JP3828991B2 - 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. 4-51078, 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]
[Problems to be solved by the invention]
By the way, when an actual motorcycle turns on an actual road surface and passes a road surface having a different coefficient of friction such as a wet manhole, a movement in the yaw direction is felt in addition to the movement of the steering wheel and roll. In this case, since there is a time difference between the movement of the steering wheel and the roll in practice, the rider feels the movement of the front wheel and the rear wheel, respectively.
[0005]
The motorcycle riding simulation apparatus according to the above-described conventional technology includes a steering motor, a roll motor, and a yaw motor for reproducing the movement of the steering wheel, the movement of the roll, and the movement of the yaw direction, respectively. Even when the vehicle passes through road surfaces having different friction coefficients, such as wet manholes, the behavior at that time can be appropriately reproduced.
[0006]
However, while such behavior can be appropriately reproduced, the conventional motorcycle riding simulation apparatus has a problem that it is expensive. Therefore, as a result of diligent study to reduce the cost, it was found that the yaw motor related to the yaw motion that can be almost covered by the video expression should be reduced.
[0007]
However, when the number of yaw motors is reduced, a new problem arises as to how to give the model motorcycle the yaw movement (yaw movement) when passing through a wet manhole or the like while turning on the road surface.
[0008]
The present invention has been made in view of such problems, and in a model motorcycle having no mechanical structure for yaw movement, the coefficient of friction on the road surface is different during simulated turning while viewing the image. An object of the present invention is to provide a riding simulation apparatus for a two-wheeled vehicle capable of giving a model two-wheeled vehicle operator a yaw motion generated when passing through a place in a pseudo and appropriate manner.
[0009]
[Means for Solving the Problems]
The present invention, for example, as shown in the drawings,
In the motorcycle riding simulation device, based on the operation of the model motorcycle by the operator, the traveling road is displayed as an image on the display device, and the driving state is simulated.
A steering motor that gives the handle a rotation angle corresponding to the handle operation of the operator;
A roll motor that inclines the model motorcycle in a roll direction corresponding to the weight shift amount of the operator;
Motor control means for controlling the steering motor and the roll motor according to the handle operation of the operator, the weight shift amount and the road surface condition,
The motor control means has a time delay after changing the rotation angle by the steering motor when detecting that the model motorcycle passes through different parts of the frictional resistance on the road surface during turning. The roll motor is rotationally driven by a certain amount.
[0010]
According to this invention, when the model two-wheeled vehicle is turning on a curved road by an operator's operation, the motor control means detects that the model two-wheel vehicle passes through different portions of the friction resistance on the road surface. After changing the rotation angle by the motor, the roll motor is rotated by a certain amount with a time delay.
[0011]
This gives the front and rear wheels a sense of sliding outward in the turning direction, and by providing a time difference between the two movements, the front and rear wheels can separately give a sense of passing through different points of friction coefficient, which results in The movement of the yaw will be reproduced sensuously.
[0012]
[Means for Solving the Problems]
In this case, time delay, but it may also be configured to start the rotation of the roll motor after a predetermined time has elapsed from the time when to start the change of the rotation angle by the steering motor. Alternatively , the roll motor may be gradually driven to rotate immediately after the change of the rotation angle by the steering motor is started.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0014]
FIG. 1 is a schematic configuration explanatory diagram of a two-wheeled vehicle riding simulation apparatus 10 according to this embodiment.
[0015]
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.
[0016]
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.
[0017]
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.
[0018]
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.
[0019]
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.
[0020]
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.
[0021]
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.
[0022]
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.
[0023]
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.
[0024]
The handle 60 of the model motorcycle 30 is directly connected to a handle torque sensor (handle operation amount detecting means) 94 and a rotating shaft (also referred to as a steer shaft) 64 of the steering motor 62, and the control circuit 18 controls the handle torque sensor 94. Based on the output signal, a rotation angle corresponding to the turning operation of the handle 60 of the rider 28 is given via the steering motor 62.
[0025]
The drive mechanism 32 includes a pitch motor 50, a roll motor 58 and a steering motor 62.
[0026]
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.
[0027]
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.
[0028]
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
[0029]
Information of the model motorcycle 30 is transmitted from the control circuit 18 that also functions as motor control means of the steering motor 62, the roll motor 58, and the pitch motor 50 to the CGI generator 23 that constitutes the display device 25. An image corresponding to information on the model motorcycle 30 is displayed on the display 24.
[0030]
Next, the operation of the riding simulation apparatus 10 configured as described above will be described.
[0031]
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.
[0032]
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 a lean torque sensor 96 functioning as a weight moving amount detection sensor, and an output signal thereof is sent to the control circuit 18.
[0033]
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.
[0034]
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.
[0035]
Further, 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 TD (see FIG. 2) and cornering. The behavior during (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 rotation angle in the direction is given to the handle 60, and the same steering feeling as that of the actual vehicle is realized.
[0036]
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.
[0037]
Next, a method of reproducing the steering feeling according to the main part of the present invention when passing through a wet manhole which is a slippery road surface, for example, a portion having a different friction coefficient on the road surface during turning by the model motorcycle 30. This will be described in detail with reference to the flowchart shown in FIG. Note that the control subject of this flowchart is the control circuit 18.
[0038]
The control circuit 18 stores a course scenario in which the model motorcycle 30 travels, and the model motorcycle 30 travels in a virtual space based on the course scenario. The control circuit 18 determines the virtual space of the model motorcycle 30 based on the operation amount of the throttle grip 63, the handle 60, the front brake lever 97, the rear brake pedal 99, the gear shift pedal 103, and the like of the rider 28 and the characteristics such as the engine rotation characteristics. The coordinates are calculated for each cycle time (also simply referred to as a cycle) Ts, and in this embodiment, every 33 ms according to the control equation. Based on the calculated coordinates, the CGI generator 23 displays the traveling scenery on the display 24 as an image.
[0039]
And the trigger which means having passed the variable in a control formula for every specific coordinate is generated, Based on this trigger, for example, the behavior of the passage of the wet manhole during turning is reproduced.
[0040]
Therefore, first, it is assumed that the model motorcycle 30 is currently turning left (turning left) in the intersection. In this case, a setting file for reproducing the behavior of the wet manhole passing during turning is read at a position immediately before entering the intersection (step S1).
[0041]
Next, the total motion amount Small (deg) of the steering wheel and the total motion amount Rmall (deg) of the roll when passing through the wet manhole are read from the read setting file, and the steering which constitutes the model motorcycle 30 every cycle Ts. A minute handle movement amount ΔS (deg / sec) and a minute roll movement amount ΔR (deg / sec) are calculated as command values to be given to the motor 62 and the roll motor 58 (step S2).
[0042]
The total movement amount Small of the steering wheel and the total movement amount Rmall of the roll can be changed depending on the turning radius and the turning speed at the time of left turn. For example, if the order is several degrees (deg), the handle is wet during turning. It has been confirmed that the behavior when passing through a manhole can be reproduced. Then, the cycle time Ts is multiplied by the cycle time Ts by dividing the total motion amount Small of the handle by a predetermined time (also referred to as the steering shaft operating time) Tsall (ms order) for giving the total amount of motion Small of the handle. The minute handle movement amount ΔS per Ts can be calculated. Similarly, the roll total movement amount Rmall is calculated for a predetermined time (also called roll shaft operation time) Trail for giving the total roll movement amount Rmall. By dividing and multiplying by the cycle time Ts, the minute roll movement amount ΔR per cycle Ts can be calculated.
[0043]
That is, the minute handle movement amount ΔS and the minute roll movement amount ΔR can be calculated by the following equations (1) and (2), respectively.
[0044]
ΔS = (Small / Tsall) × Ts (1)
ΔR = (Rmall / Tall) × Ts (2)
In order to facilitate understanding of the description of the processing after step S3, an operation example in the case where the actual motorcycle 116 passes through a wet manhole during a turn will be described with reference to FIG. FIG. 5 is a plan view of an actual motorcycle 116 represented by only the front wheels 112 and the rear wheels 114.
[0045]
In the turning state of the motorcycle 116 shown in FIG. 5A, when the front wheel 112 approaches the manhole 110 as shown in FIG. 5B, the friction coefficient of the road surface becomes small. Is turned outward by the handle motor 62 to give the sensation that the front wheel 112 slides outward in the turning direction. While the front wheel 112 passes through the manhole 110, the steering angle is controlled so as to gradually decrease. Next, while the rear wheel 114 passes through the manhole 110, the roll angle gradually increases, giving the sensation that the rear wheel 114 slides outward in the turning direction.
[0046]
Thereafter, when the rear wheel 114 shown in FIG. 5C passes the manhole 110, the motorcycle 116 has a constant steering shaft turning angle and roll angle.
[0047]
Prior to the description of the processing from step S3 onward, the waveform diagram of FIG. 6 shows the processing for giving the model motorcycle 30 the behavior of the motorcycle 116 that is turning while passing through the wet manhole 110 described with reference to FIG. Will be described in a general manner.
[0048]
At the time point t0 on the time axis in FIG. 6 (a), the operation of FIG. 6 (b) is started when the wet manhole is reached during turning with the steer angle (the turning angle of the handle 60) Sm0 and the roll angle Rm0. A trigger Strig occurs.
[0049]
As a result, the steering motor 62 is driven to give the handle 60 a total movement amount Small of the handle 60 corresponding to a predetermined steering movement operating time Tsall, as shown in FIG. The handle 60 is cut outward in the turning direction.
[0050]
Then, at time t2 in the middle of moving the handle 60 outward, the roll motor 58 is driven to start tilting the vehicle body 46 further inward in the rotational direction from the roll angle Rm0. Next, after the behavior of the steering is settled at time t3, the movement corresponding to the total movement amount Rmall of the roll is ended at time t4 when the roll shaft operation time Trail is elapsed. Accordingly, the roll behavior starts at time t2 after the start delay time ta has elapsed from the start time t1 of the steering behavior, and ends at time t4 after the arrival delay time tb has elapsed from the end time t3 of the steering behavior. Is controlled.
[0051]
In this way, when the vehicle approaches the wet manhole 110 during turning, first, the steering wheel 60 is turned outward in the turning direction, and thus the front wheel 112 is felt to slide outward, and then the roll angle R_a of the vehicle body increases. This makes it possible to feel the rear wheel sliding outward. Thereby, a feeling of yaw motion can be obtained in a pseudo manner. Furthermore, this feeling is further strengthened by turning the handle 60 in the direction opposite to the turning direction.
[0052]
In FIG. 6, the symbol n_s_t is the total number of steering controls for causing the minute handle movement amount ΔS performed every cycle time Ts to achieve the total movement amount Small of the handle 60, and the operation of the steering shaft The time Tsall can be calculated by the following equation (3) obtained by dividing the time Tsall by the cycle time Ts.
[0053]
n_s_t = Tsall ÷ Ts (3)
Similarly, in FIG. 6, the symbol n_l_t is the total number of roll controls for causing the minute roll motion amount ΔR performed every cycle time Ts to achieve the total motion amount Rmall of the roll. The operation time Trail can be calculated by the following equation (4) obtained by dividing the operation time Trail by the cycle time Ts.
[0054]
n_l_t = Tall ÷ Ts (4)
In FIG. 6, symbol n_d is the number of waiting times in terms of cycle time Ts for achieving the start delay time ta, and is calculated by the following equation (5) obtained by dividing the start delay time ta by the cycle time Ts. Can do.
[0055]
n_d = ta ÷ Ts (5)
The above description is a comprehensive description of the behavior when passing through a wet manhole during turning.
[0056]
Therefore, returning to the flowchart of FIG. 4, it is confirmed from the current position coordinates in the virtual space of the model motorcycle 30 whether or not the vehicle has passed through the wet manhole (step S3). When the start of manhole passage is confirmed, the manhole passage flag m_flag is set to m_flag = 1 (a flag is set) (step S4). If the manhole passage start has not been confirmed (step S3: NO), it is confirmed whether the manhole flag m_flag is m_flag = 1, and the steps S3 and S5 are repeated until the manhole passage start.
[0057]
At the time when the process of step S4 is performed, that is, when the manhole flag m_flag becomes m_flag = 1 (step S5: YES), the operation start trigger Strig {b in FIG. 6 (b) in FIG. ) Reference} occurs.
[0058]
Next, it is confirmed whether the number check variable n is smaller than the total number of steering control times n_s_t (n <n_s_t, step S6). If it is smaller, the steering shaft actuation number n_s is set to the number check variable n (n_s = n, step S7).
[0059]
Next, as shown in the equation (6), the steering angle Sm_r {see FIG. 6 (c)} by the operation of the steering wheel 60 by the rider 28 for turning has a minute steering wheel movement amount ΔS × the number of steering shaft operations n_s. Is added to the steering motor 62 as a command value for the steering angle Sm (step S8).
[0060]
Sm = Sm_r + ΔS × n_s (6)
When the determination in step S6 is not satisfied, the steering shaft operation number n_s is set as the total number of steering control times n_s_t (n_s = n_s_t, step S9), and the processing of equation (6) is performed. Note that the time point when the process of step S8 is performed after the process of step S9 corresponds to the time point t3 of FIG. 6C.
[0061]
Next, it is confirmed whether or not the number check variable n is a value greater than or equal to n_d (n ≧ n_d, step S9).
[0062]
When the determination of step S9 is not satisfied, that is, when n <n_d, the value of n_l is set to 0 (n_1 = 0, step S10), and as shown in the following equation (7), A value obtained by adding ΔR × the number n_l of roll shaft actuations to the roll angle Rm_r {refer to FIG. 6 (d)} based on weight shift or the like is given to the roll motor 58 as a command value for the roll angle Rm (step S11).
[0063]
Rm = Rm_r + ΔR × n_l (7)
While the process of step S10 is being performed, the second term on the right side of equation (7) is a zero value, which corresponds to the period ta in FIG.
[0064]
When the determination result in step S9 is satisfied, that is, when the number check variable n is n ≧ n_d, in other words, at time points after time t2, it is determined whether n− (n_d) is equal to or less than n_l_t. {N− (n_d) <n_l_t, step S12}, and determines whether or not the process between time t2 and time t4 should be continued.
[0065]
If the determination in step S12 is satisfied, n_l = n− (n_d) is set in order to gradually increase the roll angle Rm between time t2 and time t3 (step S13), Process based on. Thereby, the change behavior of the roll angle Rm from the time point t2 to the time point t3 can be reproduced.
[0066]
The time point at which the process of step S12 is no longer established is a time point t4 when the roll angle Rm becomes Rm = Rm_r + Rmall. After this time point t4, n_l = n_l_t (step S14) is set as shown in step S11 of equation (7). Process. After this time t4, the roll angle Rm also does not change.
[0067]
The processing from step S6 to step S11 is performed every cycle time Ts in terms of computer processing. For this reason, update processing n = n + 1 of the number check variable n is performed every cycle time Ts (step S15).
[0068]
Then, it is confirmed whether or not the behavior on the manhole is finished every cycle time Ts (step S16). If the behavior is not finished, the processing from step S6 to step S15 is repeated every cycle time Ts, After the behavior is finished, the manhole flag m_flag is set to m_flag = 0 value, and the process is finished.
[0069]
In the above-described embodiment, when trying to pass through a wet manhole while turning the model motorcycle 30, as shown in FIG. When the vehicle is turned to the outside in the turning direction, the behavior of the front wheel sliding outward is felt, and then the behavior of the rear wheel sliding outward is felt by increasing the roll angle of the vehicle body. As a result, a feeling of yaw movement is obtained in a pseudo manner. Furthermore, this feeling is further strengthened by turning the handle in the direction opposite to the turning direction.
[0070]
FIG. 7 is a waveform diagram for explaining another embodiment of the present invention. When the operation start trigger Strig {the same as FIG. 6B) is generated as shown in FIG. That is, the steer angle Sm starts to move immediately (see FIG. 7B), but at the same time, the roll, that is, the roll angle Rm also starts to move gradually {see FIG. 7C}, and the handle 60 Even if the movement of the roll is stopped after a little time tc after the end of the movement, in other words, the effect similar to that of the above-described embodiment can be achieved by increasing the arrival time delay.
[0071]
【The invention's effect】
As described above, according to the present invention, the motor control means passes through different portions of the frictional resistance on the road surface of the model motorcycle while the model motorcycle is turning on the curved road by the operator's steering operation. When this is detected, the roll motor is rotated by a certain amount with a time delay after the rotation angle of the steering motor is changed.
[0072]
For this reason, it is possible to reproduce the sense that the roll motion moves later in time than the handle, and as a result, the yaw motion can be reproduced sensuously.
[0073]
In this case, time delay, but it may also be configured to start the rotation of the roll motor after a predetermined time has elapsed from the time when to start the change of the rotation angle by the steering motor. Alternatively , the roll motor may be gradually driven to rotate immediately after the change of the rotation angle by the steering motor is started.
[0074]
That is, according to the present invention, in a model two-wheeled vehicle that does not have a mechanical structure for yaw movement, yaw movement that occurs when passing through a portion having a different friction coefficient on the road surface during simulated turning while viewing the image. Can be given to the operator of the model motorcycle in a pseudo and appropriate manner.
[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.
FIG. 5 is a diagram for explaining the behavior when passing through a wet manhole during turning.
6 is a waveform diagram for explaining the operation of the apparatus in the example of FIG. 4; FIG.
FIG. 7 is a waveform diagram used for explaining the operation of another embodiment;
[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 ... Car body 56 ... Roll shaft 58 ... Roll motor 60 ... Handle 62 ... Steering motor 64 ... Rotating shaft 94 ... Handle torque sensor 96 ... Lean torque sensor Sm ... Steer angle Rm ... Roll angle

Claims (3)

In the motorcycle riding simulation device, based on the operation of the model motorcycle by the operator, the traveling road is displayed as an image on the display device, and the driving state is simulated.
A steering motor that gives the handle a rotation angle corresponding to the handle operation of the operator;
A roll motor that inclines the model motorcycle in a roll direction corresponding to the weight shift amount of the operator;
Motor control means for controlling the steering motor and the roll motor according to the handle operation of the operator, the weight shift amount and the road surface condition,
The motor control means has a time delay after changing the rotation angle by the steering motor when detecting that the model motorcycle passes through different parts of the frictional resistance on the road surface during turning. A riding simulation apparatus for a motorcycle, wherein the roll motor is rotationally driven by a certain amount.   2. The motorcycle according to claim 1, wherein the time delay is caused to start the rotational drive of the roll motor after a lapse of a certain time from the start of the change of the rotation angle by the steering motor. Simulation device. In the motorcycle riding simulation device, based on the operation of the model motorcycle by the operator, the traveling road is displayed as an image on the display device, and the driving state is simulated.
A steering motor that gives the handle a rotation angle corresponding to the handle operation of the operator;
A roll motor that inclines the model motorcycle in a roll direction corresponding to the weight shift amount of the operator;
Motor control means for controlling the steering motor and the roll motor according to the handle operation of the operator, the weight shift amount and the road surface condition,
When the motor control means detects that the model two-wheeled vehicle passes through different portions of the frictional resistance on the road surface during turning, immediately after starting the change of the rotation angle by the steering motor, A riding simulation apparatus for a two-wheeled vehicle, wherein a roll motor is gradually rotated.

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