JP2620906B2 - Motorcycle riding simulation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motorcycle riding simulation apparatus that changes the behavior of a simulated motorcycle according to the operation of an occupant.

[0002]

2. Description of the Related Art In a riding simulation apparatus that reproduces the behavior of an actual motorcycle using a simulated motorcycle, it is necessary to perform a roll motion for rotating the body of the simulated motorcycle around the axis of a long roll axis in the vehicle length direction. For example, there is known a simulated two-wheeled vehicle in which a vehicle body is held by a roll shaft and urged by springs from both sides of the vehicle body to swing the vehicle body by shifting the weight of an occupant.

[0003]

In an actual two-wheeled vehicle, not only the above-mentioned roll motion but also a pitch motion that swings around a longitudinal axis in the vehicle width direction at the time of acceleration or deceleration, etc. The steering reaction force acting on the handle shaft changes in accordance with. However, the above-described conventional device only reproduces the roll motion, and cannot reproduce the actual riding feeling.

In view of the above problems, the present invention provides a riding simulation apparatus for a two-wheeled vehicle that reproduces pitch motion in addition to roll motion and changes the steering reaction force according to the simulated running state. With the goal.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a riding method for changing the attitude of a simulated motorcycle based on a steering operation performed by an occupant on the simulated motorcycle to reproduce the actual behavior of the motorcycle. In the simulation device, a bracket is provided that is rotatable around the axis of a roll shaft that is long in the vehicle length direction, and the vehicle body of the simulated motorcycle is held on the bracket so as to be swingable about the axis of a pitch axis that is long in the vehicle width direction. And a variable braking means for braking the rotation of the handle shaft by a steering reaction force determined by the steering operation, the handle shaft being attached to the front end of the vehicle body and rotatably holding the handle. And

[0006]

[Function] Since the body of the simulated motorcycle is held swingably about the axis of the pitch axis with respect to the bracket rotatable about the axis of the roll axis, it can reproduce not only the roll movement but also the pitch movement. Can be. Further, by changing the steering angle reaction force in accordance with the steering operation performed by the occupant, the simulated traveling sensation can be made closer to that of a real vehicle.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIGS. 1 and 2, A is a simulated motorcycle, and an occupant B of the simulated motorcycle A is a scene displayed on a monitor C such as a CRT disposed in front of the simulated motorcycle A. The simulated two-wheeled vehicle A is operated in accordance with the situation change, and the attitude of the simulated two-wheeled vehicle A is controlled in accordance with the operation. The simulated motorcycle A is provided with a frame-shaped vehicle body 1, and a support frame 21 on a base 2 supports a bracket 3 rotatable around a roll axis X in the vehicle length direction. The vehicle body 1 is swingably supported around a pitch axis Y in the vehicle width direction.

3 and 4, a circular holder 22 is provided around the support frame 21 and a roll motor 23 concentric with the roll axis X is provided on the front surface of the circular holder 22. And a cyclo reducer 24 supported by the circular holder 22 is provided on the output side of the roll motor 23, and the bracket 3 is provided on the output side of the cyclo reducer 24.
Are connected via a circular casing 31 provided around the front end thereof, so that the bracket 3 can be rotated around the roll axis X by a roll motor 23 via a cyclo reducer 24. The circular casing 3 is provided below the support frame 21.
A U-shaped stopper 25 is provided at a lower portion of the peripheral surface of the first to receive the projection 32. Pads 26 are attached to opposing surfaces on both sides of the stopper 25, and the projection 32 comes into contact with the pad 26. And the proximity range switch 26 cooperating with a dog 33 attached to the front surface of the projection 32 is provided on the support frame 21, and the proximity switch 26 moves the bracket 3 to the neutral position. Can be detected.

The vehicle body 1 has a pair of arms 11 1.
A pair of pivots 4 located on the pitch axis Y project from both sides of the circular casing 31.
The two arms 11 are pivotally supported on this, and a swingable pitch motor 40 is suspended from the rear end of the bracket 3 with a support shaft 34 parallel to the pitch axis Y as a fulcrum. A swingable nut 13 is provided with the support shaft 12 parallel to the support shaft 34 as a fulcrum, and a threaded rod 41 connected to the pitch motor 40 is screwed into the nut 13 so that the bracket 3 is attached to the vehicle body 1 by the pitch motor 40. Swing about the pitch axis Y can be given.

A steering motor 5 is attached to the front end of the vehicle body 1 at a predetermined caster angle.
When the handle 51 directly connected to the rotation shaft of the steering motor 5 is rotated, a braking force is applied to the rotation of the handle 51 by the steering motor 5. still,
This braking force is configured to be increased or decreased by a steering operation or the like performed by the occupant B.

The steering wheel 51 incorporates various sensors for detecting the amount of accelerator operation and brake operation performed by the occupant B, and the seat 14 is provided with sensors for detecting the direction and amount of weight movement of the occupant B. A controller (not shown) calculates a virtual traveling speed based on the detection signals from these sensors, and changes the image on the monitor C based on the traveling speed. If the occupant B performs the braking operation, the pitch motor 40 is operated based on the traveling speed and the braking operation force to incline the simulated motorcycle A to reproduce the behavior at the time of braking. Similarly, the simulated motorcycle A is tilted backward by the operation of the pitch motor 40 to reproduce the behavior during the acceleration operation. Further, if the occupant B shifts in weight, the roll motor 23 is operated based on the moving direction, the moving amount, and the running speed to incline the vehicle body 1 in the vehicle width direction to reproduce the behavior at the time of cornering. At this time, by tilting the image of monitor C in conjunction with it,
It is possible to give the occupant B a more realistic driving feeling. When the vehicle speed increases, the braking force against the turning of the steering wheel 51 is increased by the operation of the steering motor 5 to reproduce the change in the steering reaction force due to the gyro effect of the front wheels in the actual vehicle. By the way, if the body 1 is rotated around the roll axis X and the simulated motorcycle A is rolled in a state where the simulated motorcycle A is tilted in the front-rear direction, the swing amount in the vehicle width direction between the front end and the rear end of the simulated motorcycle A is different. Accordingly, it is possible to give the occupant B a feeling as if the simulated motorcycle A had yawed.

In the case of the present invention, the positions of the roll axis X and the pitch axis Y do not change in accordance with the simulated running state. At the same height, the occupant B does not feel uncomfortable, but does not feel uncomfortable unless the roll axis X is raised as the traveling speed increases. Although the pitch axis Y need not be changed depending on the traveling speed or the like, the position of the pitch axis Y with respect to the vehicle body 1 is naturally defined within a predetermined range in order to reproduce the traveling feeling of the actual vehicle. Although the height of the roll axis X and the position of the pitch axis Y can be predicted to some extent by calculation or the like, in the case of a simulator device, since the centrifugal force at the time of cornering and the acceleration / deceleration force due to the change in vehicle speed do not actually occur, the occupant B
Must be determined so that the occupant B does not feel uncomfortable based on the bodily sensation. Therefore, how to determine the height of the roll axis X and the position of the pitch axis Y will be described below.

FIG. 5 is a view for explaining a method for determining the height of the roll axis X. In the figure, S indicates a step position, H indicates a hip position, G indicates a grip position of a steering wheel, and an occupant B indicates the position of the handle. Support weight in points. GL indicates the height of the virtual tire contact surface, and the horizontal axis of the graph indicates the virtual running speed. It is desirable that the height of the roll axis X be near the GL during low-speed running as described above. However, if the position of the roll axis X is not raised as the speed increases, the occupant B will shift the running line. I feel uncomfortable. Curve b shows the limit at which this uncomfortable feeling is felt. That is, if the roll axis X is set below the curve b, the occupant B will feel uncomfortable. Conversely, if the position of the roll axis X is raised too much, the occupant B gets drunk due to the roll motion (simulator sickness), and must be kept at a certain height. The height of the limit at which simulator sickness does not occur is shown by curve a. Therefore, the roll axis X must be set at the height between the two curves a and b. On the other hand, since the roll axis X is fixed irrespective of the speed change, the roll axis X is sandwiched between the straight lines a1 and b1. Must be determined to be located in the area where By the way, this straight line a1 and b1
Is half of the vertical distance LHS between point S and point H, and is equally distributed up and down about a horizontal line S1 passing through point S.

Next, a method for determining the position of the pitch axis Y will be described with reference to FIG. If the pitch axis Y is too high, simulator sickness will occur as in the case of the roll axis X. Therefore, the pitch axis Y must be below the straight line c1 which indicates the limit of simulator sickness. On the other hand, if the occupant B moves too far, the occupant B only moves forward and backward and does not feel that he is pitching. Therefore, the occupant B must be set above a straight line c2 indicating the limit at which the occupant B feels pitching. On the other hand, if the pitch axis Y is deviated forward or backward, the occupant B will move in the vertical direction even if the vehicle body 1 rotates about the pitch axis Y, and it will not be possible to experience the roll motion. The straight line d1 indicating the limit of the bias toward the rear and the straight line d indicating the limit of the bias toward the rear
Must be set between 2. From the above, it is necessary to set the pitch axis Y so as to be located in the area surrounded by the straight lines c1, c2, d1, and d2. By the way, this area is H
Assuming that the horizontal distance between the point and the point G is LHG, the distance in the vehicle length direction is approximately 1.25 times LHG and the vertical distance is approximately LHS, which is located forward from the point H and centered on S1. And are almost equally distributed up and down.

In the above-described embodiment, a so-called road sports type is used as the simulated motorcycle A. However, a scooter type may be used, and the height of the roll axis X and the position of the pitch axis Y at this time will be described. FIG. 7 shows the result determined by the bodily sensation in the same manner as described above. As shown in the figure,
Also in the case of using this scooter type, similarly to the case of the above-mentioned road sports type, the roll axis X is set so that a half distance of the LHS is within a range which is almost equally distributed up and down around S1. The pitch axis Y has a distance in the vehicle length direction of LHG
About 1.25 times the vertical distance is about LHS,
As a result, it must be set in a region which is located forward of the point H and which is distributed almost equally up and down with S1 as the center.

[0016]

The simulation device according to the present invention has the following features.
In addition to the roll motion, the pitch motion is reproduced, and the steering reaction force changes according to the simulated driving state. Therefore, the driving sensation of the actual vehicle can be reproduced more than the conventional one.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment of the present invention.

FIG. 2 is a sectional view taken along the line II-II.

[Fig. 3] III-III sectional view

FIG. 4 is a sectional view taken along line IV-IV.

FIG. 5 is a diagram showing a method of determining the height of the roll axis.

FIG. 6 is a diagram showing a method for determining a position of a pitch axis.

FIG. 7 is an explanatory view in the case of using a scooter-type simulated motorcycle;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Base 3 Bracket 4 Axis 5 Steering motor 23 Roll motor 40 Pitch motor 41 Screw rod 51 Handle A Simulated motorcycle B Passenger C Monitor S Step position H Hip position G Grip position

Claims (1)

(57) [Claims] 1. A riding simulation apparatus for changing the attitude of a simulated motorcycle based on a steering operation performed by an occupant on the simulated motorcycle and reproducing an actual behavior of the motorcycle. A rotatable bracket is provided on the simulated motorcycle so that the body of the simulated motorcycle can be swingably held on the bracket around the axis of the pitch axis which is long in the vehicle width direction, and the handle attached to the front end of the body is rotatable. And a variable braking means for braking the rotation of the handle shaft with a steering reaction force determined by the steering operation.