JP4681571B2 - Driving simulator and driving simulation method - Google Patents

Description

  The present invention relates to a vehicle driving simulator and a driving simulation method.

  Vehicle driving simulators such as driving simulators and flight simulators are known. For example, the driving simulator calculates a vehicle reaction (example: exercise) by a computer based on an operation signal from an operation device (example: steering handle, accelerator pedal, brake pedal), and displays the calculation result on an operation panel (example: Output with speedometer, engine speed meter), field of view image, motion by shaking device, and sound.

  Here, if the movement of the vehicle calculated by the computer is reproduced as it is with the movement of the cabin in which the driver gets in, the driver feels the same sensation of movement as when riding the vehicle. However, this method is not practical because it requires a site of the same size as the Japanese land to simulate a round-trip drive in Japan. Thus, although the movement is different from the movement of the vehicle calculated by the computer, the cabin is caused to make a movement that makes the driver feel a movement sensation close to that when riding the vehicle.

  For example, Patent Document 1 simulates a steady low-frequency lateral acceleration that occurs when an automobile turns a curve by rolling a cabin in which the driver enters such that gravity has a lateral component of the driver. A driving simulator is disclosed.

  However, because the cabin motion and the vehicle motion calculated by the computer do not completely match, the driver may feel uncomfortable about the motion. When such a sense of incongruity is large, it is considered that the probability of simulator sickness is high.

  On the other hand, it is known that the acceleration sensation (equilibrium sensation) detected by the vestibular organ is different from the actual acceleration. The vestibular organ includes an otolith organ that detects a sense of translational acceleration regarding translational acceleration including gravity, and a semicircular canal that detects a sense of angular acceleration regarding angular acceleration. A mathematical model that represents the relationship between the actual translational acceleration input to the otolith organ and the translational acceleration sensation output from the otolith organ has been proposed. A mathematical model that represents the relationship between the actual angular acceleration input to the semicircular canal and the angular acceleration sense output from the semicircular canal has been proposed.

Japanese Patent No. 2866118

  An object of the present invention is to provide a driving simulator and a driving simulation method with less discomfort about exercise.

  Hereinafter, means for solving the problem will be described using the numbers used in (Best Mode for Carrying Out the Invention). These numbers are added to clarify the correspondence between the description of (Claims) and (Best Mode for Carrying Out the Invention). However, these numbers should not be used to interpret the technical scope of the invention described in (Claims).

  The driving simulator (1) according to the present invention includes a motion base (3) on which a subject (2) is placed, an operating device (4) attached to the motion base, and an acceleration of a virtual vehicle based on the operation of the operating device. A motion calculation unit (6) for calculating (ac, αc), a target acceleration calculation unit (16) for calculating a target acceleration (aMB, αMB) to be realized by the motion base based on the acceleration, and the target acceleration A servo device (10) for moving the motion base based on the above, an acceleration sensation estimation unit (20, 23), and a target acceleration correction unit (17). The acceleration sensation estimation unit calculates a first acceleration sensation (ac ″, αc ″) that the subject will feel when the motion base moves at the acceleration, using mathematical models (21, 22, 24, 25). The second acceleration sensation (aMB ″, αMB ″) that the subject will feel when the motion base moves at the target acceleration is estimated based on the mathematical model. The target acceleration correcting unit corrects the target acceleration based on the first acceleration sensation and the second acceleration sensation.

  In the present invention, it is possible to reduce the sense of incongruity about the motion felt by the subject by correcting the target acceleration so as to reduce the difference between the first acceleration sensation and the second acceleration sensation.

  The acceleration preferably includes translational acceleration (ac) and angular acceleration (αc). The first acceleration sensation preferably includes a first translational acceleration sensation (ac ″) and a first angular acceleration sensation (αc ″). The target acceleration preferably includes a target translational acceleration (aMB) and a target angular acceleration (αMB). The second acceleration sensation preferably includes a second translational acceleration sensation (aMB ″) and a second angular acceleration sensation (αMB ″). The mathematical model preferably includes a first mathematical model (21, 24) and a second mathematical model (22, 25). The acceleration sensation estimation unit estimates the first translational acceleration sensation from the translational acceleration using the first mathematical model, and estimates the first angular acceleration sensation from the angular acceleration using the second mathematical model. Preferably, the second translational acceleration sensation is estimated from the target translational acceleration using the first mathematical model, and the second angular acceleration sensation is estimated from the target angular acceleration using the second mathematical model.

  Therefore, the estimation accuracy is improved by using different mathematical models for estimation of translational acceleration sensation and angular acceleration sensation.

  The driving simulator preferably includes a comparator (27) and a timer (28). The comparator outputs a timer-on signal to the timer while the difference between the first acceleration sensation and the second acceleration sensation is greater than a predetermined deviation. The timer outputs a correction on signal to the target acceleration correction unit while the input of the timer on signal continues for a predetermined time. It is preferable that the target acceleration correcting unit corrects the target acceleration so that the shift becomes small while the correction on signal is input.

  Therefore, it is possible to prevent the target acceleration from being corrected more frequently than necessary.

  The driving simulator includes a second-order integration unit (18) that calculates the motion-based target position (xMB, θMB) by second-order integration of the target acceleration, a low-pass filter (29), and a speed-center position conversion unit. (30) and a shift amount calculation unit (31) are preferably provided. It is preferable that the motion calculation unit calculates a speed (vc) of the vehicle. The speed-center position conversion unit outputs the motion-based center position (xc) corresponding to the low-frequency component (vc ′) of the speed that has passed through the low-pass filter. The shift amount calculation unit calculates a shift amount (ΔxMB) for bringing the motion base closer to the center position based on the center position and the current position of the motion base (PMBS). Preferably, the servo device moves the motion base so that the motion base takes a position represented by a sum of the target position and the shift amount.

  Therefore, for example, the acceleration at the time of braking of the vehicle can be simulated well.

  The driving simulation method according to the present invention includes an acceleration calculation step of calculating acceleration (ac, αc) of a virtual vehicle based on an operation of an operating device (4) attached to a motion base (3) on which a subject (2) is placed. A target acceleration calculation step of calculating a target acceleration (aMB, αMB) to be realized by the motion base based on the acceleration, and a first acceleration that the subject will feel when the motion base moves at the acceleration A first acceleration sensation estimation step for estimating a sensation (ac ″, αc ″) based on a mathematical model (21, 22, 24, 25); and when the motion base moves at the target acceleration, Second acceleration for estimating a second acceleration sensation (aMB ″, αMB ″) that will be felt based on the mathematical model. A target acceleration correcting step for correcting the target acceleration based on the first acceleration sensation and the second acceleration sensation in the previous period, and a motion base driving step for moving the motion base based on the target acceleration. To do.

  The acceleration preferably includes translational acceleration (ac) and angular acceleration (αc). The first acceleration sensation preferably includes a first translational acceleration sensation (ac ″) and a first angular acceleration sensation (αc ″). The target acceleration preferably includes a target translational acceleration (aMB) and a target angular acceleration (αMB). The second acceleration sensation preferably includes a second translational acceleration sensation (aMB ″) and a second angular acceleration sensation (αMB ″). The mathematical model preferably includes a first mathematical model (21, 24) and a second mathematical model (22, 25). The first acceleration sensation estimation step includes the step of estimating the first translation acceleration sensation from the translation acceleration using the first mathematical model, and the first angular acceleration from the angular acceleration using the second mathematical model. Preferably including a step of estimating a sense. The second acceleration sensation estimation step includes the step of estimating the second translational acceleration sensation from the target translational acceleration using the first mathematical model, and the second angular acceleration from the target angular acceleration using the second mathematical model. It is preferable to include a step of estimating an angular acceleration sensation.

  In the target acceleration correction step, the deviation is reduced only while the state where the deviation between the first acceleration sensation and the second acceleration sensation is greater than a predetermined deviation continues for a predetermined time. It is preferable to correct the target acceleration.

  In the driving simulation method, the target acceleration is second-order integrated to calculate the motion-based target position (xMB, θMB), the speed calculation step to calculate the vehicle speed (vc), Based on the step of obtaining the center position (xc) of the motion base corresponding to the low frequency component (vc ′), and the center position and the current position (PMBS) of the motion base, the motion base is brought close to the center position. It is preferable that the method includes a step of calculating a shift amount (ΔxMB) and a step of moving the motion base so that the motion base takes a position represented by a sum of the target position and the shift amount.

  ADVANTAGE OF THE INVENTION According to this invention, the driving simulator and driving simulation apparatus with little discomfort about an exercise | movement are provided.

  The best mode for carrying out a driving simulator and a driving simulation method according to the present invention will be described below with reference to the accompanying drawings. The driving simulator and driving simulation method according to the present invention will be described below in the case of a driving simulator that simulates driving of a vehicle. The driving simulator and the driving simulation method according to the present invention may be a flight simulator that simulates aircraft operation, a riding simulator that simulates driving of a motorcycle, or a train simulator that simulates driving of a railway vehicle.

(First embodiment)
FIG. 1 shows a driving simulator 1 according to the first embodiment of the present invention. The driving simulator 1 includes a motion base 3 on which the subject 2 gets in, an operation device 4 attached to the motion base 3, an information processing device 5, a simulated visual field generation device 9, and a servo device 10. The information processing apparatus 5 includes a vehicle motion calculation unit 6, a simulated view calculation unit 7, and a motion base target position calculation unit 8. The operating device 4 includes a steering handle, an accelerator pedal, and a brake pedal. The operation device 4 outputs an operation signal indicating the operation of the subject 2 to the vehicle motion calculation unit 6. The vehicle motion calculation unit 6 calculates the motion of the virtual vehicle based on the operation signal. The vehicle motion calculation unit 6 outputs a vehicle position Pc indicating the position of the vehicle to the simulated view calculation unit 7 based on the calculation result, and the vehicle acceleration Ac indicating the vehicle translation speed vc indicating the vehicle translation speed and the vehicle acceleration. Are output to the motion base target position calculation unit 8.

第１成分ｖｃ１は、車両の並進速度の車両の前後方向に沿う成分である。第２成分ｖｃ２は、車両の並進速度の車両の左右方向に沿う成分である。第３成分ｖｃ３は、車両の並進速度の車両の上下方向に沿う成分である。ここで、車両の上下方向は、車両に対して固定され、必ずしも鉛直方向と平行ではない。 The vehicle translation speed vc is a vector having a first component vc1, a second component vc2, and a third component vc3 as shown in the following equation.

The first component vc1 is a component along the vehicle longitudinal direction of the translation speed of the vehicle. The second component vc2 is a component along the left-right direction of the vehicle at the translation speed of the vehicle. The third component vc3 is a component along the vehicle vertical direction of the translation speed of the vehicle. Here, the vertical direction of the vehicle is fixed with respect to the vehicle and is not necessarily parallel to the vertical direction.

並進加速度第１成分ａｃ１は、車両の並進加速度の車両の前後方法に沿う成分である。並進加速度第２成分ａｃ２は、車両の並進加速度の車両の左右方向に沿う成分である。並進加速度第３成分ａｃ３は、車両の並進加速度の車両の上下方向に沿う成分である。角加速度第１成分αｃ１は、車両の角加速度の車両のロール方向に沿う成分である。角加速度第２成分αｃ２は、車両の角加速度の車両のピッチ方向に沿う成分である。角加速度第３成分αｃ３は、車両の角加速度の車両のヨー方向に沿う成分である。 As shown in the following equation, the vehicle acceleration Ac includes a translation acceleration first component ac1, a translation acceleration second component ac2, a translation acceleration third component ac3, an angular acceleration first component αc1, and an angular acceleration second component. This is a vector having αc2 and a third angular acceleration component αc3.

The translational acceleration first component ac1 is a component along the vehicle longitudinal method of the translational acceleration of the vehicle. The translational acceleration second component ac2 is a component of the translational acceleration of the vehicle along the left-right direction of the vehicle. The translational acceleration third component ac3 is a component along the vehicle vertical direction of the translational acceleration of the vehicle. The angular acceleration first component αc1 is a component along the vehicle roll direction of the angular acceleration of the vehicle. The angular acceleration second component αc2 is a component along the vehicle pitch direction of the angular acceleration of the vehicle. The angular acceleration third component αc3 is a component along the yaw direction of the vehicle in the angular acceleration of the vehicle.

  The simulated visual field calculation unit 7 generates a simulated visual field signal indicating a visual field image to be shown to the subject 2 based on the vehicle position Pc, and outputs the simulated visual field signal to the simulated visual field generator 9. The simulated visual field generator 9 displays a visual field image on the subject 2 based on the simulated visual field signal. The view image is an image of the view of the driver of the vehicle. Therefore, the simulated visual field generating device 9 gives the subject 2 a visual stimulus that the driver of the vehicle will feel.

  The servo device 10 includes six actuators. A drive shaft 10 a of each actuator is connected to the motion base 3. The servo device 10 causes the motion base 3 to move with 6 degrees of freedom. The servo device 10 outputs the motion base detection position PMBS indicating the current position of the motion base 3 and the motion base detection speed VMBS indicating the current speed of the motion base 3 to the motion base target position calculation unit 8.

  The motion base target position calculation unit 8 is a motion base target indicating a target position to be taken by the motion base 3 based on the vehicle translation speed vc, the vehicle acceleration Ac, the motion base detection position PMBS, and the motion base detection speed VMBS. The position PMB * is calculated and output to the servo device 10. The servo device 10 moves the motion base 3 based on the motion base target position PMB *. Therefore, the motion base 3 gives the subject 2 the motion stimulus that the driver of the vehicle will feel.

  The operation performed by the subject 2, the visual stimulus, and the motion stimulus are associated with each other. Therefore, the subject 2 feels as if he is actually in the vehicle.

  FIG. 2 shows the servo device 10. The servo device 10 includes a coordinate conversion unit 11, a control unit 12, a drive unit 13, a position detector 14, and a differentiation unit 15.

  The motion base target position PMB * is input to the coordinate conversion unit 11. The motion base target position PMB * includes a first target position along the front-rear direction of the motion base 3, a second target position along the left-right direction of the motion base 3, and a third target position along the up-down direction of the motion base 3. It is a vector having a first target angle indicating the roll angle of the motion base 3, a second target angle indicating the pitch angle of the motion base 3, and a third target angle indicating the yaw angle of the motion base 3. Here, the vertical direction of the motion base 3 is fixed with respect to the motion base 3 and is not necessarily parallel to the vertical direction.

  The coordinate conversion unit 11 converts the motion base target position PMB * into the drive shaft target position PA * based on a predetermined conversion rule, and outputs it to the control unit 12. The drive shaft target position PA * is a vector indicating the positions of the six drive shafts 10a. The position detector 14 detects the current positions of the six drive shafts 10a, and outputs the drive shaft detection position PAS as a vector indicating these to the coordinate conversion unit 11 and the control unit 12. The control unit 12 moves the six actuators of the drive unit 13 so that the drive shaft detection position PAS matches the drive shaft target position PA *. The coordinate conversion unit 11 converts the drive shaft detection position PAS into the motion base detection position PMBS based on a predetermined conversion rule, and outputs it to the motion base target position calculation unit 8 and the differentiation unit 15. The motion base detection position PMBS includes a first detection position along the front-rear direction of the motion base 3, a second detection position along the left-right direction of the motion base 3, a third detection position along the vertical direction of the motion base 3, and a motion It is a vector having a first detection angle indicating the roll angle of the base 3, a second detection angle indicating the pitch angle of the motion base 3, and a third detection angle indicating the yaw angle of the motion base 3. The differentiating unit 15 differentiates the motion base detection position PMBS to calculate the motion base detection speed VMBS and outputs it to the motion base target position calculation unit 8. The motion base detection speed VMBS includes a first detection speed along the longitudinal direction of the motion base 3, a second detection speed along the horizontal direction of the motion base 3, a third detection speed along the vertical direction of the motion base 3, and a motion This is a vector having a first detection angular velocity indicating the roll angular velocity of the base 3, a second detection angular velocity indicating the pitch angular velocity of the motion base 3, and a third detection angular velocity indicating the yaw angular velocity of the motion base 3. A unit including the coordinate conversion unit 11 and the position detector 14 may be called a position detector that detects the current position of the motion base 3. A unit including the coordinate conversion unit 11, the position detector 14, and the differentiation unit 15 may be called a speed detector that detects the current speed of the motion base 3.

  FIG. 3 shows the motion base target position calculation unit 8. The motion base target position calculation unit 8 includes a target acceleration calculation unit 16, a target acceleration correction unit 17, a second-order integration unit 18, an adder 19, an acceleration sensation estimation unit 20, an acceleration sensation estimation unit 23, and a sense of discomfort. An estimation unit 26, a comparator 27, a timer 28, a low-pass filter 29, a speed-center position conversion unit 30, and a shift amount calculation unit 31 are provided.

車両角加速度αｃは、下記式に示すように、角加速度第１成分αｃ１と、角加速度第２成分αｃ２と、角加速度第３成分αｃ３とを有するベクトルである。

The vehicle acceleration Ac is divided into a vehicle translation acceleration ac and a vehicle angular acceleration αc, and is input to the target acceleration calculation unit 16 and the acceleration sensation estimation unit 23. The vehicle translational acceleration ac is a vector having a translational acceleration first component ac1, a translational acceleration second component ac2, and a translational acceleration third component ac3, as shown in the following equation.

The vehicle angular acceleration αc is a vector having a first angular acceleration component αc1, a second angular acceleration component αc2, and a third angular acceleration component αc3, as shown in the following equation.

  The target acceleration calculation unit 16 includes a motion base position limiter value PL indicating a restriction on the position of the motion base 3, a motion base speed limiter value VL indicating a restriction on the speed of the motion base 3, and an acceleration of the motion base 3. A motion base acceleration limiter value AL indicating the limit, a motion base detection position PMBS, and a motion base detection speed VMBS are input. The target acceleration calculation unit 16 calculates the motion base target translational acceleration aMB that the motion base 3 should realize based on the vehicle translation acceleration ac, and converts the motion base target angular acceleration αMB that the motion base 3 should realize to the vehicle angular acceleration αc. The motion base target translational acceleration aMB and the motion base target angular acceleration αMB are output to the target acceleration correction unit 17. At this time, the target acceleration calculation unit 16 makes the motion base detection speed VMBS fall within the limit related to the motion base speed limiter value VL so that the motion base detection position PMBS falls within the limit related to the motion base position limiter value PL. In addition, the motion base target translational acceleration aMB and the motion base target angular acceleration αMB are calculated so that the motion base target translational acceleration aMB and the motion base target angular acceleration αMB are within the limits related to the motion base acceleration limiter value AL.

目標並進加速度第１成分ａＭＢ１は、モーションベース３が実現すべき目標並進加速度のモーションベース３の前後方向に沿う成分である。目標並進加速度第２成分ａＭＢ２は、モーションベース３が実現すべき目標並進加速度のモーションベース３の左右方向に沿う成分である。目標並進加速度第３成分ａＭＢ３は、モーションベース３が実現すべき目標並進加速度のモーションベース３の上下方向に沿う成分である。 The motion base target translational acceleration aMB is a vector having a target translational acceleration first component aMB1, a target translational acceleration second component aMB2, and a target translational acceleration third component aMB3, as shown in the following equation.

The target translational acceleration first component aMB1 is a component along the front-rear direction of the motion base 3 of the target translational acceleration that the motion base 3 should realize. The target translational acceleration second component aMB2 is a component along the left-right direction of the motion base 3 of the target translational acceleration that the motion base 3 should realize. The target translational acceleration third component aMB3 is a component along the vertical direction of the motion base 3 of the target translational acceleration that the motion base 3 should realize.

目標角加速度第１成分αＭＢ１は、モーションベース３が実現すべき目標角加速度のモーションベース３のロール方向に沿う成分である。目標角加速度第２成分αＭＢ２は、モーションベース３が実現すべき目標角加速度のモーションベース３のピッチ方向に沿う成分である。目標角加速度第３成分αＭＢ３は、モーションベース３が実現すべき目標角加速度のモーションベース３のヨー方向に沿う成分である。 The motion base target angular acceleration αMB is a vector having a target angular acceleration first component αMB1, a target angular acceleration second component αMB2, and a target angular acceleration third component αMB3, as shown in the following equation.

The target angular acceleration first component αMB1 is a component along the roll direction of the motion base 3 of the target angular acceleration that the motion base 3 should realize. The target angular acceleration second component αMB2 is a component along the pitch direction of the motion base 3 of the target angular acceleration to be realized by the motion base 3. The target angular acceleration third component αMB3 is a component along the yaw direction of the motion base 3 of the target angular acceleration to be realized by the motion base 3.

  The target acceleration calculation unit 16 may calculate the motion base target angular acceleration αMB based on the low frequency component of the vehicle translational acceleration ac. In this case, for example, by tilting the motion base 3 to a certain roll angle, it is possible to give the subject 2 a steady translational acceleration in the lateral direction that occurs when the vehicle is running on a curved road.

  The target acceleration correction unit 17 corrects the motion base target translational acceleration aMB as necessary based on the correction algorithm, and corrects the motion base target angular acceleration αMB as necessary. The target acceleration correction unit 17 outputs the corrected motion base target translational acceleration aMB ′ and the corrected motion base target angular acceleration αMB ′ to the second-order integration unit 18 and the acceleration sensation estimation unit 20. The post-correction motion base target translational acceleration aMB 'may be a modification of the motion base target translational acceleration aMB or may be the same as the motion base target translational acceleration aMB. The corrected motion base target angular acceleration αMB ′ may be a modification of the motion base target angular acceleration αMB or may be the same as the motion base target angular acceleration αMB.

修正後目標並進加速度第１成分ａＭＢ１’は、目標並進加速度第１成分ａＭＢ１が必要に応じて修正されたものである。修正後目標並進加速度第２成分ａＭＢ２’は、目標並進加速度第２成分ａＭＢ２が必要に応じて修正されたものである。修正後目標並進加速度第３成分ａＭＢ３’は、目標並進加速度第３成分ａＭＢ３が必要に応じて修正されたものである。 The corrected motion-based target translational acceleration aMB ′ includes a corrected target translational acceleration first component aMB1 ′, a corrected target translational acceleration second component aMB2 ′, and a corrected target translational acceleration third component as shown in the following equation. aMB3 ′.

The corrected target translational acceleration first component aMB1 ′ is obtained by correcting the target translational acceleration first component aMB1 as necessary. The corrected target translational acceleration second component aMB2 ′ is obtained by correcting the target translational acceleration second component aMB2 as necessary. The corrected target translational acceleration third component aMB3 ′ is obtained by correcting the target translational acceleration third component aMB3 as necessary.

修正後目標角加速度第１成分αＭＢ１’は、目標角加速度第１成分αＭＢ１が必要に応じて修正されたものである。修正後目標角加速度第２成分αＭＢ２’は、目標角加速度第２成分αＭＢ２が必要に応じて修正されたものである。修正後目標角加速度第３成分αＭＢ３’は、目標角加速度第３成分αＭＢ３が必要に応じて修正されたものである。 The corrected motion base target angular acceleration αMB ′ includes a corrected target angular acceleration first component αMB1 ′, a corrected target angular acceleration second component αMB2 ′, and a corrected target angular acceleration third component, as shown in the following equation. a vector having αMB3 ′.

The corrected target angular acceleration first component αMB1 ′ is obtained by correcting the target angular acceleration first component αMB1 as necessary. The post-correction target angular acceleration second component αMB2 ′ is obtained by correcting the target angular acceleration second component αMB2 as necessary. The corrected target angular acceleration third component αMB3 ′ is obtained by correcting the target angular acceleration third component αMB3 as necessary.

  The second-order integration unit 18 performs second-order integration on the corrected motion base target translational acceleration aMB ′ to generate a motion base target translation position xMB, and outputs the motion base target translation position xMB to the adder 19. The motion base target translation position xMB is a vector indicating the target translation position (front / rear position, left / right position, vertical position) of the motion base 3. The second-order integration unit 18 performs second-order integration of the corrected motion base target angular acceleration αMB ′ to generate a motion base target angle θMB and outputs it. The motion base target angle θMB is a vector indicating a target angle (roll angle, pitch angle, yaw angle) of the motion base 3.

  The adder 19 adds the shift amount ΔxMB output from the shift amount calculation unit 31 to the motion base target translation position xMB. The shift amount ΔxMB will be described later. A motion base target position PMB * composed of the sum of the motion base target translation position xMB and the shift amount ΔxMB and the motion base target angle θMB is input to the servo device 10.

  The acceleration sensation estimation unit 20 estimates the translational acceleration sensation aMB ″ from the corrected motion-based target translational acceleration aMB ′ using the otolith organ model 21 as a mathematical model representing the otolith organ. The translation acceleration sensation aMB ″ is a sensation that the subject 2 will feel when the motion base 3 performs a translational acceleration motion indicated by the corrected motion base target translational acceleration aMB ′. As shown in FIG. 4, the otolith organ model 21 has a transfer function 32 that removes a high-frequency component and a low-frequency component from the corrected motion-based target translational acceleration aMB ′, and a transfer that removes a component whose power is smaller than a set value. And a function 33. The transfer function 32 is not limited to that shown in FIG. 4 as long as it represents the frequency characteristics of the otolith organ. The transfer function 33 is not limited to that shown in FIG. 4 as long as it represents the dead zone of the otolith organ. The order of the transfer function 32 and the transfer function 33 may be the reverse of the order shown in FIG.

  The acceleration sensation estimation unit 20 estimates the angular acceleration sensation αMB ″ from the corrected motion-based target angular acceleration αMB ′ using the semicircular canal model 22 as a mathematical model representing the semicircular canal. The angular acceleration sensation αMB ″ is a sensation that the subject 2 will feel when the motion base 3 performs the angular acceleration motion indicated by the corrected motion base target angular acceleration αMB ′. As shown in FIG. 5, the semicircular canal model 22 has a transfer function 34 that removes a high-frequency component from the corrected motion-based target angular acceleration αMB ′, a transfer function 35 that removes a low-frequency component, and a power smaller than a set value. And a transfer function 36 for removing components. The transfer function 34 and the transfer function 35 are not limited to those shown in FIG. 5 as long as they represent the frequency characteristics of the semicircular canal. The transfer function 36 is not limited to that shown in FIG. 5 as long as it represents the dead zone of the semicircular canal. The order of the transfer function 34, the transfer function 35, and the transfer function 36 may be any of these six permutations.

  The acceleration sensation estimation unit 23 estimates the translational acceleration sens ac ″ from the vehicle translational acceleration ac using the otolith organ model 24 as a mathematical model representing the otolith organ. The translation acceleration sensation ac ″ is a sensation that the subject 2 will feel when the motion base 3 performs a translational acceleration motion indicated by the vehicle translational acceleration ac. The otolith organ model 24 is the same as the otolith organ model 21 as shown in FIG.

  The acceleration sensation estimation unit 23 estimates the angular acceleration sensation αc ″ from the vehicle angular acceleration αc using the semicircular canal model 25 as a mathematical model representing the semicircular canal. The angular acceleration sensation αc ″ is a sensation that the subject 2 will feel when the motion base 3 performs an angular acceleration motion indicated by the vehicle angular acceleration αc. The semicircular canal model 25 is the same as the semicircular canal model 22 as shown in FIG.

  The otolith organ model 21, the semicircular canal model 22, the otolith organ model 24, and the semicircular canal model 25 may be referred to as a vestibular organ model.

並進加速度感覚第１成分ａＭＢ１’’は、被験者２が感じるであろう並進加速度感覚の前後方向に沿う成分である。並進加速度感覚第２成分ａＭＢ２’’は、被験者２が感じるであろう並進加速度感覚の左右方向に沿う成分である。並進加速度感覚第３成分ａＭＢ３’’は、被験者２が感じるであろう並進加速度感覚の上下方向に沿う成分である。 The translational acceleration sensation aMB ″ has a translational acceleration sensation first component aMB1 ″, a translational acceleration sensation second component aMB2 ″, and a translational acceleration sensation third component aMB3 ″, as shown in the following equation. Is a vector.

The translational acceleration sensation first component aMB1 ″ is a component along the longitudinal direction of the translational acceleration sensation that the subject 2 will feel. The translational acceleration sensation second component aMB2 ″ is a component along the left-right direction of the translational acceleration sensation that the subject 2 will feel. The translational acceleration sensation third component aMB3 ″ is a component along the vertical direction of the translational acceleration sensation that the subject 2 will feel.

角加速度感覚第１成分αＭＢ１’’は、被験者２が感じるであろう角加速度感覚のロール方向に沿う成分である。角加速度感覚第２成分αＭＢ２’’は、被験者２が感じるであろう角加速度感覚のピッチ方向に沿う成分である。角加速度感覚第３成分αＭＢ３’’は、被験者２が感じるであろう角加速度感覚のヨー方向に沿う成分である。 The angular acceleration sensation αMB ″ has an angular acceleration sensation first component αMB1 ″, an angular acceleration sensation second component αMB2 ″, and an angular acceleration sensation third component αMB3 ″, as shown in the following equation. Is a vector.

The angular acceleration sensation first component αMB1 ″ is a component along the roll direction of the angular acceleration sensation that the subject 2 will feel. The angular acceleration sensation second component αMB2 ″ is a component along the pitch direction of the angular acceleration sensation that the subject 2 will feel. The angular acceleration sensation third component αMB3 ″ is a component along the yaw direction of the angular acceleration sensation that the subject 2 will feel.

並進加速度感覚第１成分ａｃ１’’は、被験者２が感じるであろう並進加速度感覚の前後方向に沿う成分である。並進加速度感覚第２成分ａｃ２’’は、被験者２が感じるであろう並進加速度感覚の左右方向に沿う成分である。並進加速度感覚第３成分ａｃ３’’は、被験者２が感じるであろう並進加速度感覚の上下方向に沿う成分である。 The translational acceleration sensation ac ″ includes a translational acceleration sensation first component ac1 ″, a translational acceleration sensation second component ac2 ″, and a translational acceleration sensation third component ac3 ″, as shown in the following equation. Is a vector.

The translational acceleration sensation first component ac1 ″ is a component along the longitudinal direction of the translational acceleration sensation that the subject 2 will feel. The translational acceleration sensation second component ac2 ″ is a component along the left-right direction of the translational acceleration sensation that the subject 2 will feel. The translational acceleration sensation third component ac3 ″ is a component along the vertical direction of the translational acceleration sensation that the subject 2 will feel.

角加速度感覚第１成分αｃ１’’は、被験者２が感じるであろう角加速度感覚のロール方向に沿う成分である。角加速度感覚第２成分αｃ２’’は、被験者２が感じるであろう角加速度感覚のピッチ方向に沿う成分である。角加速度感覚第３成分αｃ３’’は、被験者２が感じるであろう角加速度感覚のヨー方向に沿う成分である。 The angular acceleration sensation αc ″ includes an angular acceleration sensation first component αc1 ″, an angular acceleration sensation second component αc2 ″, and an angular acceleration sensation third component αc3 ″, as shown in the following equation. Is a vector.

The angular acceleration sensation first component αc1 ″ is a component along the roll direction of the angular acceleration sensation that the subject 2 will feel. The angular acceleration sensation second component αc2 ″ is a component along the pitch direction of the angular acceleration sensation that the subject 2 will feel. The angular acceleration sensation third component αc3 ″ is a component along the yaw direction of the angular acceleration sensation that the subject 2 will feel.

並進加速度感覚ａＭＢ’’及び角加速度感覚αＭＢ’’から構成される加速度感覚ＡＭＢ’’は、下記式で表されるベクトルである。

加速度感覚Ａｃ’’は、被験者２が行う操作と模擬視界発生装置９が被験者２に与える視覚刺激とに対応している。加速度感覚ＡＭＢ’’は、モーションベース３が被験者２に与える運動刺激に対応している。 Here, the acceleration sensation Ac ″ composed of the translational acceleration sensation ac ″ and the angular acceleration sensation αc ″ is a vector represented by the following equation.

The acceleration sensation AMB ″ composed of the translational acceleration sensation aMB ″ and the angular acceleration sensation αMB ″ is a vector represented by the following equation.

The acceleration sensation Ac ″ corresponds to an operation performed by the subject 2 and a visual stimulus given to the subject 2 by the simulated visual field generation device 9. The acceleration sensation AMB ″ corresponds to the motion stimulus given to the subject 2 by the motion base 3.

  The discomfort estimator 26 is based on the acceleration sensation AMB ″ (translational acceleration sensation aMB ″ and angular acceleration sensation αMB ″) and the acceleration sensation Ac ″ (angular acceleration sensation ac ″ and angular acceleration sensation αc ″). Thus, it is estimated that the subject 2 feels uncomfortable about the movement. That is, the discomfort estimator 26 calculates the discomfort Err indicating the discomfort regarding the motion that the subject 2 would feel from the acceleration sensation AMB ″ and the acceleration sensation Ac ″. The uncomfortable feeling estimation unit 26 outputs the uncomfortable feeling Err to the target acceleration correcting unit 17 and the comparator 27.

ここで、ｎは２以上の自然数である。 The uncomfortable feeling Err is a vector having a first component e1 to an n-th component en as shown in the following equation.

Here, n is a natural number of 2 or more.

第ｋ成分ｅｋは、一般的に、加速度感覚Ａｃ’’と、加速度感覚ＡＭＢ’’と、加速度感覚誤差ΔＡ’’と、速度感覚∫Ａｃ’’と、速度感覚∫ＡＭＢ’’と、速度感覚誤差∫ΔＡ’’との関数ｆｋで表される。記号Ｔは、転置を意味する。 The k-th component ek of the uncomfortable feeling Err is expressed by the following formula. Here, k is a natural number between 1 and n.

The k-th component ek generally includes acceleration sensation Ac ″, acceleration sensation AMB ″, acceleration sensation error ΔA ″, speed sensation ∫Ac ″, speed sensation ∫AMB ″, and speed sensation. It is represented by a function fk with an error ∫ΔA ″. The symbol T means transposition.

加速度感覚誤差ΔＡ’’は、並進加速度感覚誤差第１成分Δａ１’’と、並進加速度感覚誤差第２成分Δａ２’’と、並進加速度感覚誤差第３成分Δａ３’’と、角加速度感覚誤差第１成分Δα１’’と、角加速度感覚誤差第２成分Δα２’’と、角加速度感覚誤差第３成分Δα３’’とを有するベクトルである。 The acceleration sensation error ΔA ″ is represented by the difference between the acceleration sensation Ac ″ and the acceleration sensation AMB ″ as shown in the following equation.

The acceleration sensory error ΔA ″ includes a translational acceleration sensory error first component Δa1 ″, a translational acceleration sensory error second component Δa2 ″, a translational acceleration sensory error third component Δa3 ″, and an angular acceleration sensory error first. This is a vector having a component Δα1 ″, an angular acceleration sensory error second component Δα2 ″, and an angular acceleration sensory error third component Δα3 ″.

並進速度感覚第１成分ｖｃ１’’は、並進加速度感覚第１成分ａｃ１’’を積分して求められる。並進速度感覚第２成分ｖｃ２’’は、並進加速度感覚第２成分ａｃ２’’を積分して求められる。並進速度感覚第３成分ｖｃ３’’は、並進加速度感覚第３成分ａｃ３’’を積分して求められる。角速度感覚第１成分ωｃ１’’は、角加速度感覚第１成分αｃ１’’を積分して求められる。角速度感覚第２成分ωｃ２’’は、角加速度感覚第２成分αｃ２’’を積分して求められる。角速度感覚第３成分ωｃ３’’は、角加速度感覚第３成分αｃ３’’を積分して求められる。 As shown in the following equation, the speed sensation '' Ac ″ includes a translation speed sensation first component vc1 ″, a translation speed sensation second component vc2 ″, a translation speed sensation third component vc3 ″, and an angular velocity sensation. This is a vector having a first component ωc1 ″, an angular velocity sense second component ωc2 ″, and an angular velocity sense third component ωc3 ″.

The translational speed sensation first component vc1 ″ is obtained by integrating the translational acceleration sensation first component ac1 ″. The translational speed sensation second component vc2 ″ is obtained by integrating the translational acceleration sensation second component ac2 ″. The translational speed sensation third component vc3 ″ is obtained by integrating the translational acceleration sensation third component ac3 ″. The angular velocity sense first component ωc1 ″ is obtained by integrating the angular acceleration sense first component αc1 ″. The angular velocity sense second component ωc2 ″ is obtained by integrating the angular acceleration sense second component αc2 ″. The angular velocity sense third component ωc3 ″ is obtained by integrating the angular acceleration sense third component αc3 ″.

並進速度感覚第１成分ｖＭＢ１’’は、並進加速度感覚第１成分ａＭＢ１’’を積分して求められる。並進速度感覚第２成分ｖＭＢ２’’は、並進加速度感覚第２成分ａＭＢ２’’を積分して求められる。並進速度感覚第３成分ｖＭＢ３’’は、並進加速度感覚第３成分ａＭＢ３’’を積分して求められる。角速度感覚第１成分ωＭＢ１’’は、角加速度感覚第１成分αＭＢ１’’を積分して求められる。角速度感覚第２成分ωＭＢ２’’は、角加速度感覚第２成分αＭＢ２’’を積分して求められる。角速度感覚第３成分ωＭＢ３’’は、角加速度感覚第３成分αＭＢ３’’を積分して求められる。 As shown in the following equation, the speed sensation ∫AMB ″ includes a translation speed sensation first component vMB1 ″, a translation speed sensation second component vMB2 ″, a translation speed sensation third component vMB3 ″, and an angular velocity sensation. This is a vector having a first component ωMB1 ″, an angular velocity sense second component ωMB2 ″, and an angular velocity sense third component ωMB3 ″.

The translational velocity sensation first component vMB1 ″ is obtained by integrating the translational acceleration sensation first component aMB1 ″. The translational speed sensation second component vMB2 ″ is obtained by integrating the translational acceleration sensation second component aMB2 ″. The translational speed sensation third component vMB3 ″ is obtained by integrating the translational acceleration sensation third component aMB3 ″. The angular velocity sense first component ωMB1 ″ is obtained by integrating the angular acceleration sense first component αMB1 ″. The angular velocity sense second component ωMB2 ″ is obtained by integrating the angular acceleration sense second component αMB2 ″. The angular velocity sense third component ωMB3 ″ is obtained by integrating the angular acceleration sense third component αMB3 ″.

速度感覚誤差∫ΔＡ’’は、並進速度感覚誤差第１成分Δｖ１’’と、並進速度感覚誤差第２成分Δｖ２’’と、並進速度感覚誤差第３成分Δｖ３’’と、角速度感覚誤差第１成分Δω１’’と、角速度感覚誤差第２成分Δω２’’と、角速度感覚誤差第３成分Δω３’’とを有するベクトルである。 The speed sense error ∫ΔA ″ is represented by the difference between the speed sense ∫Ac ″ and the speed sense ∫AMB ″ as shown in the following equation.

The velocity sense error ∫ΔA ″ includes a translation velocity sense error first component Δv1 ″, a translation velocity sense error second component Δv2 ″, a translation velocity sense error third component Δv3 ″, and an angular velocity sense error first. This is a vector having a component Δω1 ″, an angular velocity sense error second component Δω2 ″, and an angular velocity sense error third component Δω3 ″.

違和感閾値Ｅｔｈの第ｋ成分ｅｔｈｋは、違和感Ｅｒｒの第ｋ成分ｅｋについての閾値である。比較器２７は、第ｋ成分ｅｋの大きさが第ｋ成分ｅｔｈｋより大きいとき、そのことを示すタイマオン信号をタイマ２８に出力する。比較器２７は、第ｋ成分ｅｋの大きさが第ｋ成分ｅｔｈｋより大きくないとき、タイマオン信号を出力しない。 The comparator 27 receives a discomfort threshold Eth indicating a threshold of the discomfort Err. The discomfort threshold Eth is a vector having a first component eth1 to an nth component ethn, as shown in the following equation.

The k-th component ethk of the uncomfortable feeling threshold Eth is a threshold for the k-th component ek of the unnatural feeling Err. When the magnitude of the k-th component ek is larger than the k-th component ethk, the comparator 27 outputs a timer-on signal indicating that to the timer 28. The comparator 27 does not output a timer-on signal when the k-th component ek is not larger than the k-th component ethk.

The timer 28 includes first to n-th timers corresponding to the first component e1 to the n-th component en. The timer 28 is input with a sense of discomfort duration threshold value Tth. The discomfort duration threshold Tth is a vector having a first discomfort duration threshold t1 to an nth discomfort duration threshold tn, as shown in the following equation.

  When the timer-on signal indicating that the magnitude of the k-th component ek is larger than the k-th component ethk is input, the timer 28 monitors the input duration of the timer-on signal with the k-th timer corresponding to the k-th component ek. . While the duration of the timer-on signal for the k-th component ek exceeds the k-th discomfort duration threshold value tk, the timer 28 outputs a correction-on signal indicating this to the target acceleration correction unit 17. When the input of the timer-on signal indicating that the magnitude of the k-th component ek is larger than the k-th component ethk is interrupted, the timer 28 stops the output of the modified on-signal and resets the k-th timer.

  The target acceleration correction unit 17 reduces the magnitude of the k-th component ek only while the correction on signal for the k-th component ek is input, so that the motion-based target translational acceleration aMB and the motion-based target angular acceleration αMB are reduced. Or both are corrected based on the correction algorithm. The target acceleration correcting unit 17 preferably corrects the correction algorithm based on the content of the correction and the change in the uncomfortable feeling Err when the correction is made. In this case, the correction performed by the target acceleration correcting unit 17 is optimized as the driving simulator 1 is used.

Next, operations of the comparator 27, the timer 28, and the target acceleration correcting unit 17 when the uncomfortable feeling Err is expressed by the following equation will be described.

  The uncomfortable feeling Err represented by the above formula has a first component e1 to a ninth component e9. The first component e1 is a translational acceleration sensory error first component Δa1 ″. The second component e2 is a translational acceleration sensory error second component Δa2 ″. The third component e3 is a translational acceleration sensory error third component Δa3 ″. The fourth component e4 is an angular acceleration sensory error first component Δα1 ″. The fifth component e5 is an angular acceleration sensory error second component Δα2 ″. The sixth component e6 is an angular acceleration sensory error third component Δα3 ″. The seventh component e7 is a difference between the product of the angular velocity sense first component ωc1 ″ and the angular velocity sense second component ωc2 ″ and the product of the angular velocity sense first component ωMB1 ″ and the angular velocity sense second component ωMB2 ″. is there. The eighth component e8 is a difference between the product of the angular velocity sense second component ωc2 ″ and the angular velocity sense third component ωc3 ″ and the product of the angular velocity sense second component ωMB2 ″ and the angular velocity sense third component ωMB3 ″. is there. The ninth component e9 is a difference between the product of the angular velocity sense third component ωc3 ″ and the angular velocity sense first component ωc1 ″ and the product of the angular velocity sense third component ωMB3 ″ and the angular velocity sense first component ωMB1 ″. is there. An error in the product of the angular velocity around the first axis and the angular velocity around the second axis perpendicular to the first axis is considered to greatly affect the sense of discomfort in motion.

  When the magnitude of the translational acceleration sensory error first component Δa1 ″ as the first component e1 is larger than the first component eth1, the comparator 27 outputs a timer-on signal indicating that to the timer 28.

  The timer 28 outputs a correction ON signal related to the first component e1 to the target acceleration correction unit 17 while such a timer ON signal is continuously input exceeding the first discomfort duration threshold value t1.

  The target acceleration correction unit 17 corrects the translation acceleration sensory error first component Δa1 ″ so as to satisfy aMB1 ′> aMB1 while the correction on signal related to the first component e1 is input. When the translational acceleration sensory error first component Δa1 ″ is negative, correction is performed so that aMB1 ′ <aMB1.

  In the driving simulator 1, the target acceleration correction unit 17, the acceleration sensation estimation unit 20, the acceleration sensation estimation unit 23, the uncomfortable feeling estimation unit 26, the comparator 27, and the timer 28 provide a sense of incongruity of the movement felt by the subject 2. Can be kept small.

  It is known that even if the motion stimulus given is significantly different from the visual stimulus or operation, the human will not feel uncomfortable unless the state lasts for a certain period of time. Therefore, by providing the driving simulator 1 with the timer 28, it is possible to prevent the correction by the target acceleration correction unit 17 from being performed more frequently than necessary. Accordingly, it is possible to prevent the corrected motion base target translational acceleration aMB ′ and the corrected motion base target angular acceleration αMB ′ from becoming unstable. When the driving simulator 1 includes the timer 28, the correction range by the target acceleration correction unit 17 can be increased.

  The comparator 27 may output the timer-on signal to the target acceleration correction unit 17 so that the target acceleration correction unit 17 performs correction only while the timer-on signal is input. In this case, if the correction width when the target acceleration correction unit 17 corrects is reduced, the corrected motion base target translational acceleration aMB ′ and the corrected motion base target angular acceleration αMB ′ can be prevented from becoming unstable.

  The target acceleration correction unit 17 may perform correction so that the absolute value of the target acceleration correction unit 17 becomes smaller when the absolute value of the uncomfortable feeling Err is larger than a predetermined threshold value.

  Next, operations of the low-pass filter 29, the speed-center position converting unit 30, and the shift amount calculating unit 31 will be described. The vehicle translation speed vc is input to the low pass filter 29. The low pass filter 29 outputs a low frequency component vc ′ of the vehicle translation speed as a low frequency component of the vehicle translation speed vc to the speed-center position conversion unit 30.

As shown in the following equation, the low-frequency component vc ′ of the vehicle translation speed includes a first component vc1 ′ as a low-frequency component of the first component vc1 and a second component vc2 as a low-frequency component of the second component vc2. And a third component vc3 ′ as a low frequency component of the third component vc3.

センター位置第１成分ｘｃ１は、モーションベース３の前後方向の位置を示す。センター位置第２成分ｘｃ２は、モーションベース３の左右方向の位置を示す。センター位置第３成分ｘｃ３は、モーションベース３の上下方向の位置を示す。 The speed-center position conversion unit 30 outputs a center position xc indicating the center position (translation position) of the motion base 3 corresponding to the low-frequency component vc ′ of the vehicle translation speed based on a predetermined conversion rule. The center position xc is a vector having a center position first component xc1, a center position second component xc2, and a center position third component xc3 as shown in the following equation.

The center position first component xc1 indicates the position of the motion base 3 in the front-rear direction. The center position second component xc2 indicates the position of the motion base 3 in the left-right direction. The center position third component xc3 indicates the vertical position of the motion base 3.

  The shift amount calculation unit 31 calculates the shift amount ΔxMB so that the current position (translation position) of the motion base 3 indicated by the motion base detection position PMBS approaches the center position indicated by the center position xc, and outputs it to the adder 19. The shift amount ΔxMB is a vector indicating the displacement amount of the motion base 3 in the front-rear direction, the left-right direction, and the up-down direction. The shift amount calculation unit 31 preferably suppresses the magnitude of the shift amount ΔxMB or each component of the shift amount ΔxMB to a certain value or less so that the subject 2 does not feel the acceleration caused by the shift amount ΔxMB.

  For example, in order to realize the acceleration at the time of braking with the motion base 3, it is necessary to move the motion base 3 in a greater translational direction backward as the speed of the vehicle before braking is increased. That is, it is necessary to move the motion base 3 rearward in a state where the front portion of the motion base 3 is tilted so as to be lowered vertically downward. In order to increase the amount of movement in this case, the conversion rule used by the speed-center position conversion unit 30 indicates that the center position first component xc1 is the motion base 3 as the speed toward the front of the vehicle indicated by the first component vc1 ′ increases. It is preferable that the center position third component xc3 is set so as to indicate a position closer to the lower side of the motion base 3.

  The acceleration of the motion base 3 approaches the acceleration of the vehicle by the low-pass filter 29, the speed-center position conversion unit 30, and the shift amount calculation unit 31. Therefore, in the driving simulator 1, there is little discomfort about exercise.

FIG. 1 is a block diagram of a driving simulator according to an embodiment of the present invention. FIG. 2 is a block diagram of the servo device of the driving simulator. FIG. 3 is a block diagram of a motion base target position calculation unit of the driving simulator. FIG. 4 shows an otolith organ model. FIG. 5 shows a semicircular canal model.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Driving simulator 2 ... Test subject 3 ... Motion base 4 ... Operation apparatus 5 ... Information processing apparatus 6 ... Vehicle motion calculating part 7 ... Simulated visual field calculating part 8 ... Motion base target position calculating part 9 ... Simulated visual field generating apparatus 10 ... Servo device DESCRIPTION OF SYMBOLS 10a ... Drive shaft 11 ... Coordinate conversion part 12 ... Control part 13 ... Drive part 14 ... Position detector 15 ... Differentiation part 16 ... Target acceleration calculation part 17 ... Target acceleration correction part 18 ... Second order integration part 19 ... Adder 20, DESCRIPTION OF SYMBOLS 23 ... Acceleration sensation estimation part 21, 24 ... Otolith organ model 22, 25 ... Semicircular canal model 26 ... Discomfort estimation part 27 ... Comparator 28 ... Timer 29 ... Low pass filter 30 ... Speed-center position conversion part 31 ... Shift amount calculation part 32, 33, 34, 35, 36 ... transfer function Pc ... vehicle position vc ... vehicle speed translation vc '... low frequency component Ac of vehicle translation speed ... vehicle acceleration ac ... vehicle parallel Advance acceleration αc ... Vehicle angular acceleration PMBS ... Motion base detection position VMBS ... Motion base detection speed PMB * ... Motion base target position PL ... Motion base position limiter value VL ... Motion base speed limiter value AL ... Motion base acceleration limiter value aMB ... Motion Base target translational acceleration αMB ... Motion base target angular acceleration aMB '... Corrected motion base target translational acceleration αMB' ... Corrected motion base target angular acceleration xMB ... Motion base target translational position θMB ... Motion base target angular acceleration AMB "Ac" ... acceleration sensation aMB '', ac '' ... translational acceleration sensation αMB '', αc '' ... angular acceleration sensation PA * ... driving shaft target position PAS ... driving shaft detection position Err ... uncomfortable feeling Eth ... uncomfortable feeling threshold ΔA '' ... acceleration Sensory error ∫Ac '', AMB '' ... speed sensation ∫ΔA '' ... speed sensation error Tth ... uncomfortable duration threshold xc ... center position ΔxMB ... shift amount

Claims (8)

A motion base on which the subject is placed,
An operating device attached to the motion base;
A motion calculation unit for calculating the acceleration of a virtual vehicle based on the operation of the operation device;
A target acceleration calculator for calculating a target acceleration to be realized by the motion base based on the acceleration;
A servo device for moving the motion base based on the target acceleration;
An acceleration sensation estimation unit;
A target acceleration correction unit,
The acceleration sensation estimation unit estimates a first acceleration sensation that the subject will feel when the motion base moves at the acceleration based on a mathematical model, and when the motion base moves at the target acceleration. Estimating a second acceleration sensation that the subject will feel based on the mathematical model;
The target acceleration correcting unit corrects the target acceleration based on the first acceleration sensation and the second acceleration sensation. The acceleration includes translational acceleration and angular acceleration,
The first acceleration sensation includes a first translational acceleration sensation and a first angular acceleration sensation,
The target acceleration includes a target translational acceleration and a target angular acceleration,
The second acceleration sensation includes a second translational acceleration sensation and a second angular acceleration sensation,
The mathematical model includes a first mathematical model and a second mathematical model,
The acceleration sensation estimation unit estimates the first translational acceleration sensation from the translational acceleration using the first mathematical model, and estimates the first angular acceleration sensation from the angular acceleration using the second mathematical model. The second translational acceleration sensation is estimated from the target translational acceleration using the first mathematical model, and the second angular acceleration sensation is estimated from the target angular acceleration using the second mathematical model. Driving simulator. A comparator;
A timer,
The comparator outputs a timer on signal to the timer while a difference between the first acceleration sensation and the second acceleration sensation is larger than a predetermined deviation.
The timer outputs a correction on signal to the target acceleration correction unit while the input of the timer on signal continues beyond a predetermined time,
The driving simulator according to claim 1 or 2, wherein the target acceleration correcting unit corrects the target acceleration so that the deviation is reduced while the correction on signal is input. A second-order integration unit that performs second-order integration of the target acceleration to calculate the motion-based target position;
A low-pass filter,
A speed-center position converter,
A shift amount calculation unit,
The motion calculation unit calculates the speed of the vehicle,
The speed-center position conversion unit outputs the center position of the motion base corresponding to the low frequency component of the speed that has passed through the low-pass filter,
The shift amount calculation unit calculates a shift amount for bringing the motion base closer to the center position based on the center position and the current position of the motion base.
The driving simulator according to any one of claims 1 to 3, wherein the servo device moves the motion base so that the motion base takes a position represented by a sum of the target position and the shift amount. The motion calculation unit of the driving simulator calculates the acceleration of the virtual vehicle based on the operation of the operating device attached to the motion base on which the subject is placed,
A target acceleration calculation unit of the driving simulator calculates a target acceleration to be realized by the motion base based on the acceleration; and
A first acceleration sensation estimation step , wherein the acceleration sensation estimation unit of the driving simulator estimates a first acceleration sensation that the subject will feel when the motion base moves at the acceleration based on a mathematical model;
A second acceleration sensation estimation step, wherein the acceleration sensation estimation unit estimates a second acceleration sensation that the subject will feel when the motion base moves at the target acceleration based on the mathematical model;
Target acceleration correcting section of the driving simulator, and a target acceleration correction step for correcting the target acceleration based on the second acceleration sensation and the first acceleration sensation,
A servo simulation method comprising: a motion base drive step for moving the motion base based on the target acceleration. The acceleration includes translational acceleration and angular acceleration,
The first acceleration sensation includes a first translational acceleration sensation and a first angular acceleration sensation,
The target acceleration includes a target translational acceleration and a target angular acceleration,
The second acceleration sensation includes a second translational acceleration sensation and a second angular acceleration sensation,
The mathematical model includes a first mathematical model and a second mathematical model,
The first acceleration sensation estimation step includes:
The acceleration sensation estimation unit estimating the first translational acceleration sensation from the translational acceleration using the first mathematical model;
The acceleration sensation estimation unit includes estimating the first angular acceleration sensation from the angular acceleration using the second mathematical model;
The second acceleration sensation estimation step includes:
The acceleration sensation estimation unit estimating the second translational acceleration sensation from the target translational acceleration using the first mathematical model;
The driving simulation method according to claim 5, wherein the acceleration sensation estimation unit includes the step of estimating the second angular acceleration sensation from the target angular acceleration using the second mathematical model. In the target acceleration correction step,
The target acceleration correction unit is configured to reduce the deviation only while the state where the deviation between the first acceleration sensation and the second acceleration sensation is greater than a predetermined deviation continues for a predetermined time. The driving simulation method according to claim 5 or 6, wherein the target acceleration is corrected. A second-order integration unit of the driving simulator calculates the motion-based target position by performing second-order integration of the target acceleration;
A speed calculation step in which the motion calculation unit calculates the speed of the vehicle;
A step of calculating a center position of the motion base corresponding to a low-frequency component of the speed , a speed-center position conversion unit of the driving simulator ;
A shift amount calculation unit of the driving simulator calculates a shift amount for bringing the motion base closer to the center position based on the center position and the current position of the motion base;
The operation according to any one of claims 5 to 7, wherein the servo device includes a step of moving the motion base so that the motion base takes a position represented by a sum of the target position and the shift amount. Simulation method.

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