JP2669806B2 - Motorcycle driving simulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-wheeled vehicle driving simulator that allows a simulated experience of driving a two-wheeled vehicle such as a bicycle or a motorcycle.

[0002]

2. Description of the Related Art Conventionally, in a driving simulator for a motorcycle, a four-wheeled vehicle, etc., a pseudo image is displayed on a large screen or a CRT (cathode ray tube) installed far away from the driving position. As prior arts having such a configuration, there are a two-wheeled vehicle driving training device disclosed in Japanese Utility Model Laid-Open No. 3-11272 and a riding simulation device disclosed in Japanese Patent Application Laid-Open No. 5-88605.

In addition, since driving training is not obligatory for bicycles, a driving simulator for bicycles has not been developed yet. Therefore, it is necessary to train in a park or road using an actual vehicle, but it is not always safe.

[0004]

In such a driving simulator, since the field of view is fixed only in the traveling direction of the vehicle, it is difficult to grasp the surrounding situation and the sense of reality is poor. Therefore, it is not possible to check the left and right and the rear, which is quite uncomfortable when compared with actual driving.

Further, since a large screen or the like requires a considerably large installation area, it is difficult to secure a space for installation.

An object of the present invention is to provide a two-wheeled vehicle driving simulator which requires a small installation area and can display images with a lot of realism.

[0007]

SUMMARY OF THE INVENTION The present invention provides a front wheel, a rear wheel,
Driving operation means using an actual vehicle having a steering wheel interlocked with the front wheels and brakes attached to the front wheels and rear wheels, an operation amount sensor for detecting an operation amount of driving, and a vehicle body attitude for detecting the attitude of the vehicle body A sensor, a display unit that can be mounted on the driver's head, and uses a head-mounted display equipped with a head position sensor that detects the position of the driver's head and an image display device that displays an image, Control means for controlling an image displayed on the image display device based on outputs from the operation amount sensor, the vehicle body posture sensor and the head position sensor, and a condition for instructing the control means to set conditions for simulated driving. A two-wheeled vehicle driving simulator, comprising: setting means; and a vibrating means that is incorporated in a seat to generate vibration for a driver.

According to the present invention, the driver mounts the head mounted display to perform the driving operation, and thus the conventional large screen becomes unnecessary. Therefore, the entire installation area can be significantly reduced. Further, with respect to the image displayed on the image display device mounted on the head mounted display, the progress and scenery of the screen are controlled based on the outputs from the operation amount sensor, the vehicle body posture sensor and the head position sensor. For example, when the accelerator (the pedal in the case of the bicycle type) is turned while the constant speed is in progress, the speed increases, and when the brake is operated, the speed decreases. In addition, when the vehicle body is tilted while operating the steering wheel, the screen changes so as to make a right or left curve. In this way, the screen changes according to the driver's operation amount, so that a realistic simulation can be realized.

Further, by using an actual vehicle such as a commercially available motorcycle as the driving operation means, it is possible to realize the riding feeling of the actual vehicle at low cost even in the simulated running. The image on the image display device is also controlled by the simulated driving conditions set by the trainer or the like. That is, the control means can recognize the actual driving situation based on the set conditions and change the simulated image.
Further, the vibrating means imparts vibration to the driver via the seating seat of the vehicle body, so that the sense of presence is further improved.

[0010]

FIG. 1 is an overall configuration diagram showing an embodiment of the present invention. The two-wheeled vehicle driving simulator includes an actual vehicle unit 1 for a driver to board and operate, and a head mounted display (HM) that can be mounted on the driver's head.
D) and a teacher's desk section 70 for managing signal processing control. The actual vehicle unit 1 in FIG. 1 is a motorcycle specification, and a bicycle specification for self-driving will be described later.

FIG. 2 is an electric block diagram showing an embodiment of the present invention. FIG. 3A is a side view of the actual vehicle unit 1. The actual vehicle section 1 is preferably a modified motorcycle used on the market and can be realized at low cost.

As a vehicle body inclination sensor 10 for detecting the posture of the vehicle body, a magnetic sensor capable of detecting a three-dimensional position, for example, is attached to the frame 2 of the actual vehicle section 1.

The actual vehicle unit 1 is provided with the following operation amount sensors for detecting the operation amount of driving. The handle sensor 11 detects the operation angle of the handle, and for example, a magnetic sensor capable of detecting a three-dimensional position is attached to the upper surface of the mudguard cover of the front wheel. The accelerator sensor 12 detects the accelerator rotation angle of the throttle grip, and for example, a rotary potentiometer is attached to the slot drive shaft of the carburetor. The brake lever sensor 13 detects the operation amount of the brake lever, and for example, a pressure sensor is attached to the brake master cylinder of the front wheel disc brake. The clutch lever sensor 14 detects the operation amount of the clutch lever, and for example, a rotary potentiometer is attached near the connecting portion between the wire connected to the clutch lever and the clutch main body. Further, for example, a rotary potentiometer may be attached near the fulcrum of the clutch lever.

The brake pedal sensor 15 detects the operation amount of the brake pedal, and for example, a pressure sensor is attached to the brake master cylinder of the rear wheel disc brake. The change pedal sensor 16 detects the state of gear shifting operated by the change pedal, and has a rotary potentiometer attached to the cam shaft of the gear change drum, for example.

These sensors 10 to 16 convert various manipulated variables into electric signals and input them to the interface 30.

Also, the right support 17 and the left support 1
8, starter switch 19, alarm switch 20, engine stop switch 21, passing switch 2
2, light switch 23, and dimmer switch 24
Is composed of a switch and the like for opening and closing an electric signal, the branch signal is branched and input to the interface 30.

Further, a vibration device 3 for vibrating the driver's body is incorporated inside the seat of the actual vehicle unit 1 and driven by an acoustic signal from the signal distributor 31.

The interface 30 is required when a head mount display 41 equipped with a head posture sensor for detecting the posture of the driver's head and an image display device for displaying an image and a magnetic sensor are used. A magnetism generator 42 for generating magnetism and a signal distributor 31 for distributing image signals and acoustic signals are connected.

On the other hand, in the instructor desk section 70, an interface 30 and a calculator 71 for transmitting and receiving signals are installed, and an instructor operating console 80 for issuing a command to the calculator 71, a microphone 81 for detecting a voice instructing a driver, and the like are provided. It is connected. The computer 71 is provided with an image generating device 72 for generating a pseudo image.

The trainee monitor 8 for displaying the image viewed by the driver to other trainees, if necessary.
2 for reproducing an image signal and an audio signal from the signal distributor 31.

As shown in FIG. 3 (a), the vehicle body is supported by a mounting base 32 so as to be stable even in a stationary state, and a driver rides on the vehicle to get his or her weight right or left in order to approach an actual driving state. , The elastic restoring force acts to some extent.

FIG. 3B is a schematic view showing a support state of the front tire 4. The front wheel tire 4 is mounted on a support table 33 having a V-shaped groove. When the steering wheel goes straight, the front tire 4 settles in the most stable position in the groove, but when the steering wheel is operated to the right or left, the front tire 4 and the groove cross each other, so that gravity causes the front tire 4 to cross. Attempt to return to the original stable position. With such a simple mechanism, a restoring force for restoring the handle to the neutral position can be applied.

FIG. 4 is an explanatory diagram showing the principle of the magnetic sensor. The magnetic generating coil G forms a constant magnetic field by a drive circuit of the controller. The magnetic sensor MS is
Similarly, it is composed of a coil and detects the direction and magnitude of the magnetic field. When the signal from the magnetic sensor MS is input to the detection circuit, the three-dimensional position and orientation of the magnetic sensor MS are relatively detected with the magnetic field generating coil G as a reference. Although six signals of the three-dimensional position and orientation can be detected, the number of detection signals may be reduced if necessary.

The magnetic sensor MS is used for the vehicle body inclination sensor 10 and the steering wheel sensor 11 and also for the head position sensor 43 described later. Thus, the positions and directions of the vehicle body, the steering wheel, and the head can be accurately measured without contact.

FIG. 5 is a perspective view of a typical head mounted display 41. The head mount display 41 is connected to both ends of the U-shaped support frame 48, which contacts both side surfaces of the head and the forehead, like goggles (windproof glasses), and elastically moves the back of the head. The support band 47 is configured to be pressed. On the front surface of the support frame 48, two display panels 44 such as liquid crystal displays are attached so as to be close to the naked eye. At the lower part of the display panel 44, a head position sensor 43 composed of a magnetic sensor or the like is attached. A focus adjustment knob 45 for adjusting the position of the display panel 44 is located at a position corresponding to the temple of the support frame 48. Further, a pair of left and right speakers 46 is mounted at positions corresponding to both ears of the support frame 48.

FIG. 6 shows a head mounted display 41.
It is explanatory drawing which shows the principle of. 2 to both eyes of head HD
An optical system 44a such as a lens is provided at a position of 3 cm, and a display panel 44 is arranged so as to be closer to the optical system 44a. The driver simultaneously observes the left and right separate images, and the optical system 44a is set so as to focus far away at a virtual image VI. Thus, the driver can observe a three-dimensional image regardless of where the head is directed.

FIG. 7 shows a head mounted display 41.
It is an electric block diagram of the periphery. The magnetic generator 42 forms a magnetic field near the driver's head according to a command signal from the interface 30. The head position sensor 43 attached to the head mount display 41 detects the magnetic field vector to detect the three-dimensional position and direction of the head HD, converts the electric field into an electric signal, and inputs the electric signal to the interface 30.

On the other hand, the condition setting of the simulated driving is input from the instructor operating console 80, and the various sensors 1 are sent from the actual vehicle section 1.
When the steering signals from 0 to 24 are input, the calculator 71 recognizes the actual driving situation based on these conditions and signals, changes the simulated image and sound, and displays the video signal and the sound signal. It is output to the panel 44 and the speaker 46.

Thus, the head mounted display 41
The image displayed on the display panel 44 of the
24 and the output from the head position sensor 43, the progress of the screen, the landscape, and the like are controlled. For example, the screen is displayed such that the speed increases when the accelerator is turned while the vehicle is traveling at a constant speed, and the speed is reduced when the brake is operated. Further, when the vehicle body is tilted while operating the steering wheel, the screen changes so as to turn to the right curve or the left curve based on the signals from the vehicle body tilt sensor 10 and the steering wheel sensor 11. In this way, the screen changes according to the driver's operation amount, so that a realistic simulation can be realized.

In addition to such screen display and sound reproduction, the vibrating device 3 in the seating seat changes the magnitude and frequency component of the vibration to tremble the body. For example, when the accelerator is turned, it is possible to increase the vibration that simulates the engine sound, or to add fine vibration when running on a gravel road. The presence of such vibration further enhances the sense of realism.

FIG. 8 is a block diagram showing another embodiment of the present invention. This two-wheeled vehicle driving simulator includes a bicycle-type real vehicle unit 1 on which a driver rides and operates a head-mounted display (HM) that can be mounted on the driver's head.
D), and an instructor desk (not shown) for managing signal processing control.

In this embodiment, the driver operates the pedal 90 with his / her legs.
The steering wheel 91 is operated while rowing. Therefore, as an operation amount sensor that detects the driving operation amount,
A handle sensor for detecting an operation angle of the handle 91,
A pedal sensor that detects the rotational speed of the pedal 90 and a brake sensor that is provided on the left and right of the handle 91 and that detects the amount of brake operation are attached to the actual vehicle unit 1. Actual car section 1
Is preferably modified from a commercially available bicycle and can be realized at low cost.

Similar to FIG. 5, the display unit 40 is a head mount incorporating a head position sensor for detecting the three-dimensional position of the driver's head, a display panel for stereoscopic display, a speaker for stereoscopic sound reproduction, and the like. Composed of a display.

The outputs from the various operation amount sensors are input to the calculator 71 through the interface 30 as in FIG. 2, and the actual driving situation is recognized and simulated based on the driving operation amount and the head position. The image and the sound are changed, and the video signal and the sound signal are output to the display panel and the speaker of the head mounted display. In this way, it is possible to simulate actual driving on the road with a sense of realism.

[0035]

As described above in detail, according to the present invention, the driver mounts the head mounted display to perform the driving operation, so that a large screen as in the prior art becomes unnecessary. Therefore, the total installation area can be significantly reduced.

Further, since the screen changes according to the amount of operation of the driver and the movement of the driver himself, a realistic simulation can be realized. Further, by using the real vehicle, the riding feeling of the real vehicle can be realized at low cost even in the simulated traveling. Further, the sense of presence is further improved by the vibration of the vehicle body. Further, by setting the conditions for the simulated driving, it is possible to recognize the actual driving situation and change the simulated image.

[Brief description of the drawings]

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

FIG. 2 is an electric block diagram showing one embodiment of the present invention.

FIG. 3A is a side view of the actual vehicle unit 1, and FIG.
(B) is a schematic diagram showing a support state of the front wheel tire 4.

FIG. 4 is an explanatory diagram showing the principle of a magnetic sensor.

FIG. 5 is a perspective view of a head mounted display 41.

FIG. 6 is an explanatory diagram showing the principle of the head mounted display 41.

FIG. 7 is an electric block diagram around the head mounted display 41.

FIG. 8 is a configuration diagram showing another embodiment of the present invention.

[Explanation of symbols]

 1 Actual Vehicle Section 3 Vibration Device 4 Front Wheel Tires 10-24 Various Sensors 30 Interface 33 Support Stand 40 Display Section 41 Head Mount Display 43 Head Position Sensor 44 Display Panel 46 Speaker 70 Teacher's Desk 71 Computer 72 Image Generator 90 Pedal 91 Handle

Claims (1)

(57) [Claims] 1. A driving operation means using an actual vehicle having front wheels, rear wheels, a handle interlocking with the front wheels, and brakes attached to the front wheels and the rear wheels, and an operation amount sensor for detecting an operation amount of driving. A vehicle body posture sensor that detects the posture of the vehicle body, a head position sensor that can be mounted on the driver's head and that detects the position of the driver's head, and an image display device that displays an image are installed. Display means using a head mounted display, control means for controlling the image displayed on the image display device based on the outputs from the operation amount sensor, the vehicle body posture sensor and the head position sensor, and the control means, A two-wheeled vehicle driving stain, comprising: condition setting means for setting conditions for simulated driving; and vibrating means incorporated in the seat for generating vibration for the driver. Curator.