JP2834565B2 - Motorcycle riding simulation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial applications]

The present invention relates to a motorcycle riding simulation apparatus that performs a riding simulation using a model motorcycle on which a person can ride.

[Prior art]

Conventionally, there has been known a game simulation device that combines a model motorcycle with a CRT display and changes a display screen in accordance with a steering wheel or an accelerator operation so that a game can be enjoyed with a riding sensation. Japanese Patent Application Laid-Open Nos. 61-154689 and 62-1688 disclose models capable of freely tilting a model motorcycle in the lateral direction in order to increase the height.

[Problems to be solved by the invention]

By the way, in the simulation device for tilting the model motorcycle in the lateral direction as described in the above publication, the target roll angle is calculated every predetermined time in accordance with the operation of the passenger and the like, and the roll angle of the vehicle body becomes this value. The vehicle is tilted. The following means is considered as one of the methods for calculating the target roll angle. That is, r ₁ = −ts · ks + tl · kl (11) ts: steering torque (handle torque) tl: lean torque ks: gain (variable according to vehicle speed) kl: gain (variable according to vehicle speed) kl represents the sensitivity of the roll rate. Here, it is known that the lean torque term is auxiliary, and that the roll angle of the motorcycle is basically determined by the steering torque applied by the rider in the direction opposite to the direction in which the steering turns. From the equation, it can be seen that the relationship of r ₁ ∝−ts is generally established. However, when the roll angle is calculated using a simple calculation formula as shown in (11), the roll angle is affected by the steering torque that suddenly increases during a transition from a straight line to a turn,
As shown in FIG. 16, a large protruding portion is generated, which is different from the actual roll angle curve as shown in FIG. 17 (see B in the figure). That is, the correlation between the steering torque and the actual roll angle can be obtained by comparing A in FIG.
This is only the section C in the figure. In the transitional state of D in FIG. 17, if the control is performed by the equation (11), the actual roll angle may be different from the actual roll angle as described above, and a difference may occur from the feeling (bodily sensation) during actual running. SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and provides a rider with the same feeling as in actual driving and can perform control close to a real vehicle even in a transient state despite simple control. It is an object to provide a simulation device.

[Means for Solving the Problems]

In order to achieve the above object, according to the present invention, a model motorcycle which is provided so as to be tiltable in a lateral direction via a rolling shaft provided on a base so as to extend in a front-rear direction and which is operated by a human being mounted thereon Drive means for tilting the model motorcycle in the lateral direction, and control means for controlling the drive means in accordance with the operation of a passenger on the model motorcycle, thereby controlling the roll angle of the model motorcycle. The control means calculates a target roll angle at predetermined time intervals based on a value of a steering wheel torque sensor provided on a steering wheel. The driving means is controlled in accordance with the target roll angle obtained based on an integrated value of a difference from a value calculated from the detected steering wheel torque.

[Action] The target roll angle is not directly calculated from the value of the steering wheel torque, but is calculated based on the integrated value of the difference between the previously calculated target rotation angle and the value calculated from the currently detected steering wheel torque. As a result, the steep change at the time of transition shown in FIGS. 17B and 17D can be corrected to a smooth change as shown in FIG. Therefore, the calculated target roll angle is close to the actual roll angle, and the rider does not feel uncomfortable even during transition.

【Example】

First, the mechanical configuration of the present invention will be described with reference to FIGS. In these figures, reference numeral 1 denotes a base, and 2 denotes a pair of right and left guide rails 1a on the base 1 and rolling wheels 2a.
1 shows a movable table movably supported in the front-rear direction (in the direction of arrow AB) via a. On the base 1, guide plates 1bB are erected on the outer sides of the respective guide rails 1a, the upper edges of the respective guide plates 1b are bent inward, and guide rollers 2b supported by the movable base 2 are supported on the lower surfaces thereof. The rack member 3 having a large number of pins 3a arranged thereon is fixedly attached to the upper outer surface of each guide plate 1b, and a pinion 4a meshing with the pin 3a of each rack member 3 is provided at the center of the moving table 2 on both sides. The drive shaft 4 attached to is mounted horizontally. Here, the drive shaft 4 is rotated forward and backward by a motor 5 mounted on the movable base 2 via a gear box 5a to move the movable base 2 forward and backward along the guide rail 1a. The guide rail 1a is configured by a curved rail having a front end side and a rear end side curved upward, and thus the movable base 2 is tilted in the vertical direction (the direction of the arrow EF) as the movable base 2 moves back and forth. did. The moving table 2 has two orthogonal directions in the horizontal direction (arrow CD direction) and the vertical direction (arrow EF direction).
A pair of independent front and rear movable devices 6 having a function of moving in a direction are mounted. That is, each movable device 6 is mounted on the moving table 2
A slide base 7 slidably supported in a horizontal direction on a guide rail 7a provided horizontally above, and an elevating frame 8 slidably supported in a vertical direction on a guide rail 8a fixed to the slide base 7. Have been. Here, the slide base 7 is moved left and right by forward and reverse rotation of a ball screw 9b connected via a gear box 9a to a motor 9 mounted on the moving base 2, while the lifting frame 8 is moved to the motor 10 mounted on the slide base 7. The ball screw 10b connected via the gear box 10a is vertically moved by forward and reverse rotation. As a result, the up-and-down movement and the left and right movement due to the movement of the slide table 7 are given to the lifting frame 8 which is the operating end of each movable device 6. In this embodiment, as shown in FIG. 13, the movable structure of the movable base 2 may be omitted and fixed directly to the ground for cost reduction. In this case, the movement in the pitch direction is replaced by the vertical movement of the pitch movement of the vertically movable frame 8 of the guide rail 8a. A support frame 11 is provided between the lifting frames 8 of the movable devices 6, and a model motorcycle 13 is supported on the support frame 11 via a rolling shaft 12 which is long in the front-rear direction so as to be tiltable in the lateral direction. In FIG. 4, the rear end of the support frame 11 is connected to the upper part of the lifting frame 8 of the rear movable device 6 via the cross joint 14, and the ball joint 15 is connected to the upper part of the lifting frame 8 of the front movable device 6. The front end of the support frame 11 is slidably engaged in the front-rear direction on the guide rail 11a on the lower surface thereof with the linear guide 16 mounted via the base, so that the vertical movement and the horizontal movement of the lifting frame 8 of each movable device 6 The support frame 11 can follow up and down and incline in the horizontal direction. A rolling shaft 12 is installed vertically at the center of the support frame 11 in the horizontal direction, and a motor 17 is mounted below the rolling shaft 12. The motor 17 rotates the rolling shaft 12 via a reduction gear 17a and a gear 17b. I am trying to do it. The frame 13a of the model motorcycle 13 is mounted on a seat 12a fixed to the center of the rolling shaft 12. Reference numerals 18 and 19 denote shock absorbers for regulating the moving ranges of the movable base 2 and the slide base 7 of each movable device 6. The model motorcycle 13 imitates an actual motorcycle,
Accelerator, steering wheel,
Various sensors for detecting operations such as brakes, clutches, gear changes, and weight shifts are provided. These sensors include an accelerator opening sensor 21, a clutch lever angle sensor 22, a steering wheel torque sensor 23, a lean torque sensor 2
4. A front brake pressure sensor 25 and a rear brake pressure sensor 26 are provided. Further, in order to simulate an actual driving situation, various handle switches 27 such as a lighting switch, a dimmer switch, a blinker switch, a starter switch, a horn switch, a kill switch, etc., and a gear position switch 28 are provided. Further, in order to obtain a sense of realism, the electric fan 29, the vibration generator 30, the speaker 31 and the like for sending wind to the passenger are provided with the model motorcycle 13.
Mounted on Furthermore, in order to reproduce the actual driving condition of the motorcycle by sound and image, a total of four speakers 3 of R / L and two channels provided before and after the model motorcycle 13 are provided.
2 and a display device 33 provided in front thereof. The display device 33 may be provided separately from the base 1 and the movable base 2 as shown in FIG. 1, or may be connected to the movable base 2 as shown in FIG. 5 (a). In any case, the display device is designed to perform some movement in accordance with the movement of the simulator so that the image is easily captured by the passenger. Here, the signal from the sensor is input to a computer, the image on the display device 33 is changed by the computer according to the driving situation, and the motors 5, 9, 10, and 17 are controlled to provide an actual motorcycle. It is configured to reproduce the behavior that can be experienced as in. Before describing the simulation control by the computer in detail, first, the overall operation of the present invention will be briefly described. For example, when acceleration or deceleration is performed by an accelerator operation or a brake operation, the movable base 2 is moved back and forth by the motor 5, and the model motorcycle moves as shown in FIGS. 5 (b) and 5 (c). According to this, the model motorcycle 13 is mounted on the guide rail 1a.
Due to the curvature of the vehicle, the vehicle advances forward or backward and then reverses, giving the passenger a feeling of acceleration and deceleration. Also, when the display image goes to the corner and the passenger shifts weight,
Motorcycle 17 rotates rolling shaft 12 to model motorcycle
13 is tilted in the lateral direction, and the motors 9 and 10 of the two movable devices 6 are operated to raise the model motorcycle 13 in the tilting direction by the combined operation of the slide base 7 and the lifting frame 8.
Give the passenger a temporary sense of centrifugal force during cornering. The yaw by moving the slide table 7 of both movable devices 6 in the left and right opposite directions, and the slip of the front wheel or the rear wheel by moving these slide tables 7 left and right alone, the lifting frame 8 of the both movable devices 6. By moving up and down independently
The cushion operation on the front wheel side or the rear wheel side is reproduced as shown in FIG. Further, as shown in FIGS. 5 (e) and (f),
You can bend forward and backward. Next, the computer control in the present invention will be described in detail. FIG. 6 is a system block diagram showing an electrical configuration of one embodiment of the present invention. Here, the various sensors and the like 21 to
The output signal of 28 is input to the minicomputer 40. The minicomputer 40 includes a CPU (not shown), a ROM or a RAM for storing a control program, various data, and the like.Under the control of the minicomputer 40,
A six-axis servo motor for driving the model motorcycle 13 shown in FIG. 4, an electric fan 29, a vibration generator 30, speakers 31, 32, a display device 33, and a servo motor 35 for steering assist operate. The yaw angle y (FIG. 7 (a)), the roll angle r (FIG. 7 (b)), and the pitch angle p (FIG. 7 (c)) of the vehicle body of the model motorcycle 13 are driven by the six-axis servo motor.
Is controlled. Further, the lean torque sensor 24 for detecting the inclination of the vehicle body is constituted by a load cell or the like, and outputs an electric signal corresponding to the stress generated by tilting the vehicle body (that is, lean torque). As shown in FIG. 1, a total of seven speakers are provided, including three speakers 31 provided on the vehicle body and the like and four speakers provided outside thereof. Here, in order to give a sense of realism, the speaker 31 provided on the vehicle body mainly reproduces low temperature, and the external speaker 32 reproduces high temperature.
On the other hand, the rotation speed of the electric fan 29 is controlled in proportion to the traveling speed by an inverter or the like, whereby the wind pressure blown on the passenger's face increases as the traveling speed increases. Similarly, the vibration generator 30 is controlled so that the generated vibration increases in proportion to the traveling speed. FIG. 8 is a flow chart showing a calculation process executed by the minicomputer 40 when a simulated running is actually performed by the model motorcycle 13. Here, it is assumed that after the simulation traveling is started in the straight traveling state at first, the vehicle body is inclined to perform the curved traveling. First, after setting data relating to various vehicle characteristics in step 100, when the passenger starts running, this is detected in step 101,
Computer processing enters step 103 via step 102. Step 103 is a step of performing an automatic straight-ahead calculation, where acceleration / deceleration G, straight-ahead speed x, pitch angle p,
The vertical movement z, the engine speed Ne, the front wheel speed Nf, the rear wheel speed Nr, and the like are calculated. This calculation is performed by the minicomputer 40 in accordance with a predetermined program, based on the output of each sensor and the like. Specifically, the throttle opening, clutch stroke, gear position, front brake pressure and rear brake pressure are used as input information,
In addition, the characteristic data of the vehicle stored in advance include engine output torque characteristics, brake characteristics, wheel slip ratio, gear reduction ratio, air resistance, wheel rolling resistance, suspension characteristics, moment of inertia of the vehicle body, weight, and position of the vehicle center of gravity. Is used. In this case, the six-axis servomotor drive gives the occupant a feeling of acceleration / deceleration by causing the model motorcycle to perform a vertical motion while performing a swing motion. In the initial stage of the swing motion, a simple up and down movement (see FIG. 5 (d)) or forward and backward bending (see 5 (e) and (f))
, The feeling of acceleration / deceleration can be further improved. In the present invention, in order to further improve the feeling of acceleration / deceleration, the image displayed on the screen of the display device 33 is changed. Usually, a display device gives an illusion to a passenger that a model motorcycle that does not actually travel is running, so that an image corresponding to the speed and traveling direction given to the model motorcycle (for example, the motorcycle is actually At a high speed, the video changes faster at high speeds, while the video changes slowly at low speeds. Desirably, the display device is fixed to the model motorcycle as shown in FIG. 5, and the relative positional relationship between the occupant and the display does not change. However, to reduce costs,
It is possible to adopt a configuration in which the moving base 2 is directly placed on the ground as shown in FIG. In this case, as shown in FIGS. 15 (b) and (c), the viewpoint of the occupant moves up and down due to the pitch movement when the vehicle is accelerated and decelerated. As shown in FIG. 9, the displayed image is shifted upward as compared with the case of traveling at a constant speed, while the displayed image is shifted downward when the viewpoint is lowered due to deceleration. As described above, since the image is also shifted in the vertical direction in accordance with the vertical pitch movement of the model motorcycle accompanying the acceleration / deceleration, the occupant can obtain a sense of acceleration / deceleration without a sense of discomfort.
Here, the display image is moved up and down as described above by adding a correction corresponding to the pitch angle of the model motorcycle to the sight line pitch angle of the occupant. The height of the rotation center of the swing motion for acceleration / deceleration as shown in FIG. 5 (or FIG. 15) (b) and (c) is as follows:
It is good to be near the passenger's heart. Because, in order to make the acceleration applied to the head feel the same as when actually traveling on a motorcycle, the rotation center height of the swing motion must be below the head and not too far from the head Is determined by the experiment. After performing the automatic straight-ahead calculation as described above, the process then proceeds to step 104 in FIG. 8, where the own vehicle turning calculation is performed. FIG. 10 is a flowchart showing details of the calculation of the vehicle turning. As shown in steps 201 and 202, in order to perform this own vehicle turning calculation, first, the lean torque of the model motorcycle is calculated.
Tl and the steering torque Ts are detected. As is well known, a motorcycle uses a weight shift of a passenger to change its traveling direction. That is, the occupant operates the steering wheel and, at the same time, shifts in weight in the direction in which the occupant wants to turn, and turns. For this reason, in the present simulator, the lean torque sensor 24 for detecting a weight shift is provided as an operation input of the occupant separately from the input by the steering. This sensor is constituted by the load cell as described above, detects the force applied thereto, that is, the weight shift of the occupant, and outputs an electric signal according to the detection result to the minicomputer 40. Next, the steering input will be described. As the steering input, a steering angle and a steering force of a steering wheel can be considered. In this simulator, the steering force detected by the steering wheel torque sensor 23 is used as the steering input, and the steering angle is calculated based on the steering input. That is, the steering angle of the steering wheel of the two-wheeled vehicle is much smaller than that of the four-wheeled vehicle, and greatly differs between a low speed and a high speed. In the low speed range, a large cutting angle becomes a small cutting angle in the middle and high speed ranges. Therefore, when the steering angle is used as a steering input, the sensor is required to have extremely high accuracy. On the other hand, in the case of the steering force, the sensor accuracy range is about 5 kg or less, and the sensitivity of the steering force is generally hardly affected by the vehicle speed. For this reason, in this embodiment, the steering force is used as the steering input. Also, by using the steering force as the steering input, for example, when the passenger drives the model motorcycle away from the vehicle, the vehicle can be driven only with the lean torque accompanying the weight shift, and the steering force at that time is 0 kgm, It is possible to reproduce hand-off driving. Next, in step 203 of FIG. 10, the input values Tl and Ts are smoothed. This smoothing is necessary to remove noise included in the sensor detection value. Then, in step 204, the roll angle r ₁ is calculated based on the following equation (1) in the next step 205 with reference to the roll gain table stored in advance. r ₁ ⁿ = ∫ (−t _s ⁿ · k _s ⁿ + tl ⁿ · kl ⁿ −h · r ₁ ^n-1 ) …… (1) ts ⁿ : steering torque (handle torque) tl ⁿ : lean torque ks ⁿ : Gain (variable according to vehicle speed) kl ⁿ : gain (variable according to vehicle speed) 0 <h ≦ 1 (h: roll stability (variable according to vehicle speed)) That is, as shown in FIG. , the integral value of the difference between the value ^{_{-t s n · k s n +}} tl n · kl n calculated from the handle torque detected current roll angle r ₁ ^n-1 calculated last time (in the figure indicated by Z) r ₁ ⁿ . In this way, the suddenly changing portion seen during the transition of the steering torque is corrected so as to be smooth. At present, various experiments have been conducted.
As a result of setting around 0.3 (h changes according to the vehicle speed), the waveform of the target roll angle calculated as shown in FIG. 13 has a sharply changing portion and is very close to the curve of the actual roll angle. It will be. In step 206, using the vehicle roll angle correspondence table, and corrects the calculated roll angle r ₁ ^n, obtains the actual roll angle r ^n. In step 207, the yaw rate y _R (deg / sec) is calculated using the constant g, the roll angle r, and the vehicle speed v.
Is calculated, and the turning radius Ra is further calculated based on the yaw rate. _{y R = g · tan (r} ) / v ... (2) Ra = v / y R ... (3) In the next step 208, the coordinates X _n indicating the current yaw angle y _n and the current vehicle travel position, Calculate the integral of Y _n . y _n = y _n-1 + y _R・ Δt (4) X _n = X _n-1 -Ra [sin (y _n-1 ) -sin (y _n )] (5) Y _n = Y _n-1 + Ra [cos (y _n-1 ) -cos (y _n )] (6) By the way, the following conditions are set in order to reproduce the feeling of inclination and centrifugal force due to the roll motion of the model motorcycle with this simulator. . (1) It is desirable that the regular roll angle be within 15 °. That is,
This is because a roll movement of 15 mm or more makes it difficult for a passenger riding a model motorcycle to hold his body on the motorcycle. In actual motorcycles, the body may lean by more than 15mm, but in order to reproduce this, in this simulator, in addition to the inclination of the model motorcycle, by tilting the image as described later, it will be more realistic. I have to. (2) The rotation center of the roll motion is changed according to the vehicle speed. In this simulator, as shown in Fig. 11, when stopped, the rotation center of the roll is set as the ground point of the model motorcycle,
It will increase as the vehicle speed increases, but the upper limit is 600 mm from the ground contact point. (3) In the low-speed range of 25 km / h or less, the movement in the yaw direction is operated in synchronization with the roll. At this time, the operation direction of the yaw is opposite to that of the roll. For example, when rolling to the right, yaw is generated to the left. In this case, the yaw rotation center is located immediately below the butt of the occupant. In addition, when the vehicle speed increases to 40 km / h or more, such yaw and roll synchronization are not performed. Next, the coordinates X _n , Y _n of the own vehicle obtained by the calculation of the vehicle turning as described above are converted into the world coordinate system (X ₀ , Y ₀ ) in step 105 of FIG. The world coordinates are coordinates corresponding to data such as the world map and the scenery stored therein, and the scenery is reproduced on the display device as an image based on the current world coordinates. In the next step 106, calculation of a simulation amount / movable amount for controlling the video, generation of an audio signal, and the like are performed. Thereafter, in step 107, control of the model motorcycle, the display device, and the like is performed based on the various control signals calculated so far. Next, the display device will be described. As for this display method, when using a CRT display,
Alternatively, various methods such as projecting light from a three-primary-color projector onto a screen can be considered. In addition, as described above, a moving image such as a scenery viewed from a moving vehicle or the like projected and stored in advance is used, and the moving image is changed in accordance with the running condition of the model motorcycle, so that the occupant travels on the actual motorcycle. The video control is performed so as to give a sense as if the user is performing. For example, when a passenger rolls a model motorcycle by weight shift for cornering, simply tilting the image does not match the actual running feeling. For this reason,
As shown in Fig. 12, by adding the pitch angle component of the passenger's line of sight corresponding to about 20% of the roll angle, the horizontal line of the image is lowered to express the feeling of actual running. This is a display control that simulates that the position of the occupant's eyes is lower during cornering than when traveling straight. As described above, the actual roll angle of the model motorcycle is limited, but in order to compensate for this, when the roll angle of the vehicle body increases, the image is inclined in the direction opposite to the roll direction. This gives the passenger a sense of roll. In the above embodiment, the roll angle is calculated based on both the steering torque and the lean torque. However, the present invention is not limited to this, and the roll angle may be calculated only from the steering torque.

【The invention's effect】

INDUSTRIAL APPLICABILITY As described above, according to the present invention, a model motorcycle that is provided so as to be tiltable in a lateral direction via a rolling shaft provided on a base so as to extend in the front-rear direction and that is operated by a human being mounted thereon Drive means for tilting the model motorcycle in the lateral direction, and control means for controlling the drive means in accordance with the operation of a passenger on the model motorcycle, thereby controlling the roll angle of the model motorcycle. The control means calculates a target roll angle at predetermined time intervals based on a value of a steering wheel torque sensor provided on a steering wheel. Since the configuration is such that the driving means is controlled in accordance with the obtained target roll angle based on the integrated value of the difference from the value calculated from the detected steering wheel torque, the control is simple. Even during transition It has the effect that it is possible to perform the riding simulation close to the car.

[Brief description of the drawings]

1 is a side view of a motorcycle riding simulation apparatus according to an embodiment of the present invention, FIG. 2 is a view of the apparatus of the present invention viewed from the rear, and FIG. 3 is a plan view of the apparatus of the present invention with a model motorcycle removed. FIG. 4 is a perspective view of a support frame portion,
5 and 15 are diagrams showing various operations of the device of the present invention,
6 is a system block diagram of the present invention, FIG. 7 is a diagram showing yaw, roll, and pitch operations of the model motorcycle, FIGS. 8 and 10 are flowcharts showing calculation processing performed by the minicomputer, 9 and 12 are diagrams showing image control according to the present invention, FIG. 11 is a graph showing the relationship between the rotation center of the roll motion and the vehicle speed, FIG. 13 is a graph showing the change in the calculated roll angle, FIG. 14 is an explanatory diagram illustrating a method of calculating a roll angle. FIG. 16 and FIG. 17 are graphs for explaining the problem of the present invention in relation to the conventional example. 1 ... Base, 1a ... Guide rail, 2 ... Movable table, 6 ...
… Movable device, 8… lift frame, 11… support frame, 12… rolling shaft, 13… model motorcycle, 21-26 …… various sensors,
31,32 …… Speaker, 33 …… Display device, 40 ……
Mini computer.

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G09B 9/058 G09B 9/05 G09B 9/04 A63F 9/22

Claims (1)

(57) [Claims] An apparatus for performing a riding simulation using a motorcycle is provided so as to be tiltable in a lateral direction via a rolling shaft provided on a base so as to extend in a front-rear direction. A model motorcycle to be operated; a driving unit for tilting the model motorcycle in a lateral direction; and controlling the driving unit in accordance with an operation of a passenger on the model motorcycle, thereby controlling a roll angle of the model motorcycle. Control means for calculating a target roll angle at predetermined time intervals based on a value of a steering wheel torque sensor provided on the steering wheel, and the target roll angle was calculated last time. The drive means is controlled in accordance with the integrated value of the difference between the target roll angle and the value calculated from the steering wheel torque detected this time, and according to the obtained target roll angle. Characteristic motorcycle riding simulation device.