JP2001351058A - Simulation system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simple, general purpose simulation system for vehicles capable of simulating the steering reaction from a road surface in a real traveling vehicle by a simple constitution. SOLUTION: The relation between the change of load Wa for pressing right and left wheels fitted to a steering device of a steering simulator to a loading surface without rotating these wheels around their axles and the change of steering torque Ta following the change of the load Wa is stored. A correction value is calculated so that the relation between a value obtained by converting self-aligning torque calculated in accordance with a signal generated by the input part of a driving simulator and a setting condition including load shared by both wheels into the torque around the steering center of the steering device and the correction value of the load shared by both wheels corresponds to the stored relation. When the right and left wheels are pressed to the loading surface, load corresponding to the correction value is applied as the load correlated to steering reaction whose transmission is simulated by the driving simulator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving simulator for simulating vehicle behavior including transmission of a steering reaction to a driver, and a steering simulator for simulating a state in which a load correlated to the steering reaction is applied to a steering device. And a vehicle simulation system comprising:

[0002]

2. Description of the Related Art A driving simulator includes an actuator for applying an operation reaction force to a steering angle input unit in response to a signal generated by an input unit including a steering angle input unit, a driving force input unit, and a braking force input unit. There is one that simulates a vehicle behavior including transmission of a steering reaction force by controlling a simulator-side actuator. According to this driving simulator, the driver is given a driving sensation without actually driving, and the behavior of the vehicle and the behavior of the driver can be evaluated.

[0003] As a steering simulator, left and right wheels mounted on a steering device mounted on a bogie are mounted on a mounting surface, and a load applying mechanism including an actuator for applying a load to the steering device is controlled to thereby control the steering device. There is one that simulates a state in which a load correlated to a steering reaction force is applied to a steering device.
According to this steering simulator, it is possible to evaluate the characteristics of the prototype steering apparatus before the actual vehicle is mounted, when the load is applied, without running the actual vehicle.

Further, it has been proposed to combine the driving simulator and the steering simulator and apply a load correlated to a steering reaction force whose transmission is simulated by the driving simulator to the steering device in the steering simulator. As a result, the load correlated with the steering reaction force can be changed in accordance with the generated signal of the input unit of the driving simulator. It is possible to apply a load correlated to the steering reaction force in a normal running state.

In the steering simulator,
The load correlated with the steering reaction force applied to the steering device includes a shared load of each wheel, a self-aligning torque acting around the kingpin axis, and the like. The load corresponding to the wheel-sharing load is applied by pressing the wheel attached to the steering device against the mounting surface by the load applying mechanism.

[0006]

The load correlated with the steering reaction force correlates with the coefficient of kinetic friction between each wheel and the road surface in an actual running vehicle. Therefore, when each wheel attached to the steering device in the steering simulator is pressed against the mounting surface without rotating about the axle center, simply applying a load to the steering device corresponding to the wheel sharing load determined from the vehicle specifications, A load correlated with the steering reaction force reflecting the dynamic friction coefficient between each wheel and the road surface in the actual running vehicle cannot be applied. However, in order to actually rotate the wheels mounted on the steering device on the mounting surface around the axle in the steering simulator, the mounting surface needs to be constituted by the outer peripheral surface of the rotating roller or the like. There is a problem that it becomes complicated, complicated and expensive.

An object of the present invention is to provide a vehicle simulation system that can solve the above-mentioned problem.

[0008]

According to the present invention, there is provided a steering angle input unit,
Simulation of vehicle behavior including transmission of steering reaction force, including an input unit including a driving force input unit and a braking force input unit, and a driving simulator side actuator including an actuator that applies an operation reaction force of the steering angle input unit. A driving simulator that controls a load applying mechanism including an actuator that applies a load to the steering device, thereby simulating a state in which a load correlated to a steering reaction force is applied to the steering device, and an input unit for the simulator. And the signal generated by
Means for calculating a control parameter including a self-aligning torque in accordance with a predetermined setting condition including a load shared by each wheel, and a steering simulator for mounting the left and right wheels attached to the steering device. Surface, and each wheel can be pressed against the mounting surface by the load applying mechanism without rotating each wheel around the axle, and a load that is correlated with the steering reaction force whose transmission is simulated by the driving simulator. In a vehicle simulation system that can be applied to a steering device in a steering simulator based on the control parameters, a change in the pressing load of the left and right wheels by a load applying mechanism on the mounting surface and a change in the steering torque associated with the change. Means for storing a relationship; The relationship between the correction value of each wheel-sharing load determined in advance and a value obtained by converting the self-aligning torque calculated as the control parameter into a torque around the steering center of the steering device corresponds to the stored relationship. Means for calculating each correction value, and by pressing each wheel attached to the steering device against the mounting surface, a load corresponding to the correction value of the load shared by each wheel is applied as a load correlated to the steering reaction force. The load applying mechanism is controlled so as to be able to do so. According to the configuration of the present invention, the stored relationship between the change in the pressing load of the left and right wheels by the load applying mechanism on the mounting surface and the change in the steering torque accompanying the change is determined by the left and right wheels and the mounting surface. Reflect the coefficient of kinetic friction between Therefore, the relationship between the correction value of each wheel shared load determined in advance as a setting condition in the driving simulator and the value obtained by converting the self-aligning torque calculated as a control parameter into a torque around the steering center of the steering device is stored. Each correction value reflects the dynamic friction coefficient by making it correspond to the relationship described below. Therefore, by pressing the left and right wheels attached to the steering device against the mounting surface,
A load corresponding to each correction value is applied as a load correlated to the steering reaction force, and a load correlated to the steering reaction force reflecting the dynamic friction coefficient between each wheel and the road surface in the actual running vehicle can be applied. When the left and right wheels are pressed against the mounting surface, it is not necessary to rotate each wheel around the axle, so that the structure of the steering simulator can be simplified.

As a relationship between a change in the pressing load of the left and right wheels by the load applying mechanism on the mounting surface and a change in the steering torque accompanying the change, when the pressing load is Wa and the steering torque is Ta, The proportional constant Ka determined by Ka = Wa / Ta is stored, the right wheel sharing load predetermined as the setting condition is Wfr, the left wheel sharing load is Wflo, and the self-aligning torque calculated as the control parameter is the steering torque. Assuming that the value converted to the torque around the steering center of the device is SAT and the total wheel sharing load is W, Wfr = SAT · Ka · Wfr / W
To calculate the correction value Wfr of the right wheel sharing load,
= SAT · Ka · Wflo / W, it is preferable to calculate the correction value Wfl of the left wheel shared load. Since the proportional constant corresponds to the dynamic friction coefficient between the mounting surface and each wheel, the correction value of the load shared by each wheel can be easily obtained.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The vehicle simulation system shown in FIG. 1 is a driving simulator 1 shown in FIG.
And a steering simulator 100 shown in FIG.

The driving simulator 1 includes a main body 2 for supporting an operator, an actuator 3 for operating the main body 2, a steering angle input unit 4 imitating a steering wheel, and an actuator for applying an operation reaction force to the steering angle input unit 4. 5, a driving force input unit 6 simulating an accelerator pedal, a braking force input unit 7 simulating a brake pedal, a video display unit 9, and an input device 10.

The main body 2 includes a support plate 2a and an operator seat 2b provided on the support plate 2a.
And a fence 2c provided on the periphery of the support plate 2a
Having.

The operating actuator 3 of the main body 2 is composed of a plurality of electric cylinders. One end of each electric cylinder is linked to the support plate 2a, and the other end is linked to the base 11 on the floor. The main body 2 can be operated in an arbitrary direction by expansion and contraction of each electric cylinder. By operating the main body 2 by the actuator 3, the movement of the vehicle body is simulated as the vehicle behavior. The main body operating actuator 3 is connected to a control device 8. The configuration of the actuator 3 for operating the main body is not particularly limited as long as the main body 2 can be operated so as to simulate vehicle behavior.

The steering angle input section 4 includes an operation section 4a rotatably mounted on the main body 2, and an operation section 4a.
An angle sensor 4b for detecting the rotation angle of the
a), and a torque sensor 4c for detecting the operation torque of a. The angle sensor 4b is provided by an operating unit 4
A steering angle signal corresponding to the rotation operation angle a is generated and sent to the control device 8. The torque sensor 4c sends a steering torque signal corresponding to the operation torque of the operation unit 4a by the operator to the control device 8.

The actuator 5 for adding an operation reaction force includes:
It is constituted by a motor connected to one end of the steering angle input section 4, and applies an operation reaction force to the steering angle input section 4. The actuator 5 is connected to the control device 8 and is controlled in accordance with the generated signals of the input units 4, 6, 7. By applying an operation reaction force to the steering angle input unit 4 by the actuator 5, transmission of the steering reaction force from the road surface to the driver via the steering wheel is simulated as the vehicle behavior.

The driving force input section 6 has an operation section 6a attached to the main body 2 so as to be capable of being depressed, and a sensor 6b for detecting the amount of depression of the operation section 6a. The sensor 6b generates a drive signal corresponding to the amount of depression of the operation unit 6a by the operator and sends the drive signal to the control device 8.

The braking force input unit 7 has an operation unit 7a operably mounted on the main body 2 and a sensor 7b for detecting the amount of depression of the operation unit 7a. The sensor 7b generates a braking signal corresponding to the amount of depression of the operation unit 7a by the operator and sends the braking signal to the control device 8.

The video display unit 9 is constituted by a display such as a CRT display, for example, and displays a video according to an image signal sent from the control device 8.

The steering simulator 100 includes:
A bogie 105 having a frame-shaped main body 101 and left and right wheels 103 and a support mechanism 106 for supporting the bogie 105 are provided. A wheel 103 is attached to a suspension device 102 on a steering device 104 attached to the truck 105.
Mounted via.

The steering device 104 includes a steering wheel 107 and a steering gear. The steering gear is of a rack and pinion type in this embodiment, and is constituted by a motion conversion mechanism that converts the rotational motion of the steering wheel 107 into the width of the rack in the vehicle width direction. Steer. The type of the steering gear is not particularly limited, and may be, for example, a ball screw type.

A steering actuator 161 for generating a turning force of the steering wheel 107 for steering the steering device 104, and the steering device 1
A torque sensor 162 for detecting a steering torque as a steering reaction force of the steering wheel 04 is provided. Steering device 104
Has an actuator that generates a steering assist force, such as an electric power steering device, and a steering torque detection sensor, it is preferable to use the actuator and the sensor as the steering actuator 161 and the torque sensor 162.

The support mechanism 106 has first left and right support plates 121 in a plate shape. The left and right wheels 103 include a rubber tire and a metal wheel mounted on the inner periphery of the tire. Each of the upper surfaces of the first support plates 121 is a mounting surface 121a, and the left wheel 103 is mounted on the mounting surface 121a of the first support plate 121 on the left. The right wheel 103 is mounted on the mounting surface 121a.

Rear left and right wheels (not shown) are attached to the rear portion of the main body 101 via a suspension without a steering device, and are mounted on another mounting surface at the same height as the mounting surface 121a. You. When performing a simulation of a four-wheel steering vehicle, the left and right wheels may be attached to a steering device attached to the rear part of the bogie, and a load may be applied in the same manner as the front left and right wheels.

Each of the left and right first support plates 121 is rotatable about a vertical axis by a left and right support device 110.
It is supported so as to be movable in the front-rear direction and the left-right direction. That is, as shown in FIG. 4, each support device 110 moves the first support plate 121 along the axis 1 along the vertical direction.
Second support plate 123 rotatably supported at center 22
A third support plate 125 for supporting the second support plate 123 movably along the left-right direction of the bogie 105 via a rail 124; and a third support plate 125
And a fourth support plate 127 supporting the carriage 105 via the rail 126 so as to be movable in the front-rear direction. The fourth support plate 127 is mounted on a fixed side 150 such as a floor.
Attached to.

The steering device 104 is provided with a load applying mechanism 111 having a steering simulator-side actuator for applying a load correlated to the steering reaction force via the bogie 105. The magnitude and direction of the load applied by the load applying mechanism 111 can be changed. The load applying mechanism 111 includes the left and right first load applying devices 1.
30 and a left and right second load applying device 140.

Each first load applying device 130 applies a load to the steering device 104 from the first support plate 121 via the left and right wheels 103 of the bogie 105. That is,
Each first load applying device 130 includes a first actuator 13
1, a second actuator 132, and a third actuator 133. Each actuator 131, 132,
133 is constituted by a hydraulic actuator that can be extended and contracted, and can also exert a vibration function by being extended and contracted. Each actuator may be electrically operated.

The cylinder tube 131a of each first actuator 131 is connected to the second support plate 123 so as to be swingable about a vertical axis 131c.
b is connected to the first support plate 121 at a position eccentric from the shaft 122 so as to be relatively rotatable about a vertical shaft 131d, and is extendable and contractable in a lateral direction without passing through the shaft 122. Thus, by applying a moment for rotating each of the first support plates 121 about the vertical axis 122 by each of the first actuators 131, a load around the vertical axis is applied to each of the wheels 103 on each of the mounting surfaces 121a. it can. The direction and magnitude of the load can be changed according to the driving direction and driving force of each first actuator 131.

The cylinder tube 132a of each second actuator 132 is swingably connected to the third support plate 125 about the vertical axis 132c.
b is swingably connected to the second support plate 123 about the vertical axis 132d, and is extendable and contractable along the left and right direction of the carriage 105 (the left and right direction in FIG. 4). The cylinder tube 133a of each third actuator 133 is swingably connected to the fourth support plate 127 about the vertical axis 133c, and the moving rod 133b is connected to the third support plate 1.
25, and is pivotally connected to the center of the vertical shaft 133d.
The trolley 105 can be extended and contracted in the front-rear direction (vertical direction in FIG. 4). Thus, a lateral force can be applied by each of the second actuators 132 to move each of the first support plates 121 along the left and right directions of the carriage 105 via each of the second support plates 123. Each third support plate 123 is connected to each third support plate 123 by each third actuator 133.
A lateral force can be applied to the first support plate 121 via the support plate 125 to move each of the first support plates 121 in the front-rear direction of the carriage 105. Therefore, the wheel 10 on each mounting surface 121a is controlled by the second and third actuators 132 and 133.
3, a load along the lateral direction corresponding to the resultant force of the two lateral forces can be applied to the steering device 104.
The direction and magnitude of the load can be changed according to the driving direction and driving force of each of the second and third actuators 132 and 133.

Each second load applying device 140 is connected to the steering device 10 via each suspension 102 of the bogie 105.
4 has a fourth actuator 141 that can apply a load to the fourth actuator 141. Each of the fourth actuators 141 is constituted by a hydraulic actuator that can expand and contract in the vertical direction, and can also perform a vibration function by expanding and contracting. Each actuator may be electrically operated. Each fourth actuator 14
1, a cylinder tube 141a is attached to a fixed side 150, and a telescopic rod 141b is
It is supposed to be in contact with. Thus, the respective left and right wheels 103 can be pressed against the mounting surface 121a by the respective fourth actuators 141 via the suspension 102 without rotating about the axle center along the up-down direction. By the pressing, the suspension 102 is applied to the steering device 104 via the left and right wheels 103 respectively.
, A load along the vertical direction is applied, and the load is changed by expansion and contraction of the fourth actuator 141.

The vertical load applied via the right and left wheels 103 is applied to the suspension 102.
It may be applied from the first support plate 121 side instead of from the side. For example, as shown by a two-dot chain line in FIG. And the upward displacement of each suspension 102 due to the pushing is fixed to the fixed side 1.
50.

The vertical load applied to the steering device 104 via the left and right wheels 103 changes due to the expansion and contraction of the fourth actuator 141. Thereby, it is possible to simulate a state in which a load that changes based on the roll motion due to the lateral acceleration is applied. A change in the coefficient of friction between each wheel and the road surface based on a change in road surface roughness or a difference in tire structure corresponds to a change in friction resistance, which is a product of a shared load of each wheel and a coefficient of friction. The change in the frictional resistance corresponds to the change in the load applied to the steering device 104 via the respective wheels 103 along the vertical direction. Therefore,
The expansion and contraction of each fourth actuator 141 causes each wheel 103
By changing the load applied along the vertical direction, it is possible to simulate a state where a load according to the friction coefficient is applied. Further, by changing and adjusting the depth of the tread groove of the tire of each wheel 103 and the roughness of the mounting surface 121a, a state in which a load corresponding to the friction coefficient is applied may be simulated. The change in the cornering force acting on the wheels in the actual vehicle steering state is
This corresponds to a change in the lateral load acting on each of the left and right wheels 103 on the first support plate 121. That is, FIG. 5 shows the load acting on the actual wheels, and the rotational surface (indicated by a two-dot chain line b) of the wheel T forms a slip angle θ with respect to the traveling direction of the vehicle (indicated by an arrow a). In the steering state, the cornering force F acts on the wheel T along the lateral direction, and the self-aligning torque M acts around the vertical axis. The lateral load applied to the left and right wheels 103 is controlled by the second actuator 132
The lateral force for moving each of the first support plates 121 along the left and right directions of the bogie 105 and the lateral force for moving each of the first support plates 121 along the front and rear directions of the bogie 105 by each third actuator 133. Respond to resultant forces. The magnitude and direction of the resultant force are
It can be arbitrarily changed by changing the pressure generated by the third actuators 132 and 133. Therefore, it is possible to simulate a state in which a changing cornering force is applied by the expansion and contraction of each of the second and third actuators 132 and 133. The change in the self-aligning torque that acts on the wheels in the actual steering state of the vehicle corresponds to the change in the moment around the kingpin axis that acts on each of the left and right wheels 103 on the first support plate 121. That is, the self-aligning torque acting on the actual vehicle wheels acts around the kingpin axis. The load applied to the left and right wheels 103 around the vertical axis 122 corresponds to a moment when each of the first actuators 131 rotates the first support plate 121 around the vertical axis 122. The magnitude and direction of this moment can be arbitrarily changed by changing the driving force of each first actuator 131. Therefore, it is possible to simulate a state in which the changing self-aligning torque is applied by the expansion and contraction of each first actuator 131.

As shown in FIG. 1, the first to fourth actuators 131, 132, 133, 141, the steering actuator 161 and the torque sensor 162 are connected to the control device 8
Connected to. Further, the control device 8 has stroke sensors 131 ′, 13, which detect the strokes of the first to fourth actuators 131, 132, 133, 141.
2 ', 133', 141 ', monitor, external storage device,
A data output device 154 such as a printer is connected.

The control device 8 has a first control unit 21 for controlling the driving simulator 1 and a second control unit 22 for controlling the steering simulator 100.
The first control unit 21 and the second control unit 22 are each configured by a computer, and are connected to each other via an interface so that signals can be exchanged. Note that the first control unit 21 and the second control unit 22 may be configured by one computer having the functions of both the control units 21 and 22.

The first control section 21 stores a driving simulation program, and drives the driving simulator side actuators 3, 5 to the input sections 4, 6, 7.
Is controlled according to the program in accordance with the generated signal. That is, the vehicle mass set by the program or input from the input device 10, the shared load of each wheel,
Setting conditions for simulation of the vehicle dimensions such as the wheel base, the center of gravity of the vehicle, the pneumatic trail, the friction coefficient between the wheels and the ground contact surface, and the steering generated by the input units 4, 6, 7 Control parameters for simulation are calculated according to the angle signal, the steering torque signal, the drive signal, and the braking signal. As the control parameters, self-aligning torque, longitudinal speed of the vehicle, longitudinal acceleration, lateral speed, lateral acceleration, yaw rate, cornering force, mileage, steering direction, and the like are obtained, but are not limited thereto. is not.
The calculation of the control parameters can be performed using a known arithmetic expression based on data in an actual vehicle running test.

The second control unit 22 controls the steering simulator-side actuators 131, 132, 133, 141 constituting the load applying mechanism 111 in accordance with the stored steering simulation program. Thereby, in the steering simulator 100,
Simulate a state in which a load correlated with the steering reaction force is applied to the steering device 104.

Prior to the simulation by the above system, the relationship between the change in the pressing load of the left and right wheels 103 on the mounting surface 121a by the load applying mechanism 111 and the change in the steering torque of the steering device 104 due to the change is determined in advance. Are stored in the first control unit 21. The steering torque is applied to the left and right wheels 103 and the mounting surface 121a.
Corresponding to the kinetic friction force. As shown in FIG. 6, when the pressing load Wa is changed by the fourth actuator 141, the change in the steering torque Ta is
2 and the proportional constant Ka determined by Ka = Wa / Ta is stored as the relationship.

The first control unit 21 converts the correction value of each wheel sharing load determined in advance as the set condition and the self-aligning torque calculated as the control parameter into a torque around the steering center of the steering device 104. So that the relationship with the value corresponds to the stored relationship,
Calculate each correction value. That is, the correction value Wfr of the right wheel shared load and the correction value Wfl of the left wheel shared load are calculated by the following equations (1) and (2) including the proportional constant Ka stored as the relation. Equations (1) and (2)
In the above, the right wheel sharing load and the left wheel sharing load, which are predetermined as the above setting conditions, are Wflo, and the left wheel sharing load is Wflo. The value converted to the torque around the wheel is SAT, and the total wheel-sharing load is W (= W
+ Wflo). In order to convert the self-aligning torque into the SAT, the steering device 1
The reduction ratio of the change in the toe angle of the wheel 103 to the change in the rotation angle of the steering wheel 107 in the first control unit 21
Is set by the driving simulation program or is set as a setting condition input from the input device 10.

Wfr = SAT · Ka · Wfro / W (1) Wfl = SAT · Ka · Wflo / W (2)

The second control unit 22 controls the fourth actuator 141 of the load applying mechanism 111, so that the left and right wheels 1
03 is pressed against the mounting surface 121a, and a load corresponding to the correction values Wfr, Wfl of the load shared by the wheels is applied as a load correlated with the steering reaction force. In the present embodiment, the second control unit 22 calculates a stroke target value corresponding to the correction value Wfr of the right wheel shared load Wfr, and detects the stroke target value and the stroke detection value of the fourth actuator 141 for the right wheel 103 by the stroke sensor. And the fourth actuator 141 is feedback-controlled so as to eliminate the deviation from the left wheel shared load Wflo.
Is calculated, and the fourth actuator 141 is feedback-controlled so as to eliminate the deviation between the target stroke value and the stroke detection value of the fourth actuator 141 for the left wheel 103 by the stroke sensor.

The second control unit 22 obtains a load correlated with the steering reaction force whose transmission is simulated by the driving simulator 1 in accordance with a signal sent from the first control unit 21, and calculates the load. Application mechanism 11
1 is provided to the steering device 104 by controlling the “1”. As a load correlated with the steering reaction force, for example, a load corresponding to a self-aligning torque or a cornering force acting around the kingpin axis is applied by controlling the first to third actuators 131, 132, and 133. That is, the second control unit 22 calculates a stroke target value corresponding to the load correlated to the steering reaction force based on the control parameters, and calculates the stroke target value and the first to third actuators 131 and 13 using the stroke sensors.
The first to third actuators 131, 132, 133 are set so as to eliminate the deviation from the stroke detection values of the second and third strokes.
Feedback control.

Since the self-aligning torque and the cornering force are obtained as control parameters of the driving simulator-side actuators 3 and 5 by the first control unit 21 as described above, the load corresponding to the self-aligning torque and the cornering force is obtained. Is
It can be obtained from a signal from the first control unit corresponding to the control parameter. At this time, since the control parameters are changed by the operation of the operator of the driving simulator 1, it is possible to obtain a load correlated with the steering reaction force in various driving states without accumulating a large amount of data by an actual vehicle driving experiment. it can.

Thus, the steering simulator-side actuator 131 constituting the load applying mechanism 111,
132, 133, and 141 perform the second control in response to the signal sent from the first control unit 21 so that a load correlated with the steering reaction force whose transmission is simulated by the driving simulator 1 is applied to the steering device 104. It is controlled by the unit 22. That is, the steering simulator 100 applies a load correlated to the steering reaction force during the actual running of the vehicle to the steering device 104 via the bogie 105 by the load applying mechanism 111, so that the load is applied to the steering device 104 in the actual vehicle. The given state is simulated. Since the magnitude and direction of the load applied by the load applying mechanism 111 can be changed, a simulation can be performed according to the change in the running conditions. In addition, the second control unit 22
In accordance with a signal generated by the angle sensor 4b of the steering angle input unit 4 sent from the first control unit 21, the steering actuator is rotated so that the steering wheel 107 rotates by the same angle as the rotation angle of the operation unit 4a of the driving simulator 1. 161 is controlled. Thereby, the steering device 10
The steering wheel 4 is steered in response to the operation of the steering angle input unit 4.

The first control section 21 outputs a control signal corresponding to the control parameter, and operates the main body operating actuator 3 according to the control signal. Also the first
The control unit 21 controls the steering simulator 1 sent from the second control unit 22 to the operation reaction force adding actuator 5.
The control is performed in accordance with a detection signal of the steering reaction force of the steering device 104 detected by the torque sensor 162 of 00.
That is, the steering angle input unit 4 of the driving simulator 1
The operation reaction torque of the steering simulator 100
The operation reaction force adding actuator 5 is driven so as to match the steering torque of the steering device 104 of FIG. As a result, an operation reaction force corresponding to the steering reaction force of the steering device 104 is applied to the steering angle input unit 4, so that the driving simulator 1
It is possible to simulate the transmission of the steering reaction force when the steering wheel 04 is steered. Further, the first control unit 21 controls the video display unit 9 by outputting an image signal for generating a virtual landscape. That is, the actuator 3 for operating the main body is driven so that the simulated longitudinal speed, longitudinal acceleration, longitudinal acceleration, lateral speed, lateral acceleration, yaw rate, and the like of the main body 2 correspond to the control parameters. Then, an image signal is output to the video display unit 9 so that the virtual landscape changes according to the steering direction and the like.

At the time of the simulation by the driving simulator 1 and the steering simulator 100, a vibration waveform indicating the vehicle behavior simulated by the driving simulator 1, a vibration waveform indicating the characteristics of the steering device 104, and the like are output to the data output device 154. It is used for analysis and design of the mechanism and structure of the device 104.

According to the above configuration, the stored relationship between the change in the pressing load of the left and right wheels 103 by the load applying mechanism 111 on the mounting surface 121a and the change in the steering torque accompanying the change is stored in the left and right wheels 103. And the dynamic friction coefficient between the table and the mounting surface 121a. Therefore, the correction values Wfr, Wfl of the respective wheel-sharing loads Wflo, Wflo, which are predetermined as setting conditions in the driving simulator 1, are set.
And the value SAT obtained by converting the self-aligning torque calculated as a control parameter into a torque around the steering center of the steering device 104 in correspondence with the stored relationship, so that the correction values Wfr and Wfl are This reflects the dynamic friction coefficient. Therefore, by pressing the left and right wheels 103 attached to the steering device 104 against the mounting surface 121a, the respective correction values Wfr, Wfl
Can be applied as a load correlated with the steering reaction force, and a load correlated with the steering reaction force reflecting the dynamic friction coefficient between the left and right wheels and the road surface of the actual running vehicle can be applied. When pressing the left and right wheels 103 against the mounting surface 121a,
Since it is not necessary to rotate each wheel 103 around the axle,
The structure of the steering simulator 100 can be simplified. Further, as the stored relationship, the mounting surface 12
The correction values Wfr and Wfl can be easily obtained by using the proportional constant Ka corresponding to the dynamic friction coefficient between the wheel 1a and each wheel 103. Thereby, when performing a simulation under various driving conditions using the driving simulator 1 and the steering simulator 100, the load of the wheel shared load during the traveling can be reduced without actually rotating the wheels in the steering simulator 100. For example, when the actuator for generating a steering assist force of the steering device 104 is used as the steering actuator 161, it can be used to easily simulate the response of the actuator 161 when the vehicle is running. it can.

The present invention is not limited to the above embodiment. For example, the first control unit and the second control unit are connected via a communication device, or a shared memory in which data can be read and written by the first control unit and the second control unit is provided. A control unit may be connected. As the steering simulator, a simulator capable of causing the bogie to actually perform a roll motion may be used. Also, instead of the stroke sensors 131 ', 132', 133 ', and 141',
A driving force sensor for detecting a driving force of the first to fourth actuators 131, 132, 133, 141 corresponding to a load correlated with the steering reaction force may be connected to the second control unit 22. Such a driving force sensor is disposed between the first support plate 121 and the second support plate 123, for example, and the first to fourth actuators 131, 132, 1
A known multi-axis sensor that detects the driving force applied by the motors 33 and 141 can be used. In this case, the second control unit 2
2 calculates a driving force target value corresponding to the load correlated with the steering reaction force, and reduces the deviation between the driving force target value and the driving force detection value detected by the driving force sensor so as to eliminate the deviation. , 132, 133, and 141 are feedback-controlled.

[0047]

According to the present invention, it is possible to simulate the effect of a steering reaction force from a road surface on an actual running vehicle with a simple structure under various driving conditions without the need for actual vehicle driving data. An expensive vehicle simulation system can be provided.

[Brief description of the drawings]

FIG. 1 is a configuration explanatory diagram of a driving simulator and a steering simulator according to an embodiment of the present invention.

FIG. 2 is a perspective view of a driving simulator according to the embodiment of the present invention.

FIG. 3 is a front view of the steering simulator according to the embodiment of the present invention.

FIG. 4 is a plan view of a main part of the steering simulator according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of a load acting on a wheel.

FIG. 6 is a diagram showing a relationship between a change in the pressing load of the wheels on the mounting surface and a change in the steering torque of the steering device according to the change in the steering simulator according to the embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 driving simulator 3, 5 actuator 4 steering angle input unit 6 driving force input unit 7 braking force input unit 8 control device 21 first control unit 22 second control unit 100 steering simulator 103 wheels 104 steering device 111 load applying mechanism 121a mounting Surface 161 Steering actuator 162 Torque sensor

Claims (2)

[Claims] An input section including a steering angle input section, a driving force input section, and a braking force input section; and a driving simulator side actuator including an actuator for applying an operation reaction force to the steering angle input section. A driving simulator that simulates vehicle behavior including reaction force transmission, and a load applied mechanism that includes an actuator that applies a load to the steering device, so that a load correlated to the steering reaction force is applied to the steering device. And a means for calculating control parameters including self-aligning torque according to a signal generated by an input unit of the steering simulator and a predetermined setting condition including a wheel-sharing load. The steering simulator is mounted on the left With the wheel mounting surface, each wheel can be pressed against the mounting surface by its load applying mechanism without rotating each wheel around the axle, and the driving reaction force is simulated by the driving simulator. In a vehicle simulation system in which a correlated load can be applied to a steering device in a steering simulator based on its control parameters, a change in the pressing load of the left and right wheels by a load applying mechanism on the mounting surface and a steering torque associated with the change. Means for storing the relationship with the change of the vehicle, a correction value of each wheel sharing load determined in advance as the set condition, and a self-aligning torque calculated as the control parameter converted to a torque around the steering center of the steering device. The relationship with the value corresponds to the stored relationship As described above, by means of calculating each correction value and pressing each wheel attached to the steering device against the mounting surface, a load corresponding to the correction value of the load shared by each wheel is applied as a load correlated to the steering reaction force. A simulation system for a vehicle, wherein the load application mechanism is controlled so that the load application mechanism can be controlled. 2. A relationship between a change in the pressing load of the left and right wheels by the load applying mechanism on the mounting surface and a change in the steering torque accompanying the change, where the pressing load is Wa and the steering torque is Ta. The proportional constant Ka obtained by Ka = Wa / Ta is stored, the right wheel sharing load predetermined as the setting condition is Wfr, the left wheel sharing load is Wflo, and the self-aligning torque calculated as the control parameter is Assuming that the value converted to the torque around the steering center of the steering device is SAT and the total wheel-sharing load is W, Wfr = SAT · Ka · Wfro / W
To calculate the correction value Wfr of the right wheel sharing load,
The vehicle simulation system according to claim 1, wherein a correction value Wfl of the left wheel shared load is calculated by: = SAT · Ka · Wflo / W.