JP2007033562A - Driving simulation test system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving simulation test system with which driving of a vehicle can be simulated by saving space. <P>SOLUTION: The driving simulation test system 1, 21 and 31 with which motion of the vehicle is simulated according to driving operation of a driver to be tested, comprises; a driving feeling means 7 with which the driver performs the driving operation and feels the motion of the vehicle; a translational motion means 3 for making the driving feeling means 7 perform the translational motion; a tilt motion means 4 for making the driving feeling means 7 perform tilting motion; and a control means for calculating the motion of the vehicle on the basis of the driving operation of the driver to be tested and for controlling driving of the translational motion means 3 and the tilt motion means 4 in order to simulate the motion of the vehicle. The control means decelerates a translational moving speed in the translational motion and adds a tilt angle according to deceleration in the tilt motion. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a driving simulation test apparatus that simulates the movement of a vehicle according to the driving operation of a subject.

For the purpose of vehicle development, driver training, and the like, a driving simulator that can simulate the motion of the vehicle according to the driving operation of a subject is known. The driving simulator is equipped with a dome with a vehicle model equipped with various operation systems and meters, etc., which controls the tilt movement (pitch direction, roll direction, yaw direction) of the dome and translates the dome ( The front-rear direction and the left-right direction are controlled (see Patent Document 1). By tilting or translating to the dome, the vehicle model is caused to simulate the longitudinal acceleration, the lateral acceleration, the pitch angle, the roll angle, or the like so that the subject can experience the feeling of driving the vehicle. For example, when the vehicle travels, longitudinal acceleration and lateral acceleration act on the vehicle. When a predetermined target acceleration is simulated in the driving simulator, the translational motion is controlled based on an output obtained by applying a high-pass filter to the simulated target acceleration, and the tilt motion is controlled based on an output obtained by applying a low-pass filter.
Japanese Patent Laid-Open No. 8-24031

  In the driving simulator, acceleration is performed according to the accelerator operation of the subject, and when a certain speed is maintained, the dome must be translated according to the speed. Therefore, a long translation distance is required, and the equipment scale must be increased.

  Then, this invention makes it a subject to provide the driving | running | working simulation test apparatus which can simulate the motion of a vehicle in space saving.

  A driving simulation test apparatus according to the present invention is a driving simulation test apparatus that simulates the movement of a vehicle in accordance with the driving operation of the subject, the subject can perform the driving operation, and the subject can experience the motion state of the vehicle. Driving motion sensing means, a translation motion means for translating the driving experience means, a tilt motion means for tilting the driving feel means, a motion of the vehicle based on the driving operation of the subject, Control means for controlling the drive of the translational movement means and the tilting movement means, and the control means decelerates the translational movement speed in the translational movement and calculates a tilt angle corresponding to the deceleration in the tilting movement. It is characterized by adding.

  In this driving simulation test apparatus, a subject performs a driving operation in the driving experience means, and the motion of the vehicle (for example, longitudinal acceleration and lateral acceleration) is calculated by the control means based on the driving operation. In the driving simulation test apparatus, the drive of the translational movement means and the tilt movement means is controlled by the control means according to the calculated movement of the vehicle. The translational motion means translates the vehicle sensation means back and forth, right and left, and the tilt motion means tilts the vehicle sensation means in a predetermined direction (for example, the pitch direction and the roll direction). In particular, in the driving simulation test apparatus, the control means controls the drive of the translational movement means by decelerating the translational movement speed from the simulated acceleration according to the movement of the vehicle, and reduces the simulated tilt angle according to the movement of the vehicle. The drive of the tilt motion means is controlled by adding a tilt angle corresponding to the speed. By decelerating the translational movement speed in the translational movement, the movement distance of the driving experience means in the translational movement is reduced. However, since the deceleration is applied regardless of the driving operation in the translational movement, the subject feels an extra feeling of deceleration. Therefore, it is necessary to prevent the subject from experiencing this feeling of deceleration. Therefore, a tilt angle that cancels the deceleration is given to the vehicle experience means in the tilt motion (that is, the vehicle experience means is tilted by a predetermined angle in a direction in which the subject does not feel a deceleration feeling). As a result, the subject can experience acceleration according to the driving operation. Thus, since the driving simulation test apparatus decelerates the translational movement speed in the translational movement, the translational distance can be reduced and the equipment scale can be saved. In addition, the driving simulation test apparatus can maintain the simulation accuracy because the subject does not feel an excessive deceleration.

  In the driving simulation test apparatus of the present invention, the control means may be configured to set the deceleration so as to return to the central direction.

  In this driving simulation test apparatus, the control means sets the deceleration so as to return to the central direction, and controls the drive of the translational movement means. For this reason, in the translational motion, a motion that causes the driving sensation means to return to the central direction acts. As a result, more space can be saved.

  In the driving simulation test apparatus of the present invention, the deceleration may be calculated based on the translational movement speed. In the driving simulation test apparatus of the present invention, the deceleration may be calculated based on the position of the driving experience means. In the driving simulation test apparatus of the present invention, the deceleration may be calculated based on the distance from the reference position of the translational motion of the driving experience means.

  According to the present invention, the translation distance can be reduced, and the movement of the vehicle can be simulated in a space-saving manner.

  Embodiments of a driving simulation test apparatus according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the driving simulation test apparatus according to the present invention is applied to a driving simulator that simulates the movement of a vehicle in accordance with the driving operation of a subject. The driving simulator according to the present embodiment includes a dome in which a vehicle model is installed, and includes an XY translation mechanism for translating the dome and a hexapod for tilting the dome. In particular, the driving simulator according to the present embodiment performs motion-based deceleration in translational motion and adds a tilt angle corresponding to the deceleration in tilting motion. In this embodiment, there are three forms depending on the method of obtaining the motion deceleration, the first embodiment is a form for obtaining the motion deceleration according to the translation speed, and the second embodiment is This is a form in which the motion deceleration is obtained according to the position of the vehicle model, and the third embodiment is a form in which the motion deceleration is obtained according to the distance from the center position of the vehicle model.

  With reference to FIGS. 1-5, the driving simulator 1 which concerns on 1st Embodiment is demonstrated. FIG. 1 is a perspective view showing the entire driving simulator according to the present embodiment. FIG. 2 is a front view showing the inside of the dome of FIG. 1 and the hexapod. FIG. 3 is a configuration diagram of the driving simulator according to the present embodiment. FIG. 4 is an example of target acceleration and sensory acceleration. FIG. 5 is an example of translational simulation acceleration, tilt simulation acceleration, translational speed, and translational movement distance when the motion deceleration control according to the first embodiment is performed and when it is not performed.

  The driving simulator 1 calculates the motion state of the vehicle according to the driving operation of the subject, and performs various motions on the dome (vehicle model) so that the subject can experience the calculated motion state. In particular, in the driving simulator 1, for the purpose of saving space, when simulating the acceleration of the vehicle, the translational motion is decelerated according to the translational speed of the vehicle model and the tilting motion is controlled in the pitch direction according to the deceleration. Add tilt angle. For this purpose, the driving simulator 1 mainly includes a dome 2, an XY translation mechanism 3, a hexapod 4, a substrate 5, a support unit 6, a vehicle model 7, a screen 8, a projector 9, a speaker 10, a database 11, and an X direction. A position detection sensor 12, a Y direction position detection sensor 13, and a computer 14 are provided.

  In the first embodiment, the driving simulator 1 corresponds to the driving simulation test apparatus described in the claims, the XY translation mechanism 3 corresponds to the translational movement means described in the claims, and the hexapod Reference numeral 4 corresponds to the tilt motion means described in the claims, the vehicle model 7 corresponds to the driving experience means described in the claims, and the computer 14 corresponds to the control means described in the claims.

  The dome 2 has a substantially cylindrical shape, and a circular substrate 5 is provided on the bottom surface. On the upper surface of the substrate 5, support portions 6,... Are respectively installed at the positions of the four wheels of the vehicle model 7, and the vehicle model 7 is supported by the four support portions 6,. A screen 8 is provided around the vehicle model 7 in the dome 2. The screens 8 are provided on the front, both sides, the rear, etc. of the vehicle model 7. Further, projectors 9 are provided above the dome 2 at positions and angles that can be projected onto the screens 8.

  The XY translation mechanism 3 is a mechanism for causing the dome 2 to translate in the X direction and the Y direction orthogonal to the X direction. In the XY translation mechanism 3, six pairs of rails 3a,... Are laid along the X direction, and one belt 3b,. In the XY translation mechanism 3, a pair of rails 3c are arranged along the Y direction on six pairs of rails 3a,..., And a belt 3d is provided between the rails 3c. The rail 3c is movably provided on the rails 3a,... Along the X direction, and six belts 3b,. On the rail 3c, a moving table 3e serving as a base for the hexapod 4 is disposed. The movable table 3e is provided so as to be movable along the Y direction on the rail 3c, and a belt 3d is attached to the lower surface.

  The six belts 3b,... Are rotationally driven by X translation drive motors 3f,... To translate the rail 3c in the X direction. When the drive current is supplied from the motor control units 3g,..., The X translation drive motors 3f,. When each of the motor control units 3g,... Receives an X translation control signal from the computer 14, the motor control unit 3g supplies a drive current according to the X translation control signal. The belt 3d is rotationally driven by the Y translation drive motor 3h, and translates the movable table 3e in the Y direction. The Y translation drive motor 3h rotates according to the drive current when the drive current is supplied from the motor control unit 3i. When the motor control unit 3i receives the Y translation control signal from the computer 14, the motor control unit 3i supplies a drive current according to the Y translation control signal.

  For the translational movement, the movement range of the dome 2 defined by the lengths of the rails 3a,... In the X direction and the rails 3c in the Y direction is set. In the X direction, the dome 2 can move within the range from -Xmax to Xmax with the center as 0, and in the Y direction, the dome 2 can move within the range from -Ymax to Ymax with the center as 0 (FIG. 7). reference).

  The hexapod 4 is a mechanism for tilting the dome 2 in the pitch direction, roll direction, and yaw direction. The hexapod 4 includes six hydraulic cylinders 4a,..., And the hydraulic cylinders 4a,... Are disposed between the moving base 3e and the support base 5a of the substrate 5. When the hydraulic pressure is supplied from the hydraulic pressure control units 4b,..., The hydraulic cylinders 4a,. When each of the hydraulic control units 4b,... Receives a hexapod cylinder control signal from the computer 14, the hydraulic pressure control unit 4b supplies hydraulic pressure according to the hexapod cylinder control signal. As the six hydraulic cylinders 4a,... Expand and contract, the substrate 5 (dome 2) tilts three-dimensionally with respect to the moving table 3e. In FIG. 3, only one hydraulic cylinder 4a and one hydraulic control unit 4b are illustrated, but in reality there are six.

  The vehicle model 7 includes a vehicle body and an interior of the vehicle, and the subject can sit and perform various driving operations. For this purpose, the vehicle model 7 is equipped with an operation unit 7a, a meter 7b, and the like. The operation unit 7a includes an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and the like. Further, the operation unit 7a is provided with sensors for detecting the operation amounts of the accelerator pedal, the brake pedal, and the steering wheel, and a sensor for detecting the shift position of the shift lever. Each sensor of the operation unit 7a transmits the detected value to the computer 14 as a detection signal. In addition, an operation reaction force experienced by the subject is given to the accelerator pedal, the brake pedal, the steering wheel, and the shift lever of the operation unit 7a by the operation reaction force generation unit 7c. When the operation reaction force generator 7c receives an operation reaction force signal from the computer 14, the operation reaction force generator 7c generates an operation reaction force according to each operation reaction force signal. The meter 7b includes a spade meter, a tachometer, a shift position display unit, and the like. When the meter 7b receives each vehicle information signal for each meter and display unit from the computer 14, the meter 7b drives each meter according to each vehicle information signal and displays the display unit.

  When the projector 9 receives image signals from the computer 14, the projectors 9,... Display simulated images (scenery images that can be seen from inside the vehicle when traveling on the simulated road) in accordance with the image signals. Project to each. The subject obtains information such as a traveling path, a sign, a signal, another vehicle, and a pedestrian while viewing a simulated image projected on the screen 8,... And performs a driving operation according to the information. When the speaker 10 receives a sound signal from the computer 14, a simulated sound corresponding to each sound signal (a sound audible to the driver while driving (a sound synthesized from exhaust sound, engine sound, wind noise, road noise, etc.)). Is output. The database 11 includes image information of the scenery seen from inside the vehicle at each travel position when traveling on the simulated traveling road, road information (gradient, unevenness, road friction coefficient, etc.) when traveling on the simulated traveling road, and driving while traveling A database storing sound information that can be heard by a person and connected to the computer 14.

  The X direction position detection sensor 12 is a sensor that detects a position x in the X direction of the dome 2 (vehicle model 7), and transmits the detected value to the computer 14 as an X direction position signal. The range that the position x can take is a value up to -Xmax on the minus side and a value up to Xmax on the plus side with the center position (0, 0) of the movement range of translational motion as the center. The Y direction position detection sensor 13 is a sensor that detects the position y in the Y direction of the dome 2 (vehicle model 7), and transmits the detected value to the computer 14 as a Y direction position signal. The range that the position y can take is a value up to -Ymax on the minus side and a value up to Ymax on the plus side, centering on the center position (0, 0) of the translational movement range.

  The computer 14 is a computer that performs overall control of the driving simulator 1. In the computer 14, vehicle motion calculation, driving control for causing the subject to experience driving operation, image processing for displaying an image by the projector 9, sound processing for outputting sound from the speaker 10, dome 2 (vehicle model 7) It performs drive control for various movements.

  The vehicle motion calculation will be described. The computer 14 receives detection signals from the respective sensors of the operation unit 7 a and takes in environmental information of the road currently running on the simulated running road from the database 11. Then, the computer 14 travels on the simulated travel path at regular intervals based on the equation of motion of the vehicle body based on the operation amount and shift position of the accelerator pedal, the brake pedal, and the steering wheel, and the environmental information of the road that is currently traveling. Calculate the motion of the running vehicle. The vehicle motion includes acceleration acting on the vehicle (only longitudinal acceleration occurs when traveling straight, longitudinal acceleration and lateral acceleration occur when turning), vehicle pitch angle, roll angle, yaw angle, Such as vehicle speed and engine speed.

  The operation control will be described. The computer 14 transmits the vehicle speed, engine speed, shift position, and the like obtained by calculation to the meter 7b as vehicle information signals. Further, the computer 14 calculates each reaction force of the accelerator pedal, the brake pedal, the steering wheel and the shift lever based on the vehicle motion information obtained by the calculation, and operates each operation reaction force as an operation reaction force signal. Each is transmitted to the reaction force generator 7c.

  Image processing will be described. The computer 14 calculates the current travel position on the simulated travel path based on the vehicle motion information obtained by the calculation. Then, the computer 14 acquires image information of the scenery that can be seen from inside the vehicle at the current traveling position from the database 11. Then, the computer 14 generates an image signal for each projector 9,... Based on the acquired image information, and transmits each image signal to the projector 9,.

  The sound processing will be described. The computer 14 takes in sound information that can be heard by the driver while traveling from the database 11. Then, the computer 14 generates a synthesized sound that can be heard by the driver according to the vehicle speed, road environment information, and the like based on the acquired sound information, and transmits the synthesized sound to the speaker 10 as a sound signal.

The drive control will be described. When the computer 14 determines the acceleration acting on the vehicle, the acceleration is set as the target acceleration f _AA (s). In addition, the computer 14 acquires the X-direction position x indicated by the X-direction position signal from the X-direction position detection sensor 12 at regular intervals, and also indicates the Y-direction position signal from the Y-direction position detection sensor 13. The position y in the Y direction is acquired. Then, the computer 14 differentiates the position x with respect to time to calculate the translation speed Vx in the X direction of the dome 2 (vehicle model 7), and also differentiates the position y with respect to time to calculate the translation speed Vy in the Y direction of the dome 2. To do. Further, the computer 14 calculates the translation speed V of the vehicle model 7 from the translation speed (Vx, Vy) according to the expression (1), and calculates the motion deceleration A from the translation speed V according to the expression (2).

  Ts is a deceleration time and is a constant. The deceleration time Ts is set in consideration of the motion range of the translational motion and the like, and is set to a smaller value as the motion range is reduced (that is, as the equipment scale is reduced). The motion deceleration A is a deceleration proportional to the translation speed V of the vehicle model 7 and is an acceleration in a direction opposite to the direction in which the vehicle model 7 is traveling. Since the translational movement distance per unit time of the vehicle model 7 becomes longer as the translational velocity V is larger, the limit of the translational motion range is approached.

Therefore, the translational speed of the vehicle model 7 is reduced in the translational motion by the motion deceleration A proportional to the translational speed V. Therefore, in the computer 14, the direction opposite to the translational simulation acceleration ( _fAA (s) [1-LP (s)] HP (s)) corresponding to the target acceleration _fAA (s) is obtained by Expression (3). The translational simulation acceleration f _SA (s) in which the motion deceleration A is applied is calculated.

LP (s) is a low-pass filter, and HP (s) is a high-pass filter. Since the motion deceleration A in the direction opposite to the traveling direction acts on the translational simulation acceleration f _SA (s), it is necessary to prevent the subject from feeling a sense of deceleration due to the motion deceleration A.

Therefore, in order to generate an acceleration feeling that cancels the motion deceleration A, a tilt angle in the pitch direction by a tilt motion is added to the vehicle model 7. For this purpose, the computer 14 uses the equation (4) to simulate the tilt by adding the motion deceleration A to the tilt simulated acceleration (f _AA (s) LP (s)) corresponding to the target acceleration f _AA (s). The acceleration f _TA (s) is calculated. Further, the computer 14 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) according to the equation (5).

  9.8 is gravitational acceleration. Since a tilt angle that increases the front side of the vehicle model 7 is added to the tilt angle α, an acceleration feeling corresponding to the motion deceleration A is generated by the incremental tilt angle.

In the computer 14, the translational simulation acceleration f _SA (s) is decomposed into an acceleration in the X direction and an acceleration in the Y direction according to the traveling direction. Then, the computer 14 calculates a translation control amount in the X direction from the translational simulation acceleration in the X direction, and calculates a translation control amount in the Y direction from the translational simulation acceleration in the Y direction. Further, the computer 14 calculates the motor torque of the X translation drive motor 3f necessary to give the translation control amount in the X direction, sets the X translation control signal according to the motor torque of the X translation drive motor 3f, The X translation control signal is transmitted to the corresponding motor control unit 3g,. Further, the computer 14 calculates the motor torque of the Y translation drive motor 3h necessary for giving the translation control amount in the Y direction, sets the Y translation control signal according to the motor torque of the Y translation drive motor 3h, A translation control signal is transmitted to the motor control unit 3i.

  Further, the computer 14 calculates the cylinder length of each hydraulic cylinder 4a,... Of the hexapod 4 necessary for giving the tilt angle α. Further, the computer 14 sets a hexapod cylinder control signal according to each cylinder length, and transmits each hexapod cylinder control signal to the corresponding hydraulic pressure control unit 4b,.

When a pitch angle, a roll angle, a yaw angle, or the like is required as the vehicle motion, the computer 14 determines the tilt angle α for simulating the acceleration of the vehicle motion (target acceleration f _AA (s)). Take into account the pitch angle. Then, the computer 14 calculates the cylinder lengths of the hydraulic cylinders 4a,... Of the hexapod 4 necessary for giving the added tilt angle, and generates hexapod cylinder control signals according to the cylinder lengths. Then, each hexapod cylinder control signal is transmitted to the corresponding hydraulic control unit 4b,.

  FIG. 4 shows an example of a time change of the target acceleration AA, which is a case where acceleration is performed according to the accelerator operation of the subject. The target acceleration AA increases from zero, and after reaching a certain acceleration, the acceleration decreases to zero. In FIG. 5, each time change of the translation simulation acceleration SA, the tilt simulation acceleration TA, the translation speed V, and the translation movement distance L when motion deceleration control is performed on the target acceleration AA shown in FIG. 4 is indicated by a solid line. When the motion deceleration control is not performed, each time change of the translation simulation acceleration SA ′, the tilt simulation acceleration TA ′, the translation speed V ′, and the translation movement distance L ′ is indicated by a broken line. The motion deceleration A (one-dot chain line) when the motion deceleration control is performed is indicated by a negative acceleration, and its magnitude changes in proportion to the translation speed V.

  The translational simulation acceleration SA ′ is an acceleration that increases or decreases on the plus side when the target acceleration AA increases, becomes 0 when the target acceleration AA increases, and becomes an acceleration that increases or decreases on the minus side when decreasing. Since the translational simulation acceleration SA is decelerated from the translational simulation acceleration SA 'by the motion deceleration A, the translational simulation acceleration SA is shifted from the translational simulation acceleration SA' to the minus side by the motion deceleration A. The tilt simulated acceleration TA 'is an acceleration that increases when the target acceleration AA increases, becomes substantially constant on the plus side when constant, and decreases when it decreases. Since the tilt simulated acceleration TA is increased from the tilt simulated acceleration TA 'by the motion deceleration A, the tilt simulated acceleration TA is shifted to the plus side from the tilt simulated acceleration TA' by the motion deceleration A.

  The translation speed V ′ changes according to the translation simulation acceleration SA ′ (time-integrated), increases when the translation simulation acceleration SA ′ is a positive value, becomes substantially constant when the value is 0, and decreases when the value is a negative value. The translation speed V changes according to the translation simulation acceleration SA (time-integrated) and becomes a value smaller than the translation speed V ′ due to the influence of the motion deceleration A. The translational movement distance L ′ changes according to the translational velocity V ′ (time-integrated) and increases to the plus side because the translational velocity V ′ is a positive value. Accordingly, the dome 2 (vehicle model 7) approaches the limit of the translational motion range. The translational movement distance L changes according to the translational speed V (time integration), and the movement distance is shorter than the translational movement distance L ′ due to the influence of the motion deceleration A. Therefore, the vehicle model 7 is less likely to approach the limit of the translational motion range.

  As shown in FIG. 4, the actual acceleration BA acting on the vehicle model 7 (sensory acceleration felt by the subject) is obtained when motion deceleration control is performed (acceleration consisting of a translational simulation acceleration SA and a tilt simulation acceleration TA) or Even when the motion deceleration control is not performed (acceleration composed of the translational simulation acceleration SA ′ and the tilt simulation acceleration TA ′), the same thing is obtained and is along the target acceleration AA. However, the moving distance of the vehicle model 7 is shorter when the motion deceleration control is performed.

  The operation of the driving simulator 1 will be described with reference to FIGS. In particular, drive control in the computer 14 will be described with reference to the flowchart of FIG. FIG. 6 is a flowchart showing a flow of drive control in the computer according to the first embodiment.

  The subject sits on the seat of the vehicle model 7 and performs a predetermined operation on the operation unit 7a. In the operation unit 7a, each sensor detects each operation amount of the accelerator pedal and the like, detects the shift position of the shift lever, and transmits each detection signal to the computer 14, respectively. Further, the X direction position detection sensor 12 detects the position x of the dome 2 in the X direction and transmits an X direction position signal to the computer 14. The Y direction position detection sensor 13 detects the position y of the dome 2 in the Y direction and transmits a Y direction position signal to the computer 14.

When the computer 14 receives each detection signal at regular intervals, the computer 14 calculates a motion equation of the vehicle body based on each operation amount and shift position indicated by each detection signal, and calculates acceleration (target acceleration f _AA (s )), The vehicle pitch angle, roll angle, yaw angle, vehicle speed, engine speed, etc. are derived (S10).

  The computer 14 transmits information such as the vehicle speed, engine speed, and shift position to the meter 7b as a vehicle information signal. When receiving the vehicle information signal, the meter 7b drives each meter and displays the current shift position in accordance with the vehicle information signal. Further, the computer 14 calculates each reaction force of the accelerator pedal, the brake pedal, the steering wheel, and the shift lever based on the vehicle motion, and outputs each operation reaction force to the operation reaction force generator 7c as an operation reaction force signal. Send each one. When the operation reaction force generation unit 7c receives each operation reaction force signal, the operation reaction force generation unit 7c applies each operation reaction force to the accelerator pedal, the brake pedal, the steering wheel, and the shift lever.

  Further, the computer 14 calculates the current travel position on the simulated travel path based on the vehicle motion, and acquires image information corresponding to the current travel position from the database 11. Then, the computer 14 generates each image signal based on the image information, and transmits each image signal to the projectors 9. Each projector 9,... Receives an image signal from the computer 14 and projects a simulated image on each screen 8,.

  Further, the computer 14 takes sound information from the database 11, generates a synthesized sound according to the vehicle speed, road information, and the like based on the sound information, and transmits the synthesized sound to the speaker 10 as a sound signal. When the speaker 10 receives a sound signal from the computer 14, it outputs a pseudo sound according to each sound signal.

  When the computer 14 receives the X-direction position signal and the Y-direction position signal at regular intervals, the computer 14 differentiates the position (x, y) of the dome 2 with respect to time to obtain the translation speeds (Vx, Vy) in the X direction and the Y direction. Calculate (S11). Then, the computer 14 calculates the translation speed V of the dome 2 from the translation speed (Vx, Vy) according to the expression (1), and divides the translation speed V of the dome 2 by the deceleration time Ts according to the expression (2). The speed A is calculated (S12).

Then, the computer 14 calculates a translational simulated acceleration f _SA (s) obtained by decelerating the target acceleration f _AA (s) by the motion deceleration A with respect to the output obtained by applying the high-pass filter to the target acceleration f _AA (s) (S13). . Further, the computer 14 calculates the simulated tilt acceleration f _TA (s) obtained by increasing the acceleration by the motion deceleration A with respect to the output obtained by applying the low-pass filter to the target acceleration f _AA (s) according to the equation (4) (S13). ). Further, the computer 14 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) according to the equation (5) (S14).

The computer 14 calculates a translation control amount in the X direction and a translation control amount in the Y direction from the simulated translational acceleration f _SA (s) (S15). The computer 14 calculates the motor torque of the X translation drive motor 3f from the translation control amount in the X direction, sets an X translation control signal in accordance with the motor torque, and assigns each X translation control signal to a corresponding motor control unit. 3g,... Are transmitted (S15). When each of the motor control units 3g,... Receives an X translation control signal from the computer 14, it supplies a drive current to each of the X translation drive motors 3f,. The X translation drive motors 3f,... Are rotated according to the drive currents to rotate the belts 3b,. By the rotation of the six belts 3b,..., The rail 3c and the belt 3d are translated in the X direction. Further, the computer 14 calculates the motor torque of the Y translation drive motor 3h from the translation control amount in the Y direction, sets a Y translation control signal according to the motor torque, and transmits the Y translation control signal to the motor control unit 3i. (S15). When receiving the Y translation control signal from the computer 14, the motor control unit 3i supplies a drive current to the Y translation drive motor 3h according to the Y translation control signal. The Y translation drive motor 3h is rotationally driven according to the drive current to rotate the belt 3d. The dome 2 is translated in the Y direction by the rotation of the belt 3d. As a result, the XY translation mechanism 3 translates the dome 2 (vehicle model 7) with the calculated translational acceleration f _SA (s). In this translational movement, the vehicle model 7 moves at a translational simulation acceleration f _SA (s) that is smaller than the normal translational simulation acceleration corresponding to the target acceleration f _AA (s) by a motion deceleration A that is proportional to the translation speed of the vehicle model 7. To do. Therefore, the translation simulated acceleration f _SA (s) decelerated by the motion deceleration A acts on the subject.

The computer 14 calculates the cylinder length of each hydraulic cylinder 4a of the hexapod 4 based on the tilt angle α, sets the hexapod cylinder control signal according to each cylinder length, and sets each hexapod cylinder. The control signal is transmitted to the corresponding hydraulic control unit 4b,... (S15). When each of the hydraulic control units 4b,... Receives each hexapod cylinder control signal, it supplies the hydraulic pressure to each of the hydraulic cylinders 4a,. Each of the hydraulic cylinders 4a,... Expands and contracts according to the hydraulic pressure, and the hexapod 4 gives a tilt angle α to the dome 2 (vehicle model 7). In this tilt motion, the vehicle model 7 is tilted at an angle obtained by adding a pitch angle corresponding to the motion deceleration A to a normal tilt angle corresponding to the target acceleration f _AA (s). Therefore, the simulated tilt acceleration f _TA (s) increased by the motion deceleration A proportional to the translation speed of the vehicle model 7 from the normal simulated tilt acceleration corresponding to the target acceleration f _AA (s) is applied to the subject. . As a result, the subject is subjected to acceleration composed of the translational simulated acceleration f _SA (s) and the simulated tilt acceleration f _TA (s), and feels an acceleration feeling corresponding to the target acceleration f _AA (s).

According to this driving simulator 1, the translational distance can be shortened and the equipment scale can be saved by performing the translational motion with the translational simulation acceleration f _SA (s) decelerated by the motion deceleration A proportional to the translational speed. Space can be made. Further, according to the driving simulator 1, by performing a tilt motion at a tilt angle that generates a simulated tilt acceleration f _TA (s) increased by a motion deceleration A proportional to the translation speed, a feeling of deceleration in the translation motion can be obtained. In addition, an acceleration feeling corresponding to the target acceleration f _AA (S) can be generated, and the acceleration can be simulated with high accuracy.

  A driving simulator 21 according to the second embodiment will be described with reference to FIGS. 1 to 4, 7 and 8. FIG. 7 is a diagram illustrating a motion range of translational motion and a motion deceleration control boundary according to the second embodiment. FIG. 8 is an example of a translational simulation acceleration, a tilt simulation acceleration, a translation speed, and a translational movement distance when the motion deceleration control according to the second embodiment is performed and when it is not performed. In the driving simulator 21, the same components as those in the driving simulator 1 according to the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The driving simulator 21 differs from the driving simulator 1 only in how to obtain the motion deceleration of the motion deceleration control. For the purpose of space saving, the driving simulator 21 decelerates according to the position of the vehicle model in translational motion when simulating vehicle acceleration, and sets the tilt angle in the pitch direction according to the deceleration in tilting motion. Append. The driving simulator 21 differs from the driving simulator 1 only in computer control, and includes a computer 24 instead of the computer 14 according to the first embodiment. In the second embodiment, the driving simulator 21 corresponds to the driving simulation test apparatus described in the claims, and the computer 24 corresponds to the control means described in the claims.

  The computer 24 is a computer that performs overall control of the driving simulator 21 and is the same computer as the computer 14. The computer 24 is different from the computer 14 only in the way of obtaining the motion deceleration A in drive control. Therefore, how to obtain the motion deceleration A will be described in detail.

  As described above, the range of motion is defined for translational motion (see FIG. 7). Further, the computer 24 defines a boundary necessary for obtaining the motion deceleration A in the motion deceleration control. This boundary is centered on the center position (0, 0), the boundaries are -X0 and X0 in the X direction, and the boundaries are -Y0 and Y0 in the Y direction (see FIG. 7). X0 and Y0 are about a few meters and have the same value.

  In the computer 24, the position x in the X direction indicated by the X direction position signal from the X direction position detection sensor 12 is acquired, and the position y in the Y direction indicated by the Y direction position signal from the Y direction position detection sensor 13 is obtained. get. A deceleration Ax in the X direction and a deceleration Ay in the Y direction are obtained according to the positional relationship of the position (x, y) of the dome 2 (vehicle model 7) with respect to the boundary of the motion deceleration control. At this time, the reference deceleration Ax0 in the X direction and the reference deceleration Ay0 in the Y direction are used. The reference decelerations Ax0 and Ay0 are constant accelerations for returning the vehicle model 7 to the center position (0, 0), and are set in advance in consideration of the motion range of the translational motion.

  Specifically, the computer 24 determines whether or not the absolute value of the position x in the X direction is greater than or equal to X0. If it is less than X0, the computer 24 calculates the deceleration Ax in the X direction according to the position x in the X direction with respect to the reference deceleration Ax0, using Equation (6). That is, when the vehicle model 7 exists in the X direction in the vicinity of the center from −X0 to X0, the reference deceleration Ax0 is maximized, and the vehicle model 7 tries to return to the center direction with a larger deceleration Ax as the vehicle model 7 moves away from the center position. To do. If X0 or more, the computer 24 sets the deceleration Ax in the X direction to the reference deceleration Ax0 according to Equation (7). That is, when the vehicle model 7 exists outside -X0 and X0 in the X direction, the vehicle model 7 tries to return to the center direction with the maximum reference deceleration Ax0.

  Further, the computer 24 determines whether or not the absolute value of the position y in the Y direction is equal to or greater than Y0. If it is less than Y0, the computer 24 calculates the deceleration Ay in the Y direction according to the position y in the Y direction with respect to the reference deceleration Ay0 by the equation (8). That is, when the vehicle model 7 is present in the vicinity of the center from -Y0 to Y0 in the Y direction, the reference deceleration Ay0 is maximized, and the vehicle model 7 tries to return to the center direction with a larger deceleration Ay as it moves away from the center position. To do. In the case of Y0 or more, the computer 24 sets the Y-direction deceleration Ay to the reference deceleration Ay0 according to the equation (9). That is, when the vehicle model 7 exists outside -Y0, Y0 in the Y direction, the vehicle model 7 tries to return to the center direction with the maximum reference deceleration Ay0.

  Then, the computer 24 calculates the motion deceleration A from the deceleration Ax in the X direction and the deceleration Ay in the Y direction by Expression (10). This motion deceleration A is a deceleration for returning the vehicle model 7 to the direction of the center position (0, 0), and is an acceleration in a direction opposite to the direction in which the vehicle model 7 is traveling. The motion deceleration A is a constant deceleration outside the boundary of the motion deceleration control, and is an acceleration corresponding to the position (x, y) of the vehicle model 7 inside the boundary of the motion deceleration control.

When the motion deceleration A is obtained, the computer 24 calculates the translational simulated acceleration f _SA (s) by the equation (3) using the motion deceleration A as in the first embodiment. The simulated tilt acceleration f _TA (s) is calculated according to 4).

  In FIG. 8, the time change of the translation simulation acceleration SA, the tilt simulation acceleration TA, the translation speed V, and the translation movement distance L when motion deceleration control is performed with respect to the time change of the target acceleration AA shown in FIG. The change in time of the translation simulated acceleration SA ′, the tilt simulated acceleration TA ′, the translation speed V ′, and the translational movement distance L ′ when the motion deceleration control is not performed is indicated by a broken line. The motion deceleration A (one-dot chain line) when the motion deceleration control is performed is indicated by a negative acceleration. When the vehicle model 7 is within the boundary of the motion deceleration control, the motion deceleration A is located at the position (x, y) of the vehicle model 7. The size changes accordingly and becomes a constant value outside the boundary of motion deceleration control. The translation simulated acceleration SA ', the tilt simulated acceleration TA', the translation speed V ', and the translational movement distance L' when the motion deceleration control is not performed show the same changes described in the first embodiment.

  Since the translational simulation acceleration SA decelerates from the translational simulation acceleration SA ′ by the motion deceleration A, the translational simulation acceleration SA ′ shifts from the translational simulation acceleration SA ′ to the negative side by the motion deceleration A. In particular, the vehicle model 7 is out of the boundary of the motion deceleration control. Shifts by a constant motion deceleration A. Since the tilt simulated acceleration TA is increased from the tilt simulated acceleration TA ′ by the motion deceleration A, the tilt simulated acceleration TA is shifted to the plus side from the simulated tilt acceleration TA ′ by the motion deceleration A. In particular, the vehicle model 7 is the boundary of the motion deceleration control. When it goes outside, it shifts by a constant motion deceleration A. The translation speed V changes according to the translation simulation acceleration SA, and becomes a value smaller than the translation speed V ′ due to the influence of the motion deceleration A. The translational movement distance L changes according to the translational speed V, and the movement distance is shorter than the translational movement distance L ′ due to the influence of the motion deceleration A. In particular, the difference increases as the distance from the center position increases. The vehicle model 7 is subjected to deceleration to return to the central position (0, 0) direction, and the moving distance is shortened. As in the first embodiment, as shown in FIG. 4, the actual acceleration BA acting on the vehicle model 7 is the same even when motion deceleration control is performed or when motion deceleration control is not performed. The moving distance of the vehicle model 7 is shorter when the motion deceleration control is performed.

  The operation of the driving simulator 21 will be described with reference to FIGS. In particular, drive control in the computer 24 will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart showing a flow of drive control in the computer according to the second embodiment. The operation in the driving simulator 21 is different from the operation in the driving simulator 1 according to the first embodiment only in the operation for obtaining the motion deceleration A (the operation in S21 to S23), and this will be described in detail. To do.

The computer 24 calculates the target acceleration f _AA (s) according to the driving operation of the subject at regular time intervals (S20). The computer 24 receives the X direction position signal and the Y direction position signal at regular time intervals, and acquires the position (x, y) of the vehicle model 7 (S21). Then, in the computer 24, when the position x in the X direction is within the range of the motion deceleration control boundaries X0 and -X0, the deceleration Ax in the X direction is calculated according to the position x according to the equation (6), and the X direction When the position x is outside the range of the boundaries X0 and -X0, the deceleration Ax in the X direction is set to a constant value Ax0 (S22). Further, in the computer 24, when the position y in the Y direction is within the range of the boundaries Y0 and -Y0 of the motion deceleration control, the Y direction deceleration Ay is calculated according to the position y according to the equation (8), and the Y direction If the position y is outside the boundary Y0, -Y0, the Y-direction deceleration Ay is set to a constant value Ay0 (S22). Further, the computer 24 calculates the motion deceleration A from the deceleration (Ax, Ay) according to the equation (10) (S23).

Similarly to the first embodiment, the computer 24 calculates the translational simulated acceleration f _SA (s) decelerated by the motion deceleration A based on the target acceleration f _AA (S), and the motion deceleration A The tilt simulated acceleration f _TA (s) increased by step S is calculated (S24). The computer 24 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) (S25). Then, in the computer 24, as in the first embodiment, the translation control is performed based on the translational simulated acceleration f _SA (s) and the tilt control is performed based on the tilt angle α (S26). Then, in the XY translation mechanism 3, as in the first embodiment, the dome 2 (vehicle model 7) is translated at the calculated translational acceleration f _SA (s). In this translational movement, the vehicle has a translational simulation acceleration f _SA (s) that is smaller by the motion deceleration A corresponding to the position (x, y) of the vehicle model 7 than the normal translation simulation acceleration corresponding to the target acceleration f _AA (s). Model 7 moves. Therefore, the simulated translational acceleration f _SA (s) decelerated by the motion deceleration A acts on the subject. In addition, the hexapod 4 gives a tilt angle α to the dome 2 (vehicle model 7). In this tilt motion, the dome 2 is tilted at an angle obtained by adding a pitch angle corresponding to the motion deceleration A to a normal tilt angle corresponding to the target acceleration f _AA (s). For this reason, the subject is asked to simulate the tilt simulated acceleration f _TA (s) that is accelerated by the motion deceleration A corresponding to the position (x, y) of the vehicle model 7 from the normal tilt simulated acceleration corresponding to the target acceleration f _AA (s). ) Acts. As a result, the subject is subjected to acceleration composed of the translational simulation acceleration f _SA (s) and the tilt simulation acceleration f _TA (s), and can experience the acceleration corresponding to the target acceleration f _AA (s).

According to this driving simulator 21, the translation distance can be shortened by performing the translational motion with the translational simulation acceleration f _SA (s) decelerated by the motion deceleration A based on the position of the vehicle model 7, and the scale of the equipment Can save space. Further, according to the driving simulator 21, deceleration in translational motion is performed by performing a tilt motion at a tilt angle that generates a simulated tilt acceleration f _TA (s) accelerated by a motion deceleration A based on the position of the vehicle model 7. An acceleration feeling corresponding to the target acceleration f _AA (S) can be generated by supplementing the feeling, and the acceleration can be accurately simulated. In particular, in the driving simulator 21, the motion deceleration A is set so as to return to the center position (0, 0) direction. Therefore, a motion that causes the vehicle model 7 to return to the center direction in the translational motion acts, and the movement distance. Becomes shorter.

  A driving simulator 31 according to the third embodiment will be described with reference to FIGS. 1 to 4 and 10. FIG. 10 is an example of translational simulation acceleration, tilt simulation acceleration, translational speed, and translational movement distance when the motion deceleration control according to the third embodiment is performed and when it is not performed. In the driving simulator 31, the same components as those in the driving simulator 1 according to the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The driving simulator 31 differs from the driving simulator 1 only in how to obtain the motion deceleration of the motion deceleration control. For the purpose of space saving, the driving simulator 31 decelerates according to the distance from the center position of the vehicle model in the translational motion when simulating the acceleration of the vehicle, and in the pitch direction according to the deceleration in the tilt motion. The tilt angle is added. The driving simulator 31 differs from the driving simulator 1 only in computer control, and includes a computer 34 instead of the computer 14 according to the first embodiment. In the third embodiment, the driving simulator 31 corresponds to the driving simulation test apparatus described in the claims, and the computer 34 corresponds to the control means described in the claims.

  The computer 34 is a computer that performs overall control of the driving simulator 31 and is the same computer as the computer 14. The computer 34 is different from the computer 14 only in the way of obtaining the motion deceleration A in the drive control. Therefore, how to obtain the motion deceleration A will be described in detail.

  In the computer 34, the position x in the X direction indicated by the X direction position signal from the X direction position detection sensor 12 is acquired, and the position y in the Y direction indicated by the Y direction position signal from the Y direction position detection sensor 13 is obtained. get. The position x in the X direction corresponds to the distance in the X direction between the vehicle model 7 and the center position (0, 0), and the position y in the Y direction is in the Y direction between the vehicle model 7 and the center position (0, 0). Corresponds to distance. A deceleration Ax in the X direction and a deceleration Ay in the Y direction proportional to the distance from the center position (0, 0) of the vehicle model 7 are obtained. Specifically, the computer 34 calculates the deceleration Ax from the position x in the X direction by the equation (11), and calculates the deceleration Ay from the position y in the Y direction by the equation (12).

  Kx and Ky are proportional coefficients (constants) for converting the distance into the deceleration, and are set in advance in consideration of the motion range of the translational motion. As the distance from the central position (0, 0) increases, the vehicle tends to return to the central position with a large deceleration Ax, Ay.

  Then, the computer 34 calculates the motion deceleration A from the deceleration Ax in the X direction and the deceleration Ay in the Y direction by the above equation (10). This motion deceleration A is a deceleration for returning the vehicle model 7 to the direction of the center position (0, 0), and is an acceleration in a direction opposite to the direction in which the vehicle model 7 is traveling. The motion deceleration A is a deceleration proportional to the distance of the vehicle model 7 from the center position (0, 0).

When the motion deceleration A is obtained, the computer 34 uses the motion deceleration A to calculate the translational simulation acceleration f _SA (s) using equation (3), as in the first embodiment. The simulated tilt acceleration f _TA (s) is calculated according to 4).

  In FIG. 10, the time change of the translation simulation acceleration SA, the tilt simulation acceleration TA, the translation speed V, and the translation movement distance L when the motion deceleration control is performed with respect to the time change of the target acceleration AA shown in FIG. The change in time of the translation simulated acceleration SA ′, the tilt simulated acceleration TA ′, the translation speed V ′, and the translational movement distance L ′ when the motion deceleration control is not performed is indicated by a broken line. The motion deceleration A (one-dot chain line) when the motion deceleration control is performed is indicated by a negative acceleration, and its magnitude increases in proportion to the distance of the vehicle model 7 from the center position (0, 0). is doing. The translation simulated acceleration SA ', the tilt simulated acceleration TA', the translation speed V ', and the translational movement distance L' when the motion deceleration control is not performed show the same changes described in the first embodiment.

  Since the translational simulation acceleration SA is decelerated from the translational simulation acceleration SA ′ by the motion deceleration A, the translational simulation acceleration SA ′ is shifted from the translational simulation acceleration SA ′ to the minus side by the motion deceleration A, and in particular, minus as the motion deceleration A increases. Has increased to the side. Since the simulated tilt acceleration TA increases from the simulated tilt acceleration TA ′ by the motion deceleration A, the tilt simulated acceleration TA shifts from the simulated tilt acceleration TA ′ to the plus side by the motion deceleration A, and particularly, as the motion deceleration A increases. It has increased to the positive side. The translation speed V changes according to the translation simulation acceleration SA, and becomes a value smaller than the translation speed V ′ due to the influence of the motion deceleration A. The translational movement distance L changes according to the translational speed V, and the movement distance is shorter than the translational movement distance L ′ due to the influence of the motion deceleration A. In particular, the difference increases as the distance from the center position increases. The vehicle model 7 is subjected to deceleration to return to the central position (0, 0) direction, and the moving distance is shortened. As in the first embodiment, as shown in FIG. 4, the actual acceleration BA acting on the vehicle model 7 is the same even when motion deceleration control is performed or when motion deceleration control is not performed. The moving distance of the vehicle model 7 is shorter when the motion deceleration control is performed.

  The operation of the driving simulator 31 will be described with reference to FIGS. In particular, drive control in the computer 34 will be described with reference to the flowchart of FIG. FIG. 11 is a flowchart showing a flow of drive control in the computer according to the third embodiment. The operation in the driving simulator 31 differs from the operation in the driving simulator 1 according to the first embodiment only in the operation for obtaining the motion deceleration A (the operation in S31 to S33), and this will be described in detail. To do.

The computer 34 calculates the target acceleration f _AA (s) according to the driving operation of the subject at regular time intervals (S30). The computer 34 receives the X direction position signal and the Y direction position signal at regular intervals, and acquires the position (x, y) of the vehicle model 7 (S31). Then, the computer 34 calculates the X-direction deceleration Ax that is proportional to the X-direction distance x from the central position by the equation (11), and is proportional to the Y-direction distance y from the central position by the equation (12). A deceleration Ay in the Y direction is calculated (S32). Further, the computer 34 calculates the motion deceleration A from the deceleration (Ax, Ay) according to the equation (10) (S33).

As in the first embodiment, the computer 34 calculates the translational simulated acceleration f _SA (s) decelerated by the motion deceleration A based on the target acceleration f _AA (S), and the motion deceleration A The tilt simulated acceleration f _TA (s) increased by step S is calculated (S34). The computer 34 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) (S35). Then, the computer 34 performs translation control based on the translational simulated acceleration f _SA (s) as in the first embodiment, and performs tilt control based on the tilt angle α (S36). Then, in the XY translation mechanism 3, as in the first embodiment, the dome 2 (vehicle model 7) is translated at the calculated translational acceleration f _SA (s). In this translational movement, the dome 2 has a translational simulation acceleration f _SA (s) that is smaller than the normal translational simulation acceleration corresponding to the target acceleration f _AA (s) by a motion deceleration A proportional to the distance of the vehicle model 7 from the center position. Move. Therefore, the simulated translational acceleration f _SA (s) decelerated by the motion deceleration A acts on the subject. In addition, the hexapod 4 gives a tilt angle α to the dome 2 (vehicle model 7). In this tilt motion, the dome 2 is tilted at an angle obtained by adding a pitch angle corresponding to the motion deceleration A proportional to the distance of the vehicle model 7 from the center position to a normal tilt angle corresponding to the target acceleration f _AA (s). . Therefore, the simulated tilt acceleration f _TA (s) increased by the motion deceleration A from the normal simulated tilt acceleration corresponding to the target acceleration f _AA (s) acts on the subject. As a result, the subject is subjected to acceleration composed of the translational simulation acceleration f _SA (s) and the tilt simulation acceleration f _TA (s), and can experience the acceleration corresponding to the target acceleration f _AA (s).

According to the driving simulator 31, the translation distance can be shortened by performing the translational motion with the translational simulation acceleration f _SA (s) decelerated by the motion deceleration A based on the distance of the vehicle model 7 from the center position. This can save space for the equipment scale. Further, according to the driving simulator 31, by performing a tilt motion at a tilt angle that generates the simulated tilt acceleration f _TA (s) increased by the motion deceleration A based on the distance of the vehicle model 7 from the center position, An acceleration feeling corresponding to the target acceleration f _AA (S) can be generated by supplementing the feeling of deceleration in the translational motion, and the acceleration can be simulated with high accuracy. In particular, in the driving simulator 31, the motion deceleration A is set so as to return to the center position (0, 0) direction. Becomes shorter.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in this embodiment, a single computer is used, but a plurality of computers such as a computer for vehicle motion calculation, a computer for drive control such as an XY translation mechanism, a computer for image processing, a computer for sound processing, etc. You may comprise with a computer.

  In the present embodiment, the motion deceleration is determined according to the translation speed, the position of the vehicle model, and the distance from the center position, but the motion deceleration may be determined according to other parameters. Alternatively, a constant motion deceleration set in advance may be used.

It is a perspective view showing the whole driving simulator concerning this embodiment. It is a front view which shows the inside of the dome of FIG. 1, and a hexapod. It is a block diagram of the driving simulator which concerns on this Embodiment. It is an example of target acceleration and sensory acceleration. It is an example of the translation simulation acceleration, the tilt simulation acceleration, the translation speed, and the translation movement distance when the motion deceleration control according to the first embodiment is not performed. It is a flowchart which shows the flow of the drive control in the computer which concerns on 1st Embodiment. It is a figure which shows the motion range and motion deceleration control boundary of the translational motion which concern on 2nd Embodiment. It is an example of the translation simulated acceleration, the tilt simulated acceleration, the translation speed, and the translation movement distance when the motion deceleration control according to the second embodiment is performed and when it is not performed. It is a flowchart which shows the flow of the drive control in the computer which concerns on 2nd Embodiment. It is an example of the translation simulated acceleration, the tilt simulated acceleration, the translation speed, and the translation movement distance when the motion deceleration control according to the third embodiment is not performed. It is a flowchart which shows the flow of the drive control in the computer which concerns on 3rd Embodiment.

Explanation of symbols

1, 21, 31 ... Driving simulator, 2 ... Dome, 3 ... XY translation mechanism, 3a, 3c ... Rail, 3b, 3d ... Belt, 3e ... Moving table, 3f ... X translation drive motor, 3g, 3i ... Motor controller 3h ... Y translation drive motor, 4 ... hexapod, 4a ... hydraulic cylinder, 4b ... hydraulic control unit, 5 ... substrate, 5a ... support base, 6 ... support unit, 7 ... vehicle model, 7a ... operation unit, 7b ... Meter, 7c ... Operation reaction force generation unit, 8 ... Screen, 9 ... Projector, 10 ... Speaker, 11 ... Database, 12 ... X direction position detection sensor, 13 ... Y direction position detection sensor, 14, 24, 34 ... Computer

Claims (5)

A driving simulation test device that simulates the movement of a vehicle according to the driving operation of a subject,
A driving experience means for allowing the subject to perform a driving operation, and for the subject to experience the motion state of the vehicle,
A translational movement means for translating the driver experience means;
Tilt motion means for tilting the driver experience means;
Control means for calculating the movement of the vehicle based on the driving operation of the subject and controlling the drive of the translation movement means and the tilt movement means in order to simulate the movement of the vehicle,
The operation simulation test apparatus characterized in that the control means decelerates the translational movement speed in the translational motion and adds a tilt angle corresponding to the deceleration in the tilting motion.   The driving simulation test apparatus according to claim 1, wherein the control unit sets the deceleration so as to return to the central direction.   The driving simulation test apparatus according to claim 1, wherein the deceleration is calculated based on a translational movement speed.   The driving simulation test apparatus according to claim 1, wherein the deceleration is calculated based on a position of the driving experience means. 3. The driving simulation test apparatus according to claim 1, wherein the deceleration is calculated based on a distance from a reference position of the translational motion of the driving experience means. 4.

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