JPH10123930A - Riding simulation system of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a driver to experience the brake operation causing a wheel lock by applying vibration to a handlebar when the operation input value by the driver's brake operation exceeding a specified threshold value is detected. SOLUTION: The output signal of an accelerator opening degree sensor 90 and the output signal of a front brake pressure sensor 98 are supplied to a control circuit when the rider of a model two-wheeled vehicle operates a throttle grip 63 and front brake lever 97 disposed at the handlebar 60. The control circuit 18 controls a driving mechanism 32 and controls the driving of a display device 25, etc., in accordance with these output signals. The control circuit is provided with the threshold value for comparison to the front brake pressure to be detected and applies the sinusoidal vibration via a steering motor 62 to the handlebar 60 when the control circuit 18 judges that the front brake pressure exceeds the threshold. The rider is provided with the information on the wheel lock by the vibration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding simulation in which a driver as a passenger operates a vehicle, for example, a model motorcycle, while looking at a front screen on which an image including a traveling road is displayed. The present invention relates to a riding simulation device for a vehicle.

[0002]

2. Description of the Related Art Conventionally, riding for a motorcycle combining a model motorcycle which can be operated by a rider and a display utilizing a CRT or the like for displaying a desired image including a traveling path relating to a traveling state of the model motorcycle. Simulation devices are used for games or for driving education of motorcycles.

For example, as disclosed in Japanese Patent Application Laid-Open No. Hei 4-51078, a movable table provided on a base and movable in the front-rear, left-right and up-down directions, and a drive for driving the movement of the movable table Means, a model motorcycle mounted on the carriage and operable by a rider, a display device arranged in front of the model motorcycle and displaying a pre-stored image, and the driving according to the rider's operation and movement Controlling means for controlling the yaw, roll and pitch movements of the model motorcycle by controlling the means, and changing the image displayed on the display device in accordance with the running state of the model motorcycle. It has been known.

[0004]

Generally, in a four-wheeled vehicle such as a motorcycle or a passenger car, the wheels (wheels) are locked when a brake is strongly applied.

[0005] However, there has not been proposed any conventional vehicle riding simulation apparatus which gives a driver information on a wheel lock state.

[0006] The present invention has been made in view of the above points, and a vehicle capable of appropriately giving the wheel lock information to a driver of a model vehicle in a riding simulation apparatus. It is an object of the present invention to provide a riding simulation device.

[0007]

According to the present invention, as shown in FIGS. 1 and 3, for example, a model vehicle 30 in which a driver 28 can operate a steering wheel 60 and a brake 97 can be provided. In the vehicle riding simulation device 10 including the display device 25 that displays a video stored in advance in response to the operation, when the operation input value by the brake operation exceeds a certain threshold, vibration is added to the steering wheel. Handle vibration adding means 18, 62
It is characterized by having.

According to the present invention, when the operation input value by the brake operation exceeds a certain threshold, the vibration is added to the handle by the handle vibration adding means. Thereby, in the riding simulation apparatus, it is possible to provide the driver with the information of the wheel lock.

In this case, by changing the amplitude and the vibration frequency of the vibration based on the road surface state information on the display image, more approximate wheel lock information according to the actual running state is provided. be able to.

[0010] When the model vehicle for the riding simulation is a model motorcycle, the threshold value is changed based on the road surface state information on the display image and / or the left-right inclination angle of the model motorcycle. Thus, it is possible to give more approximate wheel lock information according to the actual running state of the motorcycle.

[0011]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic structural explanatory view of a motorcycle riding simulation apparatus 10 according to one embodiment.

Riding simulation device 10
Is connected to the control mechanism 12 installed on the floor surface 34, the motion unit section 16 that is detachable from the control mechanism 12 via the connection mechanism 14, and connected to the control mechanism 12 by a communication line 200. A control table (also referred to as an instructor table) 201 is provided. Control mechanism 1
2 includes a main body 19 that accommodates a control circuit 18 such as a minicomputer and a CGI generator 23, and a display box 20 provided above the main body 19. The control table 201 includes a computer 202 that also operates as a host computer for the control mechanism 12.
And a keyboard 203 and a mouse 204 as input means connected to the computer 202, and a monitor 205 such as a CRT display as display means. Note that the control mechanism 12 and the computer 202
It has a CPU as a central processing unit functioning as control, judgment, calculation means and the like, a ROM as storage means for storing system programs and the like, and a RAM as storage means used for work and the like.

As shown in FIG. 2, the display box 20 incorporates the speaker unit 22 and
It has a projection display 24 having a screen.

As shown in FIG.
Is basically composed of a display (also referred to as a screen or a screen) 24 and a CGI generator 23, and displays various running states including a running path on the screen 24. The image displayed on the screen 24 is transmitted from the CGI generator 23 via a communication line to the NTSC
The signal is also supplied to the computer 202 as a signal and displayed on the monitor 205 thereof.

The motion unit 16 includes the connecting mechanism 1
A base 26 that is detachable from the control mechanism 12 through the base 4;
On the base 26, a model motorcycle 30 of a motorcycle operable by a rider 28 and a drive mechanism 32 for driving the model motorcycle 30 in accordance with the actual behavior of the motorcycle are mounted.

The base 26 includes a plurality of wheels 36 for moving the base 26 on the floor 34 and a base 36 for moving the base 26 on the floor 3.
A plurality of fixing portions 3 for immovably fixing on the 4
8 is provided. The fixing portion 38 is provided with a screw shaft 40, and the screw portion 40 is screwed around the base 26 so that the fixing portion 38 can move up and down.

A support frame 42 is provided on the base 26, and a pitch shaft 4 extending in the vehicle width direction is provided on an upper side of the support frame 42.
4 (see also FIG. 2), the vehicle body 46 of the model motorcycle 30 is swingably supported in the front-rear direction (pitch direction). A pitch motor 50 swingable about a fulcrum 48 is supported on the support frame 42, and a nut 54 supported swingably on the vehicle body 46 is mounted on a screw shaft 52 connected to the pitch motor 50. Are screwed together. Further, a roll motor 58 having a roll shaft 56 in the horizontal direction is supported by the support frame 42, and the vehicle body 46 is engaged with an output shaft (not shown) of the roll motor 58.

The handle 60 of the model motorcycle 30 is directly connected to a handle torque sensor 94 (see FIG. 3) and a rotating shaft 64 of the steering motor 62. The control circuit 18 shown in FIG. Based on the output signal, the rider 28
A reaction force corresponding to the turning operation of the handle 60 is applied.

The drive mechanism 32 includes a pitch motor 50, a roll motor 58, and a steering motor 62.

As shown in FIG. 3, a front brake pressure sensor 98 connected to a front brake lever 97 operated by the rider 28 with the right hand and a rear brake pressure connected to a rear brake pedal 99 are provided on the motion unit 16 side. In addition to the sensor 100 and various sensors indicated by reference numerals 90 to 100, such as an accelerator opening sensor 90 connected to a throttle grip 63 serving as an accelerator, a handle switch 102 and a gear position switch 104 provided with desired switches are used as signals. It is connected to one end of the connector 70 via a wire. Further, a pitch motor 50, a roll motor 58, and a steering motor 62 constituting the drive mechanism 32 are connected to one end of the connector 72 via a signal line.

On the other hand, the connector 7 is provided on the control mechanism 12 side.
Control circuit 18 connected to signal lines from the other ends of 0 and 72
The control circuit 18 is connected to an electric fan 106 for sending air to the rider 28, a vibration generator 108, a speaker unit 22, and a display device 25.

The control mechanism 12 includes a communication line 2 for video.
The control table 201 is connected to the control table 201 via the communication line 200a and the data transmission communication line 200a.

The operation of the thus configured riding simulation apparatus 10 will be described. The control unit 18 controls the operation.

When the rider 28 operates the throttle grip 63 and the front brake lever 97 as an accelerator provided on the steering wheel 60, the output signal of the accelerator opening sensor 90 and the front brake pressure sensor 98
Is supplied to the control circuit 18. By operating the rear brake pedal 99, an output signal of the rear brake pressure sensor 100 is supplied to the control circuit 18.

On the other hand, the rider 28 on the model motorcycle 30
The direction and amount of weight movement of the lean
The output signal is sent to the control circuit 18.

Based on these output signals, the control circuit 1
Reference numeral 8 controls the drive of the drive mechanism 32 and the drive of the display device 25 and the like.

For example, when the rider 28 operates the front brake lever 97 and applies a brake, the pitch motor 50 is driven in accordance with the brake pressure detected by the front brake pressure sensor 98, and the model motorcycle 30 is tilted forward. , The behavior during braking is reproduced. On the other hand, when the accelerator is quickly opened by operating the throttle grip 63, the pitch motor 50 is driven in accordance with the opening detected by the accelerator opening sensor 90. Similarly, the model motorcycle 30 is operated under the action of the pitch motor 50. Is tilted backward, and the behavior during the acceleration operation is reproduced.

When the rider 28 shifts in weight, the roll motor 58 is driven based on the direction and amount of movement of the weight and the running speed, and the vehicle body 46 tilts in the vehicle width direction to perform cornering (turning). The behavior of the time is reproduced. With the weight shift at this time, the handle 6 moves in the weight shift direction.
0 is turned off, that is, the steering is turned off. At this time, the steering torque is detected by the steering wheel torque sensor 94, and the steering motor 62 is driven by the control circuit 18 in accordance with the detected torque, and the reaction force in the direction opposite to the direction in which the steering wheel 60 is turned is generated by the steering wheel 6
0, and a steering feeling similar to that of a real vehicle is realized.

When the various operations of the rider 28 are performed as described above, an image including the traveling path based on the traveling state is displayed on the display 24, so that the rider 28 has a traveling sensation equivalent to that of a real vehicle. Obtainable.

Here, the reaction force applied from the control circuit 18 to the steering wheel 60 via the steering motor 62 is defined as a steering wheel command value Sm. The steering wheel command value Sm is obtained by setting the output (output value) of the front brake pressure sensor 98 by operating the front brake lever 97 to a front brake input (also referred to as a front brake input value or a front brake pressure) Fb, and the front brake pressure Fb. Assuming that a predetermined threshold value to be compared with C1 is C1, the threshold value is controlled by a value represented by the following equation (1).

If Fb ≦ C1 then Sm = Smif Fb> C1 then Sm = Sm + Sin_motion (Mbl_A, Mbl_F) (1) where Fb: brake input Sm: steering wheel command value C1: threshold value Mbl_A: amplitude Mbl_in: mbl_in (Mbl_A, Mbl_F): 2
A function for generating a sine wave (sine wave) from two arguments, that is, an amplitude A and a vibration frequency F. This equation (1) shows that the front brake input Fb
When the value is smaller than the threshold value Cm, the steering wheel command value Sm output from the control circuit 18 and supplied to the steering motor 62 is used as the steering wheel command value Sm. , The steering wheel command value Sm supplied from the control circuit 18 is added to the vibration component Sin_motion (Mbl_A, Mbl).
bl_F) to make the steering wheel command value Sm applied to the steering motor 62.

In short, in this embodiment, a threshold value C for comparison with the detected front brake pressure Fb is used.
When the control circuit (comparing means) 18 determines that the front brake pressure Fb exceeds the threshold value C1, a sine wave vibration is applied to the steering wheel 60 via the steering motor 62. I have. This vibration can provide the rider 28 with information on wheel lock (brake lock). In this case, when the front brake pressure Fb exceeds the threshold value C1, it is also possible to display "Wheel lock attention" on the display 24, and "Wheel locked" through the speaker unit 22. Can be output by voice.

In the equation (1), the threshold value C1, the amplitude Mbl
_A and the vibration frequency Mbl_F may be variable depending on the road surface condition, the bank angle of the vehicle body, the vehicle speed, and the like. For example, if the road surface is wet or sandy,
When the bank angle of the vehicle body is large, or when the vehicle speed is high, in any case, it is relatively small as compared with a normal state (for example, when traveling on a dry asphalt road). Since the wheel is slippery due to the brake pressure Fb, the threshold value C1 corresponding to the wheel lock level (wheel lock detection level) may be set to a relatively small value. When the front brake pressure Fb is much larger than the threshold value C1, the difference Fb-C1 between the front brake pressure Fb and the threshold value C1 increases, and it is determined that the degree of wheel lock is large. According to the difference,
It is also possible to control to increase the amplitude Mbl_A.

The equation (1) and the vibration component Sin_motion (Mbl_A, Mbl_F) in the equation (1) are
Since it is sufficient to store the information in advance in a ROM or the like, which is a storage means constituting the control circuit 18, there is no cost increase such as addition of components based on the vibration control processing. That is, in this embodiment, when it is determined that the wheel is in the locked state, vibration is applied to the handle 60 without increasing the cost.
The so-called unstable state of the brake lock can be expressed. Of course, the threshold C1, the amplitude Mbl_A, and the vibration frequency Mbl_F are stored in the board 203 in the control table 201.
Alternatively, the computer 202 may be used to set and change the RAM of the control circuit 18 using the mouse 204.

In equation (1), the vibration component is a sine wave. However, the present invention is not limited to this, and a rectangular wave, a triangular wave, or any other waveform can be selected.

Further, in this embodiment, the riding simulation of the wheel lock of the model motorcycle 30 of the motorcycle as the model vehicle is performed.
The present invention is not limited to this, and can be applied to model vehicles (model four-wheeled vehicles) such as passenger cars and trucks.

Furthermore, the present invention is not limited to the above-described embodiment, and may adopt various configurations without departing from the gist of the present invention.

[0039]

As described above, according to the present invention, vibration is applied to the steering wheel when a driver's operation input value detected by a brake operation exceeding a certain threshold value is detected.

For this reason, by setting a certain threshold value as a value in the case of wheel lock, the effect that the driver of the riding simulation apparatus can experience a brake operation in which wheel lock occurs can be realized. Thereby, the information of the wheel lock can be appropriately given to the driver of the model vehicle in the riding simulation apparatus.

In the riding simulation apparatus, the steering wheel is configured to apply a reaction force corresponding to, for example, an operation force. Therefore, by applying a vibration to the means for applying the reaction force, Thus, the state of the wheel lock can be expressed with almost no increase in manufacturing cost.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an overall configuration of an embodiment of the present invention.

FIG. 2 is a view of the apparatus of FIG. 1 as viewed from the rear.

FIG. 3 is an electric circuit block diagram of the apparatus of FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Riding simulation apparatus 12 ... Control mechanism 16 ... Motion unit part 18 ... Control circuit 23 ... CGI generator 24 ... Display 25 ... Display apparatus 28 ... Rider 30 ... Model motorcycle 32 ... Drive mechanism 44 ... Pitch axis 50 ... Pitch motor 58 ... Roll motor 60 ... Handle 62 ... Steering motor 63 ... Throttle grip 94 ... Handle torque sensor 97 ... Front brake lever 98 ... Front brake pressure sensor 201 ... Control table

Claims (3)

[Claims] 1. A riding simulation apparatus for a vehicle, comprising: a model vehicle capable of operating a steering wheel and a brake by a driver; and a display device for displaying an image stored in advance in response to the operation of the model vehicle. A riding simulation apparatus for a vehicle, comprising: a steering wheel vibration adding unit that adds vibration to the steering wheel when an operation input value by an operation exceeds a certain threshold value. 2. The vehicle according to claim 1, wherein the steering wheel vibration adding means changes the amplitude and frequency of the vibration based on road surface state information on the display image. Riding simulation equipment. 3. The riding simulation apparatus according to claim 1, wherein when the vehicle is a motorcycle, the threshold value is based on road surface state information on the display image and / or a left-right inclination angle of the motorcycle. A riding simulation device for a vehicle.