JP4736592B2 - 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.
JP-A-8-248872

  Since the driving simulator is provided in a limited facility space, the range of translational motion is also limited. However, when simulating acceleration that is large and quickly rises due to sudden acceleration or the like by a driving operation by a subject, a long translation distance is required, and the translation distance exceeds the motion range of the translational motion. Therefore, the driving simulator is provided with a limiter at the limit of the translational motion range so that the dome does not collide with the wall beyond the translational motion range. The limiter includes a hard limiter for forcibly stopping the dome when the dome exceeds the limit and a soft limiter for stopping and controlling the dome when the dome exceeds the limit. When these limiters are activated, the translation acceleration simulation is interrupted, so that the dome stops suddenly. Therefore, a large acceleration acts on the dome in the deceleration direction, and a shock is generated.

  Then, this invention makes it a subject to provide the driving | running | working simulation test apparatus controlled so that it may not exceed the movement range of a translational motion, when simulating 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 experience means, translation motion means that translates the driver experience means in a rectangular motion range defined by orthogonal X-direction and Y-direction translation motions , and tilt motion that causes the driver experience means to tilt Means for calculating the movement of the vehicle based on the driving operation of the subject, and controlling means for controlling the drive of the translational movement means and the tilting movement means to simulate the movement of the vehicle. translation speed in the translational motion in the tilt motion with slowing the translation speed according to limits of the range of motion of translation regardless driving operation in Adding a tilt angle component for generating an acceleration that cancels the deceleration when decelerating, characterized.

  In this driving simulation test apparatus, a subject performs a driving operation in the driving experience means, and the motion of the vehicle (for example, longitudinal acceleration and lateral acceleration) is calculated by the control means based on the driving operation. In the driving simulation test apparatus, the drive of the translational movement means and the tilt movement means is controlled by the control means according to the calculated movement of the vehicle. 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). In particular, in the driving simulation test apparatus, the translation means is decelerated by the control means according to the distance or time from the simulated acceleration corresponding to the motion of the vehicle to the limit of the motion range of the translation motion. And driving the tilt motion means by adding the tilt angle corresponding to the deceleration to the simulated tilt angle corresponding to the motion of the vehicle. By decelerating the translational movement speed in the translational motion based on the limit of the motion range of the translational motion, the driving experience means can be stopped at or before reaching the limit. However, since the deceleration is applied regardless of the driving operation in the translational movement, the subject feels an extra feeling of deceleration. Therefore, it is necessary to prevent the subject from experiencing this feeling of deceleration. Therefore, a tilt angle that cancels the deceleration is given to the vehicle experience means in the tilt motion (that is, the vehicle experience means is tilted by a predetermined angle in a direction in which the subject does not feel a deceleration feeling). As a result, the subject can experience acceleration according to the driving operation. Thus, since the driving simulation test apparatus decelerates the translational movement speed according to the motion range limit of the translational motion in the translational motion, the driving experience means does not exceed the limit of the motion range of the translational motion. When a limiter is provided at this limit, it is possible to prevent the limiter from operating, so that no shock is generated by the limiter. Furthermore, the translation distance can be reduced by adjusting the limit of the motion range of the translation motion, and the equipment scale can be saved. In addition, the driving simulation test apparatus can maintain the simulation accuracy because the subject does not feel an excessive deceleration.

In the driving simulation test apparatus of the present invention, the control means translates the translation motion regardless of the driving operation in the translation motion when the distance until the driving sensation means reaches the limit of the motion range of the translation motion is less than the reference distance. As a configuration to add a tilt angle for generating acceleration that decelerates the translation movement speed in the tilt motion and cancels the deceleration when the translation motion speed in the translation motion is decelerated in the tilt motion according to the limit of the motion range Also good.

  The control means of the driving simulation test apparatus obtains a distance until the driving sensation means reaches the limit of the translational motion range, and determines whether or not the distance is less than the reference distance. The reference distance is a distance that serves as a reference for starting the deceleration control so that the driving experience means does not exceed the limit of the translational motion range, and is set in consideration of the limit of the translational motion range. When it is determined that the obtained distance is less than the reference distance, the control means controls the drive of the translational movement means by decelerating the translational movement speed, and adds the tilt angle corresponding to the deceleration to the tilting movement means. Control the drive. As described above, the deceleration control is performed only when the driving sensation means approaches the limit of the motion range of the translational motion to some extent. Acceleration simulation can be performed.

In the driving simulation test apparatus of the present invention, when the time until the driving sensation means reaches the limit of the motion range of the translational motion is less than the reference time, the translational motion is translated regardless of the driving operation in the translational motion. As a configuration to add a tilt angle for generating acceleration that decelerates the translation movement speed in the tilt motion and cancels the deceleration when the translation motion speed in the translation motion is decelerated in the tilt motion according to the limit of the motion range Also good.

  In the control means of this driving simulation test apparatus, the time until the driving sensation means reaches the limit of the translational motion range is obtained, and it is determined whether or not the time is less than the reference time. The reference time is a reference time for starting the deceleration control so that the driving experience means does not exceed the limit of the translational motion range, and is set in consideration of the limit of the translational motion range. When it is determined that the obtained time is less than the reference time, the control means controls the drive of the translational movement means by decelerating the translational movement speed and adds the tilt angle corresponding to the deceleration to the tilting movement means. Control the drive. In this way, deceleration control is performed only when the driving experience means reaches the limit of the range of translational motion within a certain amount of time, so if it takes time to reach the reference time, translational motion control and tilt Normal high-precision acceleration simulation by motion control can be performed.

In the driving simulation test apparatus of the present invention, when determining the distance to reach, the discontinuity of each of the four distances until reaching the limit of each of the four sides of the translational quadrangular motion range is alleviated. For this reason, a low-pass filter may be used . Further, in the above operation simulation test apparatus of the present invention, when determining the time to reach, the discontinuity of each of the four times until the limit of each of the four sides of the quadrangular motion range of the translational motion is reached. A configuration using a low-pass filter for relaxing may be used.

  Usually, the translational motion is a motion in the front-rear and left-right directions, so the motion range of the translational motion is a quadrangular range. Therefore, when obtaining the distance and time until the driving experience means reaches the limit of the translational motion range, the distance and time until reaching the four sides of the rectangle are obtained. Therefore, when the driving experience means changes the traveling direction and the side toward which the driving experience means is directed changes, the distance between the driving experience means and the side changes, and the required distance and time change discontinuously. As a result, the deceleration during the deceleration control also changes discontinuously, and the simulated acceleration due to translational motion and the simulated acceleration due to tilt motion suddenly change, giving the subject a sense of incongruity. Therefore, the control means of the driving simulation test device alleviates the distance and time discontinuity obtained by using a low-pass filter when calculating the time and distance until the driving experience means reaches the limit of the range of translational motion. The deceleration is derived from the time and distance passed through the low-pass filter. Therefore, even if the direction of travel is changed by the driving experience means, and the side where the driving experience means is directed changes, the deceleration changes smoothly, the change in deceleration becomes smooth in translational motion, and the tilt angle also in tilt motion Changes smoothly. As a result, discontinuous changes during deceleration control are suppressed, and the subject does not feel uncomfortable.

In the driving simulation test device of the present invention may be a curved four respective corners of the limits of the rectangular range of motion translation when determining the distance to reach. In the driving simulation test apparatus according to the present invention, the four corner portions at the limit of the quadrangular motion range of the translational motion may be curved when obtaining the time to reach.

  As described above, the motion range of the translational motion is a quadrangular range, and the distance and time change discontinuously when the direction in which the driving experience means is directed changes. Therefore, the control means of the driving simulation test apparatus sets the limit of the translational motion range with the four corners of the rectangle as curves, and the time until the driving experience means reaches the limit of the translational motion range. And find the distance. As a result, the limit of the movement range is continuously connected by four straight lines and a curve between the straight lines, and the discontinuity of the distance and time to be obtained can be relaxed, and the same effect as described above can be obtained.

  According to the present invention, it is possible to control the driving experience means so as not to exceed the motion range of the translational motion when simulating acceleration.

  Embodiments of a driving simulation test apparatus according to the present invention will be described below with reference to the drawings.

  In the present embodiment, in this 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, the dome is decelerated during translation so that the dome does not exceed the limit operating range of the limiter, and a tilt angle corresponding to the deceleration is added during tilt movement. In this embodiment, there are four modes depending on the difference in deceleration control, and the first embodiment switches the translation control and tilt control according to the time until the limiter operation limit range is reached. The second embodiment uses a low-pass filter when determining the time until the limiter operation limit region is reached, compared to the first embodiment, and the third embodiment is the first embodiment. When the time required to reach the limiter operation limit region is obtained with respect to the form of the above, the corner portion of the limiter operation limit region is a curve, and until the fourth embodiment reaches the limiter operation limit region This is a form in which translation control and tilt control by time are continuously controlled.

  The driving simulator 1 according to the first embodiment will be described with reference to FIGS. 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 a diagram showing a limiter operation limit region in translational motion.

  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, in the driving simulator 1, in order to prevent the dome from exceeding the limiter operation limit region, when the limiter arrival time is equal to or longer than the reference time, normal translation control and tilt control according to the target acceleration is performed to reach the limiter. When the time becomes less than the reference time, translation control for decelerating according to the limiter arrival time is performed, and tilt control for adding a tilt angle in the pitch direction according to the deceleration is performed. 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 an X direction. A position detection sensor 12, a Y direction position detection sensor 13, and a computer 14 are provided.

  In the first 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 Reference numeral 4 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 14 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 14, 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 the motor control unit 3i receives the Y translation control signal from the computer 14, the motor control unit 3i supplies a drive current according to the Y translation control signal.

  For the translational motion, a motion range of the dome 2 defined by the length of the rail 3a in the X direction,... And the length of the rail 3c in the Y direction is set, and the limiter operation limit for operating the limiter within the limit range of this motion range. Area is set. The limiter operation limit area is 0 in the X direction, Xmax is the limit area, and 0, Ymax is the limit area in the Y direction (see FIG. 4). The XY translation mechanism 3 is provided with a sensor (not shown) for determining whether or not the dome 2 has exceeded the limiter operation limit range as a hardware limiter, and this sensor causes the dome 2 to exceed the limiter operation limit range. A stop device (not shown) for stopping the dome 2 when it is determined that the dome 2 has been determined is provided. The stop device is, for example, a device that cuts off power supply to the X translation drive motor 3f and the Y translation drive motor 3h.

  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 each of the hydraulic control units 4b,... Receives a hexapod cylinder control signal from the computer 14, the hydraulic pressure control unit 4b supplies hydraulic pressure according to the hexapod cylinder control signal. 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 14 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 the operation reaction force generator 7c receives an operation reaction force signal from the computer 14, the operation reaction force generator 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 14, 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 14, 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 14, a simulated sound corresponding to each sound signal (a sound audible to 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 A database storing sound information that can be heard by a person and connected to the computer 14.

  The X direction position detection sensor 12 is a sensor that detects a position x in the X direction of the dome 2 (vehicle model 7), and transmits the detected value to the computer 14 as an X direction position signal. A possible range of the position x takes a value from 0 to Xmax. The Y direction position detection sensor 13 is a sensor that detects the position y in the Y direction of the dome 2 (vehicle model 7), and transmits the detected value to the computer 14 as a Y direction position signal. A possible range of the position y takes a value from 0 to Ymax.

  The computer 14 is a computer that performs overall control of the driving simulator 1. In the computer 14, vehicle motion calculation, 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 14 receives detection signals from the respective sensors of the operation unit 7 a and takes in environmental information of the road currently running on the simulated running road from the database 11. Then, the computer 14 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 14 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 14 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 14 calculates the current travel position on the simulated travel path based on the vehicle motion information obtained by the calculation. Then, the computer 14 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 14 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 14 takes in sound information that can be heard by the driver while traveling from the database 11. Then, the computer 14 generates a synthesized sound that can be heard by the driver according to the vehicle speed, road environment information, and the like based on the acquired sound information, and transmits the synthesized sound to the speaker 10 as a sound signal.

The drive control will be described. When the computer 14 determines the acceleration acting on the vehicle, the acceleration is set as the target acceleration f _AA (s). In addition, the computer 14 acquires the X-direction position x indicated by the X-direction position signal from the X-direction position detection sensor 12 at regular intervals, and also indicates the Y-direction position signal from the Y-direction position detection sensor 13. The position y in the Y direction is acquired. Then, the computer 14 differentiates the position x with respect to time to calculate the translation speed Vx in the X direction of the dome 2 (vehicle model 7), and also differentiates the position y with respect to time to calculate the translation speed Vy in the Y direction of the dome 2. To do.

  Here, a time (limiter arrival time T) until the dome 2 reaches the limiter operation limit region when the dome 2 is moving in translation at the translation speed (Vx, Vy) is obtained. As described above, the limiter operation limit area is composed of four sides of a quadrangle, and 0 and Xmax in the X direction and 0 and Ymax in the Y direction are the limit areas of each side (see FIG. 4). Therefore, the times T1, T2, T3, and T4 until the dome 2 reaches the limit area of each side are calculated, and the earliest time of the four times is defined as the limiter arrival time T. Specifically, the computer 14 determines whether or not the translation speed Vx in the X direction is greater than 0 (that is, whether or not the limiter operation limit range is approaching the limit range of Xmax). When it is larger (when it is approaching the limit area Xmax), the time T1 until it reaches the limit area Xmax in the X direction is calculated by the equation (1). When it is smaller than 0 (when it is approaching the limit area 0) The time T2 until reaching the limit region 0 in the X direction is calculated by the equation (2), and when it is not calculated, infinity is set in T1 and T2. Further, the computer 14 determines whether or not the Y-direction translation speed Vy is greater than 0 (that is, whether or not the limiter operation limit range is approaching the limit range of Ymax in the Y direction). In the case of moving toward the limit area Ymax), the time T3 until reaching the limit area Ymax in the Y direction is calculated by the expression (3). The time T4 until reaching the limit area 0 in the Y direction is calculated by (4), and if it is not calculated, infinity is set in T3 and T4. Then, the computer 14 selects the minimum time from T1, T2, T3, and T4 by the equation (5), and sets it as the limiter arrival time T.

  Then, the computer 14 determines whether or not the limiter arrival time T is equal to or longer than the reference time Ts. The reference time Ts is a reference time for starting the deceleration control so that the dome 2 does not exceed the limiter operation limit range (that is, the limiter does not operate), and is set in consideration of the limiter operation limit range. The As the reference time Ts is smaller, deceleration control is started at a position closer to the limiter operation limit region, and the range in which control is performed by combining normal translation control and tilt control is expanded.

When the limiter arrival time T is equal to or longer than the reference time Ts, the computer 14 calculates the translational simulation acceleration f _SA (s) corresponding to the target acceleration f _AA (s) by the equation (6) and the target by the equation (7). A simulated tilt acceleration f _TA (s) corresponding to the acceleration f _AA (s) is calculated. LP (s) is a low-pass filter, and HP (s) is a high-pass filter.

  When the limiter arrival time T is less than the reference time Ts, the computer 14 calculates the translation speed V of the vehicle model 7 from the translation speed (Vx, Vy) according to the equation (8), and the translation speed V and the limiter according to the equation (9). The limiter arrival deceleration A is calculated using the arrival time T. The limiter arrival deceleration A is an acceleration in a direction opposite to the direction in which the vehicle model 7 is traveling, and is a deceleration for setting the translation speed to zero when the vehicle model 7 reaches the limiter operation limit region. is there.

When the limiter arrival time T is less than the reference time Ts, the dome 2 (vehicle model 7) is approaching the limiter operation limit region, and therefore the translation speed of the vehicle model 7 is reduced in translation by the limiter arrival deceleration A. . For this purpose, in the computer 14, according to (10), the translational simulation acceleration (f _AA (s) [1-LP (s)] HP (s)) corresponding to the target acceleration f _AA (s) is reversed. The translational simulation acceleration f _SA (s) in which the limiter arrival deceleration A is applied is calculated.

Since the limiter arrival deceleration A in the direction opposite to the traveling direction acts on this translational simulation acceleration f _SA (s), it is necessary to prevent the subject from feeling a sense of deceleration due to this limiter arrival deceleration A. Therefore, in order to generate an acceleration feeling that cancels the limiter arrival deceleration A, a tilt angle in the pitch direction by a tilt motion is added to the vehicle model 7. Therefore, in the computer 14, the tilt obtained by adding the limiter arrival deceleration A to the tilt simulated acceleration (f _AA (s) LP (s)) corresponding to the target acceleration f _AA (s) according to the equation (11). Simulated acceleration f _TA (s) is calculated.

Further, the computer 14 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) according to the equation (12).

  9.8 is gravitational acceleration. Since a tilt angle for increasing the front side of the vehicle model 7 is added to the tilt angle α, an acceleration feeling corresponding to the limiter arrival deceleration A is generated by this incremental tilt angle.

In the computer 14, the translational 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 14 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 14 calculates the motor torque of the X translation drive motor 3f necessary to give 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 14 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 14 calculates the cylinder length of each hydraulic cylinder 4a,... Of the hexapod 4 necessary for giving the tilt angle α. Further, the computer 14 sets a hexapod cylinder control signal according to each cylinder length, and transmits each hexapod cylinder control signal to the corresponding hydraulic pressure control unit 4b,.

When a pitch angle, a roll angle, a yaw angle, or the like is required as the vehicle motion, the computer 14 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 14 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,.

  Further, the computer 14 determines whether or not the dome 2 has exceeded the limiter operation limit range based on the position (x, y) of the dome 2 acquired from the position detection sensors 12 and 13. When the dome 2 does not exceed the limiter operation limit region, the computer 14 continues the drive control. When the dome 2 exceeds the limiter operation limit region, the computer 14 transmits the X translation control signal and the Y translation control signal with the motor torque set to 0 to the motor control units 3g and 3i, respectively, and stops the drive control.

  The operation of the driving simulator 1 will be described with reference to FIGS. In particular, drive control in the computer 14 will be described with reference to the flowchart of FIG. FIG. 5 is a flowchart showing a flow of drive control in the computer according to the first 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 14, respectively. Further, the X direction position detection sensor 12 detects the position x of the dome 2 in the X direction and transmits an X direction position signal to the computer 14. The Y direction position detection sensor 13 detects the position y of the dome 2 in the Y direction and transmits a Y direction position signal to the computer 14.

When the computer 14 receives each detection signal at regular intervals, the computer 14 calculates a motion equation of the vehicle body based on each operation amount and shift position indicated by each detection signal, and calculates acceleration (target acceleration f _AA (s )), The vehicle pitch angle, roll angle, yaw angle, vehicle speed, engine speed, etc. are derived (S10).

  The computer 14 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 14 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 14 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 14 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 14 and projects a simulated image on each screen 8,.

  Further, the computer 14 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 14, it outputs a pseudo sound according to each sound signal.

  The computer 14 receives the X direction position signal and the Y direction position signal at regular intervals, and acquires the position (x, y) of the dome 2 (vehicle model 7) (S11). Then, the computer 14 calculates the translational speeds (Vx, Vy) in the X direction and the Y direction by differentiating the position (x, y) of the vehicle model 7 with time (S12).

  The computer 14 uses the translation velocity Vx in the X direction to calculate a time T1 until the vehicle model 7 reaches the limiter operation limit region Xmax in the X direction according to the equation (1) when Vx> 0. In the case of <0, the time T2 until the vehicle model 7 reaches the limiter operation limit region 0 in the X direction is calculated by the equation (2) (S13). Further, the computer 14 calculates the time T3 until the vehicle model 7 reaches the limiter operation limit region Ymax in the Y direction by using the equation (3) when Vy> 0 using the translation speed Vy in the Y direction. When Vy <0, the time T4 until the vehicle model 7 reaches the limiter operation limit region 0 in the Y direction is calculated by the equation (4) (S13). The computer 14 selects the minimum limiter arrival time T from T1, T2, T3, and T4 according to the equation (5) (S13). Then, the computer 14 determines whether or not the limiter arrival time T is equal to or longer than the reference time Ts (S14).

If it is determined in S14 that the limiter arrival time T is equal to or longer than the reference time Ts, the computer 14 calculates the translational simulated acceleration f _SA (s) by the output obtained by applying the high-pass filter to the target acceleration f _AA (s) according to the equation (6). Calculate (S15). Further, the computer 14 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 (7) (S16).

If it is determined in S14 that the limiter arrival time T is less than the reference time Ts, the computer 14 calculates the translation speed V of the vehicle model 7 from the translation speed (Vx, Vy) according to the equation (8), and according to the equation (9). A limiter arrival deceleration A is calculated from the translation speed V (S17). Then, the computer 14 calculates a translational simulation acceleration f _SA (s) obtained by decelerating the output obtained by applying the high-pass filter to the target acceleration f _AA (s) by the limiter arrival deceleration A according to the equation (10) (S18). ). Further, the computer 14 calculates the tilt simulated acceleration f _TA (s) obtained by increasing the speed by the limiter arrival deceleration A with respect to the output obtained by applying the low-pass filter to the target acceleration f _AA (s) according to the equation (11) ( S19).

The computer 14 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) according to the equation (12) (S20).

The computer 14 calculates a translation control amount in the X direction and a translation control amount in the Y direction from the simulated translational acceleration f _SA (s) (S21). The computer 14 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,... (S21). When each of the motor control units 3g,... Receives an X translation control signal from the computer 14, 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 14 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. (S21). When receiving the Y translation control signal from the computer 14, 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 motion, when the limiter arrival time T is equal to or longer than the reference time Ts (when the vehicle model 7 is separated from the limiter operation limit region to some extent), a normal translational simulated acceleration f corresponding to the target acceleration _fAA (s). _{When the} vehicle model 7 moves at _SA (s) and the limiter arrival time T is less than the reference time Ts (when the vehicle model 7 is approaching the limiter operation limit region to some extent), the vehicle acceleration depends on the target acceleration f _AA (s). The vehicle model 7 moves at a translational simulation acceleration f _SA (s) that is smaller than the normal translational simulation acceleration by the limiter deceleration A. When the vehicle model 7 reaches the limiter operation limit region, the translation speed of the vehicle model 7 becomes 0, and the vehicle model 7 stops. When the limiter arrival time T is greater than or equal to the reference time Ts, the normal translational simulation acceleration f _SA (s) acts on the subject, and when the limiter arrival time T is less than the reference time Ts, the subject is decelerated by the limiter arrival deceleration A. The translational simulation acceleration f _SA (s) is applied.

The computer 14 calculates the cylinder length of each hydraulic cylinder 4a of the hexapod 4 based on the tilt angle α, sets the 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,... (S21). 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 limiter arrival time T is equal to or greater than the reference time Ts, the vehicle model 7 is tilted at a normal tilt angle corresponding to the target acceleration f _AA (s), and the limiter arrival time T is less than the reference time Ts. The vehicle model 7 is tilted at an angle obtained by adding a pitch angle corresponding to the limiter arrival deceleration A to a normal tilt angle corresponding to the target acceleration f _AA (s). Therefore, when the limiter arrival time T is equal to or longer than the reference time Ts, the normal tilt simulation acceleration f _TA (s) acts on the subject, and when the limiter arrival time T is less than the reference time Ts, the normal tilt simulation is performed. The tilt simulated acceleration f _TA (s) increased by the limiter arrival deceleration A from the acceleration acts. As a result, the subject is subjected to acceleration composed of the translational simulated acceleration f _SA (s) and the tilt simulated acceleration f _TA (s), and always feels an acceleration feeling corresponding to the target acceleration f _AA (s).

According to this driving simulator 1, when the limiter arrival time T is less than the reference time Ts, the dome 2 (vehicle model 7) can be stopped in the limiter reach limit region by decelerating by the limiter arrival deceleration A. it can. Therefore, the limiter does not operate and no shock is generated when the limiter is operated. Further, according to the driving simulator 1, when the limiter arrival time T is less than the reference time Ts, the tilt motion is performed at the tilt angle that generates the simulated tilt acceleration f _TA (s) increased by the limiter arrival deceleration A. Thus, it is possible to compensate for the feeling of deceleration in translational motion and generate an acceleration feeling corresponding to the target acceleration f _AA (S), and to accurately simulate the acceleration. Furthermore, in the driving simulator 1, when the limiter arrival time T is equal to or longer than the reference time Ts, translation control and tilt control are performed according to the normal target acceleration f _AA (s), so that the acceleration can be simulated with high accuracy. it can.

  A driving simulator 21 according to the second embodiment will be described with reference to FIGS. In the driving simulator 21, the same components as those in the driving simulator 1 according to the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The driving simulator 21 differs from the driving simulator 1 only in how to determine the limiter arrival time. In the driving simulator 21, a low pass filter is used when obtaining the limiter arrival time in order to prevent the limiter arrival time from changing discontinuously. The driving simulator 21 differs from the driving simulator 1 only in computer control, and includes a computer 24 instead of the computer 14 according to the first embodiment. In the second embodiment, the driving simulator 21 corresponds to the driving simulation test apparatus described in the claims, and the computer 24 corresponds to the control means described in the claims.

  As described above, the limiter operation limit area is a quadrangular range having four sides (see FIG. 4). Therefore, when the limiter arrival time T is obtained as in the first embodiment, the times T1, T2, T3, and T4 until reaching the limit area of each of the four sides are obtained, and the minimum time is obtained from them. Select a time. Therefore, when the vehicle model 7 changes its traveling direction and the side to which the vehicle model 7 is directed changes, the times T1, T2, T3, and T4 to be selected are switched, and the limiter arrival time T changes discontinuously. As a result, the limiter arrival deceleration A when performing deceleration control also changes discontinuously, the translational simulation acceleration and the tilt simulation acceleration change suddenly, and the subject feels uncomfortable. Therefore, even when the object to be selected from the times T1, T2, T3, and T4 changes, a low-pass filter is used to reduce the change in the value.

  The computer 24 is a computer that performs overall control of the driving simulator 21 and is the same computer as the computer 14. The computer 24 differs from the computer 14 only in the way of obtaining the limiter arrival time in drive control. Therefore, how to determine the limiter arrival time will be described in detail.

  As in the first embodiment, the computer 24 calculates times T1, T2, T3, and T4 until reaching the limiter operation limit region by using the equations (1) to (4), and by using the equation (5). The minimum limiter arrival time T is selected from the times T1, T2, T3, and T4. Then, the computer 24 obtains the limiter arrival time TF by passing the selected limiter arrival time T through the low-pass filter LP (s) according to the equation (13). The limiter arrival time TF is a value obtained by removing a sudden change in the value of the limiter arrival time T, and even when the target selected from the times T1, T2, T3, and T4 until reaching the limiter changes, the value of the limiter arrival time TF changes. Becomes a relaxed value.

When the limiter arrival time TF is obtained, it is compared with the reference time Ts as in the first embodiment, and the limiter arrival time TF is greater than or equal to the reference time Ts or the limiter arrival time TF is less than the reference time Ts. The simulated translation acceleration f _SA (s) and the simulated tilt acceleration f _TA (s) are calculated. At this time, if the limiter arrival time TF is less than the reference time Ts, the computer 24 calculates the limiter arrival deceleration A using the translation speed V and the limiter arrival time TF according to the equation (14).

  Even when the target selected from the time T1, T2, T3, and T4 to reach is switched, the limiter arrival time TF changes smoothly, so that the limiter arrival deceleration A also changes smoothly. .

  The operation of the driving simulator 21 will be described with reference to FIGS. In particular, the drive control in the computer 24 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 second embodiment. The operation in the driving simulator 21 is different from the operation in the driving simulator 1 according to the first embodiment only in the operation for obtaining the limiter arrival time, and this will be described in detail.

The computer 24 calculates the target acceleration f _AA (s) according to the driving operation of the subject at regular intervals (S30). The computer 24 receives the X direction position signal and the Y direction position signal at regular intervals, acquires the position (x, y) of the vehicle model 7 (S31), and time-differentiates the position (x, y). Then, the translation speed (Vx, Vy) is calculated (S32). Then, the computer 24 calculates the times T1, T2, T3, and T4 until reaching the limiter operation limit region using the translational speed (Vx, Vy), respectively, and the minimum of the T1, T2, T3, and T4 is calculated. A limiter arrival time T is selected (S33). Further, the computer 24 obtains the limiter arrival time TF by passing the limiter arrival time T through the low-pass filter according to the equation (13) (S34). This limiter arrival time TF changes smoothly even when T1, T2, T3, and T4 are switched.

Then, the computer 24 determines whether or not the limiter arrival time TF is equal to or longer than the reference time Ts (S35). When it is determined in S35 that the limiter arrival time TF is equal to or longer than the reference time Ts, the computer 24 calculates a translational simulation acceleration f _SA (s) based on the target acceleration f _AA (s) (S36) and also simulates tilt. The acceleration f _TA (s) is calculated (S37). When it is determined in S35 that the limiter arrival time TF is less than the reference time Ts, the computer 24 calculates the limiter arrival deceleration A by dividing the translation speed V by the limiter arrival time TF according to the equation (14) (S38). . The limiter arrival deceleration A changes smoothly according to the limiter arrival time TF even when T1, T2, T3, and T4 are switched. Then, the computer 24 calculates the translational simulated acceleration f _SA (s) decelerated by the limiter arrival deceleration A based on the target acceleration f _AA (S) (S39) and increases the speed by the limiter arrival deceleration A. The tilt simulated acceleration f _TA (s) is calculated (S40). The computer 24 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) (S41).

Then, in the computer 24, as in the first embodiment, translation control is performed based on the translational simulation acceleration f _SA (s), and tilt control is performed based on the tilt angle α (S42). Then, in the XY translation mechanism 3, as in the first embodiment, the dome 2 (vehicle model 7) is translated at the calculated translational acceleration f _SA (s). In this translational motion, even when the limiter arrival time TF is less than the reference time Ts, the vehicle model 7 changes its traveling direction (that is, even if the limiter operation limit region side toward which the vehicle model 7 is directed) changes. The simulated acceleration f _SA (s) changes smoothly. In addition, the hexapod 4 gives a tilt angle α to the dome 2 (vehicle model 7). In this tilt motion, when the limiter arrival time T is less than the reference time Ts, the tilt angle (tilt simulation acceleration f _TA (s)) changes smoothly even if the vehicle model 7 changes the traveling direction. Therefore, even if the vehicle model 7 changes the traveling direction, the subject does not feel a sense of incongruity that the simulated acceleration changes abruptly.

The driving simulator 21 has the same effect as the driving simulator 1 according to the first embodiment. Furthermore, according to the driving simulator 21, the limiter arrival time is obtained by using a low-pass filter, whereby the discontinuity of the limiter arrival time T due to switching when the arrival times T1, T2, T3, and T4 for each side are selected. The limiter arrival time TF is changed smoothly. Therefore, the limiter arrival deceleration A also changes smoothly, and the translation simulation acceleration f _SA (s) and the tilt simulation acceleration f _TA (s) also change smoothly. Therefore, the subject does not feel discomfort due to the sudden change in the simulated acceleration.

  A driving simulator 31 according to a third embodiment will be described with reference to FIGS. 1 to 3 and 7. FIG. 7 is a diagram when the corner portion is set to a curve with respect to the limiter operation limit region in the translational motion. In the driving simulator 31, the same components as those in the driving simulator 1 according to the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The driving simulator 31 differs from the driving simulator 1 only in how to determine the limiter arrival time. In the driving simulator 31, in order to prevent the limiter arrival time from changing discontinuously, the setting of the limiter operation limit region is changed, and the limiter arrival time is obtained according to the changed limiter operation limit region. The driving simulator 31 differs from the driving simulator 1 only in computer control, and includes a computer 34 instead of the computer 14 according to the first embodiment. In the third embodiment, the driving simulator 31 corresponds to the driving simulation test apparatus described in the claims, and the computer 34 corresponds to the control means described in the claims.

  As described in the second embodiment, in the case of the square limiter operation limit region, when the vehicle model 7 changes its traveling direction and the side to which the vehicle model 7 is directed changes, the time T1, T2, and the time to be selected. T3 and T4 are switched, and the limiter arrival time T changes discontinuously. Therefore, in the third embodiment, the limiter operation limit region is curved with the same radius at the four corners (see FIG. 7). As a result, the limiter operation limit area is composed of four straight line portions and a corner portion that connects the straight line portions with a curved line, and even when the vehicle model 7 changes its traveling direction, the side to which the vehicle model 7 is directed changes. The sides change continuously.

  The computer 34 is a computer that performs overall control of the driving simulator 31 and is the same computer as the computer 14. The computer 34 differs from the computer 14 only in the way of obtaining the limiter arrival time in drive control. Therefore, how to determine the limiter arrival time will be described in detail.

  As described above, the limiter operation limit region is composed of four straight portions and four curved corner portions. Therefore, the time T1, T2, T3, T4 until the dome 2 reaches each of the straight portions is calculated, and the time TR1, TR2, TR3, TR4 until the dome 2 reaches the respective corner portions are calculated. The time that reaches the earliest of the eight times is defined as a limiter arrival time T.

  The computer 34 calculates times T1, T2, T3, and T4 until reaching the limit area of each straight line portion by the same method as in the first embodiment.

  In the computer 34, the distance D1 between the vehicle model 7 and the corner portion R1 is calculated by the equation (15), the distance D2 between the vehicle model 7 and the corner portion R2 is calculated by the equation (16), and the vehicle is calculated by the equation (17). A distance D3 between the model 7 and the corner portion R3 is calculated, and a distance D4 between the vehicle model 7 and the corner portion R4 is calculated by the equation (18).

  F1 (R1), F2 (R2), F3 (R3), and F4 (R4) are functions indicating curves of the corner portions R1, R2, R3, and R4. f (x, y) is a function indicating the position of the vehicle model 7.

  Then, the computer 34 calculates the translation speed V from the translation speed (Vx, Vy) of the vehicle model 7 by the above equation (8). Further, the computer 34 calculates a time TR1 until reaching the corner portion R1 using the distance D1 according to the equation (19), and a time TR2 until reaching the corner portion R2 using the distance D2 according to the equation (20). , And a time TR3 until reaching the corner portion R3 is calculated using the distance D3 according to the equation (21), and a time TR4 until reaching the corner portion R4 is calculated using the distance D4 according to the equation (22). To do.

  Then, the computer 34 selects the minimum time from T1, T2, T3, T4, TR1, TR2, TR3, and TR4 according to the equation (23), and sets it as the limiter arrival time T. The time between arrival T1 and T4 becomes continuous time by TR1, the time between T4 and T2 becomes continuous time by TR2, the time between T3 and T1 becomes continuous time by TR3, The time between T2 and T3 is a continuous time by TR4. Therefore, even when the object to be selected from T1, T2, T3, T4, TR1, TR2, TR3, and TR4 is switched, the limiter arrival time T is a continuous time.

When the limiter arrival time T is obtained, the computer 34 compares the limiter arrival time T with the reference time Ts in the same manner as in the first embodiment. A translation simulation acceleration f _SA (s) and a tilt simulation acceleration f _TA (s) in the case of less than Ts are calculated. At this time, if the limiter arrival time T is less than the reference time Ts, the computer 34 calculates the limiter arrival deceleration A using the translation speed V and the limiter arrival time T by the above equation (9). Even when the object to be selected from T1, T2, T3, T4, TR1, TR2, TR3, and TR4 is switched, the limiter arrival time T is a continuous time. Change.

  The operation of the driving simulator 31 will be described with reference to FIGS. In particular, the drive control in the computer 34 will be described with reference to the flowchart of FIG. FIG. 8 is a flowchart showing a flow of drive control in the computer according to the third embodiment. The operation in the driving simulator 31 is different from the operation in the driving simulator 1 according to the first embodiment only in the operation for obtaining the limiter arrival time, and this point will be described in detail.

The computer 34 calculates the target acceleration f _AA (s) according to the driving operation of the subject at regular intervals (S50). The computer 34 receives the X direction position signal and the Y direction position signal at regular intervals, acquires the position (x, y) of the vehicle model 7 (S51), and time-differentiates the position (x, y). Then, the translation speed (Vx, Vy) is calculated (S52).

  The computer 34 calculates the reach distances D1, D2, D3, and D4 until the vehicle model 7 reaches the corner portions R1, R2, R3, and R3 in the limiter operation limit region by the equations (15) to (18), respectively. The arrival times TR1, TR2, TR3, and TR4 until the vehicle model 7 reaches the corner portions R1, R2, R3, and R3 are calculated from Equations (19) to (22), respectively (S53). Further, the computer 34 calculates times T1, T2, T3, and T4 until reaching each linear portion of the limiter operation limit region by using the equations (1) to (4) (S54). Then, the computer 34 selects the minimum limiter arrival time T from T1, T2, T3, T4, TR1, TR2, TR3, and TR4 according to the equation (23) (S55). This limiter arrival time T changes continuously even when T1, T2, T3, T4, TR1, TR2, TR3, and TR4 are switched.

Then, in the computer 34, as in the first embodiment, it is determined whether or not the limiter arrival time T is equal to or greater than the reference time Ts (S56). In S56, the limiter arrival time T is determined to be equal to or greater than the reference time Ts. In this case, the translation simulation acceleration f _SA (s) and the tilt simulation acceleration f _TA (s) are calculated based on the target acceleration f _AA (s) (S57, S58), and the limiter arrival time T is the reference time Ts in S56. If it is determined that the limiter arrival deceleration A is determined (S59), the translation simulation acceleration f _SA (s) and the tilt simulation acceleration f _TA (s) are calculated in consideration of the limiter arrival deceleration A (S60). , S61). The limiter arrival deceleration A continuously changes according to the limiter arrival time T even when T1, T2, T3, T4, TR1, TR2, TR3, and TR4 are switched. Then, the computer 34 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) (S62).

Then, in the computer 34, as in the first embodiment, translation control is performed based on the translational simulation acceleration f _SA (s), and tilt control is performed based on the tilt angle α (S63). Then, in the XY translation mechanism 3, as in the first embodiment, the dome 2 (vehicle model 7) is translated at the calculated translational acceleration f _SA (s). In this translational movement, even if the vehicle model 7 changes its traveling direction when the limiter arrival time T is less than the reference time Ts, the translational simulation acceleration f _SA (s) continuously changes. In addition, the hexapod 4 gives a tilt angle α to the dome 2 (vehicle model 7). In this tilt motion, when the limiter arrival time T is less than the reference time Ts, the tilt angle (tilt simulation acceleration f _TA (s)) continuously changes even if the vehicle model 7 changes the traveling direction. Therefore, even if the vehicle model 7 changes the traveling direction, the subject does not feel a sense of incongruity that the simulated acceleration changes abruptly.

The driving simulator 31 has the same effect as the driving simulator 1 according to the first embodiment. Furthermore, according to the driving simulator 31, the limiter arrival time T is continuously changed even when the arrival time is switched by obtaining the limiter arrival time using the corner portion of the limiter operation limit region as a curve. Therefore, the limiter arrival deceleration A also changes continuously, and the translational simulation acceleration f _SA (s) and the tilt simulation acceleration f _TA (s) also change continuously. Therefore, the subject does not feel discomfort due to the sudden change in the simulated acceleration.

  A driving simulator 41 according to a fourth embodiment will be described with reference to FIGS. In the driving simulator 41, the same code | symbol is attached | subjected about the structure similar to the driving simulator 1 which concerns on 1st Embodiment, and the description is abbreviate | omitted.

  The driving simulator 41 is different from the driving simulator 1 in that the driving simulator 41 is a continuous control that does not perform the switching control between the translation control and the tilt control by the limiter arrival time. In the driving simulator 41, in order to prevent the dome from exceeding the limiter operating limit region, translation control that always decelerates according to the limiter arrival time is performed and a tilt angle in the pitch direction is added according to the deceleration. Tilt control is performed. The driving simulator 41 is different from the driving simulator 1 only in computer control, and includes a computer 44 instead of the computer 14 according to the first embodiment. In the fourth embodiment, the driving simulator 41 corresponds to the driving simulation test apparatus described in the claims, and the computer 44 corresponds to the control means described in the claims.

  The computer 44 is a computer that performs overall control of the driving simulator 41 and is the same computer as the computer 14. The computer 44 is different from the computer 14 in that the drive control is continuous control. Therefore, the continuous control will be described in detail.

  In the computer 44, the limiter arrival time T is calculated at fixed time intervals by the same method as in the first embodiment. Then, the computer 44 calculates the translation speed V of the vehicle model 7 from the translation speed (Vx, Vy) by the above formula (8), and reaches the limiter from the translation speed V and the limiter arrival time T by the above formula (9). Deceleration A is calculated.

Furthermore, opposite the computer 44, by the above equation (10), against the translational simulated acceleration corresponding to the target acceleration _{f AA (s) (f AA} (s) [1-LP (s)] HP (s)) The translational simulation acceleration f _SA (s) in which the direction limiter arrival deceleration A is applied is calculated. In the computer 44, the limiter arrival deceleration A is added to the simulated tilt acceleration (f _AA (s) LP (s)) corresponding to the target acceleration f _AA (s) by the above equation (11). Tilt simulation acceleration f _TA (s) is calculated. Further, the computer 44 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) by the above equation (12). In the computer 44, as in the first embodiment, translation control is performed based on the translational simulation acceleration f _SA (s), and tilt control is performed based on the tilt angle α. As described above, the computer 44 always obtains the limiter arrival deceleration A from the limiter arrival time T and continuously performs the deceleration control in the translation control.

  The operation of the driving simulator 41 will be described with reference to FIGS. In particular, drive control in the computer 44 will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart showing a flow of drive control in the computer according to the fourth embodiment. The operation in the driving simulator 41 is different from the operation in the driving simulator 1 according to the first embodiment only in the operation of the continuous control of the drive control, and this point will be described in detail.

The computer 44 calculates the target acceleration f _AA (s) according to the driving operation of the subject at regular intervals (S70). The computer 44 receives the X direction position signal and the Y direction position signal at regular intervals, acquires the position (x, y) of the vehicle model 7 (S71), and time-differentiates the position (x, y). Then, the translation speed (Vx, Vy) is calculated (S72). Then, the computer 44 calculates the times T1, T2, T3, and T4 until reaching the limiter operation limit region using the translational speeds (Vx, Vy), respectively, and the minimum of the T1, T2, T3, and T4 is calculated. A limiter arrival time T is selected (S73). Further, the computer 44 calculates the translation speed V of the vehicle model 7 from the translation speeds (Vx, Vy), and calculates the limiter arrival deceleration A by dividing the translation speed V by the limiter arrival time T (S74). The computer 44 calculates a translational simulated acceleration f _SA (s) obtained by decelerating the output obtained by applying a high-pass filter to the target acceleration f _AA (s) by the limiter arrival deceleration A (S75). Further, the computer 44 calculates a simulated tilt acceleration f _TA (s) obtained by increasing the target acceleration f _AA (s) by the limiter arrival deceleration A with respect to the output obtained by applying a low-pass filter (S76). The computer 44 calculates the tilt angle α from the simulated tilt acceleration f _TA (s) (S77).

Then, in the computer 44, as in the first embodiment, the translation control is performed based on the translational simulation acceleration f _SA (s), and the tilt control is performed based on the tilt angle α (S78). Then, in the XY translation mechanism 3, as in the first embodiment, the dome 2 (vehicle model 7) is translated at the calculated translational acceleration f _SA (s). In this translational movement, the vehicle model 7 always moves at a translational simulated acceleration f _SA (s) that is smaller than the normal translational simulated acceleration corresponding to the target acceleration f _AA (s) by a limiter deceleration A. When the vehicle model 7 reaches the limiter operation limit region, the translation speed of the vehicle model 7 becomes 0, and the vehicle model 7 stops. A translation simulated acceleration f _SA (s) decelerated at a limiter arrival deceleration A is always applied to the subject. Further, in the hexapod 4, the tilt angle α is given to the dome 2 (vehicle model 7) as in the first embodiment. In this tilt motion, the vehicle model 7 is tilted at an angle obtained by adding a pitch angle corresponding to the limiter arrival deceleration A to a normal tilt angle corresponding to the target acceleration f _AA (s). Therefore, the simulated tilt acceleration f _TA (s), which is increased at the limiter arrival deceleration A from the normal simulated tilt acceleration, is always applied to the subject. As a result, the subject is subjected to acceleration composed of the translational simulated acceleration f _SA (s) and the tilt simulated acceleration f _TA (s), and always feels an acceleration feeling corresponding to the target acceleration f _AA (s).

According to this driving simulator 41, the dome 2 (vehicle model 7) can be stopped in the limiter reach limit region by always decelerating by the limiter reach deceleration A. Therefore, the limiter does not operate and no shock is generated when the limiter is operated. In addition, according to the driving simulator 41, the tilting motion is always performed at the tilt angle that generates the simulated tilt acceleration f _TA (s) increased by the limiter arrival deceleration A, thereby supplementing the feeling of deceleration in the translational motion. An acceleration feeling corresponding to the target acceleration f _AA (S) can be generated, and the acceleration can be simulated with high accuracy.

  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, but a plurality of computers such as a computer for vehicle motion calculation, a computer for drive 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 first to third embodiments, the translation control and the tilt control are switched depending on whether the limiter arrival time is less than the reference time. However, the distance from the current position of the vehicle model to the limiter operation limit is set. The translation control and the tilt control may be switched depending on whether the limiter reach distance is less than the reference distance.

  In the fourth embodiment, the limiter arrival time is obtained by the same method as in the first embodiment. However, a low-pass filter may be used as in the second embodiment, or The corner portion of the limiter operation limit region may be a curve as in the third embodiment.

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 a figure which shows the limiter action | operation limit area | region in translation. It is a flowchart which shows the flow of the drive control in the computer which concerns on 1st Embodiment. It is a flowchart which shows the flow of the drive control in the computer which concerns on 2nd Embodiment. It is a figure at the time of setting a corner part to a curve with respect to the limiter operation limit region in translational motion. It is a flowchart which shows the flow of the drive control in the computer which concerns on 3rd Embodiment. It is a flowchart which shows the flow of the drive control in the computer which concerns on 4th Embodiment.

Explanation of symbols

1, 21, 31, 41 ... 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 unit, 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, 7 ... Meter, 7c ... Operation reaction force generator, 8 ... Screen, 9 ... Projector, 10 ... Speaker, 11 ... Database, 12 ... X direction position detection sensor, 13 ... Y direction position detection sensor, 14, 24, 34, 44 ... Computer

Claims (7)

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 driver's body sensation means in a rectangular motion range defined by orthogonal X-direction and Y-direction translational motions ;
Tilt motion means for tilting the driver experience means;
Control means for calculating the movement of the vehicle based on the driving operation of the subject, and controlling the drive of the translation movement means and the tilt movement means in order to simulate the movement of the vehicle,
The control means decelerates the translational movement speed according to the limit of the translational motion range in the translational movement regardless of the driving operation, and cancels the deceleration when the translational movement speed in the translational movement is decelerated in the tilting movement. A driving simulation test apparatus characterized by adding a tilt angle for generating such acceleration . When the distance until the driving sensation means reaches the limit of the motion range of the translational motion is less than the reference distance, the control unit responds to the limit of the motion range of the translational motion regardless of the driving operation in the translational motion. 2. The tilt angle for generating an acceleration that decelerates the deceleration when the translational movement speed in the translational motion is decelerated in the tilting motion is added while the translational motion speed is decelerated. Driving simulation test device. When the time until the driving sensation means reaches the limit of the motion range of the translational motion is less than the reference time, the control unit responds to the limit of the motion range of the translational motion regardless of the driving operation in the translational motion. 2. The tilt angle for generating an acceleration that decelerates the deceleration when the translational movement speed in the translational motion is decelerated in the tilting motion is added while the translational motion speed is decelerated. Driving simulation test device. A low-pass filter is used to reduce the discontinuity of each of the four distances until reaching the limit of each of the four sides of the translational quadrangular movement range when determining the distance to reach. The driving simulation test apparatus according to claim 2 . A low-pass filter is used to reduce the discontinuity of each of the four times until reaching the limit of each of the four sides of the translational quadrangular motion range when determining the time to reach the time. The driving simulation test apparatus according to claim 3 . 3. The driving simulation test apparatus according to claim 2 , wherein when determining the distance to reach, the four corner portions at the limit of the quadrangular motion range of translational motion are curved . 4. The driving simulation test apparatus according to claim 3 , wherein the four corner portions at the limit of the quadrangular movement range of the translational motion are curved when obtaining the time to reach . 5.

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