JP3793325B2 - Motorcycle riding simulation equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a riding simulation apparatus for a motorcycle in which an operator (rider, driver) operates a model motorcycle to perform a riding simulation while viewing a screen on which an image including a travel path is displayed.
[0002]
[Prior art]
Conventionally, a riding simulation apparatus for two-wheeled vehicles that combines a model two-wheeled vehicle that can be operated by a rider and a display using a CRT or the like that displays a desired image including a traveling path related to the traveling state of the modeled motorcycle. It is used for games or for motorcycle driving education.
[0003]
For example, as disclosed in Japanese Patent Application Laid-Open No. 4-145482, a movable table provided on the base and movable in the front-rear, left-right, and vertical directions, and a driving unit that drives the movement of the movable table, A model two-wheeled vehicle that is installed on the moving table and that can be operated by the rider, a display device that is disposed in front of the model two-wheeled vehicle and displays a video including a pre-stored travel path, and a rider's maneuvering operation and movement Two-wheeled vehicle riding comprising: control means for controlling the drive means to control yaw, roll and pitch movement of the model motorcycle, and changing the image displayed on the display device according to the running state of the model motorcycle Simulation devices are known.
[0004]
According to this motorcycle riding simulation apparatus, as shown in FIGS. 5A, 5B, and 5C, the model two-wheeled vehicle 2 has a yaw angle Y_a in the left-right turning direction KD, a roll angle R_a in the vehicle width direction (roll direction) TD, and Since a yaw movement mechanism, a roll movement mechanism, and a pitch movement mechanism are provided so that the pitch angle P_a can be provided in the vertical direction UD, the actual motorcycle is controlled by the rider 4 who controls the model motorcycle 2. It can give a feeling of maneuvering very close to the senses.
[0005]
[Problems to be solved by the invention]
By the way, for example, when a rider 4 who is traveling in a straight line tries to change the traveling direction of the model motorcycle 2, the model motorcycle 2 is tilted in the vehicle width direction TD by a predetermined roll angle R_a by a steering operation and a weight movement operation. Try to turn.
[0006]
In this case, the predetermined roll angle R_a is calculated according to the combined value of the steering torque proportional to the steering wheel operation amount of the rider 4 and the lean torque proportional to the weight shift amount, and this is shown as a roll motion command. Not to give to the roll motor.
[0007]
However, in the riding simulation apparatus for a two-wheeled vehicle that controls the model two-wheeled vehicle 2, since the centrifugal force is not generated, it has been found that the rider 4 cannot be tilted in the roll direction TD as much as the roll angle generated when the actual two-wheeled vehicle travels. .
[0008]
The present invention has been made in consideration of such problems and knowledge, and makes it possible to give a model two-wheeled vehicle operator a roll motion that is very close to the sense of travel of an actual vehicle when turning the model two-wheeled vehicle. An object is to provide a riding simulation apparatus for a motorcycle.
[0009]
[Means for Solving the Problems]
The present invention, for example, as shown in the drawings, in a motorcycle riding simulation apparatus 10 that simulates a running state based on a maneuvering operation of a model motorcycle 30 by an operator 28,
A handle torque sensor 94 for detecting a steering torque according to the handle operation of the operator;
A lean torque sensor 96 for detecting a lean torque according to the weight shift of the operator;
A roll rate calculating means 18 for calculating a roll rate from the detected steering torque and the detected lean torque;
Roll angle calculation means 18 for calculating the roll angle of the model motorcycle by time-integrating the calculated roll rate;
In accordance with a roll motion command value, roll motion imparting means 58 for imparting roll motion by tilting the model motorcycle in the vehicle width direction;
And roll motion command value calculating means for calculating the roll motion command value by combining a value proportional to only the lean torque with the roll angle.
[0010]
According to the present invention, a roll angle that is proportional to the lean torque related to weight shift is combined with the roll angle calculated from the steering torque and the lean torque (calculated roll angle) to obtain a roll motion command value. For this reason, the roll motion includes the calculated roll angle and the roll angle related to weight shift, and the model motorcycle responds directly to the weight shift, which is very close to the actual roll feeling. Is obtained.
[0011]
In this case, when calculating the yaw rate, by ignoring the roll angle that responds directly to the weight shift, and calculating only according to the calculated roll angle, the maneuverability and roll feeling of the model motorcycle can be reduced. Can be adjusted separately.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0013]
FIG. 1 is a schematic configuration explanatory diagram of a two-wheeled vehicle riding simulation apparatus 10 according to this embodiment.
[0014]
The riding simulation apparatus 10 includes a control mechanism 12 installed on a floor surface 34, a motion unit unit 16 that is detachable from the control mechanism 12 via a coupling mechanism 14, and a communication line 200 with respect to the control mechanism 12. (200a, 200b) is connected to a control table (also referred to as an instructor table) 201.
[0015]
The control mechanism 12 includes a main body 19 that houses a control circuit 18 such as a minicomputer and a CGI generator 23, and a display box 20 provided on the upper portion of the main body 19. The control table 201 includes a computer 202 that also operates as a host computer with respect to the control mechanism 12, a keyboard 203 and a mouse 204 that are connected to the computer 202, and a monitor 205 such as a CRT display that is a display unit. And. The control mechanism 12 and the computer 202 include a CPU as a central processing unit that functions as control, determination, calculation means, etc., a ROM as storage means for storing system programs, etc., and a storage used for work, etc. It has RAM as means.
[0016]
As shown in FIG. 2, the display box 20 incorporates a speaker unit 22 and has a projection display (also referred to as a display, a screen, or a screen) 24 having a screen.
[0017]
As shown in FIG. 1, the display device 25 is basically composed of a display 24 and a CGI generator 23, and displays various traveling states including a traveling path on the screen 24. In this case, the CGI generator 23 stores information (input information) transmitted from the control circuit 18 and information (input information) transmitted from the computer 202 and a large-capacity storage such as its own computer (CPU, ROM, RAM, hard disk). The movement pattern of the moving body (for example, another vehicle) and the stationary body (for example, landscape, traveling path) is quickly displayed on the display 24 using the device.
[0018]
The information transmitted from the control circuit 18 is basically current position data, current yaw data, current speed data, current acceleration data, current pitch motion data, and current roll motion data related to the behavior of the model motorcycle 30. In response to the input of these data (hereinafter, these data are also referred to as model motorcycle current running data or model motorcycle current behavior information data) from time to time, the CGI generator 23 stores the data in advance. The video information of the road including the scenery is generated.
[0019]
The video displayed on the screen 24 is also supplied to the computer 202 as an NTSC signal from the CGI generator 23 via the communication line 200 and can be displayed on the monitor 205 as well.
[0020]
The motion unit 16 includes a base 26 that can be attached to and detached from the control mechanism 12 via the coupling mechanism 14, and a motorcycle model motorcycle 30 that can be operated by a rider 28 on the base 26, and the model motorcycle 30. A drive mechanism 32 that is driven in accordance with the actual behavior of the motorcycle is mounted.
[0021]
The base 26 includes a plurality of wheels 36 for moving the base 26 on the floor surface 34 and a plurality of fixing portions 38 for fixing the base 26 so as not to move on the floor surface 34. Prepare. The fixing portion 38 is provided with a screw shaft 40. When the screw shaft 40 is screwed into the base 26, the fixing portion 38 is movable in the vertical direction.
[0022]
A support frame 42 is provided on the base 26, and a vehicle body 46 of the model motorcycle 30 is disposed in the front-rear direction (pitch) via a pitch shaft 44 (see also FIG. 2) extending in the vehicle width direction on the upper side of the support frame 42. Direction). The support frame 42 supports a pitch motor 50 that can swing around a fulcrum 48, and a screw shaft 52 connected to the pitch motor 50 supports a nut 54 that is swingably supported by a vehicle body 46. Screwed together. Further, the support frame 42 supports a roll motor 58 having a roll shaft 56 in the horizontal direction, and the vehicle body 46 engages with an output shaft (not shown) of the roll motor 58.
[0023]
The handle 60 of the model motorcycle 30 is directly connected to the handle torque sensor 94 (see FIG. 3) and the rotating shaft 64 of the steering motor 62. The control circuit 18 shown in FIG. Based on this, a reaction force corresponding to the turning operation of the handle 60 of the rider 28 is applied via the steering motor 62.
[0024]
The drive mechanism 32 includes a pitch motor 50, a roll motor (roll motion imparting means) 58, and a steering motor 62.
[0025]
As shown in FIG. 3, on the motion unit 16 side, a front brake pressure sensor 98 connected to a front brake lever 97 operated by the rider 28 with the right hand, a rear brake pressure sensor 100 connected to a rear brake pedal 99, Further, in addition to various sensors indicated by reference numerals 90 to 100 such as an accelerator opening sensor 90 connected to a throttle grip 63 as an accelerator, a handle switch 102 and a gear shift pedal 103 (shown in FIG. 1) having desired switches. The gear position switch 104 connected to the left foot of the rider 28) is connected to one end side of the connector 70 through a signal line. Further, the pitch motor 50, the roll motor 58, and the steering motor 62 constituting the drive mechanism 32 are connected to one end side of the connector 72 through a signal line.
[0026]
On the other hand, on the control mechanism 12 side, a control circuit 18 connected to the signal line from the other end side of the connectors 70 and 72 is provided.
[0027]
The control circuit 18 is connected to an electric fan 106 that sends wind to the rider 28, a vibration generator 108, a speaker unit 22, and a display device 25, and a communication line 200b for video and a communication line 200a for data transmission. The control table 201 is connected via
[0028]
Information on the model motorcycle 30 is transmitted from the control circuit 18 to the CGI generator 23 constituting the display device 25, so that an image corresponding to the information on the model motorcycle 30 is displayed on the display 24.
[0029]
Next, the operation of the riding simulation apparatus 10 configured as described above will be described.
[0030]
When the rider 28 operates the throttle grip 63, the front brake lever 97, and the clutch lever 91 as an accelerator provided on the handle 60, the output signal of the accelerator opening sensor 90, the output signal of the front brake pressure sensor 98, and An output signal of the clutch lever angle sensor 92 is supplied to the control circuit 18. Further, by operating the rear brake pedal 99, the output signal of the rear brake pressure sensor 100 is supplied to the control circuit 18. Further, the gear position information (gear position, for example, the first or neutral position of the fifth speed) of the gear position switch 104 is supplied to the control circuit 18 by the operation of the gear shift pedal 103 accompanying the operation of the clutch lever 91. Is done.
[0031]
On the other hand, the moving direction and moving amount of the weight of the rider 28 on the model motorcycle 30 are detected by the lean torque sensor 96, and an output signal thereof is sent to the control circuit 18.
[0032]
Based on these output signals, the control circuit 18 controls the drive of the drive mechanism 32 and also controls the display device 25 and the like.
[0033]
For example, when the rider 28 operates the front brake lever 97 and applies the brake, the pitch motor 50 is driven according to the brake pressure detected by the front brake pressure sensor 98, the model motorcycle 30 is tilted forward, and braking is performed. The behavior of time is reproduced. On the other hand, when the accelerator is rapidly opened by operating the throttle grip 63, similarly, the pitch motor 50 is driven according to the opening detected by the accelerator opening sensor 90, and the model motorcycle is operated under the action of the pitch motor 50. 30 is tilted backwards to reproduce the behavior during acceleration operation.
[0034]
When the rider 28 moves the body weight, the roll motor 58 is driven based on the moving direction and moving amount of the body weight and the traveling speed, and the vehicle body 46 tilts in the vehicle width direction and behaves during cornering (turning). Is reproduced. With the weight shift at this time, the handle 60 is turned in the weight moving direction, that is, the steering is turned off. At this time, the steering torque according to the operation amount of the handle 60 is detected by the handle torque sensor 94, and the steering motor 62 is driven by the control circuit 18 according to the detected steering torque, which is opposite to the direction in which the handle 60 is turned. A reaction force in the direction is applied to the steering wheel 60, and a control feeling similar to that of the actual vehicle is realized.
[0035]
When various operations of the rider 28 as described above are performed, the current behavior information data of the model motorcycle 30 is supplied from the control circuit 18 to the CGI generator 23 in real time, whereby the display 24 displays the model motorcycle 30. Since the image of the traveling road including the scenery based on the traveling state and the image of the other vehicle is displayed in real time, the rider 28 can obtain a driving feeling equivalent to that of the actual vehicle.
[0036]
Next, the operation of driving the roll motor 58 in accordance with the steering torque detected by the handle torque sensor 94 and the lean torque detected by the lean torque sensor 96 to give the rider 28 a roll motion similar to an actual vehicle is illustrated. This will be described in detail with reference to the flowchart of FIG.
[0037]
1 does not employ a yaw mechanism that yaws in the left-right turning direction KD as shown in FIG. 5A. However, as described below, the yaw angle Y_a (the above calculation) is not used. (Yaw data) is calculated, and the calculated yaw angle Y_a is given from the control circuit 18 to the CGI generator 23, and the CGI generator 23 turns the image corresponding to the yaw angle Y_a to display the travel path and the like. It is possible to obtain a maneuvering feeling that is almost the same as that of a simulation device that employs a yaw mechanism.
[0038]
Therefore, first, the steering torque Ts (kg · m) generated by the operation of the handle 60 of the rider 28 is detected by the handle torque sensor 94, and the lean torque Tl (kg · m) generated by the weight shift of the rider 28 is lean. Detection is performed by the torque sensor 96 (step S1).
[0039]
Next, an inclination speed (angular speed) in the roll direction TD, a so-called roll rate R_v (deg / sec) is obtained by the following equation (1) (step S2).
[0040]
R_v = Ts × K1 + Tl × K2 (1)
As can be seen from the equation (1), the roll rate R_v (deg / sec) is obtained by multiplying the steering torque Ts (kg · m) by the coefficient K1 (deg / kg · m · sec) and the lean torque Tl ( kg · m) multiplied by a coefficient K2 (deg / kg · m · sec). In other words, the roll rate R_v is configured to change in proportion to the steering torque Ts and the lean torque Tl.
[0041]
Next, a roll angle (also referred to as a calculated roll angle or a calculated roll angle) R_a (deg) is calculated by the following equation (2) (step S3).
[0042]
R_a = R_a + R_v × S_time (2)
As shown in the equation (2), the calculated roll angle R_a shown on the left side is the roll rate obtained by the equation (1) every cycle time S_time (sec) set to 33 ms in this embodiment. A value obtained by multiplying R_v by the cycle time S_time (R_v × S_time) is added to the previous value (the roll angle R_a on the right side). Eventually, the calculated roll angle R_a is updated every cycle time S_time, and is calculated as a time integral value of the operation amount of the steering wheel 28 and the weight shift amount of the rider 28.
[0043]
Using this calculated roll angle R_a as a roll motion command value, a roll motor (roll motion imparting means) 58 is driven, the roll shaft 56 is rotated by the calculated roll angle R_a, and the model motorcycle 30 is moved in the vehicle width direction TD (see FIG. 2). ) Is tilted by the calculated roll angle R_a, as described above, the roll motion generated by the centrifugal force in an actual motorcycle cannot be accurately expressed. Therefore, in this embodiment, in consideration of the roll motion generated by this centrifugal force, the actual operating roll angle (also referred to as roll motion command value) Rm (see FIG. 2) is calculated by the following equation (3). (Step S4).
[0044]
Rm = R_a + Tl × K3 (3)
According to the equation (3), the operating roll angle Rm (deg) is calculated by adding the roll angle portion (Tl × K3) (K3 is a coefficient) proportional to the lean torque Tl generated by the weight shift to the calculated roll angle R_a. It is made to obtain as a value. In this way, the operating roll angle Rm has a term (Tl × K3) that directly reacts to the weight movement operation of the rider 28. A feeling of maneuvering in which the vehicle body 46 reacts and responds directly is obtained, and the uncomfortable feeling that the reaction to the weight shifting operation is dull is eliminated, and the sense of roll motion in the model motorcycle 30 is improved.
[0045]
At this time, the yaw rate Yaw as the current yaw data supplied from the control circuit 18 to the CGI generator 23 is not the yaw rate calculated from the operating roll angle Rm, but the yaw rate calculated from the calculated roll angle R_a. That is, the yaw rate Yaw (deg / sec) is calculated by the following equation (4) as a function f of the calculated roll angle R_a (step S5).
[0046]
Yaw = f (R_a) (4)
The actual value of the yaw rate Yaw can be calculated by the following equation (5), where the coefficient is g and the host vehicle speed (vehicle speed) is V (m / sec).
[0047]
Yaw = {g × tan (R_a)} / V (5)
From the yaw rate Yaw and the vehicle speed V, the turning radius Rr of the model motorcycle 30 can be easily obtained as Rr = V / Yaw as is well known. In the model motorcycle 30, when the vehicle speed V is obtained, the generated acceleration G can be obtained by integrating every cycle time S_time. The generated acceleration G can be calculated as G = (engine torque × gear ratio−brake braking force) / vehicle weight (including the weight of the rider 28). In this case, the engine torque can be obtained from the engine characteristics as a torque corresponding to the throttle opening degree by the throttle grip 63 and the engine speed. The gear ratio is obtained from the gear position and sprocket ratio known from the gear position switch 104. The brake braking force is determined based on the brake force characteristics (brake pressure and brake force) based on the output of the front brake pressure sensor 98 corresponding to the operation of the front brake lever 97 and the output of the rear brake pressure sensor 100 corresponding to the operation of the rear brake pedal 99. Force correspondence). From the generated acceleration G thus obtained, the vehicle speed V can be obtained as V = 1 vehicle speed before one cycle time + G × S_time × 9.8 (m / s).
[0048]
By rotating the image of the landscape including the traveling path on the display 24 in accordance with the turning radius Rr and the yaw rate Yaw described above, the rider 28 of the model two-wheeled vehicle 30 obtains a turning sensation that is very close to the turning sensation in the actual vehicle. Can do.
[0049]
In this case, only the calculated roll angle R_a contributes to the calculation of the turning of the image. Therefore, the maneuverability of the riding simulation apparatus 10, that is, the turning by the yaw rate Yaw, and the roll feeling given to the rider 28, that is, the operating roll angle. It becomes possible to adjust Rm separately, and it becomes easy to adjust maneuverability and roll feeling. More specifically, for example, the coefficients K1, K2, and g are determined so that the yaw rate Yaw related to the maneuverability is optimized according to weight shift, steering operation, vehicle speed, etc., and then the sense of roll motion is The coefficient K3 can be determined separately according to the vehicle speed V, for example, so as to be optimal.
[0050]
【The invention's effect】
As described above, according to the present invention, the roll angle (calculated roll angle) continuously calculated from the steering torque and the lean torque every predetermined time (the calculated roll angle) is a value proportional to the lean torque related to the weight shift (weight). Since the roll motion command value is synthesized by combining the roll angle for movement, it is possible to give a roll motion that also takes into account the centrifugal force. As a result, the model motorcycle is turned to the pilot of the model motorcycle. At the time of maneuvering, the effect of being able to give a roll motion very close to the sense of turning maneuvering a real vehicle is achieved.
[0051]
In other words, an effect is achieved that, in practice, the model two-wheeled vehicle that is not turning is able to cause the operator of the model two-wheeled vehicle to experience a roll feeling related to centrifugal force in a pseudo manner.
[0052]
And, when calculating the yaw rate related to the video related to the turning maneuvering performance, the roll angle that directly responds to the weight shift is ignored, and the calculation is performed only according to the calculated roll angle. The effect that sex and a roll feeling can be adjusted separately can be achieved.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an overall configuration of an embodiment of the present invention.
FIG. 2 is a rear view of the apparatus of FIG. 1;
FIG. 3 is an electric circuit block diagram of the apparatus shown in FIG. 1;
FIG. 4 is a flowchart for explaining roll motion calculation.
FIGS. 5A and 5B are diagrams for explaining a model motorcycle according to the related art, in which FIG. 5A is a schematic plan view for explaining yaw motion, and FIG. 5B is for explaining roll motion; FIG. 5C is a schematic rear view, and FIG. 5C is a schematic side view for explaining pitch movement.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Riding simulation apparatus 12 ... Control mechanism 16 ... Motion unit part 18 ... Control circuit 23 ... CGI generator 24 ... Display 25 ... Display apparatus 28 ... Rider 30 ... Model motorcycle 46 ... Vehicle body 56 ... Roll shaft 58 ... Roll motor 60 ... Handle 62 ... Steering motor 64 ... Rotating shaft 94 ... Handle torque sensor 96 ... Lean torque sensor R_a ... Calculated roll angle Rm ... Acting roll angle

Claims (2)

In a motorcycle riding simulation device that simulates the running state based on the operation of the model motorcycle by the operator,
A handle torque sensor for detecting a steering torque according to the handle operation of the operator;
A lean torque sensor for detecting a lean torque according to the weight shift of the operator;
A roll rate calculating means for calculating a roll rate from the detected steering torque and the detected lean torque;
Roll angle calculating means for calculating the roll angle of the model motorcycle by integrating the calculated roll rate with time;
In accordance with a roll motion command value, roll motion imparting means for tilting the model motorcycle in the vehicle width direction to impart roll motion;
A rolling motion command value calculating means for calculating the roll motion command value by combining a value proportional to only the lean torque with the roll angle. The apparatus of claim 1.
Having a yaw rate calculating means,
A riding simulation apparatus for a motorcycle, wherein a yaw rate is calculated according to the roll angle.

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