JP2009069763A - Driving simulation test apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To allow a subject to bodily sense a requested acceleration while restraining a translation range. <P>SOLUTION: A driving simulation test apparatus 1 is provided with an operation part 11 for the subject to conduct a driving operation in a simulation vehicle for bodily-sensing a driving state of a vehicle, an X-directional translation driving motor 22 and a Y-directional translation driving motor 24 for moving the simulation vehicle along a translation direction, a hydraulic cylinder 26 for regulating a tilt angle of the simulation vehicle, and an arithmetic unit 30 for controlling the X-directional translation driving motor 22, the Y-directional translation driving motor 24 and the hydraulic cylinder 26, based on the driving operation of the operation part 11, and for controlling the hydraulic cylinder 26 to make the tilt angle get large along a direction opposite to an acceleration direction when detecting the driving state before the acceleration direction of the vehicle varies. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving simulation test apparatus.

  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. As a driving simulator, a vehicle model equipped with various operation systems and meters is equipped with a dome inside, which controls the tilt movement (pitch direction, roll direction, yaw direction) of the dome and translates the dome (front and back) An operation simulation test apparatus that controls the direction and the left-right direction) is disclosed (see Patent Document 1).

The driving simulation test apparatus disclosed in Patent Document 1 senses that a subject is driving a vehicle by causing a vehicle model to simulate a longitudinal acceleration, a lateral acceleration, a pitch angle, a roll angle, and the like by tilting or translating to the dome. Simulate the experience.
JP 2007-33562 A

  In the driving simulation test apparatus of Patent Document 1, the tilt angle is set so that the gravitational force is equal to the acceleration (input acceleration) to be simulated (paragraph [0036] equation (5)). However, normally, there is a limit on the tilt angular velocity. This is because when the tilt motion is performed at a high speed, the driver feels rotation rather than acceleration, which causes a sense of incongruity.

  For this reason, when the driving simulation test apparatus of Patent Document 1 simulates, for example, deceleration, stop, start, and acceleration of a vehicle, acceleration must be started before the tilt mechanism tilted in the deceleration direction has returned. To compensate for this, it is necessary to increase the acceleration due to translation. For this reason, when trying to simulate the required acceleration, there is a problem that the translation range becomes wide and the driving simulation test apparatus becomes large.

  Moreover, since the normal driving simulation test apparatus has a translation range limited to 10 to 20 m, when simulating a vehicle that accelerates immediately after a large acceleration or deceleration, the translation range is insufficient, and the required acceleration May not be able to simulate.

  The present invention has been proposed in order to solve the above-described problem, and an object thereof is to provide a driving simulation test apparatus that can allow a subject to experience a required acceleration while suppressing a translation range. .

  The driving simulation test apparatus according to the first aspect of the present invention includes a driving operation means for causing a subject to perform a driving operation in a simulated vehicle for experiencing the driving state of the vehicle, and a translation direction moving means for moving the simulated vehicle in a translation direction. And the tilt angle adjusting means for adjusting the tilt angle of the simulated vehicle, and the translation direction moving means and the tilt angle adjusting means are controlled based on the driving operation of the driving operation means, so that the acceleration direction of the vehicle changes. Control means for controlling the tilt angle adjusting means so that the tilt angle becomes larger in the direction opposite to the acceleration direction when the driving state before being detected is detected.

  The driving simulation test apparatus according to claim 2 is the driving simulation test apparatus according to claim 1, wherein the control means detects acceleration and speed of the vehicle based on an operation of the driving operation means. The driving state before the acceleration direction of the vehicle is changed is detected using the acceleration and speed.

  A driving simulation test apparatus according to a third aspect of the present invention is the driving simulation test apparatus according to the first aspect, wherein the control means includes an accelerator pedal, a brake pedal, and a direction indicator lamp as operations of the driving operation means. Based on the at least one operation or the traveling road information of the vehicle, the driving state before the acceleration direction of the vehicle is changed is detected.

  The driving simulation test apparatus according to the present invention controls the translational motion of the simulated vehicle by controlling the tilt angle to increase in the direction opposite to the acceleration direction when detecting the driving state before the acceleration direction of the vehicle changes. Therefore, the translation range of the simulated vehicle can be suppressed.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram showing a driving simulation test apparatus 1 according to an embodiment of the present invention. The driving simulation test apparatus 1 calculates the vehicle movement state according to the driving operation of the subject who rides on the simulation vehicle 7 provided in the dome 2, and translates the dome 2 so that the subject can experience the calculated movement state. The translation mechanism 8 for moving in the direction is controlled, and the tilt angle of the dome 2 is controlled.

  FIG. 2 is a block diagram showing the configuration of the driving simulation test apparatus 1. The driving simulation test apparatus 1 detects an operation unit 11 for driving the simulated vehicle 7, an X-direction position detection sensor 12 that detects a position of the translation mechanism 8 in the X direction, and a position of the translation mechanism 8 in the Y direction. And a storage device 14 for storing data for displaying a road on a monitor (not shown), a control program, and the like.

  The driving simulation test apparatus 1 further includes motor control units 21 and 23, an X-direction translation drive motor 22 for moving the translation mechanism 8 in the X direction, and a Y-direction translation for moving the translation mechanism 8 in the Y direction. A drive motor 24, a hydraulic control unit 25, a hydraulic cylinder 26 that expands and contracts to adjust the tilt angle of the simulated vehicle 7, and an arithmetic unit 30 that performs overall control of the apparatus are provided.

  The operation unit 11 includes an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and the like, detects these operation amounts and positions, and supplies the detection results to the control device 30.

  The X-direction position detection sensor 12 detects the position x in the X direction of the dome 2 (vehicle model 7) with reference to the center position of the translational motion range, and supplies the detection result to the computing device 30. The Y-direction position detection sensor 13 detects the position Y in the X direction of the dome 2 (vehicle model 7) with reference to the center position of the translational motion range, and supplies the detection result to the arithmetic unit 30.

  The motor control unit 21 controls the rotation of the X-direction translation drive motor 22 in accordance with a control command from the arithmetic device 30. The X-direction translation drive motor 22 is rotationally controlled by the motor control unit 21 and moves the simulated vehicle 7 in the X direction via the translation mechanism 8.

  The motor control unit 23 controls the rotation of the Y-direction translation drive motor 24 in accordance with a control command from the arithmetic device 30. The X-direction translation drive motor 24 is rotationally controlled by the motor control unit 23 and moves the simulated vehicle 7 in the Y direction via the translation mechanism 8.

  The hydraulic control unit 25 controls the hydraulic pressure supplied to the hydraulic cylinder 26 in accordance with a control command from the arithmetic unit 30. In FIG. 2, only one hydraulic control unit 25 and one hydraulic cylinder 26 are shown, but there are a plurality of each. Each hydraulic cylinder 26 is provided in a tilt mechanism (so-called hexapod). The tilt mechanism adjusts the tilt angles of the dome 2 provided with the simulated vehicle 7 in the pitch direction, the roll direction, and the yaw direction. The expansion and contraction control of the hydraulic cylinder 26 is performed by the hydraulic control unit 25, and the tilt angles of the dome 2 in the pitch direction, the roll direction, and the yaw direction are controlled. In the present embodiment, the tilt angle in the pitch direction will be mainly described as an example.

  The arithmetic unit 30 controls the motor control units 21 and 23 so as to simulate the acceleration due to the translational movement of the dome 2 based on the detection results of the operation unit 11, the X direction position detection sensor 12, and the Y direction position detection sensor 13. The hydraulic control unit 25 is controlled so as to simulate the acceleration by the tilt angle control of the dome 2.

  Further, the arithmetic unit 30 calculates the tilt angle θ as follows, and controls the hydraulic cylinder 26 so that the calculated tilt angle θ is obtained.

(Calculation of tilt angle)
Normally, the tilt angle θ is set as shown in Equation (1) so that the gravitational force becomes equal to the input acceleration according to the acceleration to be simulated (input acceleration).

here,
θ: Tilt angle [rad]
α: Acceleration [m / s ² ]
g: Gravity acceleration [m / s ² ]
It is.

  Further, when the tilt angle shown in Expression (1) is corrected, the following Expression (2) is obtained.

here,
v _c : speed of translation mechanism [m / s]
d _c : displacement of the translation mechanism [m]
w _v , w _d : weighting factors.

  Expression (2) corrects the tilt angle in the direction in which the translation range becomes smaller according to the current state of the translation mechanism. Actually, after the correction amount is added to or subtracted from the input acceleration which is the reference for the tilt angle, the tilt angle is calculated based on the corrected acceleration.

  The computing device 30 according to the present embodiment estimates the future driving behavior of the driver and the future motion of the vehicle by using the information on the vehicle speed and the driver operation, and controls the tilt angle based on the estimation result. This reduces the translation drive range. Specifically, the calculation described below is performed.

  First, the “deceleration end predicted time”, which is a time until the speed reaches zero when the current deceleration is maintained, is defined as in Expression (3).

here,
T _e : Expected deceleration end time [s]
v _v : vehicle speed [m / s]
It is.

The vehicle speed refers to the vehicle speed simulated by the simulated vehicle 7. Here, the more the deceleration predicted end time T _e is small, it means that deceleration end is near. In this embodiment, a T _EINV as the inverse of reduction estimated end time T _e as in Equation (4).

If _Teinv is large, it is determined that the end of deceleration is near and the tilt angle is controlled. Specifically, the tilt angle is calculated as shown in Equation (5).

here,
T _einv : Reciprocal of predicted deceleration end time [s ⁻¹ ]
w _t : weighting factor.

  In the driving simulation test apparatus 1 configured as described above, the arithmetic device 30 executes the following arithmetic processing.

FIG. 3 is a block diagram of a control system of the driving simulation test apparatus 1. As shown in FIG. 2 and FIG. 3, when an operation amount such as an accelerator pedal, a brake pedal, and a steering angle is supplied from the operation unit 11 as vehicle information, the arithmetic unit 30 performs acceleration α, vehicle speed v as vehicle motion. _v , yaw angle, etc. are calculated. The arithmetic unit 30 uses the detection result supplied from the X-direction position detecting sensor 12 and the Y-direction position detecting sensor 13, calculates the velocity v _c and the position (displacement) d _c translation mechanism

  Next, the arithmetic unit 30 calculates the tilt angle θ according to the equation (5) using the acceleration α and the correction amount. Here, the tilt angle θ is calculated from the tilt angle based on the acceleration and the correction amount as shown in equation (1).

  The correction amount is calculated based on operation information such as the translation position / translation speed of the translation mechanism, the vehicle speed, the yaw angle, and the direction indicator lamp, and corresponds to the sum of the second, third, and fourth terms on the right side of Equation (5), for example. To do. It should be noted that an upper limit is provided for the tilt angular velocity obtained by time differentiation of the tilt angle θ in Expression (5). This is because when the tilt angular velocity is large, the driver feels uncomfortable.

  Then, the arithmetic unit 30 controls the tilt mechanism through the hydraulic control unit 25 and the hydraulic cylinder 26 so that the tilt angle shown in Expression (5) is limited. Further, the arithmetic unit 30 calculates a translational acceleration, which is a difference between the acceleration that can be simulated by the tilt mechanism and the input acceleration obtained as the vehicle motion. The arithmetic unit 30 drives the translation mechanism so as to obtain the calculated translational acceleration via the motor control units 21 and 23, the X-direction translation drive motor 22 and the Y-direction translation drive motor 24. In order to reduce the translation range, the arithmetic unit 30 decreases the acceleration simulated by the translation movement, and increases or decreases the acceleration simulated by the tilt motion according to the translation position / speed.

  FIG. 4 is a diagram illustrating (A) target acceleration, acceleration simulated by a conventional tilt motion, acceleration simulated by a conventional translation motion when deceleration, stop, start, and acceleration are assumed at a temporary stop intersection; B) It is a figure which shows the translation position at this time.

  FIG. 5 shows (A) target acceleration, acceleration simulated by the tilt motion of the present embodiment, and acceleration simulated by the translation motion of the present embodiment when deceleration, stop, start, and acceleration are assumed at the temporary stop intersection. FIG. 4 and (B) are diagrams showing the translation position at this time.

  As shown in FIG. 4 (B), in the conventional driving simulation test apparatus, the translation position changes from −14 to 30 [m], and thus the translation range is large. This is because the tilt angular velocity is limited, and as shown in FIG. 4A, acceleration starts before the tilt mechanism once tilted in the deceleration direction returns, and the translation mechanism is larger to compensate for this. This is because it is necessary to produce acceleration.

  In the present embodiment, the computing device 30 estimates future vehicle motion using the detection result from the operation unit 11. In this example, as a sign of the end of deceleration, it is detected that the speed is approaching zero during deceleration. In normal driving behavior, the deceleration ends before the speed becomes zero, or stops at zero speed (the deceleration becomes zero at this moment). Therefore, although the deceleration is a positive value (acceleration is a negative value), it is unlikely that the speed becomes a negative value (the vehicle moves backward).

Therefore, when detecting that the speed is approaching zero during deceleration, the arithmetic unit 30 determines that “the end of deceleration is near” and controls the tilt angle based on the determination result. Specifically, the arithmetic unit 30, w _t T _EINV is not negligible to a large value and end of deceleration of the formula (5) is closer, in consideration of w _t T _EINV the tilt angle θ of the formula (5) calculate. As a result, as shown in FIG. 5 (A), the acceleration simulated by the tilt motion starts to change faster than before, and as shown in FIG. 5 (B), the translation position is only −14 to 10 [m]. There was no change and the translation range was reduced.

  As described above, the driving simulation test apparatus 1 according to the present embodiment of the present invention detects, based on the acceleration and the vehicle speed, a state in which the speed is approaching zero during deceleration as a sign of the end of deceleration. The tilt angle is controlled in the acceleration direction opposite to the deceleration direction. Thereby, since the driving simulation test apparatus 1 controls the tilt angle from the deceleration direction to the acceleration direction early, it is not necessary to increase the acceleration due to the translational movement, so that the translation range can be suppressed.

  In addition, since the driving simulation test apparatus 1 does not need to reduce the acceleration / deceleration in order to suppress the translation range, the driving simulation test apparatus 1 can allow the subject to experience the same driving state as during actual vehicle driving, and also so-called simulator sickness. It can be avoided.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that the present invention can also be applied to a design modified within the scope described in the claims. That is, the present invention is not applied only to the above-described deceleration / stop / acceleration. For example, the present invention can be applied to the following cases.

(Other embodiments in the traveling direction of the vehicle)
For example, when it is detected that the subject has released the brake pedal via the operation unit 11 when the vehicle speed is zero, the arithmetic unit 30 estimates that the vehicle will start accelerating in the future, and acceleration occurs in the acceleration direction. As described above, the tilt angle may be controlled by controlling the hydraulic cylinder 26 via the hydraulic control unit 25.

  In addition, the arithmetic unit 30 estimates that the vehicle will finish accelerating when the vehicle speed exceeds 60 km / h in the urban area and 100 km / h on the highway, and sets the hydraulic control unit 25 so that acceleration occurs in the deceleration direction. The hydraulic cylinder 26 may be controlled via this.

  When the arithmetic unit 30 detects that the subject has released the accelerator pedal via the operation unit 11 during acceleration or low-speed traveling, the arithmetic unit 30 estimates that the vehicle will finish decelerating in the future so that acceleration occurs in the deceleration direction. The hydraulic cylinder 26 may be controlled via the hydraulic control unit 25.

(Other embodiments in the direction of travel associated with turning left and right of the vehicle)
The present invention is applicable when the vehicle turns right or left. For example, when the operation device 30 detects that the vehicle has approached a point where it can turn right or left (intersection) when an operation of a direction indicator lamp that is a right turn (or left turn) intention display is performed, a deceleration operation is performed. It may be assumed that the vehicle will make a right turn (or a left turn) in the future at any time. At this time, the arithmetic unit 30 may control the tilt angle by controlling the hydraulic cylinder 26 via the hydraulic control unit 25 so that acceleration occurs in the right turn (or left turn) direction.

  If the road shape on the simulation is known in advance, the arithmetic unit 30 turns right (or on the basis of the intersection angle of the intersection (the angle of the road on which the vehicle is heading) and the current yaw angle. The left turn) end timing is estimated, and the tilt angle may be controlled at this timing. Also, since the intersection angle is often around 90 degrees, it may be set in advance to a value around 90 degrees.

  The present invention can be applied to the present embodiment alone or to a combination of the above-described embodiment and the present embodiment.

It is a figure which shows the driving | running | working simulation test apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of a driving simulation test apparatus. It is a block diagram of the control system of a driving simulation test device. (A) When assuming deceleration, stop, start, and acceleration at a stop intersection, (A) Target acceleration, acceleration simulated by conventional tilt motion, diagram showing acceleration simulated by conventional translation motion, and (B) at this time It is a figure which shows the translation position of. (A) Target acceleration when assuming deceleration, stop, start, acceleration at a temporary stop intersection, acceleration simulated by tilt motion of this embodiment, acceleration simulated by translation motion of this embodiment, and ( B) It is a figure which shows the translation position at this time.

Explanation of symbols

7 Simulated vehicle 11 Operation unit 12 X direction position detection sensor 13 Y direction position detection sensor 14 Storage devices 21 and 23 Motor control unit 22 X direction translation drive motor 24 Y direction translation drive motor 25 Hydraulic control unit 26 Hydraulic cylinder 30 Arithmetic unit

Claims (3)

Driving operation means for causing a subject to perform a driving operation in a simulated vehicle for experiencing the driving state of the vehicle;
A translation direction moving means for moving the simulated vehicle in the translation direction;
A tilt angle adjusting means for adjusting a tilt angle of the simulated vehicle;
Based on the driving operation of the driving operation means, the translation direction moving means and the tilt angle adjusting means are controlled, and when the driving state before the change of the acceleration direction of the vehicle is detected, the direction is opposite to the acceleration direction. Control means for controlling the tilt angle adjusting means so as to increase the tilt angle;
Driving simulation test equipment with The control unit detects acceleration and speed of the vehicle based on an operation of the driving operation unit, and detects a driving state before the acceleration direction of the vehicle is changed using the acceleration and speed. The driving simulation test apparatus described. The control means detects a driving state before the acceleration direction of the vehicle is changed based on at least one operation of an accelerator pedal, a brake pedal, and a direction indicator lamp or information on a traveling road of the vehicle as an operation of the driving operation means. The driving simulation test apparatus according to claim 1.

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