JP4898367B2 - Acceleration simulator - Google Patents

Description

The present invention relates to acceleration simulators to simulate the feel of a driver in an airplane or an automobile, in particular, high simulation accuracy, relates acceleration simulator to faithfully simulate the feel of a driver in an airplane or an automobile is there.

  An acceleration simulator (simulator) typified by a flight simulator or a driving simulator includes a shaking device that shakes a shaking portion (hereinafter referred to as a cabin) provided with a cockpit seat or a driver seat. A shaking device such as a straight motion or a rotational motion is given to the cabin to allow the operator to simulate the acceleration of the motion of the aircraft or vehicle caused by the operator's steering operation or driving operation (hereinafter simply referred to as operation). It is like that.

  In such a bodily sensation acceleration simulator, as a method of simulating the bodily sensation acceleration in the front-rear direction or the lateral direction, for example, acceleration is generated by causing the cabin to move straight in the front-rear direction or the lateral direction, and this acceleration can be experienced. Conceivable. However, such an acceleration simulator is generally installed indoors and usually has limitations on the movable range of the cabin and the shaking device due to the limited installation space. It is impossible to simulate with. Therefore, in such a sensation acceleration simulator, in addition to the sensation acceleration generated by the straight-ahead movement, for example, the cabin or seat is rotated and tilted, and the operator can experience the gravitational acceleration component by tilting the seat back. Therefore, it is necessary to devise a method of using the gravitational acceleration component to reproduce the body acceleration in the front-rear direction or the lateral direction in a pseudo manner.

  With regard to such an acceleration simulator, for example, Patent Document 1 discloses that a driving device and a seat of an automobile, a projector that projects a surrounding landscape during driving, a cabin having a screen, and the cabin is translated laterally. Rail and linear motor that can be rotated, rotation in the roll direction (tilt in the driver's left-right direction), rotation in the pitch direction (tilt in the driver's front-rear direction), and yaw direction (rotation around the driver's top-and-bottom direction) It has a drive source for performing rotation, calculates the movement of the cabin part or acceleration in the rotational direction based on the driving operation information of the driver, and uses a low-pass filter and a high-pass filter to make a sudden movement and a slow movement. A driving simulator has been shown that separates the two, thereby enabling a small and faithful simulation.

Japanese Patent No. 2866118

  However, the acceleration simulator shown in Patent Document 1 uses a high-pass filter and a low-pass filter for simulating acceleration, and performs rapid acceleration by translational motion with high-frequency components that have passed through the high-pass filter, and low-frequency components that have passed through the low-pass filter. In this way, in the case of realistic reproduction of the longitudinal acceleration or the lateral acceleration, for example, in the driving operation where the driver momentarily depresses and releases the accelerator pedal, the following operation is performed. Such a problem arises.

  In other words, in normal linear acceleration where the driver keeps stepping on the accelerator pedal, the driver can get the same experience by linearly accelerating the simulator, but if the driver keeps stepping on the accelerator pedal, the movable range of the linear axis Therefore, the bodily sensation due to linear acceleration is simulated in a pseudo manner by a pitch motion (tilt in the front-rear direction) that rotates the seat later. However, when the accelerator pedal is stepped on and released instantaneously, since it can be simulated only by linear motion, no rotational motion is necessary. However, in the method disclosed in Patent Document 1, linear acceleration is determined by a predetermined filter. Therefore, even if it is slightly accelerated, the driver is given a rotational motion that is essentially unnecessary, and as a result, the driver feels uncomfortable. Although it is conceivable that the characteristics of the filter are switched by the driver's operation, there are innumerable combinations of the driver's operations, and it is practically impossible to provide a filter to cover all of them.

  Also, if the simulator's cabin is near the rear end of the linear axis movable range and there is almost no movable range on the reverse side, when moving forward, the linear axis acceleration is large because the forward clearance of the linear axis movable range is large. Although it is practically unlimited, it is almost impossible to generate linear acceleration on the reverse side because the clearance is small in reverse, and the linear acceleration must be replaced with a pitch motion (back and forth rotation) that rotates the seat backward. .

  However, the above-described Patent Document 1 does not describe the simulation in consideration of the difference between the front and rear clearances, and the same situation occurs when the rotating shaft has a movable range. To cope with this situation, the high-pass filter and low-pass filter can be changed according to the cabin position of the simulator, but it is virtually impossible to prepare filters for all combinations of movable axis positions. Therefore, the simulation accuracy of acceleration is deteriorated.

  Furthermore, in the simulator of this Patent Document 1, the acceleration reproduction target by driving is the center of gravity position of the automobile, but in order to accurately simulate the acceleration experienced by the driver, the position where the driver is sitting (driving position), Or it is important to simulate the acceleration at the location of the semicircular canal, but that is not suggested.

  In general, the sensory acceleration varies slightly depending on the driver's physique, etc., and the sensitivity to the acceleration reproduction error varies from person to person, which is called simulator sickness, and the driver shows exactly the same symptoms as car sickness. Therefore, it may not be possible to experiment for a long time. In order to avoid such simulator sickness, it is thought that the simulator motion should be adjusted according to the sensitivity to the driver's reproduction error. There is no disclosure about adjusting exercise.

  Therefore, in the present invention, it is an object to provide an acceleration simulator that allows the driver (subject) to simulate acceleration without feeling uncomfortable with respect to the driving operation performed by the driver (subject). Makes it possible to adjust individual differences in acceleration experience that vary depending on the driver's physique, etc., and simulates the acceleration in real time for the driving operation performed by the driver, and further the movable range in the simulator It is a problem to provide an acceleration simulator that can perform a simulation that does not make the driver feel uncomfortable.

In order to solve the above problem, an acceleration simulation method according to the present invention includes:
A virtual space including the space based on the information of the driving operation performed by the subject by causing the space in which the seat where the subject is placed to be provided to move in the XYZ axis direction and the rotation about the XYZ axis using the driving means. In the acceleration simulation method of calculating the motion state of the vehicle and driving the driving means to allow the subject to experience acceleration based on driving operation ,
A first step of acquiring acceleration sensory position coordinates for experiencing the acceleration input from the acceleration sensory position coordinate input means, and the acceleration at the acceleration sensory position coordinates acquired in the first step based on the information of the driving operation A second step of calculating, a third step of calculating an XYZ axial movement amount and rotation amount of the driving means and respective speeds based on a calculation result of the second step, and the third step The fourth step for limiting the movement amount, the rotation amount, and the speed in the respective axis directions calculated in step 4 within the movable range in each axis, and the acceleration at the acceleration sensory position coordinates calculated in the second step, The movement amount in each axial direction calculated in the third step, the weighting factor corresponding to the rotation amount and the speed, and the movement amount in each axial direction restricted within the movable range in the fourth step And a fifth step of setting a balance between the weight coefficient corresponding to the rotation amount and speed,
The acceleration calculated in the second step is converted into the movement amount, rotation amount, and speed of the driving means in the XYZ-axis directions by setting a weighting coefficient with the balance set in the fifth step. The subject is made to experience acceleration .

And the acceleration simulator for implementing the above method is:
An imaginary vehicle including the space based on information on driving operation performed by the subject, driving means for performing movement in the XYZ-axis direction and rotation around the XYZ axis in a space provided with a seat where the subject is arranged In an acceleration simulator having a simulator control means for driving the driving means by calculating the motion state of the subject and causing the subject to experience acceleration based on driving operation,
The simulator control means is a sensory acceleration representative point input means for inputting coordinates for experiencing acceleration, and an exercise model calculation means for calculating the acceleration at the coordinates input by the sensory acceleration representative point input means based on the information of the driving operation. Axis command signal calculation means for calculating the movement amount and rotation amount of the drive means and the respective speeds based on the calculation result of the motion model calculation means, and each of the axis command signal calculation means to calculate Axis correction command signal calculation means for limiting the movement amount and rotation amount and speed in the axial direction within the movable range of each axis, and the movement amount and rotation amount in each axis direction calculated by the axis command signal calculation means, balance the weight coefficient corresponding to the amount of rotation and the speed and the moving amount of each axis direction is limited within a movable range by the weighting factor corresponding to the speed and the scale modification command signal calculating means And a weighting factor specifying means for setting,
The XYZ axes of the driving means are calculated by the axis command signal calculating means using the weighting coefficient specified by the weighting coefficient specifying means, with the acceleration calculated by the motion model calculating means at the coordinates input by the sensory acceleration representative point input means. It is characterized by converting the amount of movement in the direction, the amount of rotation, and the speed so that the subject can experience acceleration.

  In this way, by providing a means for designating the representative point coordinates where the subject (driver) feels the sensory acceleration, it is possible to designate the position where the driver is sitting (driving position) or the position where the semicircular canal is located. Since the difference in how the driver feels the physique and acceleration can be adjusted, the acceleration experienced by the driver can be accurately simulated. In addition, acceleration does not use a high-pass filter or a low-pass filter as in the prior art described above, but based on driving operation information, a motion model calculation means, an axis command signal calculation means, an axis correction command signal calculation means, and a weighting factor designation means Therefore, even when the driver momentarily presses and releases the accelerator pedal, the driving operation can be faithfully reproduced, and the subject feels uncomfortable and accurate without unnecessary movement. It can be set as the acceleration simulator which does not let you feel. Therefore, coupled with the ability to designate the body acceleration acceleration representative point coordinates, simulator sickness can be reduced.

  The acceleration calculated by the motion model calculation means is converted by the axis command signal calculation means into the movement amount and rotation amount of the drive means, the rotation amount, and the respective speeds. At this time, the drive means exceeds the movable range. Axis correction command signal calculation means for limiting the weight, and a weighting factor for setting a balance between a weighting factor when the acceleration is reproduced by movement in the XYZ axis direction and a weighting factor when the acceleration is reproduced by rotation around the XYZ axis By providing the designation means, each axis can perform simulation in consideration of the difference in the clearance of the movable range in the simulator, and can perform accurate simulation without a sense of incongruity at the end of the movable range.

  In the first step, a position coordinate (hereinafter referred to as a first acceleration sensory position) for experiencing the subject's acceleration and a second acceleration sensory position coordinate different from the first acceleration sensory position coordinate are input. In addition, an XYZ-axis direction moving amount for reproducing the acceleration calculated in the fourth step and the XYZ-axis are set centering on the weighting of the acceleration by translation and the pseudo acceleration by rotation in the second acceleration sensory position coordinates. The weight of the acceleration by translation in the first acceleration sensory position coordinates set in the first step and the pseudo acceleration by rotation, and the acceleration by translation in the second acceleration sensory position coordinates set in the first step In order to calculate using the weighting with the pseudo acceleration due to rotation and implement this simulation method, the simulator control means, A second weighting factor designating unit for second acceleration bodily sensation position coordinates different from the coordinate for bodily experiencing the acceleration in the subject, wherein the axis command signal calculating unit includes the weighting factor designating unit and the second weighting unit. Using the weighting factor specified by the coefficient specifying means, the acceleration calculated by the motion model calculating means at the coordinates for experiencing the acceleration of the subject and the second acceleration sensory coordinates is the amount of movement, rotation and speed in the XYZ directions. The acceleration simulator can reproduce more realistic acceleration by driving the driving means by converting to, and can reduce simulator sickness even if the perceived acceleration is slightly different for each driver It can be.

  Furthermore, the weighting factor designating means and the second weighting factor designating unit have a weighting factor changing unit, so that, for example, when an automobile runs on a mountain road, the vehicle can be decelerated and shaken to the left and right. This is because there is no decelerating speed and no such vibrations when driving on an expressway. Therefore, by changing the weighting factor in the weighting factor designating means, the difference between these decelerating speeds and the presence or absence of left and right shaking can be determined. Since it becomes possible to simulate to a certain extent, it is possible to perform a simulation according to the actual driving situation.

  The virtual vehicle is provided with a seat for placing a second subject at a position different from the seat for placing the subject, and driving operation information performed by the subject is stored in advance, and the first step performs the first step. Input the acceleration sensory position coordinates of the two subjects, calculate the motion state of the virtual vehicle based on the stored driving operation information in the third step, and the motion of the virtual vehicle calculated in the third step Based on the state and the acceleration sensory position coordinates of the second subject input in the first step, the acceleration of the virtual vehicle is reproduced in the fourth step so that the acceleration is reproduced with the acceleration sensory position coordinates of the second subject. In order to calculate the amount of movement in the XYZ-axis direction and the amount of rotation about the XYZ-axis, and to perform this simulation method, the acceleration simulator The space has a seat for arranging the second subject at a position different from the position of the seat, and the simulator control means has a storage means for driving operation information performed by the subject, and the motion model calculation means Driving operation information stored in the storage means is given, and the acceleration of coordinates input by the sensory acceleration representative point input means of the second subject is calculated based on the driving operation information, and the second test subject is stored in the storage means. By experiencing the acceleration based on the stored driving operation information, it is possible to evaluate the passenger's sensation in the passenger seat and the rear seat, which helps to design the entire vehicle in a well-balanced manner and to effectively use the equipment. In addition, the acceleration simulator can be used for various purposes.

As described above, according to the present invention, it has been difficult to reproduce in the past, for example, a driving operation in which the driver momentarily depresses and releases the accelerator pedal, or even in a position where it is difficult to simulate near the limit of the movable range of the simulator. The driving operation can be faithfully reproduced, the acceleration at the optimum position for the driver can be reproduced by the presence of the representative acceleration input point, and the axis correction command signal calculating means can be used near the end of the movable range of the driving means. by the presence of the weighting coefficient designation means, it is possible to accurate and acceleration simulator has such feel a sense of discomfort to the subject.

Furthermore, more realistic acceleration can be reproduced by providing a second weighting factor designating unit and a weighting factor changing unit for the second acceleration bodily sensation position in the subject. different or, such as road conditions and weather conditions, it is possible to the acceleration simulator that can be carried out more reproducible realistic acceleration in accordance with the situation of even if the ambient conditions change to.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention unless otherwise specified, but are merely illustrative examples. Not too much.

  FIG. 1 is a schematic configuration diagram of an acceleration simulator 1 according to the present invention, FIG. 2 is a diagram showing an example of a method for designating representative acceleration points in the acceleration simulator 1 according to the present invention, FIG. 3, FIG. 5 to FIG. 7 is a block diagram showing the configuration of the first to fourth embodiments of the simulator control device 3 in the acceleration simulator 1 according to the present invention, and FIG. 4 is an axis correction that configures the simulator control device 3 in the acceleration simulator 1 according to the present invention. FIG. 8 is a block diagram for explaining the calculation contents of the command signal calculation device 34. FIG. 8 shows the movement in the XYZ-axis direction and the XYZ-axis as a center in the space in which the subject is placed in the acceleration simulator of the present invention. It is a figure for demonstrating an example outline and operation | movement of a drive means to perform rotation. In the following description, the acceleration simulator 1 of the present invention will be described by taking as an example the case of simulating acceleration in an automobile. However, it is obvious that the present invention may be used for aircraft simulation and the like.

  As shown in FIG. 1, the acceleration simulator 1 according to the present invention includes a subject seat 21 where a subject sits in a vehicle model 2 such as an automobile or an aircraft, and driving such as a steering wheel, an accelerator, and a brake operated by the subject. The operation device 22 displays the surrounding conditions of traveling, the display device 23 for displaying the state in which the subject is actually traveling or flying on the streets, highways, runways, etc. An operation information acquisition device 24 that acquires operation information and sends it to the simulator control device 3 is provided, and the operation status of the driving operation device 22 by the subject is sent to the simulator control device 3 by the operation information acquisition device 24. Then, the simulator control device 3 calculates the acceleration that the subject will feel based on the sent information, and gives the acceleration to the vehicle model 2 so that the movement amount of the actuator 5 in the XYZ axis direction and the XYZ axis are centered. The actuator driving device 4 is driven by converting the rotational driving amount and the moving speed and rotational speed of each axis.

  In the present invention, the simulator control device 3 is provided with means for designating the sensory acceleration representative point coordinates so that the acceleration caused by driving the vehicle model 2 can be reproduced at the designated position in the subject. The difference between the driver's physique and the way of feeling the acceleration can be adjusted by changing the position to reproduce the acceleration according to the driver. In this way, the driver's own sitting position (driving position) or the position where the semicircular canal can be specified, and the acceleration experienced by the driver can be accurately simulated. Less likely to wake up.

FIG. 2 is a diagram showing an example of a method for designating the sensory acceleration representative point. For example, the sensory acceleration representative point designation screen 31 for designating the sensory acceleration representative point coordinates in the simulator control device 3. , A side surface (left side in FIG. 2) and a front surface (right side in FIG. 2) of the subject 25 sitting on the seat 21 in the vehicle model 2, and an upper portion (not shown) as necessary. provided an imaging device for imaging and a predetermined position of the displayed on the sensory acceleration representative point specifying screen showing an image of the imaging device imaged in 31, the side surface of the subject 25 by the cursor 27 ₁ (left side in FIG. 2), each named a predetermined position in the front by the cursor 27 ₂ (right side in FIG. 2), and be able to feel the acceleration due to the driving operation in this specified position. The means for inputting the body acceleration representative point coordinates is not limited to this method, and the body acceleration representative point coordinates may be directly input as numerical values, for example.

  FIG. 8A shows a driving (space) 2 provided with a seat 21 on which the subject 25 is placed in the acceleration simulator 1 to move in the XYZ axis direction and rotate around the XYZ axis. It is a figure for demonstrating the outline of an example of the actuator 5 which is a means, and its operation | movement.

  In the figure, reference numeral 80 denotes a movable table to which the vehicle model 2 in FIG. 1 is attached, and is shown as a triangle in the figure. However, any shape may be used as long as the vehicle model shown by 2 in FIG. Reference numerals 81, 82, 83, 84, 85, and 86 denote drive means for causing the movable table 80 to move in the XYZ-axis direction and rotate around the XYZ-axis as described above. Actuator. These six actuators 81, 82, 83, 84, 85, 86 are expanded and contracted by using, for example, a hydraulic cylinder, thereby causing the movable table 80 to move in the XYZ axis direction and rotate around the XYZ axis. However, it is not limited to a hydraulic cylinder as long as it can expand and contract. Then, one end of each is attached to each vertex of the movable table 80 shown by, for example, a triangle, and the other end is rotatably attached to the floor or the ground on which the acceleration simulator 1 is placed by a universal joint or the like. The mounting positions of the six actuators 81, 82, 83, 84, 85, 86 on the movable table 80 are shown as the apexes of the triangular movable table 80 for convenience. Accordingly, it is obvious that the actuator 81, 82, 83, 84, 85, 86 may be attached at a position where the movable range is maximized.

And for example, as shown in FIG. 8 (B), when the movable table in the 80 ₁ position shown by a dotted line, is moved in the Z axis direction as the drawing upward as 80 _2, six actuators 81, 82, 83, 84, 85, and 86 are extended from the dotted line state by a length equal to the solid line state. Further, as shown in FIG. 8 (C), the movable table in the 80 ₃ position shown by the dotted line, the drawing right as 80 ₄ without changing the height from the floor or ground, Y When moving in the axial direction, the actuators 81 and 82 are expanded to contract 83 and 84, the actuator 85 is contracted and 86 is expanded. The extension and contraction length of each actuator is adjusted so that the movable table 80 moves parallel to the floor or the ground.

As further shown in FIG. 8 (D), the movable table in the position of 80 ₅ shown in dashed lines, around the diagram Z-axis as 80 ₆ without changing the height from the floor or ground, When rotating, the actuators 81, 83, and 85 are extended by the same length, and the actuators 82, 84, and 86 are reduced by the same length. Then, the respective extension lengths and contraction lengths are adjusted so that the movable table 80 rotates in parallel to the floor or the ground. Further, the vehicle model 2 attached to the movable table 80 can perform various movements by appropriately extending and contracting the actuators 81, 82, 83, 84, 85, 86 in this way. It becomes. In the following description, the movement of the movable table 80 is not caused by the expansion / contraction of the actuators 81, 82, 83, 84, 85, 86 but by the expansion / contraction of the actuators 81, 82, 83, 84, 85, 86. The movement of the movable table 80 in the XYZ axis direction and the rotation around the XYZ axis will be described as “axial movement” and “rotation around the axis”, but actual actuators 81, 82, 83, 84 will be described. 85, 86 may be calculated based on the movement in the XYZ axis direction and the rotation around the XYZ axis.

  In addition to the method using the actuator described above, the method of moving the vehicle model 2 shown in FIG. 1 is that the cabin moving on the rail is moved in the roll direction (driver And a drive source for performing rotation in the pitch direction (tilt in the front-rear direction of the driver) rotation and rotation in the yaw direction (rotation around the driver's top-and-bottom direction) rotation. Anyway.

  The above is the schematic configuration of the acceleration simulator 1 according to the present invention. Next, the simulator control device 3 that controls the acceleration simulator 1 according to the present invention will be described in detail with reference to FIGS.

  3, reference numerals 21 and 22 denote the subject seat and the driving operation device described in FIG. 1, reference numeral 221 denotes a handle of an automobile, 222 denotes an accelerator and a brake, 25 denotes a subject who feels acceleration, and the head of the subject 25 The Q point marked with 26 in FIG. 2 is a representative acceleration acceleration point in the subject 25. The representative acceleration acceleration point Q is, for example, as shown in FIG. It designates with the point designation | designated screen 31, and the coordinate is represented by q.

  Reference numeral 32 denotes an exercise model calculation device. The exercise model calculation device 32 is operated by the subject (driver) 25 and acquired by the operation information acquisition device 24 shown in FIG. 1 such as the handle 221, the accelerator / brake 222, and the like. The equation of motion of the vehicle model 2 is solved by the operation information in the driving operation device 22 and the coordinate q of the sensory acceleration representative point Q specified on the sensory acceleration representative point specifying screen 31 shown in FIG. Calculate the acceleration at q. Since this acceleration is an acceleration experienced by the driver, it will be referred to as a sensory acceleration p ″ in the following description, and is composed of a total of six elements of three degrees of freedom of translation and three degrees of freedom of rotation.

  The calculated sensory acceleration p ″ is input to the axis command signal calculation device 33 and can be reproduced as the sensory acceleration p ″ at the sensory acceleration representative point Q (actuators 81, 82, 83, 84, FIG. 85 and 86), the translational movement amount of the movable table 80 in the XYZ-axis direction, the rotation amount around each axis, and the speed at the time of the movement and rotation are calculated, and the actuator drive device 4 in FIG. It is sent to the corresponding shaft drive device 36. Then, the actuator 5 is driven, but the movable table 80 shown in FIG. 8 has a movable range determined by the length when the actuators 81, 82, 83, 84, 85, 86 are expanded and contracted as can be seen from FIG. 8. There is a maximum movement speed, and it is not possible to drive beyond this movable range and maximum movement speed.

  Therefore, the actuator 81, 82, 83, 84, 85, 86 allows the movable table 80 to move within the movable range and the maximum movement speed, and the sensory acceleration even when the movable table 80 approaches the end of the movable range. Axis correction command signal calculation that outputs an axis correction command signal that keeps the movement amount and direction, rotation amount and rotation direction, and speed of each axis within this movable range and maximum motion speed so that no major changes occur in A device 34 is provided. However, since it is impossible to completely satisfy both the sensory acceleration signal and the axis correction command signal at the same time, a compromise is necessary. The weighting factor designating device 35 designates this compromise method. In other words, when the movable table 80 approaches the end of the movable range, the weighting factor designating device 35 places importance on the sensory acceleration calculated by the motion model calculating device 32 or the restriction by the movable range of each axis of XYZ. The adjustment of whether to simulate the acceleration of the sensation acceleration representative point with emphasis on either the movement in the XYZ-axis direction or the rotation around the XYZ-axis is performed by adjusting the weight coefficient.

FIG. 4 is a block diagram for explaining the calculation contents of the axis correction command signal calculation device 34. The axis position x indicated by 341 in the figure is the position in the X-axis direction of the movable table 80 shown in FIG. This axis position x has a movable range as described above, and the positive movable limit is x _{fwd, max} and the negative movable limit is x _{rev, max} . In addition to this, the axis position includes a Y-axis direction axis position y and a Z-axis direction axis position z. The positive-side movable limit is y _{fwd, max} , z _{fwd, max} , and the negative-side movable limit is y _{rev, max} and _{zrev, max,} and these movable limits are set slightly smaller than the actual physical movable limits. In the following description, for the sake of simplicity, the case of the axial position x will be described as an example. However, the same applies to the case of the axial position y and the axial position z.

The shaft speed v indicated by 342 represents the speed in the respective axial directions of the movable table 80 shown in FIG. 8. The shaft speed v also has a speed limit, and the speed limit on the positive side is expressed as v _{fwd, max.} The negative speed limit is v _{rev, max} . This speed limit depends on the shaft position x, and is as shown in block 344 showing the relationship between the value of the axis position x and the speed limit.

Reference numeral 349 denotes an axis correction command signal calculation device 34 that outputs an axis correction command signal that keeps the movement amount and direction, rotation amount and rotation direction, and speed of each axis within the movable range and the maximum motion speed. This is an axis correction command signal to be output, and this axis correction command signal 349 is a value obtained by adding a position correction term r ″ _x 346 and a speed correction term r ″ _v 347 by an adder 348, which is expressed by an equation: The following equation (1) is obtained.
r "= r" _x + r " _v ……………………………………………………………… (1)

Among these, the position correction term r ″ _x 346 is inputted with the axis position x of the movable table 80 as shown in the block 343 for calculating the position correction term r ″ _x 346, and the axis position is the positive side movable limit. If it is within the range of x _{fwd, max} and the negative movable limit x _{rev, max} , it is calculated with the proportionality constant k ₁ of the gradient k ₁ . When the axial position x exceeds the positive side movable limit x _{fwd, max} or the negative side movable limit x _{rev, max} , the calculation is performed with a proportional constant k ₁ + k ₂ of the gradient k ₁ + k ₂ . This is expressed by the following equation (2).
r ″ _x = k ₁ x + max {0, k ₂ (x−x _{fwd, max} )} + min {0, k ₂ (x _{fwd, max} −x)} (2)

In this equation (2), when the axial position x is in the movable range between the positive side movable limit x _{fwd, max} and the negative side movable limit x _{rev, max} , the position correction term r ″ _x 346 is small, and this movable limit is expressed as follows. This means that the position correction term r ″ _x 346 is increased so that the axis is returned to the center when it is exceeded.

As described above, the axial speed v indicated by 342 is the value shown in the block showing the relationship between the value of the axial position x indicated by 344 and the speed limit, the positive side is the speed limit v _{fwd, max} , and the negative speed is negative. The side is limited by the speed limit v _{rev, max} . The block indicated by 344 indicates that the speed limit is limited by the axial position x. Then, the speed correction term r ″ _v 347 indicates that the shaft speed is the positive limit speed v _{fwd, max} and the negative limit speed v _rev , as shown in the block 345 for calculating the speed correction term r ″ _v 347. _, calculated by proportionality constant c ₁ gradient c ₁ if the range of _max. When the shaft speed v exceeds the positive limit speed v _{fwd, max} or the negative limit speed v _{rev, max} , the calculation is performed with the proportional constant c ₁ + c ₂ of the gradient c ₁ + c ₂ . This is expressed by the following equation (3).
r ″ _v = c ₁ v + max {0, c ₂ (v−v _{fwd, max} )} + min {0, c ₂ (v _{fwd, max} −v)} (3)

This equation (3) shows that when the shaft speed v is in the range between the positive limit speed v _{fwd, max} and the negative limit speed v _{rev, max} , the speed correction term r ″ _v 347 is small and exceeds this range. This means that the speed correction term r ″ _v 347 is sometimes increased so as to decrease the speed. That is, when the movable table 80 approaches the end of the movable range, the speed cannot be obtained, and when the movable table 80 reaches the end, the speed becomes zero. However, the speed can be increased when going to the opposite end.

  The axis command signal calculating device 33 can reproduce the sensory acceleration p ″ calculated by the motion model calculating device 32 as the sensory acceleration p ″ at the sensory acceleration representative point Q (actuators 81, 82, 83, FIG. 84, 85, and 86), the translational movement amount of the movable table 80 in the XYZ-axis direction, the rotation amount about each axis, and the speed at the time of the movement and rotation are calculated.

Now, the position vector p _a movable shaft which an element the position of the XYZ one one movable shaft, velocity vectors p _'a, when the acceleration vector p _"a, the speed of shaft p' _a position p _a When the sensory acceleration p "is accurately simulated by determining the value of, the relationship between the axis acceleration p" _a and the sensory acceleration p "can be expressed by the linear algebraic equation (4) below. The first term on the right side is a bodily sensation acceleration generated by acceleration due to translational movement of the shaft, and the second term on the right side is a pseudo bodily sensation acceleration generated by a gravitational acceleration vector due to rotation of the shaft. T ₁ and T ₂ and the coordinates q of sensory acceleration representative points Q26, a coefficient matrix determined depending the position vector p _a, the velocity vector p _'a, g is the gravitational acceleration vector.
p ″ = T ₁ (q, p _a , p ′ _a ) p ″ _a + T ₂ (q, p _a , p ′ _a ) g (4)

On the other hand, if the purpose is only to keep the movement amount of the shaft within the movable range, the above-mentioned shaft correction command signal r ″ 349 and the acceleration vector p ″ _{a of the} movable shaft are expressed by the following equation (5). Become.
r "=-p" _a ……………………………………………………………………… (5)

When Equation (4) is solved for p ″ _a , when the value of the bodily sensation acceleration p ″ is determined, the value of the axial acceleration p ″ _a for realizing it can be obtained. If the value of the axis acceleration p ″ _a is applied to the simulator as it is, the movable range of the axis will be exceeded and it will not be practical. On the other hand, if the value determined by the equation (5) is used, the sensory acceleration p ″ is not reflected at all in the axial acceleration p ″ _a , so that it is not useful as a simulator.

In order to put it into practical use as a simulator, a compromise plan between formula (4) and formula (5) is used. One of the methods for mathematically obtaining the compromise plan is a weighted least square method. This prepares diagonal weighting coefficient matrices _Wp and _Wr, and integrates equations (4) and (5) as shown in equation (6) below.

When this equation (6) is solved for the axial acceleration p ″ _a , the following equation (7) is obtained.

Then, the axis command signal calculation device 33 solves the equation (7) based on the weight coefficient matrices W _p and W _r , the sensory acceleration p ″, and the axis correction command signal r ″, calculates the axis acceleration p ″ _a and calculates this axis An axis command signal is output based on the acceleration p ″ _a .

  The weighting factor designating device 35 generates a weighting factor signal for performing weighting when the shaft command signal calculating device 33 generates the shaft command signal from two types of signals of the body acceleration p ″ and the shaft correction command signal r ″. To do. The weighting factor can be determined in advance depending on whether the road surface is running, for example, a simulation of an unpaved mountain road or a flat urban road. It may be changed during the simulation according to the speed / position of the axis.

The weighting factor designating device 35 outputs weighting factor matrices W _p and W _r as shown in the following equations (8) and (9) consisting of diagonal matrices. The size of W _p is the same as the number of degrees of freedom of movement. In the present invention, as described above, the rotation about the XYZ axis direction and each axis is handled, and therefore, the size of W _p is 6. The size of W _r is the number m of the movable shaft (usually the number of actuators, which is 6 in the actuator shown in FIG. 8). When the value of the weighting coefficient matrix W _p is increased, the correction coefficient increases, so that it returns to the center before reaching the end of the movable range, but the setting is determined based on trial and error.

When simulating a driving operation by the acceleration simulator 1 according to the present invention configured as described above, the driver 25 as a subject is seated on the seat 21 as shown in FIG. 3, and the sensory acceleration representative points shown in FIG. On the designation screen 31, the coordinates of the bodily sensation acceleration representative point Q26 for bodily experiencing the acceleration are designated. Further, the weighting factor matrix W shown in the above formulas (8) and (9) by the weighting factor designating device 35, for example, whether to simulate an unpaved mountain road or a flat city road. _p and W _r are set, or the weighting coefficient matrices W _p and W _r shown in the equations (8) and (9) are set in accordance with the road surface condition, sensory acceleration, the speed / position of the movable axis, etc. To be changed during simulation.

Then, the coordinate q of the bodily sensation acceleration representative point Q26 is sent to the motion model calculation device 32 and the axis command signal calculation device 33, and the weight coefficient matrices W _p and W _r are sent to the axis command signal calculation device 33. When the driver 25 operates the handle 221 or the accelerator / brake 222 of the driving operation device 22, the operation information signal is sent to the motion model calculation device 32, and the vehicle model 2 is displayed on the display device indicated by 23 in FIG. The surrounding scene including the front according to the driving condition is displayed.

  The motion model calculation device 32 to which the coordinate q of the sensory acceleration representative point Q26 and the operation information signal are sent solves the motion equation of the vehicle model 2 based on these signals, and the sensory acceleration at the coordinate q of the sensory acceleration representative point. p ″ is calculated and sent to the axis command signal calculation device 33.

Then, the axis command signal calculating device 33 sends the sent sensory acceleration p ″, the coordinate q of the sensory acceleration representative point Q26 sent earlier, the weight coefficient matrices W _p and W _r, and the axis correction command signal calculating device. 34, the actuator 5 (actuators 81, 82, 83, 84, 85 in FIG. 8 is used so that the sensory acceleration p ″ can be reproduced as the sensory acceleration at the sensory acceleration representative point Q26. , 86), the translational movement amount of the movable table 80 in the XYZ-axis direction, the rotation amount around each axis, and the speed at the time of the movement and rotation are calculated, and the shaft drive device (actuator drive) is used as the axis command signal. Device) 36.

  For this reason, the shaft driving device (actuator driving device) 36 has the actuators 81, 82, 83, 84, 85, 86 shown in FIG. 8, for example, with the calculated translational movement amount in the XYZ-axis direction and each axis as the center. The movable table 80, that is, the sensory acceleration representative point Q26 in the subject (driver) 26, is driven so that the acceleration caused by the driving operation can be experienced.

At this time, near the end of the movable range of the movable table 80, the operation is corrected by the axis correction command signal r ″ calculated by the axis correction command signal calculation device 34 as described above. the weighting coefficient matrix W _p and W _r which is come sent by 35, or to emphasize the sensory acceleration p "in sensory acceleration representative point Q26 the calculated motion model calculating unit 32, any of a limitation on the movable range of each axis Further, adjustment is made as to which of the movements in the XYZ-axis direction and the rotation about the XYZ axes is to be emphasized for the bodily sensation acceleration p ″ at the bodily sensation acceleration representative point Q26.

  By configuring the acceleration simulator 1 in this way, the individual difference of the bodily sensation acceleration p ″ that varies depending on the physique of the driver (subject) 25 can be adjusted by the presence of a device that designates the bodily sensation acceleration representative point Q26. In addition, since the motion model calculation device 32 and the axis command signal calculation device 33 calculate the sensory acceleration p ″ generated by the driving operation performed by the driver to be simulated in real time, the driver instantaneously presses the accelerator pedal. Even in a driving operation that is stepped on and released, the driving operation can be faithfully reproduced, and an acceleration simulator that does not make the subject feel uncomfortable without making unnecessary movement can be provided.

The above is the first embodiment of the acceleration simulator 1 according to the present invention. FIG. 5 is a block diagram of the second embodiment of the simulator control device 3 in the acceleration simulator 1 according to the present invention. In Example 1 shown in FIG. 3, for example, only Q26 at one location on the head is designated as the sensory acceleration representative point for the subject (driver) 25. In Example 2 shown in FIG. other sensory acceleration representative points Q26 ₁ corresponding to the acceleration representative points Q26, also auxiliary sensory acceleration representative point Q ₁ 26 ₂ to be specified, together, also weighting factors specified device, corresponding to the sensory acceleration the representative points Q26 ₁ it is obtained by the provided two weighting factors specified device 35 ₁ and the auxiliary representative point weighting factor specifying unit 35 _2. Incidentally, the weighting in the weighting factor specifying unit 35 ₁ and the auxiliary representative point weighting factor specifying unit 35 ₂ is determined by trial and error.

This auxiliary sensory acceleration representative point Q ₁ 26 ₂ is normally set at a location different from the sensory acceleration representative point Q 26 ₁ . For example, when setting the sensory acceleration representative points Q26 ₁ on the head, the auxiliary sensory acceleration representative point Q ₁ 26 ₂ is set to the seating surface. Humans mainly perceive acceleration through the semicircular canal, but somatic sensations may also be perceived by the skin or in some cases, such as internal organs. The representative point is the buttocks. That is, if the acceleration of the buttocks is reproduced well, a more realistic acceleration can be reproduced.

Now, _"the referred _{1, p"} a sensory acceleration in the coordinate _{q 1} auxiliary sensory acceleration representative point _Q 1 26 ₂ p ₁ is the position vector of the movable shaft to the elements the position of the XYZ one one movable shaft p _a, velocity p _'a movable axis, the acceleration p _"a, is expressed by the following equation (10) using the coordinates _{q 1} of sensory acceleration auxiliary representative point _Q 1 26 _{2. Note, T 11} and T ₂₁ is a coefficient matrix determined depending position vector p _a of sensory acceleration assistance of the representative point Q ₁ 26 ₂ coordinate q ₁ and the movable shaft, the speed p _'a movable axis, the.
p ″ ₁ = T ₁₁ (q ₁ , p _a , p ′ _a ) p ″ _a + T ₂₁ (q ₁ , p _a , p ′ _a ) g (10)

When this equation (10) is integrated with the equation (7) derived for the sensory acceleration representative point Q26 and solved for the axial acceleration p ″ _a , the following equation (11) is obtained.

The (11) weighting matrix in preparative auxiliary representative point weighting factor specifying unit 35 ₂ in the formula _{W p1} is determined as the following equation (12).

In this way, the axis command signal calculation device 33 solves the equation (11) based on the body sensation acceleration p ″ and the axis correction command signal r ″ from the weight coefficient matrices W _p , W _r , and W _p1 , An axial acceleration p ″ _a is calculated, and an axial command signal is output based on the axial acceleration p ″ _a .

For this reason, the shaft driving device (actuator driving device) 36 has the actuators 81, 82, 83, 84, 85, 86 shown in FIG. 8, for example, with the calculated translational movement amount in the XYZ-axis direction and each axis as the center. amount of rotation, and by then stretching so that the speed at the time of rotation and these movement, the movable table 80, i.e. a subject (driver) sensory acceleration representative points Q26 1 in _26, the auxiliary sensory acceleration representative point Q ₁ 26 ₂ is driving operation Drive to experience acceleration.

  By configuring the acceleration simulator 1 in this way, acceleration based on the somatic sensation of the driver (subject) 25 can be well reproduced, so that more realistic acceleration can be reproduced.

  The above is the second embodiment of the acceleration simulator 1 according to the present invention. FIG. 6 is a block diagram of the third embodiment of the simulator control device 3 in the acceleration simulator 1 according to the present invention. A weight coefficient changing device 28 that can change the weight coefficient in the coefficient specifying device 35 from the outside is provided.

  This is because, for example, the method of decelerating and decelerating the automobile depends on the traveling conditions, and when the vehicle runs on a mountain road, the vehicle decelerates gradually. Such a difference in decelerating speed naturally affects the method of reproducing acceleration by the driving simulator. Therefore, in order to reflect such driving conditions of the automobile, the weight coefficient changing device 28 that can change the weighting coefficient from the outside is provided in the third embodiment. For example, the driving place is a mountain road or a highway, or the driving speed is The weighting factor can be changed based on whether it is fast or slow.

This change in the weighting factor is, for example, that road undulations (vertical rotational movement) and curves (lateral rotational movement) are gentle on highways, and the vehicle body turns upward or downward in small increments, or There is no such thing as turning right or left. When the simulator rotates in such a case, the driver immediately feels uncomfortable. Therefore, when simulating the driving state of the highway, the weighting factor W _p applied to the sensory acceleration p ″ is related to the rotational motion. The elements should be relatively large.

In addition, when running on mountain roads, large accelerations occur in the vertical and horizontal directions as the speed gradually decelerates and the road swings left and right. For this reason, since the movable axis of the simulator tends to reach the end of the movable range, when simulating the traveling state of a mountain road, the weight coefficient W _r applied to the axis correction command signal r ″ is relatively increased so that the end contact is reduced. It is good to prevent.

By thus changing the weighting coefficient matrix W _p and W _r in accordance with the operating conditions by the weight coefficient change device 28, it is possible to perform simulated according to the actual operating conditions. Since the other blocks are the same as those in the first embodiment shown in FIG. 3, detailed description thereof is omitted.

  The above is the third embodiment of the acceleration simulator 1 according to the present invention. FIG. 7 is a block diagram of the fourth embodiment of the simulator control device 3 in the acceleration simulator 1 according to the present invention. It is designed to evaluate passengers' feelings in the seats and rear seats.

  In other words, the purpose of the driving simulator is to evaluate the driver's experience, but if the passenger's (passenger seat or rear seat) experience can be evaluated, it will help to design the entire vehicle in a well-balanced manner, It is possible to make an acceleration simulator that can be used effectively for various purposes.

Therefore, in the fourth embodiment shown in FIG. 7, in order to reproduce the experience of the passenger 25 ₂ sitting in different passenger seat or rear seat 21 ₂ and the driver's seat, the operation information stored steering in advance the driver the storage device 37 is provided, movement model calculating unit 32 based on the driving operation information of the driver stored in the operation information storage unit 37, sitting on a different passenger seat or rear seat 21 ₂ and the driver's seat passenger 25 and to calculate the sensory acceleration p "based on the _second sensory acceleration representative point _Q 2 26 ₃ of coordinate _{q 2.}

  By doing so, it is possible to evaluate the passenger's experience (passenger seat and rear seat), and as described above, it is useful for designing the entire vehicle in a well-balanced manner, and for effective use of the equipment. The acceleration simulator can be used for various purposes. Since the other blocks are the same as those in the first embodiment shown in FIG. 3, detailed description thereof is omitted.

  As described above, according to the present invention, even if there is a difference in the physique of the driver and the way of experiencing acceleration, the acceleration experienced by the driver can be accurately simulated. Since it is calculated in real time by the motion model calculation means based on the operation information, even if the driver instantaneously depresses the accelerator pedal and releases it, the driving operation can be faithfully reproduced and unnecessary movement can be reproduced. Therefore, it is possible to provide an acceleration simulator that is accurate and does not make the subject feel uncomfortable.

  The calculated body sensation acceleration emphasizes either the axis correction command signal calculation unit that corrects the driving unit so as not to exceed the movable range, and the acceleration of the body sensation acceleration representative point and the limitation on the movable range of each axis. Or the difference in the clearance of the movable range in the simulator by means of weight coefficient designating means for designating whether the acceleration at the representative acceleration point is simulated with emphasis on movement in the XYZ axis direction or rotation around the XYZ axis Therefore, it is possible to perform an accurate simulation without a sense of incongruity even at the end of the movable range.

  Then, a second acceleration experience position different from the position at which the subject feels the acceleration is designated, and the second weighting factor designation means reproduces the acceleration at the position where the subject's acceleration is sensed and the auxiliary acceleration experience position. By performing the above, even if the sensory acceleration is slightly different for each driver, it is possible to provide an acceleration simulator that can reduce simulator sickness.

According to the present invention, with respect to the driving operation performed driver of (subject), the driver can provide the acceleration simulators can simulate the exact acceleration without Kanze discomfort.

It is a schematic block diagram of the acceleration simulator which becomes this journal invention. It is the figure which showed an example of the method for designating the sensation acceleration representative point in the acceleration simulator which becomes this invention. It is the block diagram which showed the structure of Example 1- Example 4 of the simulator control apparatus in the acceleration simulator which becomes this invention. It is a block diagram for demonstrating the calculation content of the axis correction command signal calculation apparatus which comprises the simulator control apparatus in the acceleration simulator which becomes this invention. It is the block diagram which showed the structure of Example 1- Example 4 of the simulator control apparatus in the acceleration simulator which becomes this invention. It is the block diagram which showed the structure of Example 1- Example 4 of the simulator control apparatus in the acceleration simulator which becomes this invention. It is the block diagram which showed the structure of Example 1- Example 4 of the simulator control apparatus in the acceleration simulator which becomes this invention. The figure for demonstrating the outline of an example of a drive means which performs the space | interval with the XYZ axis direction movement, and rotation centering on this XYZ axis, and its operation | movement in the space in which the test subject is arrange | positioned in the acceleration simulator of this invention It is.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Acceleration simulator 2 Vehicle model 3 Simulator control device 4 Actuator drive device 5 Actuator 21 Subject seat 22 Driving operation device 221 Handle 222 Accelerator / brake 23 Display device 24 Operation information acquisition device 25 Subject 26 Sensory acceleration representative point (Q)
27 ₁ , 27 ₂ Sensation acceleration representative point designation cursor 28 Weight coefficient changing device 31 Sensation acceleration representative point designation screen 32 Motion model calculation device 33 Axis command signal calculation device 34 Axis correction command signal calculation device 35 Weight coefficient designation device 36 Axis drive device (Actuator drive)
37 Operation information storage device 80 Movable tables 81, 82, 83, 84, 85, 86 Actuator

Claims (4)

An imaginary vehicle including the space based on information on driving operation performed by the subject, driving means for performing movement in the XYZ-axis direction and rotation around the XYZ axis in a space provided with a seat where the subject is arranged In an acceleration simulator having a simulator control means for driving the driving means by calculating the motion state of the subject and causing the subject to experience acceleration based on driving operation,
The simulator control means is a sensory acceleration representative point input means for inputting coordinates for experiencing acceleration, and an exercise model calculation means for calculating the acceleration at the coordinates input by the sensory acceleration representative point input means based on the information of the driving operation. Axis command signal calculation means for calculating the movement amount and rotation amount of the drive means and the respective speeds based on the calculation result of the motion model calculation means, and each of the axis command signal calculation means to calculate Axis correction command signal calculation means for limiting the movement amount and rotation amount and speed in the axial direction within the movable range of each axis, and the movement amount and rotation amount in each axis direction calculated by the axis command signal calculation means, Balance between the weighting factor corresponding to the speed and the moving amount in each axis restricted within the movable range by the axis correction command signal calculating means and the weighting factor corresponding to the rotation amount and the speed And a weighting factor specifying means for setting,
The XYZ axes of the driving means are calculated by the axis command signal calculating means using the weighting coefficient specified by the weighting coefficient specifying means, with the acceleration calculated by the motion model calculating means at the coordinates input by the sensory acceleration representative point input means. An acceleration simulator characterized by converting the amount of movement in the direction, the amount of rotation, and the speed to cause the subject to experience acceleration. The simulator control means includes second weighting factor designating means for second acceleration bodily sensation position coordinates different from coordinates for bodily sensation of the acceleration in the subject, and the axis command signal calculating means includes the weighting coefficient designating means. And the weighting factor designated by the second weighting factor designation means, and the acceleration calculated by the motion model calculation means in the coordinates for experiencing the acceleration of the subject and the second acceleration feeling position coordinates in the XYZ-axis directions. 2. The acceleration simulator according to claim 1 , wherein the driving means is driven by converting into a movement amount, a rotation amount, and a speed. The acceleration simulator according to claim 2 , wherein the weighting factor designating unit and the second weighting factor designating unit include a weighting factor changing unit. The acceleration simulator has a seat for placing a second subject at a position different from the position of the subject seat, and the simulator control means has storage means for driving operation information performed by the subject. The driving model information stored in the storage unit is given to the motion model calculating unit, and the second acceleration of the second subject is calculated based on the driving acceleration information by using the representative acceleration input point of the second subject. acceleration simulator as claimed in any one of claims 1 to 3, characterized in that to the feel the acceleration based on the driving operation information stored in said storage means to the subject.

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