JP2009157292A - Riding simulation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a riding simulation device capable of performing pitching operations according to control force and permitting pseudo experience of riding state of a two-wheeler having an ABS device. <P>SOLUTION: This riding simulation device 10 comprises a front-brake control force detection means 204 and a rear-brake control force detection means 206 which detect the control force of the two-wheeler 40 corresponding to an operation of an operator 38, a pitching operation drive means 210 which gives a pitching operation to the two-wheeler 40, and a pitching operation control means 208 which outputs a drive signal of the pitching operation to the pitching operation drive means 210 based on the result of comparison between the control force and a predetermined control force X. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a riding simulation apparatus that displays a traveling scene as an image on a display based on an operation state by an operator, and allows the operator to experience the traveling state of a motorcycle.

  Conventionally, a riding simulation device that displays various driving states on the display by performing various operations by the operator and allows the operator to simulate the driving state of the motorcycle is used for gaming or for motorcycle driving education, etc. Adopted for the purpose (see Patent Document 1)

JP-A-8-262971

  By the way, in a four-wheeled vehicle such as a two-wheeled vehicle or an automobile, ABS is used as a device that performs pumping operation when sudden braking is applied, prevents the wheels from locking and slipping, and maintains stability in the traveling direction of the vehicle. (Antilock Brake System) is known.

  However, a conventional riding simulation device has not been proposed that simulates the traveling state of a motorcycle equipped with an ABS device.

  The present invention has been made in consideration of the above points, and by performing a pitching operation according to the operation force, a riding simulation that can simulate the running state of a motorcycle equipped with an ABS device. An object is to provide an apparatus.

  The riding simulation apparatus according to the present invention corresponds to the operation of the operator in a riding simulation apparatus that displays a traveling scene as an image on a display based on an operation state by an operator and allows a simulated experience of the traveling state of the motorcycle. An operation force detecting means for detecting an operation force of the two-wheeled vehicle, a pitching operation driving means for giving a pitching operation to the two-wheeled vehicle, and a pitching operation control means, the pitching operation control means comprising the operation force and a predetermined operation force. And a pitching operation drive signal is output to the pitching operation driving means.

  The body of the two-wheeled vehicle swings back and forth under the driving action of the pitching operation driving means. As a result, the operator can feel as if the two-wheeled vehicle is pitching.

  When the operating force is greater than the predetermined operating force, the pitching operation control means outputs a change signal of the pitching angle of the two-wheeled vehicle to the pitching operation driving means as a driving signal for the pitching operation. The person can experience the ABS operation situation in a simulated manner.

  In the riding simulation apparatus according to the present invention, the operation force detection means includes a front brake operation force detection means for detecting a front brake operation force corresponding to an operation amount of a front brake lever of the motorcycle, and a rear brake of the motorcycle. Rear brake operation force detecting means for detecting a rear brake operation force corresponding to an operation amount of the pedal, and the pitching operation control means is configured such that the front brake operation force or the rear brake operation force is greater than a predetermined operation force. When it is larger, a change signal of the pitching angle of the two-wheeled vehicle is output to the pitching operation driving means as a driving signal for the pitching operation. Based on the front brake operation force or the rear brake operation force, it is possible to perform a pitching operation that makes an illusion that the ABS operation state has been reproduced.

  Further, the pitching operation driving means changes the pitching angle for a predetermined period based on the change signal, and displays a display signal on the display for displaying a running state when the operating force is larger than the predetermined operating force. In addition, by generating the slip sound intermittently for the predetermined period, it is possible to produce a sense of reality and to further emphasize the simulated experience of the pitching operation of the two-wheeled vehicle to the operator.

  Further, in the riding simulation apparatus according to the present invention, the pitching motion control means has a pitching angle calculated based on the operating force as a driving signal for the pitching motion when the operating force is smaller than a predetermined operating force. By outputting the change signal to the pitching operation driving means and calculating the slip based on the operation force, it is possible to produce a realistic feeling in the braking state of the motorcycle.

  According to the present invention, when the operating force is greater than the predetermined operating force, a change signal of the pitching angle of the two-wheeled vehicle is output to the pitching operation driving means as a driving signal for the pitching operation, and the two-wheeled vehicle is shaken at a predetermined cycle. By moving, the operator can experience a simulated ABS operation situation.

  Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic configuration explanatory diagram of a riding simulation apparatus 10 according to an embodiment of the present invention, FIG. 2 is an explanatory diagram showing a relationship between an operator of the riding simulation apparatus 10 and a display device, and FIG. FIG. 2 is a block circuit diagram of the riding simulation apparatus 10.

  The riding simulation apparatus 10 includes a control mechanism 12, a motion unit 14, and a control table 16. The control mechanism 12 and the motion unit 14 are installed on the floor 18, and these are detachably connected to each other via a coupling mechanism 20.

  The control mechanism 12 includes a main body portion 26 that accommodates a control circuit 22 constituted by a computer or the like and a CGI generator 24, and a display box 28 provided on the upper portion of the main body portion 26.

  The display box 28 incorporates the speaker unit 30 and has a display 32 having a screen. The display device 34 includes the CGI generating device 24 and the display 32, and displays various traveling states including a traveling path on the display 32. Is done.

  The motion unit 14 includes a base 36 that can be attached to and detached from the control mechanism 12 via the coupling mechanism 20, and a model two-wheeled vehicle 40 that can be operated by an operator 38 on the base 36 and the two-wheeled vehicle 40 as an actual two-wheeled vehicle. A drive mechanism 42 that drives according to the behavior is mounted.

  The base 36 includes a plurality of wheels 44 for moving on the floor 18 and a plurality of fixing portions 46 for fixing the base 36 on the floor 18. The fixing portion 46 is provided with a screw shaft 48. When the screw shaft 48 is screwed to the base 36, the fixing portion 46 is movable in the vertical direction.

  A support frame 50 is provided on the base 36, and a vehicle body 54 of the two-wheeled vehicle 40 swings in the front-rear direction (pitching direction) via a pitching shaft 52 extending in the vehicle width direction on the upper side of the support frame 50. It is supported freely. The support frame 50 supports a pitching motor (pitching operation driving means) 58 that can swing around a fulcrum 56, and a nut 62 is screwed to a screw shaft 60 connected to the pitching motor 58. The vehicle body 54 can swing. Further, the support frame 50 supports a roll motor 66 having a roll shaft 64 in the horizontal direction, and the vehicle body 54 engages with an output shaft (not shown) of the roll motor 66.

  The handle 68 of the two-wheeled vehicle 40 is directly connected to the handle torque sensor 70 (see FIG. 3) and the rotating shaft 74 of the steering motor 72, and the control circuit 22 is based on the output signal of the handle torque sensor 70. The reaction force corresponding to the turning operation of the handle 68 of the operator 38 is applied via the.

  The drive mechanism 42 includes a pitching motor 58, a roll motor 66, and a steering motor 72.

  As shown in FIG. 3, on the motion unit 14 side, an accelerator opening connected to a front brake pressure sensor 78 connected to a front brake lever 76 further operated by the operator 38 with the right hand and a throttle grip 80 serving as an accelerator is provided. A degree sensor 82, a clutch lever angle sensor 86 connected to a clutch lever 84 operated by the operator 38 with the left hand, a lean torque sensor 88 for detecting the moving direction and moving amount of the operator 38, and a rear brake pedal. A rear brake pressure sensor 92 connected to 90, a handle switch 94 having a predetermined switch, and a gear position switch 98 connected to a gear shift pedal 96 are connected to one end side of the connector 100 via a signal line. The In addition, a pitching motor 58, a roll motor 66, and a steering motor 72 constituting the drive mechanism 42 are connected to one end side of the connector 102 through a signal line.

  On the other hand, on the control mechanism 12 side, a control circuit 22 connected to the signal line from the other end side of the connectors 100 and 102 is provided.

  The control table 16 includes a computer 104 that also operates as a host computer for the control mechanism 12, a keyboard 106 and a mouse 108 as input means connected to the computer 104, and a monitor 110 such as a CRT display as display means. It has.

  The control circuit 22 is connected to the computer 104 via a data transmission communication line 112, and the CGI generator 24 is connected to the computer 104 via a video communication line 114.

  Next, the operation of the riding simulation apparatus 10 configured as described above will be described. The main body (means) for controlling the operation is the control circuit 22.

  When the operator 38 operates the front brake lever 76, throttle grip 80, and clutch lever 84 of the handle 68, the output signal of the front brake pressure sensor 78, the output signal of the accelerator opening sensor 82, and the clutch lever angle sensor 86 An output signal is supplied to the control circuit 22. Further, by operating the rear brake pedal 90, the output signal of the rear brake pressure sensor 92 is supplied to the control circuit 22. Further, the gear position information of the gear position switch 98 is supplied to the control circuit 22 by the operation of the gear shift pedal 96 accompanying the operation of the clutch lever 84. On the other hand, the moving direction and moving amount of the weight of the operator 38 on the two-wheeled vehicle 40 are detected by the lean torque sensor 88, and the output signal is sent to the control circuit 22.

  Based on these output signals, the control circuit 22 controls the drive of the drive mechanism 42 and controls the display device 34 and the like.

  For example, when the operator 38 operates the front brake lever 76 to perform braking, the pitching motor 58 is driven in accordance with the brake pressure detected by the front brake pressure sensor 78, and the two-wheeled vehicle 40 is tilted forward, and the brake is applied. The behavior at the time of reproduction is reproduced (see FIG. 4). On the other hand, when the accelerator is rapidly opened by operating the throttle grip 80, the pitching motor 58 is driven according to the opening detected by the accelerator opening sensor 82. Similarly, the two-wheeled vehicle 40 is operated under the action of the pitching motor 58. It is tilted backwards and the behavior during acceleration operation is reproduced.

  When various operations of the operator 38 as described above are performed, the display 32 displays a video (traveling scene) including a traveling path based on the traveling state. An equivalent driving feeling can be obtained.

  FIG. 5 is a block circuit diagram of the pitching motion control device 200 constituting the riding simulation device 10, and FIG. 6 is a flowchart for explaining the processing of the pitching motion according to the operating force of the riding simulation device 10.

  The pitching motion control device 200 detects a total acceleration / deceleration detecting means 202 that detects an overall acceleration / deceleration A according to the operation of the two-wheeled vehicle 40, and a front tire brake force Fbf corresponding to the operation amount of the front brake lever 76. Front brake operation force detecting means 204 for performing, rear brake operation force detecting means 206 for detecting a rear tire brake force Fbr corresponding to the operation amount of the rear brake pedal 90, total acceleration / deceleration A, front tire brake force Fbf, and rear tire brake force. A pitching operation control unit 208 that performs a predetermined calculation based on Fbr and outputs a pitching operation control signal, and a pitching operation driving unit 210 that applies a predetermined pitching operation to the two-wheeled vehicle 40 based on the pitching operation control signal are provided. In practice, the configuration of the pitching motion control device 200 is composed of appropriate components constituting the motion unit 14 except for the pitching motion driving means 210 and software installed in the control circuit 22. This is a conceptual configuration constituted by a certain control program and a lookup table.

  If the example of a correspondence relationship is shown concretely, the total acceleration / deceleration detecting means 202 is the accelerator opening sensor 82, the clutch lever angle sensor 86, the gear position switch 98 and the control circuit 22, and the front brake operating force detecting means 204 is the front brake. The brake pressure sensor 78, the rear brake operation force detection means 206 correspond to the rear brake pressure sensor 92, the pitching operation control means 208 corresponds to the control circuit 22, and the pitching operation drive means 210 corresponds to the pitching motor 58, respectively.

  In this embodiment, the overall acceleration / deceleration detecting means 202 calculates the overall acceleration / deceleration A of the vehicle in consideration of the front tire brake force Fbf and the rear tire brake force Fbr.

  The riding simulation apparatus 10 is controlled by a handle torque sensor 70, a front brake pressure sensor 78, an accelerator opening sensor 82, a clutch lever angle sensor 86, a lean torque sensor 88, a rear brake pressure sensor 92, and a gear position switch 98 shown in FIG. Each output data is supplied to the circuit 22 (step S1).

  The total acceleration / deceleration detecting means 202 obtains the acceleration in the traveling direction of the two-wheeled vehicle 40 from the output data based on the engine speed, gear position, etc., and further considers the front tire brake force Fbf and the rear tire brake Fbr. The speed A is calculated (step S2).

  Next, the running state is determined based on the operating force of the two-wheeled vehicle 40 from the front tire brake force Fbf and the rear tire brake force Fbr (step S3). Specifically, the pitching operation control means 208 compares the front tire brake force Fbf, the rear tire brake force Fbr, and the predetermined operation force X, and one of the front tire brake force Fbf and the rear tire brake force Fbr is the predetermined operation force. If it is greater than X, it is determined that the ABS operates in the actual vehicle (ABS operation state), and if both the front tire braking force Fbf and the rear tire braking force Fbr are smaller than the predetermined operating force X, Judge that it is normal braking.

  Here, how to determine the predetermined operating force X will be described with reference to FIG. FIG. 7 is a diagram showing the braking force in the braking state when the two-wheeled vehicle 40 is traveling at the overall acceleration / deceleration A. FIG.

The weight of the motorcycle 40 is W, the distance between the front and rear wheels is L, the distance from the front tire to the center of gravity P of the motorcycle 40 is L1, the distance from the rear tire to the center of gravity P of the motorcycle 40 is L2, and the height of the center of gravity from the floor is Let H be. When the shared load of the front tire is Wf and the shared load of the rear tire is Wr, equations (1) and (2) are obtained.
Wf = W · L2 / L (1)
Wr = W · L1 / L (2)

When the front tire brake force is Fbf and the rear tire brake force is Fbr, the total tire brake force Fb is expressed by Equation (3).
Fb = Fbf + Fbr (3)

Further, when the deceleration is G and the moving load amount ΔW, equations (4) and (5) are obtained.
G = Fb / W (4)
ΔW = W · G · H / L (5)

Further, the front tire brake force Fbf and the rear tire brake force Fbr are expressed by equations (6) and (7).
Fbf = (Wf + ΔW) · G = (Wf + W · G · H / L) · G (6)
Fbr = (Wr−ΔW) · G = (Wr−W · G · H / L) · G (7)

  The limit value of the front tire braking force when the road friction coefficient is μ is defined as Fbf_lim. The limit value Fbf # lim of the rear tire braking force can be obtained by substituting the deceleration G with μ and substituting the equations (3) to (5) into the equation (6).

The limit value Fbf_lim of the front tire brake force when the rear tire brake force is Fbr is expressed by Expression (8).
Fbf_lim = (Wf + (Fbf_lim + Fbr) · H / L) · μ
= Fbr / {(L / [mu] .H) -1} + Wf / {(1 / [mu])-H / L}} (8)

  Further, the limit value of the rear tire braking force when the road surface friction coefficient is μ is defined as Fbr_lim. The limit value Fbr_lim of the rear tire braking force can be obtained by substituting Equation (3) to Equation (5) into Equation (7), replacing the deceleration G with μ.

The limit value Fbr_lim of the rear tire brake force when the front tire brake force is Fbf is expressed by Expression (9).
Fbr_lim = (Wr− (Fbf_lim + Fbr) · H / L) · μ
= −Fbr / {(L / μ · H) +1} + Wf / {(1 / μ) + H / L}} (9)

  Therefore, when the rear tire brake force is Fbr, the predetermined operating force X becomes the limit value Fbf_lim of the front tire brake force, and the front tire brake force Fbf and Fbf_lim are compared. Further, when the front tire brake force is Fbf, the predetermined operating force X becomes the limit value Fbr_lim of the rear tire brake force, and the rear tire brake force Fbr and Fbr_lim are compared.

  When the front tire brake force Fbf is greater than Fbf_lim or the rear tire brake force Fbr is greater than Fbr_lim, the pitching operation control means 208 determines that the ABS is in operation, and the pitching angle θ for causing the motorcycle 40 to perform the pitching operation. And an operation time of the pitching operation are calculated and supplied to the pitching operation driving means 210 as a change signal of the pitching angle θ (step S4).

  On the other hand, when the front tire braking force Fbf is smaller than Fbf_lim and the rear tire braking force Fbr is smaller than Fbr_lim, the pitching operation control means 208 determines that the braking is normal and responds to a change in the operating force. The pitching angle θ is calculated and supplied to the pitching operation driving means 210 as a change signal of the pitching angle θ (step S5).

  FIG. 8 is an explanatory diagram of the relationship between the operating force and the pitching angle for causing the two-wheeled vehicle 40 to perform the pitching operation when braking.

  In FIG. 8, the horizontal axis represents time, one of the vertical axes represents the operating force of the two-wheeled vehicle 40, and the other represents the pitching angle θ of the two-wheeled vehicle 40. The pitching angle θ is an inclination angle of the vehicle body 54 with respect to the axis of the roll shaft 64 in FIG.

  The pitching motion control means 208 determines that the braking is normal from the braking start time to the time t1, and supplies the pitching motion driving means 210 with a change signal of the pitching angle θ calculated based on the operating force (step). S5).

  Further, the pitching operation control means 208 determines that the ABS is operating from time t1 to time t2, and supplies a change signal of the pitching angle θ changed at a predetermined cycle to the pitching operation driving means 210 (step S4). . This predetermined period is determined by the road surface condition or the like. For example, it is preferably 8 Hz on a dry asphalt road surface and 5 Hz on a wet asphalt road surface.

  Further, the pitching operation control means 208 calculates the operation time T of the pitching operation based on the total acceleration / deceleration A, the front tire brake force Fbf, and the rear tire brake force Fbr. Accordingly, the pitching operation control unit 208 supplies the pitching operation driving unit 210 with a change signal of the pitching angle θ changed at a predetermined period during the operation time T from time t1 to time t2.

  Further, the pitching operation control means 208 supplies a slip sound control signal to the speaker unit 30. From the braking start time to time t1, a slip sound control signal for gradually increasing the tire slip sound is supplied to the speaker unit 30 according to the operating force. Thereby, it is possible to produce a realistic feeling in the braking state of the motorcycle 40. Next, at time t1 to time t2, since the ABS is in operation, a slip sound control signal for generating intermittent tire slip sound is supplied to the speaker unit 30.

  The pitching operation driving unit 210 causes the vehicle body 54 to perform a pitching operation based on the change signal of the pitching angle θ supplied from the pitching operation control unit 208 (step S6). Specifically, from the braking start time to time t1, the pitching angle θ increases according to the operating force, and as a result, the forward tilt posture of the operator 38 gradually deepens. Then, since the ABS operation state is assumed between time t1 and time t2, a periodically changing signal of the pitching angle θ is supplied to the pitching operation driving means 210, so that the vehicle body 54 periodically swings back and forth. Is done.

  The speaker unit 30 generates a tire slip sound according to the slip sound control signal from the pitching operation driving means 210 (step S7). Specifically, the tire slip noise gradually increases according to the operating force from the braking start time to time t1. Then, intermittent tire slip sounds are generated on the assumption that the ABS is operating between time t1 and time t2.

  On the display 32, various traveling states including the traveling path are displayed (step S8). Then, a predetermined character string or symbol, for example, a character string such as “ABS in operation” is displayed as the ABS operating state between time t1 and time t2.

  As described above, the riding simulation apparatus 10 according to the embodiment of the present invention includes the front brake operation force detection unit 204, the rear brake operation force detection unit 206, and the two-wheeled vehicle 40 that detect the operation force corresponding to the operation of the two-wheeled vehicle 40. And a pitching operation control unit 208 that outputs a driving signal of the pitching operation to the pitching operation driving unit 210 based on a result of comparing the operation force and the predetermined operation force X. .

  In the riding simulation apparatus 10, when the operating force is larger than the predetermined operating force X, a change signal of the pitching angle θ of the two-wheeled vehicle 40 is output to the pitching-operation driving unit 210 as a driving signal for the pitching operation. By swinging at a predetermined cycle, the operator 38 can experience the ABS operation situation in a simulated manner. Further, the pitching operation control means 208 changes the pitching angle θ for a predetermined period based on the change signal, outputs a display signal to the display 32 to emphasize the ABS operation status, and further, generates a slip sound for the predetermined period. By generating intermittently, it is possible to produce a sense of realism and to emphasize the simulated experience of the pitching operation of the two-wheeled vehicle 40 to the operator 38.

  As mentioned above, although preferred embodiment of this invention was described, it cannot be overemphasized that this invention can take a various structure, without deviating not only the above-mentioned embodiment but the summary of this invention.

1 is a schematic configuration explanatory diagram of a riding simulation apparatus according to an embodiment of the present invention. It is explanatory drawing which shows the relationship between the operator of the riding simulation apparatus shown in FIG. 1, and a display apparatus. It is a lock circuit diagram of the riding simulation apparatus shown in FIG. FIG. 2 is a diagram showing a state where the vehicle body is swinging in the riding simulation apparatus of FIG. 1. It is a block circuit diagram of a pitching operation control device. It is a flowchart for demonstrating the process of the pitching operation | movement according to operating force. It is a figure which shows the braking force of a braking state, when the two-wheeled vehicle is drive | working with the general acceleration / deceleration A. FIG. It is explanatory drawing of the relationship between the operating force for performing the pitching operation | movement of a two-wheeled vehicle at the time of brakes, and a pitching angle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Riding simulation apparatus 12 ... Control mechanism 14 ... Motion unit 16 ... Control table 18 ... Floor 20 ... Connection mechanism 22 ... Control circuit 24 ... CGI generator 26 ... Main-body part 28 ... Display box 30 ... Speaker unit 32 ... Display 34 ... Display device 36 ... Base 38 ... Operator 40 ... Two-wheeled vehicle 42 ... Drive mechanism 44 ... Wheel 46 ... Fixed portion 48, 60 ... Screw shaft 50 ... Support frame 52 ... Pitching shaft 54 ... Vehicle body 56 ... Supporting point 58 ... Pitching motor 62 ... Nut 64 ... Roll shaft 66 ... Roll motor 68 ... Handle 70 ... Handle torque sensor 72 ... Steering motor 74 ... Rotating shaft 76 ... Front brake lever 78 ... Front brake pressure sensor 80 ... Throttle grip 82 ... Accelerator opening sensor 84 ... Clutch lever 86 ... Clutch lever angle sensor 88 ... Lean torque sensor 90 ... Rear brake pedal 92 ... Rear brake pressure sensor 94 ... Handle switch 96 ... Gear shift pedal 98 ... Gear position switch 100, 102 ... Connector 104 ... Computer 106 ... Keyboard 108 ... Mouse 110 ... Monitor 112, 114 ... Communication line 200 ... Pitching motion control device 202 ... Total acceleration / deceleration detecting means 204 ... Front brake operating force detecting means 206 ... Rear brake operating force detecting means 208 ... Pitching action control means 210 ... Pitching action driving means

Claims (8)

In a riding simulation device that displays a running scene as an image on the display based on the operation state by the operator, and simulates the running state of the motorcycle,
An operation force detecting means for detecting an operation force of the two-wheeled vehicle corresponding to the operation of the operator;
Pitching motion drive means for imparting a pitching motion to the motorcycle;
Pitching motion control means;
With
The pitching operation control means includes
A riding simulation apparatus characterized in that, based on a result of comparing the operating force with a predetermined operating force, a driving signal for pitching operation is output to the pitching operation driving means. The riding simulation apparatus according to claim 1, wherein
The pitching operation control means includes
When the operating force is larger than the predetermined operating force, a riding simulation apparatus characterized in that a pitching angle change signal of the two-wheeled vehicle is output to the pitching operation driving means as a driving signal for the pitching operation. The riding simulation apparatus according to claim 1, wherein
The operating force detection means includes
Front brake operation force detection means for detecting a front brake operation force corresponding to an operation amount of a front brake lever of the motorcycle;
A rear brake operation force detecting means for detecting a rear brake operation force corresponding to an operation amount of a rear brake pedal of the motorcycle;
Have
The pitching operation control means includes
When the front brake operating force or the rear brake operating force is larger than a predetermined operating force, a pitching angle change signal of the two-wheeled vehicle is output to the pitching operation driving means as a driving signal for the pitching operation. Riding simulation device. The riding simulation apparatus according to claim 2 or 3,
The pitching operation driving means includes:
The riding simulation apparatus, wherein the pitching angle is changed for a predetermined period based on the change signal. In the riding simulation device according to any one of claims 2 to 4,
The pitching operation control means includes
A riding simulation apparatus, wherein a display signal for displaying a traveling state when the operation force is greater than the predetermined operation force is output to the display. In the riding simulation device according to any one of claims 2 to 5,
A riding simulation apparatus characterized by intermittently generating a slip sound for the predetermined period. In the riding simulation apparatus according to any one of claims 1 to 6,
The pitching operation control means includes
When the operating force is smaller than a predetermined operating force, a pitching angle change signal calculated based on the operating force is output to the pitching operation driving means as a driving signal for the pitching operation. . The riding simulation apparatus according to claim 7,
A riding simulation apparatus characterized in that a slip noise is generated by calculation based on the operating force.

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