JP2009122270A - Drive simulation testing device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain vibrations close to vibrations generated when a real vehicle is driven. <P>SOLUTION: A drive simulation testing device acquires a drive manipulated variable of an examinee from a driving operation section 12 of a simulation vehicle having the driving operation section 12 and a hydraulic cylinder 30 and generates a vehicle vibration pattern, corresponding to movements of the simulation vehicle based upon the acquired driving manipulated variable, for letting the examinee bodily sense vibrations, and includes an HDD 14b stored with a plurality of frequency patterns obtained by taking frequency analysis of a real vehicle vibration pattern of vibrations that a driver bodily senses when the real vehicle travels, and a hydraulic cylinder control unit 16 which controls the hydraulic cylinder 30 so that the examinee can bodily sense vibrations based upon a composite vibration pattern composed of the vehicle vibration pattern and a part of a similar frequency pattern above a prescribed frequency of the actual vehicle vibration pattern when the frequency pattern similar to a frequency pattern obtained by taking frequency analysis of the vehicle vibration pattern is stored in the HDD 14b. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving simulation test apparatus and a program.

For the purpose of vehicle development and driver training, a driving simulator (driving simulation test device) that can simulate the motion of a vehicle according to a driving operation of a subject is known. For example, road surface profile data in which the height z is set for each position represented by xy coordinates on the simulator map is created, and the height, handle, and pedal of each of the four wheels of the vehicle obtained from the road surface profile data The vehicle motion calculation is performed using the operation information (driver information), etc., and the accelerations in the x, y, and z directions and the angular velocities in the roll, pitch, and yaw directions are obtained, and the vibration (vibration) generator There is known a driving simulator that outputs a vibration to a cockpit on which a driver gets on by outputting (see, for example, Patent Document 1).
JP 2005-316004 A

  However, the vibration in the driving simulator described in Patent Document 1 does not take into account vibrations caused by the vibration of the vehicle due to the vehicle motion and the vibrations caused by the engine vibration generated when the engine operates. . This is because when calculating the vehicle motion, it is assumed that the vehicle is a rigid body and no vibration is generated from the engine. For this reason, in the driving simulator described in Patent Document 1, the data input to the vibration generator hardly contains a frequency component of a predetermined value or higher, for example, a high frequency component of 10 Hz or higher. There is a problem that vibration close to that when driving a vehicle cannot be obtained.

  The present invention has been made to solve the above-described problems, and it is an object of the present invention to provide a driving simulation test apparatus and a program capable of obtaining vibrations close to vibrations when an actual vehicle is driven.

  In order to achieve the above object, a driving simulation test apparatus according to claim 1 is a simulation vehicle including driving operation means for causing a subject to perform a driving operation and a vibration generating device for causing the subject to experience vibration. An acquisition means for acquiring the driving operation amount of the subject from the driving operation means, and corresponding to the movement of the simulated vehicle based on the driving operation amount acquired by the acquisition means, and for causing the subject to experience vibration Vibration pattern generating means for generating a vehicle vibration pattern; storage means for storing a plurality of frequency patterns obtained by frequency analysis of vibrations experienced by the driver when the actual vehicle is run; and When a frequency pattern similar to the frequency pattern obtained by frequency analysis of the vehicle vibration pattern is stored in the storage means, The vibration generator is controlled so that vibrations based on a combined vibration pattern obtained by combining the vehicle vibration pattern and a portion of the actual vehicle vibration pattern having the similar frequency pattern with a predetermined frequency or higher can be experienced by the subject. And vibration control means.

  According to the driving simulation test apparatus of the present invention, the storage means stores in advance a plurality of frequency patterns obtained by analyzing the frequency of the actual vehicle vibration pattern of the vibration experienced by the driver when the actual vehicle is run. If the frequency pattern similar to the frequency pattern obtained by frequency analysis of the vehicle vibration pattern is stored in the storage means, the vehicle vibration pattern and a predetermined frequency pattern in the actual vehicle vibration pattern of the similar frequency pattern are stored. The vibration generator is controlled so that the subject can feel the vibration based on the combined vibration pattern obtained by combining the frequency and higher portions. This synthetic vibration pattern includes a component having a predetermined frequency or higher. For this reason, the vibration generator vibrates so that vibration based on the combined vibration pattern can be experienced by the subject, so that compared with the prior art, the frequency range from a low frequency to a frequency higher than a predetermined frequency (ie, high frequency) is achieved. The vibration close to the vibration when the vehicle is driven can be obtained.

  The driving simulation test apparatus according to claim 2 is the driving simulation test apparatus according to claim 1, wherein the subject is further subjected to vibration caused by operation of an engine provided in the actual vehicle. Extracting means for storing a plurality of engine vibration frequency patterns obtained by frequency analysis of engine vibration patterns for letting the user experience, and extracting the engine vibration frequency patterns based on the driving operation amount from the storage means A first engine combined vibration pattern obtained by combining the combined vibration pattern and the engine vibration pattern of the engine vibration frequency pattern extracted by the extracting means, or the vehicle vibration pattern. And the engine vibration frequency pattern of the engine vibration extracted by the extraction means. As the vibration based on a second engine composite vibration pattern obtained by synthesizing the over emissions can experience to the subject, but which is adapted to control the vibration generator.

  According to the driving simulation test apparatus of the present invention, based on the first engine synthesized vibration pattern or the second engine synthesized vibration pattern including the engine vibration pattern for causing the subject to feel the vibration caused by the operation of the engine. The vibration generator vibrates so that the subject can feel the vibration. Thereby, compared with the prior art, it is possible to obtain a vibration that is closer to the vibration when a real vehicle is driven.

  According to a third aspect of the present invention, there is provided a program for driving a subject from the driving operation means of a simulation vehicle provided with driving operation means for causing a subject to drive a computer and a vibration generator for causing the subject to feel vibration. An acquisition means for acquiring an amount; a vibration pattern generation means for generating a vehicle vibration pattern corresponding to the movement of the simulated vehicle based on the driving operation amount acquired by the acquisition means and causing the subject to feel a vibration; A frequency pattern similar to the frequency pattern obtained by frequency analysis of the vehicle vibration pattern was obtained by frequency analysis of the actual vehicle vibration pattern of the vibration experienced by the driver when the actual vehicle was driven. When stored in a storage means that stores a plurality of frequency patterns, similar to the vehicle vibration pattern As the vibration based on the synthesized composite vibration pattern and a more portions predetermined frequency in the actual vehicle vibration pattern of the wave pattern can experience to the subject, to function as a vibration controlling means for controlling the vibration generator.

  According to the program of the present invention, the frequency pattern similar to the frequency pattern obtained by frequency analysis of the vehicle vibration pattern is the frequency analysis of the actual vehicle vibration pattern of the vibration experienced by the driver when the vehicle is driven. A combined vibration pattern in which a vehicle vibration pattern is combined with a portion of the actual vehicle vibration pattern having a similar frequency pattern that is equal to or higher than a predetermined frequency. The vibration generator is controlled so that the subject can experience vibration based on the above. This synthetic vibration pattern includes a component having a predetermined frequency or higher. For this reason, the vibration generator vibrates so that vibration based on the combined vibration pattern can be experienced by the subject, so that compared with the prior art, the frequency range from a low frequency to a frequency higher than a predetermined frequency (ie, high frequency) is achieved. The vibration close to the vibration when the vehicle is driven can be obtained.

  As described above, according to the driving simulation test apparatus and the program of the present invention, there is an effect that vibration close to that when driving an actual vehicle can be obtained.

  Hereinafter, an embodiment of an operation simulation test apparatus of the present invention will be described in detail with reference to the drawings. In the present embodiment, the driving simulation test apparatus is called a driving simulator.

  As shown in FIG. 1, the driving simulator 10 according to the present embodiment includes a driving operation unit 12, a control unit 14, a hydraulic cylinder control device 16, a display control device 18, a screen 20, and a hydraulic cylinder 30. It has. Note that the driving simulator 10 of the present embodiment is provided in a vehicle for driving simulation (simulated vehicle).

  The driving operation unit 12 as driving operation means for causing a driver who is a subject to perform a driving operation includes an accelerator pedal 12a, a brake pedal 12b, and a steering 12c. The subject can get on the vehicle for driving simulation and operate the accelerator pedal 12a, the brake pedal 12b, and the steering 12c. Each of the accelerator pedal 12a, the brake pedal 12b, and the steering wheel 12c outputs a driving operation amount corresponding to the driving operation of the subject to the control unit 14, respectively. That is, the accelerator pedal 12a outputs an accelerator pedal operation amount corresponding to the driving operation of the subject, the brake pedal 12b outputs a brake pedal operation amount corresponding to the driving operation of the subject, and the steering 12c is operated by the subject. The steering operation amount corresponding to the is output.

  The control unit 14 includes a ROM (Read Only Memory) 14a, an HDD (Hard Disk Drive) 14b, a CPU (Central Processing Unit) 14c, a RAM (Random Access Memory) 14d, and an I / O (input / output) port 14e. Yes. The ROM 14a, HDD 14b, CPU 14c, RAM 14d, and I / O port 14e are connected to each other via a bus 14f.

  A basic program such as an OS is stored in the ROM 14a as a storage medium.

  The HDD 14b as a storage medium stores programs for executing processing routines of vibration pattern generation processing, vehicle motion calculation processing, high-frequency component synthesis processing, and engine vibration calculation processing, which will be described in detail below. Yes.

  Further, as shown in FIG. 2, the HDD 14b stores a road surface profile table 22 in which road surface profile data in which a height is set for each position is registered. As shown in the figure, the road surface profile table 22 includes a position (x) in the road surface fixed coordinate system (x and y coordinates) on a simulator map on which a vehicle on which the driving simulator 10 is mounted is simulated. , Y), a record 22a is registered. Each record 22a has a field 22b where a position (x, y) represented by xy coordinates on the simulator map is registered, and a road surface height z corresponding to the position (x, y) registered in the field 22b. A field 22c to be registered and a field 22d to register a road surface friction coefficient μ corresponding to the position (x, y) registered in the field 22b are provided. In the field 22c of each record 22a, for example, a road surface height z measured in advance on an actual road by a road surface height measuring device such as a profilometer is registered in advance. In addition, in the field 22d of each record 22a, for example, a road surface friction coefficient μ measured in advance on an actual road by a road surface friction coefficient measuring device or the like is registered in advance.

  Further, as shown in FIG. 3A, the vehicle body vibration map 24 representing the vehicle vibration characteristics of the actual vehicle is stored in the HDD 14b. As shown in the figure, the vehicle body vibration map 24 shows a vibration pattern of a plurality of vibrations received by a driver who rides on the actual vehicle when the actual vehicle travels on the road surface, that is, when the actual vehicle travels. A plurality of frequency patterns (frequency patterns 24a to 24d in the example of FIG. 3A) obtained by frequency analysis of vibration patterns (actual vehicle vibration patterns) of a plurality of vibrations experienced by the driver are amplitudes for each frequency. Is registered on the frequency distribution representing. Each of the plurality of frequency patterns is acquired in advance by experiments and registered in the vehicle body vibration map 24.

  Further, as shown in FIG. 3B, the HDD 14b stores an engine vibration map 26 representing engine vibration characteristics. As shown in the figure, the engine vibration map 26 shows a vibration pattern of vibration of the engine when the real vehicle travels on the road surface, that is, a vibration pattern of vibration caused by the operation of the engine provided in the real vehicle ( The engine vibration frequency pattern (example of FIG. 3B) obtained by experimentally acquiring in advance as an engine vibration pattern for causing the subject to experience the engine vibration pattern and analyzing the frequency of the engine vibration pattern. Then, the frequency patterns 26a to 26d) of the engine vibration are registered on the frequency distribution representing the amplitude for each frequency. Each of these engine vibration frequency patterns is acquired in advance by experiments, defined for each value of engine speed N (rpm) and engine torque T (N · m), and registered in the engine vibration map 26. The

  Further, the HDD 14b stores an image data table 28 in which image data to be displayed on the screen 20 is registered, as shown in FIG. As shown in the figure, in the image data table 28, a record 28a is registered for each position represented by xy coordinates on the simulator map on which the vehicle on which the driving simulator 10 is mounted travels in a simulated manner. The Each record 28a is displayed on the screen 20 in a field 28b where a position (x, y) represented by xy coordinates on the simulator map is registered, and a position (x, y) registered in the field 28b. A field 28c in which video data of video is registered is provided. In the field 28c of each record 28a, for example, it is assumed that video data shot in advance on an actual road by a video camera or the like is registered in advance.

  The CPU 14c reads the program from the ROM 14a and the HDD 14b and executes it.

  Various data are temporarily stored in the RAM 14d.

  The I / O port 14e is connected to the operation unit 12, the hydraulic cylinder control device 16, and the display control device 18.

  The hydraulic cylinders 30 as vibration generating devices for causing the subject to experience vibrations are provided at the positions of the four wheels of the vehicle for driving simulation.

  The hydraulic cylinder control device 16 as the vibration control means controls the hydraulic cylinder 30 so that the subject can feel vibration based on the input vibration pattern. The hydraulic cylinder control device 16 vibrates the vehicle for driving simulation by causing the hydraulic cylinder 30 to expand and contract and vibrate based on the input vibration pattern. Thereby, the vibration based on the vehicle vibration pattern is transmitted to the subject who is on the vehicle for driving simulation. In this way, the vibration of the six degrees of freedom (three translational movements (front and rear, left and right, up and down) and three rotational movements (rolling, pitching and yawing)) of the vehicle is reproduced.

  The display control device 18 controls the display of the screen 20 so that the video based on the input video data and Euler angles is displayed on the screen 20.

  When the control unit 14 is represented by functional blocks according to a vibration pattern generation process described in detail below, as shown in FIG. 5, vehicle motion calculation means 32, high frequency component synthesis means 34, engine vibration calculation means 36, output means 38, And the storage means 40. The storage unit 40 corresponds to the HDD 14b and the RAM 14d.

  Next, a processing routine of vibration pattern generation processing executed by the CPU 14c of the control unit 14 will be described with reference to FIG. In the present embodiment, the vibration pattern generation process is executed every predetermined time interval (for example, several tens of milliseconds) from the time when a switch (not shown) of the driving simulator 10 is turned on.

  First, at step 100, vehicle motion calculation processing is executed.

  Here, the details of the processing routine of the vehicle motion calculation process in step 100 will be described with reference to FIG.

  First, in step 200, each driving operation amount (accelerator pedal operation amount, brake pedal operation amount, steering operation amount) from the accelerator pedal 12a, the brake pedal 12b, and the steering wheel 12c of the driving operation unit 12 is set at predetermined intervals (for example, 5 msec). ) Start capturing every time. That is, in step 200, the driving operation amount of the subject is acquired from the driving operation unit 12.

  In the next step 202, the acceleration of the vehicle for driving simulation is calculated based on each driving operation amount captured in step 200.

  In the next step 204, the acceleration calculated in step 202 is integrated to calculate the speed of the vehicle for driving simulation.

  In the next step 206, the position (X, Y) represented by the XY coordinate in the vehicle fixed coordinate system of the vehicle for driving simulation is calculated by integrating the speed calculated in step 204, and this position ( X, Y) is represented by xy coordinates in the road surface fixed coordinate system on the simulator map using a predetermined coordinate conversion matrix for converting coordinates in the vehicle fixed coordinate system to coordinates in the road surface fixed coordinate system. By converting to the position (x, y), the position (x, y) on the simulator map of the vehicle for driving simulation is calculated. In the present embodiment, it is assumed that the position (x, y) calculated in step 206 is the position of the center of gravity of the vehicle for driving simulation. In addition, predetermined values (for example, 0) can be set in advance as initial values of the position coordinates of the center of gravity, acceleration, and speed.

  In the next step 208, based on the position (x, y) calculated in step 206, the position (x1, y1) of the tire on the right side of the front wheel provided in the vehicle for driving simulation and the position of the tire on the left side of the front wheel The position (x2, y2), the tire on the right side of the rear wheel (x3, y3), and the position of the tire on the left side of the rear wheel (x4, y4) are calculated. In addition, the distance and direction between each position (x1, y1), (x2, y2), (x3, y3), (x4, y4) and the position of the center of gravity of the vehicle are obtained in advance, and this distance and direction are determined. Each position (x1, y1), (x2, y2), (x3, y3), and (x4, y4) can be calculated by adding to the position of the center of gravity.

  In the next step 210, the road surface profile table 22 stored in the HDD 14b is read and the positions (x1, y1), (x2, y2), (x3, y3), (x4, y4) calculated in step 208 are read. Each identifies each of the records 22a registered in the field 22b. Then, each of the road surface height z registered in each field 22c of the specified record 22a and each of the road surface friction coefficients μ registered in each field 22d of the specified record 22a are acquired.

In the next step 212, vehicle motion calculation is performed. In addition, the calculation method similar to the conventional driving simulator can be used for the motion calculation of the vehicle. An example of vehicle motion calculation is shown below. “Vehicle motion calculation” is a method for solving a vehicle motion equation configured based on a vehicle motion model employed in driving simulation for each vehicle travel condition. There are many types of vehicle motion models, and therefore there are many types of motion equations (second-order ordinary differential equations). Generally, it is composed of 1) a vehicle model, 2) a steering model, and 3) a tire model. An example of a vehicle model is shown by the following equation. The road surface friction coefficient μ and the road surface height z are included in the portions of the longitudinal force F _xi , the left / right force F _yi , and the vertical force F _zi acting on the tire in the following equation. The longitudinal force F _xi , the lateral force F _yi , and the vertical force F _zi acting on the tire can be appropriately expressed by a function (relational expression) including the road surface friction coefficient μ and the road surface height z as parameters. As a model of this function (relational expression), for example, a linear model or a non-linear model such as a tire model, an appropriate model that takes into account the state of the contact surface between the tire and the road surface, as necessary, may be used. it can.

ここで、
ｍ：車両質量
ｍｓ：ばね上質量
Ｉ_Ｘ、Ｉ_ｙ：ばね上質量のｘ軸、ｙ軸まわりの慣性モーメント
Ｉ_Ｚ：車両のｚ軸まわりの慣性モーメント
Ｉ_ＸＺ：慣性乗積
ｕ、ｖ、ｗ：ばね上の前後、左右、上下方向の速度成分
ｈ_ｆ、ｈ_ｒ：前軸、後軸のロールセンタ高さ
φ、θ、ψ：車両のロール、ピッチ、ヨー角
ｐ、ｑ、ｒ：車両のロール、ピッチ、ヨー角速度
Ｆ_ｘｉ、Ｆ_ｙｉ、Ｆ_ｚｉ：タイヤに作用する前後、左右、上下力
Ｍ_ｚｉ：タイヤに作用するｚ軸まわりのモーメント
ｈ_ＣＧ：ばね上重心高
ｈ_ｓ：ばね上重心からロールセン軸に降ろした垂線の長さ（ロールアーム）
ｈ_ＲＣ：ばね上重心でのロール軸高さ
ｌ_ｆ、ｌ_ｒ：前軸、後軸と重心間距離
ｂ_ｆ、ｂ_ｒ：前軸、後軸トレッド
ｇ：重力加速度
である。

here,
m: vehicle mass ms: sprung mass I _{X, I y:} sprung mass of the x-axis, the inertia about the y-axis moment I _Z: moment of inertia I _XZ around the z-axis of the vehicle: the products of inertia u, v, w : front and rear sprung, lateral, vertical velocity component h _{f, h r:} front axle, roll center height of the rear axle phi, theta, [psi: vehicle roll, pitch, yaw angles p, q, r: vehicle Roll, pitch, yaw angular velocity F _xi , F _yi , F _zi : before / after, left / right, vertical force acting on the tire M _zi : moment about the z-axis acting on the tire h _CG : sprung center of gravity height h _s : sprung Length of perpendicular line from the center of gravity to the roll center axis (roll arm)
h _RC : roll axis height at the center of sprung, l _f , l _r : distance between front axis, rear axis and center of gravity b _f , b _r : front axis, rear axis tread g: gravitational acceleration.

  In the next step 214, for example, the above-described ordinary differential equation is solved at predetermined time intervals by a numerical calculation method such as a Runge-Kutta method, and each acceleration du in the x, y, and z directions on the spring of the vehicle. A vehicle vibration pattern is generated by calculating / dt, dv / dt, dw / dt, and angular velocities p, q, and r in the roll, pitch, and yaw directions as vehicle vibration patterns.

  In this manner, in step 212 and step 214, a vehicle vibration pattern corresponding to the movement of the vehicle for driving simulation and causing the subject to experience vibration is generated.

  In the next step 216, based on each driving operation amount (accelerator pedal operation amount, brake pedal operation amount, steering operation amount) from the accelerator pedal 12a, the brake pedal 12b, and the steering wheel 12c of the driving operation unit 12 captured in step 200. Thus, the engine speed N (rpm) and engine torque T (N · m) of the vehicle for driving simulation are calculated.

  In the next step 218, the position (X, Y) and Euler in the vehicle fixed coordinate system are calculated based on the accelerations du / dt, dv / dt, dw / dt and the angular velocities p, q, r calculated in step 214. Calculate the corner. Then, the position (X, Y) in the vehicle fixed coordinate system and the Euler angle are determined in the road surface fixed coordinate system using a predetermined coordinate conversion matrix for converting the coordinates in the vehicle fixed coordinate system to the coordinates in the road surface fixed coordinate system. By converting (x, y) and Euler angles, the position (x, y) and Euler angles in the road surface fixed coordinate system are calculated. And this vehicle motion calculation process is complete | finished.

  Here, the description returns to the vibration pattern generation processing of FIG. In the next step 102, high frequency component synthesis processing is executed. Here, the details of the processing routine of the high frequency component synthesis processing in step 102 will be described with reference to FIG.

  First, in step 300, the vehicle vibration pattern calculated in step 214 is subjected to frequency analysis to obtain a frequency pattern in a frequency distribution representing the amplitude for each frequency.

  In the next step 302, the vehicle vibration map 24 stored in the HDD 14b is read, and the frequency pattern obtained in step 300 and each frequency pattern registered in the vehicle body vibration map 24 (for example, the example of FIG. 3A). Then, it is determined whether or not a frequency pattern similar to the frequency pattern obtained in step 300 is registered in the vehicle vibration map 24 by comparing and comparing with the frequency patterns 24a to 24d). Various methods can be considered for such a determination method. In the present embodiment, for example, the frequency pattern obtained in step 300 is compared with each frequency pattern registered in the vehicle vibration map 24. Thus, it may be determined that a similar frequency pattern is registered in the vehicle vibration map 24 by determining that the frequency pattern having the highest degree of correlation is similar. Note that the vehicle vibration pattern generated in step 214 contains almost no component of a predetermined frequency, for example, a frequency of 10 Hz or higher, so that the frequency pattern as shown in FIG. 68 does not include a component having a frequency equal to or higher than a predetermined frequency (10 Hz in the example of FIG. 9A). Therefore, in this step 302, the frequency pattern obtained in step 300 is compared with each frequency pattern registered in the vehicle vibration map 24 of a portion corresponding to a frequency component smaller than a predetermined frequency (for example, 10 Hz). It is determined whether or not the frequency pattern being registered is registered in the vehicle vibration map 24.

  If it is determined in step 302 that a similar frequency pattern is registered in the vehicle vibration map 24, the process proceeds to the next step 304. In step 304, the portion of the frequency pattern registered in the vehicle vibration map 24 determined to be similar in step 302 and not included in the frequency pattern in the frequency distribution obtained in step 300 above. An actual vehicle vibration pattern corresponding to a predetermined frequency component portion, for example, a high frequency component portion of 10 Hz or higher is generated as an actual vehicle vibration pattern for allowing the subject to experience vibration.

  In the next step 306, a composite vibration pattern is generated by combining the actual vehicle vibration pattern of the high frequency component generated in step 304 and the vehicle vibration pattern generated in step 214 above. And this high frequency component synthetic | combination process is complete | finished.

  On the other hand, if it is determined in step 302 that a similar frequency pattern is not registered in the vehicle vibration map 24, the high frequency component synthesis process is terminated.

  According to this high frequency component synthesis process, when a frequency pattern similar to the frequency pattern obtained by frequency analysis of the vehicle vibration pattern generated in step 214 is registered in the vehicle vibration map 24, that is, in the HDD 14. If stored, the frequency pattern obtained by frequency analysis of the vehicle vibration pattern generated in step 214 and the portion of the actual vehicle vibration pattern of this similar frequency pattern above the predetermined frequency are synthesized. A composite vibration pattern is generated.

  For example, according to the high frequency component synthesis process, when the frequency distribution of the frequency pattern 68 as shown in FIG. 9A is calculated in step 300, the vehicle shown in FIG. Of the patterns 24a to 24d registered in the vibration map 24, it is determined that the most similar pattern 24b is similar. In step 304, as shown in FIG. An actual vehicle vibration pattern 70 having a high frequency component having a frequency or higher component (in the example of FIG. 9C, a component having a frequency of 10 Hz or higher) is generated and synthesized in step 306. Thus, conventionally, since the vehicle is assumed to be a rigid body, a component having a frequency equal to or higher than a predetermined frequency has not been included in the vehicle vibration pattern, but in the present embodiment, a component having a frequency equal to or higher than the predetermined frequency is included. Will be included.

  Here, the description returns to the vibration pattern generation processing of FIG. In the next step 104, an engine vibration calculation process is executed. Details of the processing routine of the engine vibration calculation process in step 104 will be described with reference to FIG.

  First, in step 400, the engine vibration map 26 stored in the HDD 14b is read, and the engine vibration frequency corresponding to the engine speed N (rpm) and the engine torque T (N · m) calculated in step 216 above. A pattern (engine vibration spectrum) is extracted from the engine vibration map 26. That is, in step 400, a frequency pattern of engine vibration based on the driving operation amount of the subject is extracted from the engine vibration map 26 stored in the HDD 14b.

  In the next step 402, based on the engine vibration spectrum extracted in step 400, the engine corresponding to the engine vibration spectrum extracted in step 400 is reproduced by the expansion and contraction of the hydraulic cylinder 30. Generate a vibration pattern.

  In the next step 404, the engine vibration pattern generated in step 402 and the combined vibration pattern generated in step 306 are combined to generate a first engine combined vibration pattern. Then, the engine vibration calculation process ends.

  As described above, according to the engine vibration calculation process, conventionally, vibration due to engine vibration generated by the operation of the engine has not been considered, but is considered in the present embodiment.

  Here, the description returns to the vibration pattern generation processing of FIG. In the next step 106, the first engine composite vibration pattern generated in step 404 is output to the hydraulic cylinder control device 16. Thereby, the hydraulic cylinder control device 16 controls the hydraulic cylinder 30 so that vibration based on the first engine composite vibration pattern can be experienced by the subject. Therefore, the subject can experience vibration based on the first engine composite vibration pattern.

  In the next step 108, the image data table 28 stored in the HDD 14b is read, and the record 28a in which the position (x, y) in the road surface fixed coordinate system calculated in step 218 is registered in the field 28b is specified. Then, the video data registered in the field 28c of the specified record 28a is acquired. Then, the acquired video data and the Euler angle in the road surface coordinate system calculated in step 218 are output to the display control device 18. Thereby, the video based on the video data and the Euler angle is displayed on the screen 20. Then, the vibration pattern generation process ends.

  Note that step 100 of the vibration pattern generation processing is executed by the vehicle motion calculation means 32, step 102 is executed by the high frequency component synthesis processing means 34, step 104 is executed by the engine vibration calculation means 36, and steps 106 and 108 are executed. Is executed by the output means 38.

  As described above, according to the vibration pattern generation processing of the present embodiment, the hydraulic cylinder 30 is based on the first engine composite vibration pattern that includes a high-frequency component and that takes into account vibrations caused by engine operation. The vibration is generated so that the subject can feel it. Thereby, the vibration close to the vibration when the actual vehicle is driven is obtained.

  In the present embodiment, the example in which the control unit 14 outputs the first engine composite vibration pattern to the hydraulic cylinder control device 16 has been described. However, the present invention is not limited to this. For example, the control unit 14 generates the second engine combined vibration pattern by combining the vehicle vibration pattern generated in step 214 and the combined vibration pattern generated in step 306 to generate the second engine combined vibration. The pattern may be output to the hydraulic cylinder control device 16. Thereby, the hydraulic cylinder control device 16 controls the hydraulic cylinder 30 so that vibration based on the second engine composite vibration pattern can be experienced by the subject. Therefore, the subject can experience vibration based on the second engine composite vibration pattern.

  Further, the control unit 14 may output the combined vibration pattern generated in step 306 to the hydraulic cylinder control device 16. Thereby, the hydraulic cylinder control device 16 controls the hydraulic cylinder 30 so that vibration based on the combined vibration pattern can be experienced by the subject. Therefore, the subject can experience vibration based on the combined vibration pattern.

  Further, in the present embodiment, an example has been described in which the hydraulic cylinder 30 generates vibrations for the subject to experience by the control of the hydraulic cylinder control device 16, but the present invention is not limited thereto. For example, a vibrator such as body sonic may generate vibration.

  In the present embodiment, the example in which the CPU 14c executes the vibration pattern generation process has been described. However, the present invention is not limited to this. A DSP (Digital Signal Processor) is used for each of the vehicle motion calculation means 32, the high frequency component synthesis means 34, the engine vibration calculation means 36, and the output means 38, so that the vehicle motion calculation means 32 performs vehicle motion calculation processing, step high frequency. The component synthesis processing means 34 may execute the high frequency component synthesis process, the engine vibration calculation means 36 may execute the engine vibration calculation process, and the output means 38 may execute the processes of step 106 and step 108.

It is a figure which shows the driving | running | working simulation test apparatus which concerns on embodiment of this invention. It is a figure for demonstrating the road surface profile table which concerns on this Embodiment. It is a figure for demonstrating the vehicle vibration map and engine vibration map which concern on this Embodiment. It is a figure for demonstrating the image data table which concerns on this Embodiment. It is a figure functionally showing the control part concerning this embodiment. It is a figure which shows the flowchart of the process routine of the vibration pattern production | generation process which the control part which concerns on this Embodiment performs. It is a figure which shows the flowchart of the process routine of the vehicle motion calculation process which the control part which concerns on this Embodiment performs. It is a figure which shows the flowchart of the process routine of the high frequency component synthetic | combination process which the control part which concerns on this Embodiment performs. It is a figure for demonstrating the detail of the high frequency component synthetic | combination process of this Embodiment. It is a figure which shows the flowchart of the process routine of the engine vibration calculation process which the control part which concerns on this Embodiment performs.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Driving simulator 12 Operation part 12a Accelerator pedal 12b Brake pedal 12c Steering 14 Control part 14a ROM
14b HDD
14c CPU
16 Hydraulic cylinder control device 18 Hydraulic cylinder 32 Vehicle motion calculation means 34 High frequency component synthesis means 36 Engine vibration calculation means

Claims (3)

An acquisition means for acquiring the driving operation amount of the subject from the driving operation means of the simulation vehicle provided with the driving operation means for causing the subject to perform the driving operation and the vibration generating device for causing the subject to feel the vibration;
Vibration pattern generating means for generating a vehicle vibration pattern corresponding to the movement of the simulated vehicle based on the driving operation amount acquired by the acquiring means and causing the subject to feel vibration;
Storage means for storing a plurality of frequency patterns obtained by analyzing the frequency of the actual vehicle vibration pattern of the vibration experienced by the driver when the actual vehicle is run;
When a frequency pattern similar to the frequency pattern obtained by frequency analysis of the vehicle vibration pattern is stored in the storage means, the vehicle vibration pattern and the actual vehicle vibration of the similar frequency pattern Vibration control means for controlling the vibration generator so that the subject can experience vibration based on a combined vibration pattern obtained by combining a portion of the pattern having a predetermined frequency or higher;
Driving simulation test equipment including The storage means further stores a plurality of engine vibration frequency patterns obtained by frequency analysis of engine vibration patterns for causing the subject to experience vibrations caused by operation of an engine provided in the actual vehicle. ,
An extraction means for extracting a frequency pattern of engine vibration based on the driving operation amount from the storage means;
The vibration control unit is configured to combine the combined vibration pattern with the engine vibration pattern of the engine vibration frequency pattern extracted by the extraction unit, or the vehicle vibration pattern, and the extraction. The vibration generating device is controlled so that vibration based on a second engine synthesized vibration pattern obtained by synthesizing the engine vibration frequency pattern of the engine vibration extracted by the means can be experienced by the subject. The driving simulation test apparatus described. An acquisition means for acquiring a driving operation amount of the subject from the driving operation means of a simulation vehicle provided with a driving operation means for causing the subject to drive the computer and a vibration generating device for causing the subject to feel vibration;
Vibration pattern generation means for generating a vehicle vibration pattern corresponding to the movement of the simulated vehicle based on the amount of driving operation acquired by the acquisition means and causing the subject to experience vibration; and frequency of the vehicle vibration pattern A memory that stores a plurality of frequency patterns obtained by analyzing the frequency of the actual vehicle vibration pattern of the vibration experienced by the driver when the actual vehicle travels, with a frequency pattern similar to the frequency pattern obtained by analyzing When stored in the means, the subject can experience vibration based on a combined vibration pattern obtained by combining the vehicle vibration pattern and a portion of the real vehicle vibration pattern of the similar frequency pattern having a predetermined frequency or higher. As described above, a program for functioning as a vibration control means for controlling the vibration generator .

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