the driving operation. In the case of a vehicle, the acceleration applied to a virtual vehicle traveling by the driver's operation of the vehicle is calculated, and a predetermined swing center point is set as a swing center by a swing device so that the calculated acceleration is simulated. Swing the rocking table. Further, the swing center changing means changes the position of the swing center point so that the distance between the driver sitting in the simulated driver's seat and the swing center point changes according to the change in the calculated acceleration.

As described above, for example, by changing the coordinates of the swing reference position so that the distance between the swing reference position and the driver becomes smaller as the acceleration increases, it is particularly easy for the driver to be greatly discomforted. In a situation, the center of swing can be brought closer to the driver's position, and it is possible to prevent or reduce discomfort to the driver. Further, in a situation where it is unlikely that the driver feels uncomfortable, the swing center is separated from the driver as usual (for example, a predetermined position near the swing base is set as the swing center). It is also possible to prevent the movable range of the rocking table from becoming narrow.

By the way, the magnitude of the discomfort felt by the driver changes in accordance with the change in the acceleration to be simulated by the driving simulation test apparatus. Especially, when the change in the acceleration to be simulated is fast,
That is, it has been clarified by experiments by the inventors of the present application that when the rocking table is rocked at a high speed, great discomfort is felt and simulator sickness is easily caused. Therefore, in the invention according to claim 2, the swing center changing means determines that the distance between the driver sitting in the simulated driver's seat and the swing center point when the calculated change speed of the acceleration is equal to or more than a predetermined value. The position of the swing center point is changed so that it becomes smaller. Accordingly, it is possible to more reliably prevent or reduce the driver from feeling uncomfortable such as simulator sickness.

Since the organ which senses the acceleration applied to the human body and controls the sense of balance exists in the head (inner ear), when the magnitude of the change in acceleration is particularly large, the operator should sit in the simulated driver's seat. It is preferable to swing the position corresponding to the driver's head as a swing reference position (swing center). The position of the swing center in this case is slightly different from the actual position of the swing center when the object to be simulated is a vehicle, but the swing platform uses the driver's head as the swing center. Since it swings, it is possible to prevent the driver's sense of balance from being disturbed, and it is possible to more reliably prevent the driver from feeling uncomfortable such as simulator sickness.

[0016]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 shows a driving simulation test apparatus 10 according to this embodiment.

The driving simulation test apparatus 10 is provided with an operation section 12 including a shift lever, a steering wheel, an accelerator pedal, and a brake pedal operated by a driver seated in a simulated driver's seat (described later). A vehicle motion calculation computer 14 and a meter 16 are connected to the output end of the operation unit 12. The operation unit 12 includes a plurality of sensors that detect the position of the shift lever (shift position), the operation amount of the steering wheel, the accelerator pedal, and the brake pedal by the driver, and the detection result of each sensor is used as the driving operation information. Is output to the vehicle motion calculation computer 14. The information indicating the shift position detection result is also output to the meter 16.

In the vehicle motion calculation computer 14, the driving operation information input from the operation unit 12 and the environment information (road slope, road unevenness, road friction coefficient, etc.) of the simulated running road input from the image computer 20 described later are used. Based on this, the motion state of the virtual vehicle traveling on the simulated road by the driver's driving operation (longitudinal acceleration Ax applied to the vehicle, lateral acceleration Ay, pitch angle θx, roll angle θy, yaw angle θ
z, vehicle speed V, engine speed n, etc. are calculated. A meter 16 is connected to the vehicle motion calculation computer 14, and the vehicle speed V and the engine speed n of the vehicle motion information are output to the meter 16. The meter 16 drives a speedometer and a tachometer according to the input vehicle speed V and engine speed n, and displays the current shift position on the shift position indicator according to the shift position input from the operation unit 12.

Further, the vehicle motion calculation computer 14 has various information (hereinafter,
Based on these (generally referred to as vehicle motion information), the operation reaction force experienced by the driver is estimated and calculated through the shift lever, the steering wheel, the accelerator pedal and the brake pedal in the virtual vehicle. Then, the calculated operation reaction force is output to the operation reaction force control unit 18 as reaction force control information. The operation unit 12 is provided with a reaction force generation device (not shown) for simulating an operation reaction force experienced by a driver through a shift lever, a steering wheel, an accelerator pedal and a brake pedal in an actual vehicle, The operation reaction force control unit 18 controls the magnitude of the operation reaction force generated by the reaction force generation device based on the input reaction force control information.

An image computer 20 is connected to the vehicle motion calculation computer 14, and the vehicle motion information is input to the image computer 20. Also, the image computer 20 is connected to a terrain database 22 that stores information (including the above-mentioned environment information) regarding the simulated travel route on which the virtual vehicle travels. The image computer 20 calculates the position of the virtual vehicle on the simulated travel route based on the input vehicle motion information. Further, the image computer 20 determines whether or not it is necessary to generate a moving body such as another vehicle or a pedestrian on the simulated traveling road based on preset information, and if it is necessary to generate the moving body. The position of the moving body is calculated.

The image computer 20 displays the calculated position of the virtual vehicle (and the moving body) on the simulated traveling road and information about the simulated traveling road on the image computer 2.
It is output to the simulated visual field image generator 24 connected to 0. The simulated visual field image generator 24 generates image data representing a simulated visual field image simulating the visual field of the driver sitting in the driver's seat of the virtual vehicle on the basis of the input information, and the simulated visual field image generator 24 is generated. Output to the connected projector 26. The projector 26 projects and displays a simulated visual field image represented by the input image data on a screen (described later).

In addition, the image computer 20 uses the environment information about the portion where the virtual vehicle is located on the simulated traveling road out of the information on the simulated traveling road stored in the terrain database 22 as described above. Although output to the motion information computer 14, this environmental information is also output to the sound computer 28 connected to the image computer 20. The sound computer 28 is also connected to the vehicle motion calculation computer 14, and the vehicle speed V of the virtual vehicle is input from the vehicle motion calculation computer 14. On the basis of the input information, the sound computer 28 produces sounds (exhaust sound, engine sound, wind noise, etc.) heard by a driver sitting in the driver's seat of an actual vehicle.
Road noise etc.) is estimated and calculated, and the calculated sound is synthesized and generated. A speaker 30 is connected to the sound computer 28, and the synthesized and generated sound is output from the speaker 30.

A motion computer 32 is also connected to the vehicle motion calculation computer 14, and vehicle motion information is also output to this motion computer 32. Although a detailed configuration of the motion computer 32 will be described later, it is for swinging a rocking table (described later) provided with the simulated driver's seat, the operation unit 12, a screen, etc. based on the input vehicle motion information. The target cylinder length of the hydraulic cylinder is calculated and output to the hydraulic control unit 34. The hydraulic control unit 34 controls the hydraulic pressure of the hydraulic oil supplied to the hydraulic cylinder 36 based on the input target cylinder length. As a result, the hydraulic cylinder 36 is expanded and contracted so as to match the target cylinder length. The vehicle motion computer 14 and the motion computer 32 compose the control means of the present invention, and the hydraulic control unit 34 and the hydraulic cylinder 36 compose the rocking device of the present invention.

Next, the swing base and its drive mechanism will be described. As shown in FIGS. 2 and 3, a dome 42 is attached to the upper part of the swing table 40 that constitutes a part of the swing base. A vehicle model (cut model) 44 is installed inside the dome 42, and a simulated driver's seat on which a driver sits, a shift lever forming a part of the operation unit 12, a steering wheel, an accelerator pedal, and a brake pedal are provided on the vehicle. Each is arranged inside the model 44. Further, on the upper side inside the dome 42, the projector 26 described above is provided.
There are multiple units. The projector 26 projects and displays the above-mentioned simulated visual field image using the inner wall of the dome 42 as a screen.

A support plate 46 is arranged below the swing table 40. As shown in FIG. 4, a ring rail 46A is formed in the central portion on the upper surface of the support plate 46, and the ring rail 46A operates by being supplied with air from an air supply source (not shown) around the ring rail 46A. A plurality of free bearing units 50 are provided.
A ring-shaped groove 40A corresponding to the ring rail 46A is formed at the center of the lower surface of the swing table 40, and the unit bearings 48 are formed at a plurality of positions in the groove 40A along the circumferential direction. Is provided.

Since the swing table 40 and the support plate 46 are assembled with each other, the ring rail 46A of the support plate 46 enters the inside of the groove 40A.
The swing table 40 is rotatably supported by the support plate 46. The rocking table 40 is manually rotated with respect to the support plate 46 when the vehicle model 44 is carried into the dome 42. At this time, air is supplied to the free bearing unit 50, and the rocking table 4 is rotated.
Since 0 is slightly floated with respect to the support plate 46, the swing table 40 can be rotated with a very small operating force. The swing table 40
A drive device for rotating the swing table 40 is provided to assist in simulating the vehicle behavior (specifically, to assist swing of the swing base by the hydraulic cylinder 36 (turn around the yaw axis)). You may do it.

An upper base plate 52 is fixed to the lower surface of the support plate 46, and a lower base plate 58 is arranged below the upper base plate 52 with a predetermined space. In addition,
Upper base plate 52, support plate 46 and swing table 40
Constitutes the rocking table of the present invention (hereinafter, these are collectively referred to as "rocking table"). Although the outer shapes of the upper base plate 52 and the lower base plate 58 are substantially triangular, the size of the upper base plate 52 is slightly smaller than that of the upper base plate 52, and the directions of the substantially triangular triangles differ by about 180 °. ing.
Six hydraulic cylinders 36 are arranged between the upper base plate 52 and the lower base plate 58.

On the lower surface of the upper base plate 52, the triangle 3
Brackets 54 are attached to positions corresponding to the respective vertices (see also FIGS. 2 and 3), and the upper ends of the two hydraulic cylinders 36 are respectively attached to the brackets 54 via universal joints 56. Installed. Also with respect to the lower base plate 58, the positions corresponding to the three vertices of the triangle are the mounting positions of the lower end of the hydraulic cylinder 36. Each hydraulic cylinder 36 has the same bracket 5
2 hydraulic cylinders 36 and lower base plate 5
8 so that a triangle is formed with the upper surface of each of the lower end plate 8 and the lower base plate 58, which are obliquely below the upper end part, by the universal joint 60. Has been.

With the above construction, when the six hydraulic cylinders 36 are expanded and contracted by the motion computer 32 via the hydraulic control section 34, as shown in phantom lines in FIG.
The rocking base and the dome 42 are rocked together. As described above, the size of the upper base plate 52 is smaller than that of the lower base plate 58.
The triangle having the mounting position of each hydraulic cylinder 36 on the upper base plate 52 side as the apex is smaller than the triangle having the mounting position of each hydraulic cylinder 36 on the lower base plate 58 side as the top. The size is small and similar.

Further, as shown in FIG. 5, a flexible hose 72 is arranged between the upper base plate 52 and the lower base plate 58. The flexible hose 72 accommodates a plurality of harnesses (power supply lines and signal lines) therein, and supplies electric power to the rocking table side and sends and receives various signals via the harnesses.

As shown in FIG. 4, a vehicle model 44 installed inside the dome 42 is located below the lower base plate 58.
A pair of rails 62 are arranged in parallel with each other along the width direction of. The lower base plate 58 includes the pair of rails 62.
A plurality of linear guides 64 are attached corresponding to the above, and the lower base plate 58 is slidable along the rails 62. In addition, between the pair of rails 62, the rail 62
A ball screw 66 is arranged in parallel with. A drive shaft of a motor 68 is connected to both ends of the ball screw 66, and the ball screw 66 is rotated by transmitting the drive force of the motor 68. A bracket 70 is attached to the lower base plate 58 corresponding to the ball screw 66.

The bracket 70 is provided with a circular hole corresponding to the ball screw 66, and the inner wall of the circular hole is formed with a female screw which is screwed with a male screw formed on the ball screw 66. There is. Therefore, when the ball screw 66 is rotated, the lower base plate 58 is moved along the rail 62 in the arrow A direction or the arrow B direction (width direction of the vehicle model 44) of FIG. 4 according to the rotation direction of the ball screw 66. It is translated. The rotation of the ball screw 66 is controlled according to a signal output from a calculation unit 112 (described later) of the motion computer 32. The translational movement by the ball screw 66 is the movement of the rocking table by the hydraulic cylinder 36 (specifically, the translational movement along the width direction of the vehicle model 44).
Is done to assist

As shown in FIG. 5, one end of each of the pair of cable bears 74 is attached to the lower base plate 58, and the other ends of the cable bears 74 are fixed to the floor surface 76, respectively. A hydraulic hose and a harness are housed inside the cable carrier 74, and hydraulic pressure and electric power for operating the hydraulic cylinder 36 are transmitted to the lower base plate 58 and various signals are transmitted and received.

Next, as the operation of this embodiment, the processing performed by the motion computer 32 will be described with reference to FIG. 6 shows the motion computer 3
The processing performed in 2 is divided into blocks for each function. From the vehicle motion calculation computer 14, virtual vehicle longitudinal acceleration Ax, lateral acceleration Ay, pitch angle θx, roll angle θy, yaw angle θz are output to the motion computer 32 as vehicle motion information. It is input to 32 motion algorithm operation blocks.

In the driving simulation test apparatus according to this embodiment, the swing base is swung by the expansion and contraction of the hydraulic cylinder 36 based on the vehicle motion information (more specifically, the vehicle model is moved along a plane parallel to the floor surface 76). The rocking platform is moved (translated movement) in the front-rear direction and the left-right direction of the vehicle model 44.
The virtual vehicle behavior is simulated by inclining the rocking base about the pitch axis, roll axis, and yaw axis (see FIG. 8). In the aforementioned motion algorithm calculation block, based on the input vehicle motion information, the longitudinal acceleration to be applied to the rocking base, the lateral acceleration, and the angle at which the rocking base is rocked (tilt angle: specifically, pitch angle, The roll angle) and the yaw angle are calculated.

That is, in the motion algorithm operation block, first, in the scaling units 80A to 80E, the maximum values are constant with respect to the input longitudinal acceleration Ax, lateral acceleration Ay, pitch angle θx, roll angle θy, and yaw angle θz. The value is standardized (scaling down) so that The standardized longitudinal acceleration Aα,
The lateral acceleration Aβ is used for calculation in the calculation unit 112 described later. The data standardized by the scaling units 80A to 80E are input to the high pass filters 82A to 82E.

In the high-pass filter 82A, the longitudinal acceleration A _{x is set} as the longitudinal acceleration a _x to be simulated by the translational movement of the rocking table.
Extract high-frequency components (components that change instantaneously) from α,
It outputs to the limiter 84A and the subtraction unit 86A. Subtractor 8
6A subtracts the output of the high pass filter 82A from the longitudinal acceleration Aα and outputs the subtracted output to the acceleration-angle conversion unit 88A. As a result, the longitudinal acceleration Aα is a component that changes instantaneously (the output of the high-pass filter 82A) that should be simulated by the translational movement of the rocking table, and a steady component that should be simulated by the tilting of the rocking table (of the subtraction unit 86A). Output) and separated. The limiter 84
In order to prevent the overtravel of the hydraulic cylinder 36 due to the excessive value of the longitudinal acceleration that should be simulated by the translational movement of the rocking table, A is the value depending on the magnitude of the longitudinal speed V _x at that time. Is compressed and output.

The high-pass filter 82B uses the lateral acceleration A _Y as the lateral acceleration a _Y to be simulated by the translational movement of the rocking table.
A high frequency component is extracted from β and output to the limiter 84B and the subtraction unit 86B. The subtractor 86B subtracts the output of the high-pass filter 82B from the lateral acceleration Aβ and outputs the subtracted output to the acceleration-angle converter 88B. As described above, the lateral acceleration Aβ is also separated into an instantaneously changing component (output of the high-pass filter 82B) and a stationary component (output of the subtraction unit 86B) that should be simulated by the translational movement of the swing table. Further, the limiter 84B prevents the hydraulic cylinder 36 from overtraveling due to an excessive lateral acceleration value to be simulated by the translational movement of the rocking table, in accordance with the magnitude of the lateral velocity V _Y at that time. The value is compressed and output.

In the acceleration-angle conversion units 88A and 88B,
The input stationary acceleration component is converted into a tilt angle according to a predetermined inverse trigonometric function, and the addition units 90A, 90
Output to B respectively. On the other hand, the high pass filters 82C to 8C
In 2E, the pitch angle, roll angle, and yaw angle to be simulated by tilting of the rocking table are extracted as high-frequency components from the pitch angle, roll angle, and yaw angle standardized by the scaling units 80C to 80E, and the high-pass filter is extracted. 82C and 82D output to the addition units 90A and 90B, and the high pass filter 82E outputs to the limiter 84E.

The adder 90A has a high-pass filter 82C.
And the output of the acceleration-angle conversion unit 88A are added,
Output to the limiter 84C. In addition, in the addition unit 90B, the output of the high pass filter 82D and the acceleration-angle conversion unit 88.
The output of B is added and output to the limiter 84D. As a result, the tilt angle representing the stationary component separated from the longitudinal acceleration Aα is added to the pitch angle, and the tilt angle representing the stationary component separated from the lateral acceleration Aβ is added to the roll angle. .

The limiters 84C to 84E each have a pitch angular velocity ω to prevent overtravel of the hydraulic cylinder 36 due to excessive tilting of the rocking base.
The values are compressed according to the magnitudes of _x , roll angular velocity ω _Y , and yaw angular velocity ω _Z. The outputs of the limiters 84C and 84D are input to the calculation unit 112 as the target pitch angle θxref and the target roll angle θyref, respectively. The stationary components of the pitch angle, roll angle, and yaw angle removed by the high-pass filters 82C to 82E are changed by changing the simulated visual field image (for example, tilting the simulated visual field image) according to the stationary components. Expressed.

On the other hand, the longitudinal acceleration a _x output from the limiter 84A is input to the integral calculation section 92A of the integral calculation block, converted into the longitudinal translational movement speed V _x , and then input to the limiter 94A, and the hydraulic cylinder 36 of the hydraulic cylinder 36. In order to prevent overtravel, the value is compressed according to the magnitude of the front-rear translational displacement amount X, which is further input to the integral calculation unit 96A and converted into the front-rear translational displacement amount (front-rear displacement amount) X to be washed. Output to the OUT operation block. Also,
The lateral acceleration a _Y output from the limiter 84B is input to the integral calculation unit 92B of the integral calculation block, converted into the lateral translational movement speed V _Y , and then input to the limiter 94B.
In order to prevent overtravel of the hydraulic cylinder 36, the value is compressed according to the magnitude of the lateral translational movement displacement amount Y, and is further input to the integral calculation unit 96B to become the lateral translational movement displacement amount (lateral displacement amount) Y. It is converted and output to the washout operation block.

The washout calculation block causes the rocking table to reach a position corresponding to the boundary of the movable range when the translational movement or tilting in the same direction is repeated with respect to the rocking table and the rocking of the rocking table. In order to prevent the vehicle from being unable to perform the above, a component is added to gently return the rocking platform to the initial position so that it is not sensed by the driver. The calculation of the component to be returned to the initial position is performed by the washout calculation unit 98A-
The components to be returned to the initial position, which are calculated in 98C, are added to the front-rear direction displacement amount, the lateral displacement amount, and the target yaw angle by the adders 100A to 100C, respectively. The directional target position Yref and the target yaw angle θzref are output to the calculation unit 112.

The washout calculation block includes an integral calculation unit 106, and the integral calculation unit 106 receives the longitudinal acceleration A input from the vehicle motion calculation computer 14.
x is integrated to calculate the vehicle speed Vx, and the map 108 derives the target position X corresponding to the calculated vehicle speed Vx. The washout calculation unit 98A calculates the target position X based on the deviation between the target position X calculated by the subtraction unit 110 and the front-rear displacement amount output from the integration calculation unit 96A.
Calculate the component to be returned to.

Regarding the lateral displacement, 0 command unit 1
02A outputs the lateral position of the swing base at the initial position, and the washout calculation unit 98B outputs the subtraction unit 10
A lateral position at the initial position calculated in 4A,
The component for returning to the initial position is calculated according to the deviation from the lateral displacement amount output from the integration calculation unit 96B. Similarly, for the target yaw angle, the 0 command unit 102B outputs the yaw angle at the initial position of the rocking platform, and the washout calculation unit 98C calculates the yaw angle at the initial position calculated by the subtraction unit 104B and the limiter. The component for returning to the initial position is calculated according to the deviation from the target yaw angle output from 84E. Further, with respect to the height-direction target position Zref of the rocking table, a constant value is output from the neutral command unit 114 to the calculation unit 112.

Next, the target cylinder length calculation process performed by the calculation unit 112 will be described with reference to the flowchart of FIG. Note that the processing shown in FIG. 7 is periodically executed by the calculation unit 112 at predetermined time intervals. Step 200
Then, 1 is added to the counter t. In step 202, the normalized longitudinal acceleration Aα and lateral acceleration Aβ output from the scaling units 80A and 80B are fetched, and in the next step 204, the differential value Jαt of the longitudinal acceleration Aα and the differential value Jβt of the lateral acceleration Aβ are calculated. . In step 206, a change in acceleration (change speed of acceleration) J from a predetermined time before (t-m) to the present (t) is calculated according to the following equation (1).

[0047]

[Equation 1]

As shown in FIG. 9 as an example, the calculation unit 112 is a map that defines the relationship between a coefficient k (the coefficient k determines the rocking center of the rocking platform as will be described later) and the acceleration change speed J. Is stored in advance. In the map shown in FIG. 9, for example, when the value of the acceleration change speed J becomes larger than a predetermined value J ₁ , the value of the coefficient k increases in direct proportion to the increase of the acceleration change speed J. .

At the next step 208, a coefficient k is derived from the stored map based on the calculated acceleration change rate J. In the present embodiment, in order to distinguish each of the six hydraulic cylinders 36, the hydraulic cylinders are denoted by reference numerals “1” to “6” as shown in FIG. 8A. Substitute 1 for the variable n used as the sign of the hydraulic cylinder in. In the next step 212, a vector (Pnx, Pny, Pnz) from the swing center determined by the coefficient k to the upper mounting point Pn of the hydraulic cylinder n when the swing base is at the initial position according to the following equation (2).
Is calculated (see also FIG. 8B).

[0050]

[Equation 2]

The vector (Pnx, Pny, Pnz) calculated by the above equation (2) represents the relative position of the upper mounting point of the hydraulic cylinder n with respect to the swing center point. As shown in FIGS. 2 and 3, the vector (Qnx, Qny, Qnz) is the swing reference point Q set immediately below the simulated driver's seat and at the same height as the upper mounting position of each hydraulic cylinder. The relative position of the upper mounting point of the hydraulic cylinder n with respect to FIG. Further, as shown in FIGS. 2 and 3, the vector (Rnx, Rny, Rnz) is used for the hydraulic cylinder n with respect to the rocking reference point R set at a position corresponding to the head of the driver sitting in the simulated driver's seat. Represents the relative position of the upper mounting point.

Therefore, as is apparent from the equation (2), the swing center point P (see FIG. 8) represented by the vector (Pnx, Pny, Pnz).
(See also) corresponds to the rocking reference point Q when the coefficient k is 0, that is, when the acceleration change speed J is 0 or very small, and on the yaw axis as the coefficient k (acceleration change speed J) increases. To approach the rocking reference point R, and move the coefficient k
Is 1, that is, when the speed of change J of acceleration exceeds a predetermined value, the rocking reference point R is matched. The processing of steps 202 to 208 and the processing of step 212 correspond to the swing center changing means of the present invention.

In step 214, the vector (Pnx, Pny, Pnz) calculated above and the inputted front-rear direction target position Xref, lateral direction target position Yref, target pitch angle θxr
Based on ef, the target roll angle yref, and the target yaw angle θzref, the moving target position Pn ′ of the upper mounting position of the hydraulic cylinder n.
Is calculated according to the following equation (3).

[0054]

(Equation 3)

As is clear from the above equation (3), the movement target position Pn 'has the center of swing represented by the vector (Pnx, Pny, Pnz) as the origin of the coordinates, and the pitch axis passing through the origin, the roll axis, Pitch angle θxref and roll angle yre around the yaw axis
The upper mounting point P of the hydraulic cylinder n when the rocking base is tilted by f and the yaw angle θzref and further moved by the target position Xref and the target position Yref in the front-rear direction and the lateral direction.
It corresponds to the position of n.

At the next step 216, it is determined whether or not the value of the variable n is "6". When the determination is negative, 1 is added to the variable n in step 218 and the process returns to step 212. As a result, the processing of steps 212 and 214 is 6
This is done for each of the hydraulic cylinders 36 of the book.

When the calculation of the movement target position Pn 'for all the hydraulic cylinders 36 is completed, the determination at step 216 is affirmative and the routine proceeds to step 220, where each hydraulic cylinder 36 is moved.
Target length L of each hydraulic cylinder based on the moving target position of
Each of _{1 to} L ₆ is calculated and the processing is ended.

The calculated target length L ₁ of each hydraulic cylinder
~ L ₆ are limiters 116A to 116 as shown in FIG.
The hydraulic pressure control unit 3 sets the target lengths L1ref to L6ref via F.
4 is output. As a result, the six hydraulic cylinders 36
Are driven to expand and contract so as to match the corresponding target lengths Lnref, and as a result, the rocking base is rocked about the rocking center point P described above.

As a result, as the speed of change J of acceleration increases, the position of the swing center is changed and set so as to approach the driver's head, and the swing base is swung, so that, for example, the driver suddenly brakes. Even if the acceleration change speed to be simulated is large due to driving operations such as, and it is necessary to swing the rocking platform at high speed, it is possible to ensure that the driver will not feel uncomfortable such as simulator sickness. Can be prevented. If the rate of change in acceleration is less than the predetermined value J ₁ , the position of the swing center point P is aligned with the swing reference point Q at which the movable range of the swing base is widest, and thus is relatively gentle. In response to a change in acceleration, the swing base is swung largely with the swing reference point Q as the swing center, and the acceleration applied to the virtual vehicle is simulated without being greatly scaled down to drive the actual vehicle. It is possible to give the driver a feeling close to that.

In the above, as the map for deriving the coefficient k, the map in which the value of the coefficient k increases in proportion to the increase in the acceleration change speed J is used as shown in FIG. The map is not limited, and a map in which the value of the coefficient k increases stepwise as the change speed J of the acceleration increases as shown in FIG. 10A, or the coefficient k increases as shown in FIG. 10B. The map in which the value of changes smoothly, or Fig. 1
It is needless to say that a map or the like in which the change of the coefficient k is given a hysteresis characteristic as shown in 0 (C) may be used and can be appropriately changed according to the type of the vehicle as a model.

In the above description, the acceleration change rate J is calculated from the virtual longitudinal acceleration Aα and lateral acceleration Aβ of the vehicle. However, the present invention is not limited to this, and the steering by the driver is not limited to this. It is also possible to determine whether the acceleration applied to the virtual vehicle is slow or rapid based on the operation of the wheel, the accelerator pedal, and the brake pedal, and change the swing center according to the determination result.

Further, although the rocking reference point R is set to a fixed position in the above, the present invention is not limited to the above, and the rocking reference point R is made to coincide with the driver's head regardless of the physique of the driver. In addition, the position of the driver's head (specifically, the sitting height of the driver, etc.) is input in advance, and the position of the rocking reference point R is calculated so as to match the input position of the head. Good.

Further, due to the limitation of the device for displaying the simulated visual field image, the insufficient space for disposing the vehicle model, and the like, as shown in FIG. 11 as an example, the vehicle model is tilted with respect to an axis perpendicular to the rocking table. If there is no choice but to arrange them, the pitch, roll, and yaw coordinate axes are set with reference to the vehicle model that is arranged so as to be inclined, and the vector (Qnx, Qny, Qnz) and the vector (based on these coordinate axes are set. Rnx, Rny, Rnz) is calculated in advance and the calculation of the equation (2) is performed using the calculated value, so that the vehicle seat can be properly operated by the driver sitting in the simulated driver seat of the vehicle model in which the vehicle is inclined. It becomes possible to experience the exercise.

Furthermore, in the above description, the lower base plate 58 is moved in translation along the width direction of the vehicle model 44 by the ball screw 66, but the mechanism for translation is not limited to this, and an example is provided. As shown in FIG. 12, a rack 58A is formed on a side portion of the lower base plate 58, and the pinion gear 12 that meshes with the rack 58A is formed.
0 may be provided, and the lower base plate may be translated by rotating the pinion gear 120 with the driving force of the hydraulic motor 122 fixed to the floor surface.

Since the hydraulic motor 122 shown in FIG. 12 has a low moment of inertia and a large driving force, the response performance of translational movement can be improved. Further, in FIG. 12, two sets of the hydraulic motor 122 and the pinion gear 120 are provided, and one hydraulic motor 122 generates a predetermined driving force in the opposite direction to the other hydraulic motor 122, so that a so-called scissor gear is formed. Similarly, response delay and noise due to backlash can be reduced. Further, since the reaction force transmitted to the lower base plate 58 due to the expansion and contraction of the hydraulic cylinder 36 is absorbed by the friction between the hydraulic motor 122, the rack 58A and the pinion gear 120, the supporting rigidity is also excellent.

Further, in the above description, the groove 40A, the unit bearing 48,
Ring rail 46A, free bearing unit 50,
Since a turning mechanism including a driving device (not shown) is provided, the load to be supported by the turning mechanism is the swing table 4
0, the dome 42, and the mass of the installation object in the dome 42, and high rigidity is not required. As a result, as described above, the structure of the turning mechanism can be simplified, it is not necessary to generate a large driving force in the drive device, and the increase in weight due to the provision of the turning mechanism can be suppressed. Therefore, the response performance of the swing mechanism and the translation mechanism does not deteriorate.

Further, in the above description, the triangle having the mounting position of each hydraulic cylinder 36 on the upper base plate 52 side as the apex is larger than the triangle having the mounting position of each hydraulic cylinder 36 on the lower base plate 58 side as the top. However, the present invention is not limited to this, and both triangles may be congruent. The number of hydraulic cylinders is not limited to six, and the present invention can be applied to any rocking device whose rocking center can be changed, and the rocking device is configured as described above. It is not limited. As an example of the rocking device whose rocking center can be changed, NADS is used.
(National Advanced Driving Simulator) (See Toyota Central Research Institute R & D Review, Vol.26 No.1 March 1991) and the NASA Ames Research Center's Vertical Mot.
ion Simulator (US magazine "Aviation Week & Space Tec
hnology ”, issued January 17, 1983). The present invention can also be applied to these simulators.

Further, although the example in which the present invention is applied to the driving simulation test apparatus using the vehicle as the simulation target has been described above, the present invention is not limited to this, and the driving simulation test using the simulation target as an aircraft. Device (so-called flight simulator)
It is also possible to apply the present invention to the above.

[0069]

As described above, the invention according to claim 1 can prevent or reduce the discomfort to the driver without narrowing the movable range of the swing base. Has excellent effect.

The invention according to claim 2 has an effect that it is possible to more reliably prevent or reduce the driver's discomfort such as simulator sickness.

[Brief description of drawings]

FIG. 1 is a schematic block diagram showing the overall configuration of a driving simulation test apparatus according to the present embodiment.

FIG. 2 is a front view showing the inside of a dome mounted on a rocking table.

FIG. 3 is a side view showing the inside of the dome.

FIG. 4 is an exploded perspective view showing a swing base and a drive mechanism for the swing base.

FIG. 5 is a front view showing a swing base and a drive mechanism for the swing base.

FIG. 6 is a schematic block diagram showing processing performed by a motion computer, which is divided into blocks for each function.

FIG. 7 is a flowchart illustrating a target cylinder length calculation process performed by a calculation unit of a motion computer.

8A and 8B are views for explaining a coordinate system used for calculation of rocking of a rocking platform, a position of a rocking center, a vector from the rocking center to an upper mounting point of a hydraulic cylinder, and the like. It is a conceptual diagram.

FIG. 9 is a diagram showing an example of a map defining a relationship between a rate of change J of acceleration and a coefficient k.

10A to 10C are diagrams showing another example of a map defining the relationship between the acceleration change speed J and the coefficient k.

FIG. 11 is a conceptual diagram for explaining setting of pitch, roll, and yaw coordinate axes when the vehicle model is arranged at an inclination.

FIG. 12 is a perspective view showing another example of the translational movement mechanism.

[Explanation of symbols]

 10 Driving Simulation Test Device 32 Motion Computer 36 Hydraulic Cylinder 40 Swing Table 44 Vehicle Model 46 Support Plate 52 Upper Base Plate 56 Universal Joint 112 Computing Unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kozo Kozojima 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor Yohei Tanaka 234 Matsumoto, Higashiya Town, Kobe City, Hyogo Prefecture Kawasaki Heavy Industries Nishi-Kobe Factory Co., Ltd. (72) Yutaka Koizumi 234 Matsumoto, Higaya-cho, Nishi-ku, Kobe City, Hyogo Prefecture Kawasaki Heavy Industries Ltd. Nishi-Kobe Factory (72) Inventor Katsumi Nakajima 1-1 Kawasaki-cho, Akashi City, Hyogo Prefecture Kawasaki (72) Inventor Tomoyuki Takahashi 234 Matsumoto, Higashiya-cho, Nishi-ku, Kobe-shi, Hyogo Kawasaki Heavy Industries, Ltd.

Claims (2)

[Claims] 1. A swing base on which at least a simulated driver's seat on which a driver sits and an operation section for a driver seated on the simulated driver's seat to perform a driving operation are installed, and the swing base is rocked. At the same time, an oscillating device capable of changing the position of the oscillating center in the oscillating operation, and a virtual acceleration applied by the driving operation is calculated based on the driving operation of the driver, and the calculated acceleration is simulated. As described above, the control means for swinging the swing base around the predetermined swing center point by the swing device, and the driver sitting in the simulated driver's seat according to the change in the calculated acceleration. And a swing center changing unit that changes the position of the swing center point so that the distance between the swing center point and the swing center point changes. 2. The swing center changing means reduces the distance between the swing center point and the driver sitting in the simulated driver's seat when the calculated change speed of the acceleration is equal to or more than a predetermined value. The driving simulation test apparatus according to claim 1, wherein the position of the swing center point is changed as described above.