JP4736591B2 - Driving simulation test equipment - Google Patents

Description

  The present invention relates to a driving simulation test apparatus that simulates the movement of a vehicle according to the driving operation of a subject.

For the purpose of vehicle development, driver training, and the like, a driving simulator that can simulate the motion of the vehicle according to the driving operation of a subject is known. The driving simulator is equipped with a dome with a vehicle model equipped with various operation systems and meters, etc., which controls the tilt movement (pitch direction, roll direction, yaw direction) of the dome and translates the dome ( The front-rear direction and the left-right direction are controlled (see Patent Document 1). By tilting or translating to the dome, the vehicle model is caused to simulate the longitudinal acceleration, the lateral acceleration, the pitch angle, the roll angle, or the like so that the subject can experience the feeling of driving the vehicle. For example, when the vehicle travels, longitudinal acceleration and lateral acceleration act on the vehicle. When a predetermined target acceleration is simulated in the driving simulator, the translational motion is controlled based on an output obtained by applying a high-pass filter to the simulated target acceleration, and the tilt motion is controlled based on an output obtained by applying a low-pass filter.
Japanese Patent Laid-Open No. 8-24031

  However, in the case of simulating acceleration that is large and quickly rises due to sudden acceleration or the like by driving operation by the subject, the driving simulator must move the dome for a long distance in a short time. Therefore, a long translation distance is required, and the equipment scale must be increased.

  Therefore, an object of the present invention is to provide a driving test simulation device that can be simulated in a space-saving manner even in the case of a large acceleration.

A driving simulation test apparatus according to the present invention is a driving simulation test apparatus that simulates the movement of a vehicle in accordance with the driving operation of the subject, the subject can perform the driving operation, and the subject can experience the motion state of the vehicle. Driving sensation means for translating, translational movement means for translating the driving sensation means by translation in the X direction and translational movement in the Y direction, tilt movement means for tilting the driving sensation means, and driving of the subject Control means for calculating the target acceleration based on the operation and controlling the drive of the translational motion means and the tilt motion means to simulate the target acceleration, and the control means is for shortening the moving distance in the translational motion. the predetermined acceleration upper limit is provided, the line translational movement control on the basis of the acceleration of the translation component according to the target acceleration when the size of the target acceleration is less than a predetermined acceleration At the same time, the tilt motion control is performed based on the acceleration of the tilt motion according to the target acceleration, and when the target acceleration exceeds the predetermined acceleration, the translation motion control is performed based on the acceleration of the translation motion according to the predetermined acceleration. In addition, the tilt motion control is performed based on an acceleration obtained by adding an acceleration corresponding to a target acceleration to a tilt motion corresponding to a target acceleration and an acceleration corresponding to a predetermined acceleration in the translation motion.

  In this driving test simulation apparatus, the subject performs a driving operation in the driving experience means, and the control means calculates the target acceleration based on the driving operation. In the driving simulation test apparatus, the drive of the translational motion means and the tilt motion means is controlled by the control means so as to achieve the target acceleration. The translational motion means translates the vehicle sensation means back and forth, right and left, and the tilt motion means tilts the vehicle sensation means in a predetermined direction (for example, pitch direction and roll direction). Then, the acceleration corresponding to the target acceleration acts on the driver's body sensation means by this translational motion and tilt motion. In particular, in the driving simulation test apparatus, the control means determines whether the target acceleration is equal to or less than a predetermined acceleration. The predetermined acceleration is an acceleration with a low frequency of occurrence during normal traveling in traveling of the vehicle, and is a relatively large acceleration. When the target acceleration is equal to or lower than the predetermined acceleration, the driving simulation test apparatus performs normal translational motion control based on the translational motion acceleration according to the target acceleration by the control means, and the tilt motion acceleration according to the target acceleration. Normal tilt motion control based on the above is performed. When the acceleration is equal to or lower than the predetermined acceleration, the acceleration is normally felt by the vehicle occupant, so that the magnitude of the acceleration can be judged sensuously. Therefore, in order to accurately simulate the target acceleration, translational motion and tilt motion are combined to accurately simulate acceleration. When the target acceleration exceeds the predetermined acceleration, the driving simulation test apparatus performs the translational motion control based on the translational motion acceleration corresponding to the predetermined acceleration by the control means, and the tilt motion acceleration corresponding to the target acceleration. Tilt motion control is performed on the basis of acceleration that takes into account acceleration exceeding a predetermined acceleration in translational motion. When the acceleration exceeds the predetermined acceleration, it is a large acceleration that a vehicle occupant usually hardly feels. Therefore, it can be perceived that the acceleration is large, but the magnitude of the acceleration cannot be accurately determined. Therefore, in translational motion, acceleration with an upper limit of a predetermined acceleration is simulated, and in tilt motion, acceleration obtained by adding acceleration (target acceleration-predetermined acceleration) that needs to be simulated by translational motion is simulated. As described above, when simulating a large acceleration exceeding the predetermined acceleration, the predetermined acceleration is set as the upper limit in the translational motion, and the moving distance of the driving sensation means in the translational motion is reduced. Then, a tilt angle is provided so as to compensate for the acceleration suppressed by the translational motion in the tilting motion. As a result, the subject can experience the acceleration according to the driving operation even when the predetermined acceleration is exceeded. As described above, the driving simulation test apparatus sets the predetermined acceleration as the upper limit in translational motion even in the case of large acceleration, so that the translational distance can be reduced and the equipment scale can be saved. In addition, since the driving simulation test apparatus adds a tilt angle that exceeds a predetermined acceleration in the tilt motion, simulation accuracy can be maintained.

  According to the present invention, even in the case of a large acceleration, the translation distance can be reduced, and simulation can be performed in a space-saving manner.

  Embodiments of an operation test simulator according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the driving simulation test apparatus according to the present invention is applied to a driving simulator that simulates the movement of a vehicle in accordance with the driving operation of a subject. The driving simulator according to the present embodiment includes a dome in which a vehicle model is installed, and includes an XY translation mechanism for translating the dome and a hexapod for tilting the dome. In particular, in the driving simulator according to the present embodiment, when simulating acceleration, control in translation motion and tilt motion is switched with the target acceleration 0.3G as a boundary.

  With reference to FIGS. 1-5, the driving simulator 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a perspective view showing the entire driving simulator according to the present embodiment. FIG. 2 is a front view showing the inside of the dome of FIG. 1 and the hexapod. FIG. 3 is a configuration diagram of the driving simulator according to the present embodiment. FIG. 4 is an example of target acceleration and sensory acceleration. FIG. 5 is an example of translational simulation acceleration, tilt simulation acceleration, translational speed, and translational travel distance when switching control is performed with the target acceleration 0.3G according to the present embodiment and when it is not performed.

  The driving simulator 1 calculates the motion state of the vehicle according to the driving operation of the subject, and performs various motions on the dome (vehicle model) so that the subject can experience the calculated motion state. In particular, the driving simulator 1 performs normal translation control and tilt control according to the target acceleration when the target acceleration is 0.3 G or less for the purpose of space saving, and when the target acceleration exceeds 0.3 G. Performs translation control with an upper limit of 0.3 G and tilt control with a tilt angle corresponding to translation control exceeding 0.3 G. For this purpose, the driving simulator 1 mainly includes a dome 2, an XY translation mechanism 3, a hexapod 4, a substrate 5, a support unit 6, a vehicle model 7, a screen 8, a projector 9, a speaker 10, a database 11, and a computer 12. It has.

  In the present embodiment, the driving simulator 1 corresponds to the driving simulation test apparatus described in the claims, the XY translation mechanism 3 corresponds to the translational movement means described in the claims, and the hexapod 4 includes The vehicle corresponds to the tilt motion means described in the claims, the vehicle model 7 corresponds to the driving experience means described in the claims, and the computer 12 corresponds to the control means described in the claims.

  The dome 2 has a substantially cylindrical shape, and a circular substrate 5 is provided on the bottom surface. On the upper surface of the substrate 5, support portions 6,. A screen 8 is provided around the vehicle model 7 in the dome 2. The screens 8 are provided on the front, both sides, the rear, etc. of the vehicle model 7. Further, projectors 9 are provided above the dome 2 at positions and angles that can be projected onto the screens 8.

  The XY translation mechanism 3 is a mechanism for causing the dome 2 to translate in the X direction and the Y direction orthogonal to the X direction. In the XY translation mechanism 3, six pairs of rails 3a,... Are laid along the X direction, and one belt 3b,. In the XY translation mechanism 3, a pair of rails 3c are arranged along the Y direction on six pairs of rails 3a,..., And a belt 3d is provided between the rails 3c. The rail 3c is movably provided on the rails 3a,... Along the X direction, and six belts 3b,. On the rail 3c, a moving table 3e serving as a base for the hexapod 4 is disposed. The movable table 3e is provided so as to be movable along the Y direction on the rail 3c, and a belt 3d is attached to the lower surface.

  The six belts 3b,... Are rotationally driven by X translation drive motors 3f,... To translate the rail 3c in the X direction. When the drive current is supplied from the motor control units 3g,..., The X translation drive motors 3f,. When each of the motor control units 3g,... Receives an X translation control signal from the computer 12, the motor control unit 3g supplies a drive current according to the X translation control signal. The belt 3d is rotationally driven by the Y translation drive motor 3h, and translates the movable table 3e in the Y direction. The Y translation drive motor 3h rotates according to the drive current when the drive current is supplied from the motor control unit 3i. When receiving the Y translation control signal from the computer 12, the motor control unit 3i supplies a drive current according to the Y translation control signal.

  The hexapod 4 is a mechanism for tilting the dome 2 in the pitch direction, roll direction, and yaw direction. The hexapod 4 includes six hydraulic cylinders 4a,..., And the hydraulic cylinders 4a,... Are disposed between the moving base 3e and the support base 5a of the substrate 5. When the hydraulic pressure is supplied from the hydraulic pressure control units 4b,..., The hydraulic cylinders 4a,. When the hydraulic pressure control units 4b,... Each receive a hexapod cylinder control signal from the computer 12, the hydraulic pressure control units 4b,. As the six hydraulic cylinders 4a,... Expand and contract, the substrate 5 (dome 2) tilts three-dimensionally with respect to the moving table 3e. In FIG. 3, only one hydraulic cylinder 4a and one hydraulic control unit 4b are illustrated, but in reality there are six.

  The vehicle model 7 includes a vehicle body and an interior of the vehicle, and the subject can sit and perform various driving operations. For this purpose, the vehicle model 7 is equipped with an operation unit 7a, a meter 7b, and the like. The operation unit 7a includes an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and the like. Further, the operation unit 7a is provided with sensors for detecting the operation amounts of the accelerator pedal, the brake pedal, and the steering wheel, and a sensor for detecting the shift position of the shift lever. Each sensor of the operation unit 7a transmits the detected value to the computer 12 as a detection signal. In addition, an operation reaction force experienced by the subject is given to the accelerator pedal, the brake pedal, the steering wheel, and the shift lever of the operation unit 7a by the operation reaction force generation unit 7c. When receiving the operation reaction force signal from the computer 12, the operation reaction force generation unit 7c generates an operation reaction force according to each operation reaction force signal. The meter 7b includes a spade meter, a tachometer, a shift position display unit, and the like. When the meter 7b receives each vehicle information signal for each meter and display unit from the computer 12, the meter 7b drives each meter according to each vehicle information signal and displays the display unit.

  When the projector 9 receives image signals from the computer 12, the projectors 9,... Display simulated images (scenery images that can be seen from inside the vehicle when traveling on the simulated road) in accordance with the image signals. Project to each. The subject obtains information such as a traveling path, a sign, a signal, another vehicle, and a pedestrian while viewing a simulated image projected on the screen 8,... And performs a driving operation according to the information. When the speaker 10 receives a sound signal from the computer 12, the speaker 10 simulates a sound corresponding to each sound signal (a sound that can be heard by the driver while driving (a sound synthesized from exhaust sound, engine sound, wind noise, road noise, etc.)). Is output. The database 11 includes image information of the scenery seen from inside the vehicle at each travel position when traveling on the simulated traveling road, road information (gradient, unevenness, road friction coefficient, etc.) when traveling on the simulated traveling road, and driving while traveling It is a database storing sound information that can be heard by a person, and is connected to the computer 12.

  The computer 12 is a computer that performs overall control of the driving simulator 1. In the computer 12, calculation of vehicle motion, driving control for causing the subject to experience driving operation, image processing for displaying an image by the projector 9, sound processing for outputting sound from the speaker 10, dome 2 (vehicle model 7) It performs drive control for various movements.

  The vehicle motion calculation will be described. The computer 12 receives detection signals from the sensors of the operation unit 7a, and takes in environmental information of the road currently running on the simulated running road from the database 11. Then, the computer 12 travels on the simulated travel path at regular intervals based on the equation of motion of the vehicle body based on the operation amount and shift position of the accelerator pedal, the brake pedal, and the steering wheel, and the environmental information of the road that is currently traveling. Calculate the motion of the running vehicle. The vehicle motion includes acceleration acting on the vehicle (only longitudinal acceleration occurs when traveling straight, longitudinal acceleration and lateral acceleration occur when turning), vehicle pitch angle, roll angle, yaw angle, Such as vehicle speed and engine speed.

  The operation control will be described. The computer 12 transmits the vehicle speed, engine speed, shift position, and the like obtained by calculation to the meter 7b as vehicle information signals. Further, the computer 12 calculates each reaction force of the accelerator pedal, the brake pedal, the steering wheel, and the shift lever based on the vehicle motion information obtained by the calculation, and operates each operation reaction force as an operation reaction force signal. Each is transmitted to the reaction force generator 7c.

  Image processing will be described. The computer 12 calculates the current travel position on the simulated travel path based on the vehicle motion information obtained by the calculation. Then, the computer 12 acquires image information of the scenery that can be seen from inside the vehicle at the current traveling position from the database 11. Then, the computer 12 generates an image signal for each projector 9,... Based on the acquired image information, and transmits each image signal to the projector 9,.

  The sound processing will be described. The computer 12 takes in sound information that can be heard by the driver while traveling from the database 11. Then, the computer 12 generates a synthesized sound that can be heard by the driver based on the taken sound information according to the vehicle speed, road environment information, and the like, and transmits the synthesized sound to the speaker 10 as a sound signal.

The drive control will be described. When the computer 12 determines the acceleration acting on the vehicle, the acceleration is set as the target acceleration f _AA (s). Then, the computer 12 determines whether or not the absolute value of the target acceleration f _AA (s) is 0.3 G or less. In the running state of the vehicle, the frequency of running with an acceleration of 0.3 G or less (longitudinal acceleration in the case of straight running, longitudinal acceleration + lateral acceleration in the case of turning) is high, and at an acceleration exceeding 0.3 G The frequency of running is very low. The acceleration exceeding 0.3 G corresponds to acceleration during sudden acceleration or braking, and often occurs in an emergency. Therefore, the vehicle occupant usually feels well about the acceleration of 0.3 G or less, and can judge how much the acceleration is sensuously. Therefore, when the absolute value of the target acceleration f _AA (s) is 0.3 G or less, in order to simulate the target acceleration f _AA (s) with high accuracy, translation control and tilt according to the target acceleration f _AA (s) are performed. Normal control combined with control is performed. On the other hand, the acceleration exceeding 0.3G is a large acceleration that the vehicle occupant does not experience so much, so it can be recognized that the acceleration is large sensuously, but it is difficult to accurately detect how large the acceleration is. . Therefore, when the absolute value of the target acceleration f _AA (s) exceeds 0.3 G, translation control with 0.3 G as the upper limit is performed, and the acceleration corresponding to the acceleration that exceeds 0.3 G to be performed in translation control is added. Tilt control is performed.

Specifically, when the absolute value of the target acceleration f _AA (s) is 0.3 G or less, the computer 12 calculates the translational simulated acceleration f _SA (s) corresponding to the target acceleration f _AA (s) according to the equation (1). And a tilt simulated acceleration f _TA (s) corresponding to the target acceleration f _AA (s) is calculated by the equation (2).

When the absolute value of the target acceleration f _AA (s) exceeds 0.3 G, the computer 12 calculates a translational simulated acceleration f _SA (s) with 0.3 G as the upper limit by Equation (3). Further, in the computer 12, the acceleration (f _AA (s) [1-LP (s)] HP (s) -0.3 [1-LP (s) exceeding 0.3 G in the translation control is obtained by Expression (4). ] Calculate tilt simulated acceleration f _TA (s) with HP (s)) added.

LP (s) is a low-pass filter, and HP (s) is a high-pass filter. A is a scale factor. Then, the computer 12 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) according to the equation (5).

9.8 is gravitational acceleration. When the absolute value of the target acceleration f _AA (s) exceeds 0.3 G, a pitch angle that increases the front side of the vehicle model 7 is added to the tilt angle α, and normal control is performed by translation control based on this incremental pitch angle. Thus, an acceleration exceeding 0.3 G is generated.

In the computer 12, the translation simulation acceleration f _SA (s) is decomposed into an acceleration in the X direction and an acceleration in the Y direction according to the traveling direction. Then, the computer 12 calculates a translation control amount in the X direction from the translational simulation acceleration in the X direction, and calculates a translation control amount in the Y direction from the translational simulation acceleration in the Y direction. Further, the computer 12 calculates the motor torque of the X translation drive motor 3f necessary for giving the translation control amount in the X direction, sets the X translation control signal according to the motor torque of the X translation drive motor 3f, The X translation control signal is transmitted to the corresponding motor control unit 3g,. Further, the computer 12 calculates the motor torque of the Y translation drive motor 3h necessary for giving the translation control amount in the Y direction, sets the Y translation control signal according to the motor torque of the Y translation drive motor 3h, A translation control signal is transmitted to the motor control unit 3i.

  Further, the computer 12 calculates the cylinder length of each hydraulic cylinder 4a,... Of the hexapod 4 necessary for giving the tilt angle α. Further, the computer 12 sets a hexapod cylinder control signal in accordance with each cylinder length, and transmits each hexapod cylinder control signal to the corresponding hydraulic control unit 4b,.

When a pitch angle, a roll angle, a yaw angle, or the like is required as the vehicle motion, the computer 12 determines the tilt angle α for simulating the acceleration of the vehicle motion (target acceleration f _AA (s)). Take into account the pitch angle. Then, the computer 12 calculates the cylinder lengths of the hydraulic cylinders 4a,... Of the hexapod 4 necessary for giving the added tilt angle, and generates hexapod cylinder control signals according to the cylinder lengths. Then, each hexapod cylinder control signal is transmitted to the corresponding hydraulic control unit 4b,.

FIG. 4 shows an example of a time change of the target acceleration AA, which is a case where the acceleration is performed according to the accelerator operation of the subject, and an acceleration exceeding 0.3 G is generated. The target acceleration AA increases from zero, and after reaching a constant acceleration exceeding 0.3 G, the acceleration decreases to zero. FIG. 5 shows time-dependent changes in the translational simulation acceleration SA, the tilt simulation acceleration TA, the translational speed V, and the translational movement distance L when switching control at 0.3 G is performed on the target acceleration AA shown in FIG. Is shown by a solid line, and the normal simulation without switching control is performed (that is, the translational simulation acceleration f _SA (s) and the tilt simulation acceleration f obtained when the target acceleration f _AA (s) is 0.3 G or less. Each time change of the translation simulation acceleration SA ′, the tilt simulation acceleration TA ′, the translation speed V ′, and the translation movement distance L ′ of the control (only by _TA (s)) is shown by broken lines.

  The translational simulation acceleration SA ′ is an acceleration that increases or decreases on the plus side when the target acceleration AA increases, becomes 0 when the target acceleration AA increases, and becomes an acceleration that increases or decreases on the minus side when decreasing. The translational simulation acceleration SA is the same change as the translational simulation acceleration SA 'until the target acceleration AA reaches 0.3G, and becomes smaller than the translational simulation acceleration SA' when the target acceleration AA exceeds 0.3G. The tilt simulated acceleration TA 'is an acceleration that increases when the target acceleration AA increases, becomes substantially constant on the plus side when constant, and decreases when it decreases. The tilt simulated acceleration TA is the same change as the tilt simulated acceleration TA ′ until the target acceleration AA reaches 0.3 G. When the target acceleration AA exceeds 0.3 G, the tilt simulated acceleration TA rises more rapidly than the tilt simulated acceleration TA ′, and the tilt simulation is performed. The acceleration becomes larger than TA ′.

  The translation speed V ′ changes according to the translation simulation acceleration SA ′ (time-integrated), increases when the translation simulation acceleration SA ′ is a positive value, becomes substantially constant when the value is 0, and decreases when the value is a negative value. The translation speed V changes according to the translation simulation acceleration SA (time integration), and is the same change as the translation speed V ′ until the target acceleration AA reaches 0.3 G, and the target acceleration AA is 0.3 G. When it exceeds, it becomes smaller than translation speed V '. The translational movement distance L ′ changes according to the translational velocity V ′ (time-integrated) and increases to the plus side because the translational velocity V ′ is a positive value. Accordingly, the dome 2 (vehicle model 7) approaches the limit of the translational motion range. The translational movement distance L changes according to the translational velocity V (integrated over time), and is the same change as the translational movement distance L ′ until the target acceleration AA reaches 0.3G, and the target acceleration AA is 0.3G. Exceeds the translational distance L ′. Therefore, the vehicle model 7 is less likely to approach the limit of the translational motion range.

  As shown in FIG. 4, the actual acceleration BA acting on the vehicle model 7 (sensory acceleration felt by the subject) is switched or controlled (acceleration consisting of a translational simulation acceleration SA and a tilt simulation acceleration TA) or switching. Even when the control is not performed (acceleration composed of the translational simulation acceleration SA ′ and the tilt simulation acceleration TA ′), the same thing is obtained and is in line with the target acceleration AA. However, the moving distance of the vehicle model 7 is shorter when the switching control is performed.

  The operation of the driving simulator 1 will be described with reference to FIGS. In particular, drive control in the computer 12 will be described with reference to the flowchart of FIG. FIG. 6 is a flowchart showing a flow of drive control in the computer according to the present embodiment.

  The subject sits on the seat of the vehicle model 7 and performs a predetermined operation on the operation unit 7a. In the operation unit 7a, each sensor detects each operation amount of the accelerator pedal and the like, detects the shift position of the shift lever, and transmits each detection signal to the computer 12.

When the computer 12 receives each detection signal at regular time intervals, the computer 12 calculates a motion equation of the vehicle body based on each operation amount and shift position indicated by each detection signal, and the acceleration (target acceleration f _AA (s )), The vehicle pitch angle, roll angle, yaw angle, vehicle speed, engine speed, etc. are derived (S1).

  The computer 12 transmits information such as the vehicle speed, engine speed, and shift position to the meter 7b as a vehicle information signal. When receiving the vehicle information signal, the meter 7b drives each meter and displays the current shift position in accordance with the vehicle information signal. Further, the computer 12 calculates each reaction force of the accelerator pedal, the brake pedal, the steering wheel, and the shift lever based on the vehicle motion, and outputs each operation reaction force to the operation reaction force generator 7c as an operation reaction force signal. Send each one. When the operation reaction force generation unit 7c receives each operation reaction force signal, the operation reaction force generation unit 7c applies each operation reaction force to the accelerator pedal, the brake pedal, the steering wheel, and the shift lever.

  Further, the computer 12 calculates the current travel position on the simulated travel path based on the vehicle motion, and acquires image information corresponding to the current travel position from the database 11. Then, the computer 12 generates each image signal based on the image information, and transmits each image signal to the projectors 9. Each projector 9,... Receives an image signal from the computer 12, and projects a simulated image on each screen 8,.

  Further, the computer 12 takes sound information from the database 11, generates a synthesized sound according to the vehicle speed, road information, and the like based on the sound information, and transmits the synthesized sound to the speaker 10 as a sound signal. When the speaker 10 receives a sound signal from the computer 12, the speaker 10 outputs a pseudo sound according to each sound signal.

The computer 12 determines whether or not the absolute value of the target acceleration f _AA (s) is 0.3 G or less (S2).

If it is determined in S2 that the absolute value of the target acceleration f _AA (s) is 0.3 G or less, the computer 12 uses the output obtained by applying a high-pass filter to the target acceleration f _AA (s) according to Equation (1). f _SA (s) is calculated (S3). Further, the computer 12 calculates the simulated tilt acceleration f _TA (s) from the output obtained by applying the low-pass filter to the target acceleration f _AA (s) according to the equation (2) (S4).

When it is determined in S2 that the absolute value of the target acceleration f _AA (s) exceeds 0.3G, the computer 12 uses the output obtained by applying a high-pass filter to 0.3G according to the expression (3), and calculates the translational simulated acceleration f _SA ( s) is calculated (S5). Further, the computer 12 calculates a simulated tilt acceleration f _TA (s) by adding a translational simulation acceleration exceeding 0.3 G to the output obtained by applying a low-pass filter to the target acceleration f _AA (s) according to the equation (4). (S6).

Then, the computer 12 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) according to the equation (5) (S7).

The computer 12 calculates the translation control amount in the X direction and the translation control amount in the Y direction from the translational simulated acceleration f _SA (s) (S8). The computer 12 calculates the motor torque of the X translation drive motor 3f from the translation control amount in the X direction, sets an X translation control signal in accordance with the motor torque, and assigns each X translation control signal to a corresponding motor control unit. 3g,... (S8). When each of the motor control units 3g,... Receives an X translation control signal from the computer 12, it supplies a drive current to each of the X translation drive motors 3f,. The X translation drive motors 3f,... Are rotated according to the drive currents to rotate the belts 3b,. By the rotation of the six belts 3b,..., The rail 3c and the belt 3d are translated in the X direction. Further, the computer 12 calculates the motor torque of the Y translation drive motor 3h from the translation control amount in the Y direction, sets a Y translation control signal according to the motor torque, and transmits the Y translation control signal to the motor control unit 3i. (S8). When the motor control unit 3i receives the Y translation control signal from the computer 12, the motor control unit 3i supplies a drive current to the Y translation drive motor 3h according to the Y translation control signal. The Y translation drive motor 3h is rotationally driven according to the drive current to rotate the belt 3d. The dome 2 is translated in the Y direction by the rotation of the belt 3d. As a result, the XY translation mechanism 3 translates the dome 2 (vehicle model 7) with the calculated translational acceleration f _SA (s). In this translational movement, when the absolute value of the target acceleration f _AA (s) is 0.3 G or less, the vehicle model 7 moves at a normal translational simulated acceleration f _SA (s) corresponding to the target acceleration f _AA (s). When the absolute value of the target acceleration f _AA (s) exceeds 0.3G, the vehicle model 7 moves with the translational simulation acceleration f _SA (s) corresponding to 0.3G. Therefore, translational simulation acceleration f _SA (s) with 0.3 G as the upper limit acts on the subject.

The computer 12 calculates the cylinder length of each hydraulic cylinder 4a of the hexapod 4 based on the tilt angle α, sets a hexapod cylinder control signal according to each cylinder length, and sets each hexapod cylinder. A control signal is transmitted to the corresponding hydraulic control unit 4b,... (S8). When each of the hydraulic control units 4b,... Receives each hexapod cylinder control signal, it supplies the hydraulic pressure to each of the hydraulic cylinders 4a,. Each of the hydraulic cylinders 4a,... Expands and contracts according to the operating hydraulic pressure, and the hexapod 4 gives a tilt angle α to the dome 2 (vehicle model 7). In this tilt motion, when the absolute value of the target acceleration f _AA (s) is 0.3 G or less, the vehicle model 7 is tilted at a normal tilt angle α corresponding to the target acceleration f _AA (s), and the target acceleration f _AA When the absolute value of (s) exceeds 0.3 G, a pitch angle corresponding to the acceleration exceeding 0.3 G in the translation control is added from the normal tilt angle corresponding to the target acceleration f _AA (s). The vehicle model 7 is tilted at the tilt angle α. Therefore, when the absolute value of the target acceleration f _AA (s) is 0.3 G or less, a normal tilt simulation acceleration corresponding to the target acceleration f _AA (s) acts on the subject, and the target acceleration f _AA (s When the absolute value of) exceeds 0.3 G, the simulated tilt acceleration f _TA (s) to which the acceleration equivalent to 0.3 G in the translation control is applied is applied rather than the normal tilt simulated acceleration. As a result, the subject is subjected to acceleration composed of the translational simulated acceleration f _SA (s) and the simulated tilt acceleration f _TA (s), and feels an acceleration feeling corresponding to the target acceleration f _AA (s).

According to this driving simulator 1, when the acceleration to be simulated exceeds 0.3G, the translation distance can be shortened by performing the translational motion with the translational simulation acceleration f _SA (s) with 0.3G as the upper limit. This can save space for the equipment scale. Further, according to the driving simulator 1, when the acceleration to be simulated exceeds 0.3G, the tilt angle that generates the tilt simulated acceleration f _TA (s) to which the acceleration exceeding 0.3G in the translation control is added is used. By performing the tilt motion, it is possible to compensate for the deceleration amount in the translation motion and generate an acceleration feeling corresponding to the target acceleration f _AA (S), and to accurately simulate the acceleration.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in this embodiment, a single computer is used. However, a plurality of computers such as a computer for calculating vehicle motion, a computer for driving control such as an XY translation mechanism, a computer for image processing, a computer for sound processing, etc. You may comprise with a computer.

  In the present embodiment, the translation control and the tilt control are switched with the target acceleration of 0.3 G as a boundary. However, the present invention is not limited to 0.3 G, and another value may be switched with the boundary.

It is a perspective view showing the whole driving simulator concerning this embodiment. It is a front view which shows the inside of the dome of FIG. 1, and a hexapod. It is a block diagram of the driving simulator which concerns on this Embodiment. It is an example of target acceleration and sensory acceleration. It is an example of the translation simulated acceleration, tilt simulated acceleration, translation speed, and translational movement distance when switching control is performed with the target acceleration of 0.3 G according to the present embodiment. It is a flowchart which shows the flow of the drive control in the computer which concerns on this Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Driving simulator, 2 ... Dome, 3 ... XY translation mechanism, 3a, 3c ... Rail, 3b, 3d ... Belt, 3e ... Moving table, 3f ... X translation drive motor, 3g, 3i ... Motor control part, 3h ... Y Translation drive motor, 4 ... hexapod, 4a ... hydraulic cylinder, 4b ... hydraulic control unit, 5 ... substrate, 5a ... support base, 6 ... support unit, 7 ... vehicle model, 7a ... operating unit, 7b ... meter, 7c ... Operation reaction force generator, 8 ... screen, 9 ... projector, 10 ... speaker, 11 ... database, 12 ... computer

Claims (1)

A driving simulation test device that simulates the movement of a vehicle according to the driving operation of a subject,
A driving experience means for allowing the subject to perform a driving operation, and for the subject to experience the motion state of the vehicle,
Translational motion means for translating the driving experience means by translational movement in the X direction and translational movement in the Y direction orthogonal to each other;
Tilt motion means for tilting the driver experience means;
Control means for calculating a target acceleration based on the driving operation of the subject and controlling the drive of the translational motion means and the tilt motion means in order to simulate the target acceleration,
The control means provides an upper limit predetermined acceleration in order to shorten the moving distance in the translational motion , and when the target acceleration is equal to or smaller than the predetermined acceleration, the translational motion is based on the translational acceleration corresponding to the target acceleration. Control and tilt motion control based on the acceleration of the tilt motion according to the target acceleration, and if the target acceleration exceeds the predetermined acceleration, the translation based on the acceleration of the translation motion according to the predetermined acceleration A driving simulation test apparatus characterized by performing a motion control and performing a tilt motion control based on an acceleration of a tilt motion corresponding to a target acceleration and an acceleration exceeding a predetermined acceleration in a translational motion.

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