JP2012215517A - Wheel alternative member, steering reactive torque transmission member and steering reactive torque transmission device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheel alternative member to be used for transmitting steering reactive torque according to driving simulation with respect to a steering system in a vehicle such as an automobile or a motorcycle to be included in a driving simulator as a driving simulation target, a steering reactive torque transmission member and a steering reactive torque transmission device, while significantly reducing modification to be applied to the vehicle of the driving simulation target and being flexibly adapted to various models of vehicles.SOLUTION: The steering reactive torque transmission device is configured to be attached to a vehicle instead of a wheel of the vehicle, and to apply steering reactive torque simulated for the vehicle to an axle of the wheel.

Description

  The present invention relates to a wheel substitute member, a steering reaction force transmission member, and a steering reaction force that are used to transmit a steering reaction force according to the simulation of a steering system such as an automobile or a motorcycle incorporated in a driving simulation device as a driving simulation target. The present invention relates to a force transmission device.

  In recent years, simulation technology realized by combining high-speed computers and highly advanced information processing technology is a driving simulator and riding simulator suitable for various fields such as the following (hereinafter referred to as “driving simulator”) .) Is actively applied.

(1) Amusement that gives driving experience and enjoyment to users by realizing real faithful behavior
(2) Training (used for certification, etc.) of driving skills (including learning and improvement of various driving skills by simulating road conditions that are difficult to realize due to regionality, cost, danger, etc., and learning of traffic rules) Including
(3) Academic research to collect and confirm data necessary for road and other transportation infrastructure and vehicle development

  In such a driving simulation device, a real vehicle is often incorporated in order to realize the authenticity of a vehicle to be simulated for driving at a low cost and certainty, and such a vehicle can be easily selected and replaced. There is a strong desire to be possible.

FIG. 7 is a diagram illustrating a configuration example of a conventional driving simulation apparatus.
In the figure, a car 71 selected as a driving simulation target is attached to a swinging device 73 via a frame 72 on which the car 71 is loaded and fixed.

  Inside the automobile 71, as shown by hunting in FIG. 8A, the rod 71R that transmits the steering angle of the steering wheel 71SH to the power steering 71PS generates the steering reaction force shown in FIG. 8B. The output of the device 71D is connected in place of the power steering 71PS. Note that hubs 71H-1 and 71h-2 to which the left and right wheels of the automobile 71 are respectively attached are connected to the power steering 71PS via a rack and pinion 71RP.

  The driving simulation apparatus having such a configuration is operated in accordance with driving of the automobile 71 (operation of not only the steering handle 71SH but also an accelerator pedal, a brake pedal, a shift lever, etc., not shown) under the cooperation of a sensor and a computer (not shown). For example, the following response is made according to various control information and control signals generated as a result of the simulation of the driving.

(1) Display of scenery outside the car window on a screen not shown
(2) Output of pseudo running sound and collision sound by speaker not shown
(3) Setting or changing the posture of the automobile 71 via the swinging device 73 and the vibration to the automobile 71
(4) Setting and changing of the steering reaction force generated by the steering reaction force generator 71D and transmitted to the steering wheel 71SH via the rod 71R

  Therefore, the user who uses the driving simulation device can experience the behavior of the automobile 71 according to the driving and operation performed by the user in a realistic manner.

As conventional examples related to the present invention, there are Patent Documents 1 to 4 listed below.
(1) “In a vehicle simulation apparatus that supports a carriage having left and right wheels attached to a main body via a suspension and a steering device by a support mechanism, the support mechanism has a placement surface on which the left and right wheels are placed. And a load applying mechanism capable of individually applying a load correlated with the steering reaction force of the steering device to the left and right wheels on the mounting surface, and the magnitude and direction of the load applied by the load applying mechanism are It is possible to change the vehicle simulation device for vehicles characterized by “contributing to the reduction in the development cost and man-hour of the steering device”.

(2) `` In a riding simulation device that changes the posture of the simulated motorcycle based on the steering operation performed by the occupant on the simulated motorcycle and reproduces the actual behavior of the motorcycle, about the axis of the roll axis that is long in the vehicle length direction A pivotable bracket is provided, and the body of the simulated motorcycle is held by the bracket so as to be swingable around the axis of the pitch axis that is long in the vehicle width direction, and the handle attached to the front end of the body can be pivoted. By providing the handle shaft to be held with variable braking means for braking the rotation of the handle shaft by the steering reaction force determined by the steering operation described above, the pitch motion is reproduced and simulated in addition to the roll motion. The riding reaction of motorcycles is characterized by the fact that the steering reaction force changes according to the driving state, so that it can reproduce the driving feeling of an actual vehicle more than the conventional one. Mutator ... Patent Document 2

(3) “Electric (direct current) motors are used regardless of hydraulic pressure to obtain the steering reaction force, and devices that reduce the resolution of gears, etc., are excluded from the mechanism corresponding to the hydraulic cylinder. Using a device that meets the requirements, and performing a predetermined digital calculation of the steering feeling simulation controller, a motorcycle riding simulation device characterized by "miniaturization, low cost, and improved simulation fidelity" ... Patent Document 3

(4) In a simulated steering apparatus including a steering mechanism having a steering wheel and a steering shaft, and a reaction force generation mechanism that applies an operation reaction force when steering the steering wheel, the reaction force generation mechanism is coupled to the steering shaft. An endless rotating mechanism having an endless member wound around the pair of rotating bodies and a pair of weight bodies engageable with the endless member. It is possible to change the steering angle as well as to achieve durability, and the durability of the simulation steering device is characterized by the fact that it is durable.

JP 2000-19077 A JP-A-6-051695 Japanese Patent Publication No.7-111613 JP-A-8-173629

By the way, in the above-described conventional example, the following modifications must be made inside the automobile 71 in order to transmit the steering reaction force described above to the steering wheel 71SH.
(1) Release of connection between rod 71R and power steering 71PS
(2) Attaching the steering reaction force generator 71D to the engine room
(3) Connection between the output of the steering reaction force generator 71D and the rod 71R

  However, since such a modification is performed on the main part of the steering mechanism of the automobile 71 in the engine room, it requires a lot of man-hours, and the steering reaction force generator 71D is added to the engine room of the automobile 71. This could not be realized if the space required for the installation of the system could not be secured.

  Therefore, in the conventional example, there is a high possibility that the feasibility is hindered by the model of the automobile that can be used as a driving simulation target and the upper limit of the cost.

  The present invention provides a wheel replacement member, a steering reaction force transmission member, and a steering reaction force transmission that can greatly reduce modifications to be performed on a vehicle to be simulated and that can be flexibly adapted to various vehicle types. An object is to provide an apparatus.

  According to the first aspect of the present invention, a steering reaction force that is configured to be attached to the automobile instead of the wheel of the automobile and that is simulated with respect to the automobile is applied to the wheel shaft.

  That is, the steering reaction force is attached in place of the wheel of the automobile and is transmitted to the steering system of the automobile via the wheel substitute member according to the present invention.

  According to the second aspect of the present invention, a steering reaction force simulated with respect to the automobile is transmitted to a wheel substitute member configured to be attachable to the automobile instead of the wheel of the automobile.

  That is, the steering reaction force is transmitted to the steering system of the vehicle via a wheel replacement member attached in place of the wheel of the vehicle, regardless of the position of the generation source of the steering reaction force.

  In the invention according to claim 3, the steering reaction force simulated with respect to the automobile is transmitted to the wheels of the automobile.

  That is, the steering reaction force is transmitted to the steering system through the wheels of the automobile without being removed.

  According to a fourth aspect of the present invention, the wheel substitute means is configured to be attachable to the automobile instead of the automobile wheel. The transmission means transmits a steering reaction force simulated for the automobile to the wheel substitute means.

  That is, the steering reaction force is transmitted to the steering system of the vehicle via a wheel replacement member attached in place of the wheel of the vehicle, regardless of the position of the generation source of the steering reaction force.

  In a fifth aspect of the invention, the steering release means releases the movement of the wheel of the automobile according to the rotation of the steering shaft of the automobile. The transmission means transmits a steering reaction force simulated for the vehicle to the steering shaft.

  That is, the steering reaction force is directly transmitted to the steering shaft without any loss or error caused by the movement of the vehicle wheel in accordance with the rotation of the steering shaft of the vehicle.

  According to a sixth aspect of the present invention, the wheel releasing means releases the movement of the vehicle wheel according to the steering axis of the vehicle. The transmission means transmits a steering reaction force simulated for the vehicle to the steering shaft.

  In other words, the steering reaction force is a significant reduction or error due to the movement of the wheel in response to the rotation of the steering shaft even when the mechanical coupling between the steering wheel and the wheel of the automobile is not released. Without being accompanied, it is transmitted directly to the steering shaft.

According to the present invention, the transmission of the steering reaction force can be made inexpensively and efficiently by flexibly adapting to various shapes, structures, dimensions, etc. of the automobile without undergoing a major remodeling inside the automobile. Realized.
Furthermore, according to the present invention, transmission of the steering reaction force is realized at low cost and efficiently or with high accuracy without being modified both inside and outside the automobile.
Therefore, the driving simulation device to which the present invention is applied can be flexibly adapted to various types of automobiles, and the performance and reliability can be improved along with the reduction in cost.

It is a figure which shows 1st embodiment of this invention. It is a figure (1) which shows the other aspect of the structure of this embodiment. It is a figure (2) which shows the other aspect of the structure of this embodiment. It is a figure (3) which shows the other aspect of the structure of this embodiment.

It is FIG. (4) which shows 2nd embodiment of this embodiment. It is a figure which shows the example of application with respect to the two-wheeled vehicle of this invention. It is a figure which shows the structural example of the conventional driving | running simulation apparatus. It is a figure explaining the modification performed to a motor vehicle in a prior art example.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[First embodiment]
FIG. 1 is a diagram showing a first embodiment of the present invention.
In the figure, the same functions and configurations as those shown in FIG. 7 and FIG. 8A are given the same reference numerals, and the description thereof is omitted here.

Differences in configuration between the present embodiment and the conventional example shown in FIGS. 7 and 8 are as follows.
(1) No modification is made to release the connection between the steering wheel 71SH and the rod 71R.
(2) Instead of the two wheels (not shown) attached to the hubs 71H-1 and 71H-2, wheel substitute members 11-1 and 11-2 are attached, respectively.

(3) The servo motor 12 is disposed in a space between the vehicle body (chassis) of the automobile 71 and the frame 72 or a predetermined portion of the cavity of the frame 72.
(4) The wheel substitute members 11-1 and 11-2 are connected to the rotation shaft of the servo motor 12 via rod-shaped transmission members 13-1 and 13-2.

Hereinafter, the operation and effect of the present embodiment will be described with reference to FIG.
Servo motor 12 is given a pulse of a number and polarity that realizes a steering reaction force obtained by a control system (not shown) under simulation of driving of automobile 71. The rotation shaft of the servo motor 12 rotates according to such a pulse, and maintains a rotation angle set according to the rotation, whereby a wheel substitute member is transmitted via the transmission members 13-1 and 13-2. The steering reaction force is applied to 11-1 and 11-2.

  In the steering wheel 71SH, the steering reaction force applied to the wheel substitute members 11-1 and 11-2 in this way causes the hubs 71H-1, 71H-2, the rack and pinion 71RP, the power steering 71PS, and the rod 71R. Is transmitted through.

  That is, the wheel replacement members 11-1 and 11-2 are modified in place of the two wheels originally attached to the hubs 11H-1 and 11H-2. 11-1, 11-2, a servo motor 12 that generates a steering reaction force under simulation of driving of the automobile 71, and a transmission member 13-1 that transmits the steering reaction force to the hubs 11H-1, 11H-2 , 13-2 are arranged outside the automobile 71.

  As described above, according to the present embodiment, the steering reaction force generated in accordance with the simulation of the driving of the automobile 71 is similar to that of the engine room or the like as in the conventional example even if the automobile 71 is modified as described above. Transmission to the steering wheel 71SH is achieved without any internal modification.

  Therefore, the driving simulation apparatus to which the present invention is applied is realized at a significantly lower cost than the conventional example, and moreover, it is possible to flexibly adapt to various types of automobiles to be applied as the automobile 71.

  In addition, this invention is not limited to the structure of this embodiment, For example, you may be comprised as any of the following aspects (A)-(C). Here, in FIGS. 2 to 4 showing these modes (A) to (C), components having the same functions and configurations as those of the components described above are given the same reference numerals, and explanations thereof are given here. Omitted.

(A) As shown in FIG. 2, the transmission members 13-1 and 13-2 are not provided, and the outputs are connected to the wheel substitute members 11-1 and 11-2, respectively. Servo motors 21-1 and 21-2 (which may be fixed to members other than the frame 72) driven in parallel by the system are provided instead of the servo motor 12.

(B) As shown in FIG. 3, the transmission members 13-1, 13- are individually fitted or locked to the lower and both sides of the two wheels attached to the hubs 71H-1, 71H-2, respectively. Members (hereinafter referred to as “wheel restraining members”) 31-1 and 31-2 respectively linked to one end of 2 are provided in place of the wheel substitute members 11-1 and 11-2 described above.

(C) As shown in FIG. 4, the transmission members 13-1 and 13-2 are not provided, and the outputs are directly connected to the wheel restraining members 31-1 and 31-2, respectively. FIG. 3 shows that servomotors 21A-1 and 21A-2 (which may be fixed to members other than the frame 72) driven in parallel by a control system (not shown) are provided in place of the servomotor 12. Different from the configuration.

[Second Embodiment]
FIG. 5 is a diagram showing a second embodiment of the present invention.
In the figure, components having the same functions and configurations as those shown in FIGS. 1 to 4 are given the same reference numerals, and descriptions thereof are omitted here.

The difference in configuration between the present embodiment and the first embodiment described above is as follows.
(1) The transmission members 13-1 and 13-2 and the wheel substitute members 11-1 and 11-2 are not provided, and any other two wheels originally attached to the hubs 71H-1 and 71H-2 It is kept out of contact with the member.
(2) The automobile 71 is modified to release the connection between the shaft of the steering wheel 71SH and the rod 71R (hereinafter referred to as “connection substitution modification”).

(3) A servo motor 12A in place of the servo motor 12 is fixed to either a space sandwiched between the body (chassis) of the automobile 71 and the frame 72 or a hollow portion of the frame 72.
(4) The shaft of the steering hole 71SH is connected to the output of the servo motor 12A via the rod 31.

Hereinafter, the operation and effect of the present embodiment will be described with reference to FIG.
The servo motor 12A functions as a steering reaction force generation source by being driven by a control unit (not shown), similarly to the servo motor 12 shown in FIGS.

  The steering reaction force generated in this way is directly transmitted to the steering hole 71SH via the rod 31.

  Further, in the present embodiment, the automobile 71 is subjected to the above-described connection replacement modification, but the connection replacement modification is significantly lighter than the modification in which the steering force generator is installed in the engine room, Even if the surplus space in the engine room is insufficient or not, it can be easily realized.

  Therefore, the driving simulation apparatus according to the present embodiment is realized at a much lower cost than the conventional example, and, as in the first embodiment, the various models of automobiles to be applied as the automobile 71. Can be flexibly adapted.

  In the present embodiment, the above-described connection replacement modification is performed when the steering reaction force generated by the servo motor 12A is significantly larger than the torque to be applied to the shaft of the steering wheel 71SH via the rod 71R. The shaft may be replaced with a modification (hereinafter referred to as “parallel connection modification”) that connects the shaft to both the rod 71R and the rod 31.

  Further, each of the above-described embodiments is not limited to the front wheel and / or the rear wheel of the four-wheeled vehicle, and can be applied to any of the front or rear wheel of the tricycle and the front wheel of the two-wheeled vehicle. For example, when applied to the front wheel of a motorcycle, as shown in FIGS. 6A and 6B, a servo motor 12B is provided instead of the front wheel 41, and the output of the servo motor 12B is applicable. You may comprise by connecting with the handle | steering-wheel 42 of a two-wheeled vehicle.

  Further, in each of the above-described embodiments, the generation source of the steering reaction force is not limited to the servo motors 12, 12 </ b> A, 12 </ b> B, 21, 21 </ b> A, and the steering reaction force obtained under the simulation of the driving of the automobile 71 is desired. Any power source may be used as long as it can be generated with the accuracy and speed of the motor.

  Moreover, in each embodiment mentioned above, when a wheel is driven by the motive power which implement | achieves the forward and reverse of the motor vehicle 71 in the process of simulation of driving | running | working, the restraining members 31-1 and 31 shown in FIG. 3 or FIG. The -2 may be configured as any mechanism as long as the steering reaction force can be transmitted to the wheel without hindering the rotation of the corresponding wheel.

  Further, the present invention is not limited to the above-described embodiments, and various configurations of the embodiments are possible within the scope of the present invention, and any improvements may be made to all or some of the components.

  Hereinafter, among the inventions disclosed in the present application, the configurations, operations, and effects of the invention not described in “Claims” are described in the “Claims” and “Means for Solving the Problems” column. List them in a format according to.

[Claim 7] In the steering reaction force transmission member according to claim 3,
A steering reaction force transmission member having a mechanism capable of following the displacement and posture of a wheel of the automobile.

  In the steering reaction force transmission member having such a configuration, the steering reaction force transmission member according to claim 3 has a mechanism capable of following the wheel displacement and posture of the automobile.

That is, even when the displacement and posture of the wheel can change according to the steering of the automobile, the transmission of the steering reaction force to the steering can be realized accurately and stably.
Therefore, it is possible to flexibly adapt to both the various shapes, structures, dimensions, etc. of the automobile and the driving modes to be simulated with respect to the automobile.

[Claim 8] In the steering reaction force transmission member according to claim 3 or 7,
The steering reaction force transmitting member, wherein the steering reaction force is individually transmitted to a plurality of p wheels of the automobile.

  In the steering reaction force transmission member having such a configuration, in the steering reaction force transmission member according to claim 3 or 7, the steering reaction force is individually transmitted to a plurality of p wheels of the automobile.

That is, regardless of the number of wheels of the automobile to be simulated for driving, the steering reaction force is transmitted to the steering system of the automobile through these wheels.
Therefore, it is possible to flexibly adapt to both the various shapes, structures, dimensions, etc. of the automobile and the driving modes to be simulated with respect to the automobile.

[Claim 9] In the steering reaction force transmission member according to any one of claims 3, 7, and 8,
A steering reaction force transmission member, characterized in that it has a mechanism that can follow the rotation of the wheel.

  In the steering reaction force transmission member having such a configuration, the steering reaction force transmission member according to any one of claims 3, 7, and 8 has a mechanism that can follow the rotation of the wheel.

In other words, the steering reaction force is accompanied by a significant reduction or error due to the rotation of the wheels by driving the wheels even when the wheels of the vehicle are driven by the power used to move forward and backward of the vehicle. Without being transmitted directly to the steering shaft.
Therefore, it is possible to flexibly adapt to both the various shapes, structures, dimensions, etc. of the automobile and the driving modes to be simulated with respect to the automobile.

[Claim 10] In the steering reaction force transmission device according to claim 4,
The number of wheels of the automobile is plural p,
The wheel substitute means
Configured as a plurality of p wheel replacement means configured to be individually attachable to the plurality of p wheels,
The transmission means includes
The steering reaction force transmitting device, wherein the steering reaction force is individually transmitted to the plurality of p wheel substitute means.

  In the steering reaction force transmission device having such a configuration, in the steering reaction force transmission device according to claim 4, the number of wheels of the automobile is plural. The wheel replacement means is configured as a plurality of p wheel replacement means configured to be individually attachable to the plurality of p wheels. The transmission means individually transmits the steering reaction force to the plurality of wheel replacement means.

That is, regardless of the number of wheels of the automobile to be simulated for driving, the steering reaction force is transmitted to the steering system of the automobile through the wheel substitution means that individually substitutes these wheels.
Therefore, it is possible to flexibly adapt to both the various shapes, structures, dimensions, etc. of the automobile and the driving modes to be simulated with respect to the automobile.

[Claim 11] In the steering reaction force transmission device according to claim 5 or 6,
The transmission means includes
A steering reaction force transmission device comprising a mechanism capable of following the rotation of the wheel.

  In the steering reaction force transmission device having such a configuration, in the steering reaction force transmission device according to claim 5 or 6, the transmission means has a mechanism that can follow the rotation of the wheel.

In other words, the steering reaction force can be applied to the steering wheel without significant loss or error due to the rotation of the wheel by the driving, even when the vehicle wheel is driven by the forward and backward power of the vehicle. Is transmitted directly to the axis.
Therefore, it is possible to flexibly adapt to both the various shapes, structures, dimensions, etc. of the automobile and the driving modes to be simulated with respect to the automobile.

11 Wheel substitute member 12, 12A, 12B, 21, 21A Servo motor 13 Transmission member 31 Holding member 41 Front wheel 42 Handle 71 Automobile 71D Steering reaction force generator 71H Hub 71PS Power steering 71R Rod 71RP Rack and pinion 71SH Steering wheel 72 Frame 73 Oscillator

Claims (6)

A wheel replacement member configured to be attachable to the automobile instead of a wheel of the automobile and to apply a steering reaction force simulated with respect to the automobile to the wheel shaft. A steering reaction force transmission member that transmits a steering reaction force simulated with respect to the automobile to a wheel substitute member configured to be attachable to the automobile instead of a wheel of the automobile. A steering reaction force transmission member that transmits a steering reaction force simulated with respect to the vehicle to a wheel of the vehicle. Wheel substitute means configured to be attachable to the automobile instead of the automobile wheel;
A steering reaction force transmission device comprising: a transmission means for transmitting a steering reaction force simulated for the automobile to the wheel substitute means. Steering release means for releasing movement of the wheels of the automobile in response to rotation of the steering shaft of the automobile;
A steering reaction force transmission device comprising: a transmission means for transmitting a steering reaction force simulated with respect to the automobile to the steering shaft. Wheel release means for releasing the movement of the wheel of the vehicle in accordance with the steering axis of the vehicle;
A steering reaction force transmission device comprising: a transmission means for transmitting a steering reaction force simulated with respect to the automobile to the steering shaft.