JP4627525B2 - Bicycle simulator - Google Patents

Description

  The present invention relates to a bicycle simulator, and more particularly, to a bicycle simulator that can enhance the warning effect on a passenger, that is, the guidance effect, by performing a real-time warning during simulation.

  Conventionally, in driving simulators that learn driving skills and risk prediction methods, etc. by experiencing the driving experience of vehicles, the evaluation details of driving operations during simulation (simulated driving) have been To notify passengers as passengers is being studied.

Patent Document 1 discloses an evaluation system for a driving simulator that displays the contents of the driving operation of the trainer after the driving simulation is completed and outputs a training result sheet in which appropriate advice for the driving operation is output. ing.
JP 2003-288003 A

  However, in the technique disclosed in Patent Document 1, since the driver is notified of the evaluation contents collectively after the driving simulation is completed, a predetermined time elapses after the driver performs the driving operation to be evaluated. In addition, there is a possibility that it is difficult for the occupant to realize which driving operation was inappropriate, and there is still room for ingenuity in a method for further enhancing the effects of warnings and advice.

  An object of the present invention is to provide a bicycle simulator that solves the above-described problems of the prior art and that can enhance the warning effect on the occupant, that is, the guidance effect, by performing a real-time warning during the simulation. It is in.

  In order to achieve the above-described object, the present invention provides a bicycle simulator that simulates a bicycle driving operation, an operation state detection unit that detects an operation state of an occupant based on signals from a plurality of sensors, course information, and A database that stores various event information; and a warning state determination unit that determines a state that requires a warning. The warning state determination unit includes the operation status detection unit and information stored in the database. Based on the determination of the driving state of the vehicle being simulated based on this, the driving state is compared with an ideal driving range determined from the course information and various event information, and the operation status deviates from the ideal driving range. The first feature is that it is configured to warn the passenger as soon as it is determined.

  The travel state parameters used for comparison with the ideal driving range include at least one of the current position of the own vehicle, the vehicle speed of the own vehicle, and the presence or absence of a backward confirmation operation by the occupant. There are two features.

  The third warning is that one or more warnings are selected from a plurality of voice information stored in a voice database corresponding to the running state and are transmitted to the occupant by voice output from a speaker. There are features.

  Furthermore, in addition to the warning by the sound output, there is a fourth feature in that a warning video and characters are displayed on a monitor that displays a simulation video based on the traveling state of the host vehicle.

  According to the first aspect of the present invention, an operation state detection unit that detects an operation state of an occupant based on signals from a plurality of sensors, a database that stores course information and various event information, and a state that requires warning are determined. A warning required state determining unit, and the warning required state determining unit determines the traveling state of the vehicle during simulation based on the operation state detecting unit and the information stored in the database, and determines the traveling state, Compared with the ideal driving range determined from the course information and various event information, it is configured to warn the passenger as soon as it is determined that the driving state has deviated from the ideal driving range. It is possible to know in real time that the driving state of the vehicle has deviated from the ideal driving range, so that the warning effect, that is, the guidance effect can be greatly enhanced. It made. In addition, since a warning can be given in real time, it is possible to transmit an appropriate operation for preventing the accident to the occupant before the accident occurs.

  According to the second aspect of the invention, the running state parameter used for comparison with the ideal driving range includes at least one of the current position of the own vehicle, the vehicle speed of the own vehicle, and the presence or absence of a backward confirmation operation by the occupant. Therefore, it becomes clear which driving operation was inappropriate in which scene, and it can be immediately reflected in the correction of the driving operation.

  According to the third aspect of the invention, one or more warnings are selected from a plurality of voice information stored in the voice database corresponding to the running state, and are transmitted to the occupant by voice output from the speakers. It is possible to increase the recognition effect on warnings by appealing to the auditory sense, which is less burdensome during the simulation than the visual sense. In addition, a warning corresponding to the driving state is obtained, and, for example, when the deviation from the ideal driving range due to the same parameter is the second time or more, a stronger warning is performed by combining a plurality of audio information, etc. An optimal warning can be given to the running state.

  According to the fourth invention, in addition to the warning by sound output, the warning video and the character are displayed on the monitor that displays the simulation video based on the traveling state of the own vehicle. The effect can be further enhanced.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view of a bicycle simulator according to an embodiment of the present invention. The bicycle simulator 1 is a driving simulator that provides traffic safety guidance and the like for a bicycle by giving a pseudo-sense that an actual bicycle is being driven to an occupant 100 as a teacher. The bicycle simulator 1 according to the present embodiment includes a simulated bicycle 20 having a vehicle body structure similar to an actual bicycle, and an effect device unit 10 including a monitor and a control unit.

  The effect device unit 10 has a configuration in which a monitor 11 having two sub-monitors 12 is attached to an upper part of a main body frame 13 in which a control unit 14 including a computer main body is disposed. Operation information of the occupant 100 is input to the control unit 14 by sensors attached to each part of the simulated bicycle 20, and various images corresponding to the operation of the occupant 100 are displayed on the monitor 11. The sub-monitors 12 attached to the left and right sides of the monitor 11 display images of the rear side of the vehicle body that are reflected in the left and right rearview mirrors, as well as instruction sounds, sound effects, warning sounds, and the like that match the images from the built-in speaker 12a. It is configured to be output. Note that a microphone may be built in the sub-monitor 12 or the like, and an instruction input by a passenger's voice may be received.

  In the simulated bicycle 20, the front wheel side of a normal bicycle is fixed to the floor surface and the main body frame 13 of the rendering device unit 10, and the rear wheel side is supported on the floor surface by dummy wheels 80 using rubber tires. It is supposed to be configured. A head tube 32 that pivotally supports the head pipe 26 is coupled to the front of the down tube 30 as a main frame, and a handle bar 21 that is operated by a passenger with both hands is attached to the upper end of the head pipe 26. It has been. A front wheel brake lever 22 and a rear wheel brake lever 24 are attached to the handlebar 21, and grip sensors (for detecting whether or not the occupant 100 properly holds the grip portion) are provided on the grip portions at both ends. (Not shown) is built-in.

  A control box 27 and a pair of left and right front forks 28 are attached below the head tube 32. Inside the control box 27 are housed a resistance generator that gives an appropriate response to the turning operation of the handlebar 21 and a steering angle sensor (not shown) that detects the steering angle of the handlebar 21. The resistance generator generates a resistance force due to friction by pressing a predetermined member against the rotating shaft of the handle bar 21 or a rubber member that generates a resilient force to return the handle bar 21 to the neutral position. An actuator or the like can be used. The actuator may be controlled by the control unit 14 so as to change the magnitude of the resistance necessary for the steering wheel operation in accordance with the running state during simulation, the assumed road surface condition, and the like.

  A front wheel brake wire 23 connected to the front wheel brake lever 22 is inserted into the control box 27, and a brake resistance is generated at the tip of the control box 27 to give an appropriate response to the swinging operation of the front wheel brake lever 22. A brake operation amount sensor (not shown) for detecting the operation amount of the front wheel brake based on the sliding amount of the device and the front wheel brake wire 23 is attached. The brake resistance generator can be composed of a rubber member or the like that is elastically deformed as the front wheel brake wire 23 slides. Further, a support pipe 29 that is grounded to the floor surface is coupled to the lower end portion of the front fork 28, and the side surface of the front fork 28 and the main body frame 13 are fixed by the support stay 15, so that the simulated bicycle 20 And the production equipment unit 10 are stably supported.

  A seat tube 31 that supports a seat pillar 42 to which a saddle 33 on which an occupant 100 is seated is coupled to the rear side of the down tube 30, and a reinforcement is provided between the down tube 30 and the seat tube 31. A subframe 30a as a member is disposed. In addition, a pipe-like chain stay 39 and a seat stay 40 that support the wheels 80 with a pair of left and right truss structures are coupled to the rear side of the seat tube 31. A pedal 34 including a pair of cranks connected to the left and right of a rotating shaft (crank shaft) and a stepped portion provided at the tip of the crank is rotatably supported at the front end portion of the chain stay 39. . The height of the saddle 33 and the handle bar 21 can be adjusted according to the physique of the occupant. Further, a pressure sensor (not shown) for detecting whether or not an occupant is properly seated may be provided inside the saddle 33.

  When the occupant 100 pedals the pedal 34 of the simulated bicycle 20, the endless drive chain 36 wound around the sprocket 35 coupled to the pedal 34 is driven. The drive chain 36 is wound around a sprocket (not shown) attached to a rotating shaft of a flywheel 50 that is rotatably attached to the rear side of the vehicle body of the pedal 34. The flywheel 50 is provided with a pedal depression force adjusting mechanism that adjusts the rotational resistance of the flywheel 50 by a roller 51 that is in contact with the outer peripheral surface thereof. In the present embodiment, the pedal load adjusting mechanism is controlled by the control unit 14 so that the pedal load can be arbitrarily changed according to the running state during the simulation. Note that the pedal depression force adjusting mechanism may be configured to use the rotational resistance of the generator.

  A one-way clutch is disposed between the rotary shaft of the flywheel 50 and a sprocket (not shown) attached to the rotary shaft, and it is possible to reproduce inertial running similar to a normal bicycle. . Further, a wheel rotation speed sensor (not shown) is attached to the flywheel 50, and the speed of the simulated bicycle 20 is calculated virtually by the control unit 14. A rear wheel brake that is actually driven and operated by the rear wheel brake lever 24 is attached to the flywheel 50. By braking the flywheel 50 that is actually rotationally driven, the flywheel 50 is closer to actual driving. It is possible to obtain a feeling of brake operation. The operation amount of the rear wheel brake lever 24 or the sliding amount of the rear wheel brake wire 25 connected to the rear wheel brake lever 24 is detected, and the operation amount of the rear wheel brake is input to the control unit 14. It is also possible.

  In the lateral direction of the vehicle width of the occupant 100, two poles 60 having a rear confirmation sensor 61 attached to the upper end portion are erected. The rear confirmation sensor 61 can detect the interruption of the infrared beam 61a output from one side. When the occupant 100 rotates the head rearward for backward confirmation, the infrared beam 61a is detected. The rear confirmation operation is detected by being shut off. In addition, since the rear end portion of the simulated bicycle 20 according to the present embodiment is supported on the floor surface by wheels 80 using rubber tires similar to those of a normal bicycle, a ride comfort similar to that of an actual bicycle can be obtained. However, the support portion on the rear side of the vehicle body can be constituted by a support base having an impact absorbing mechanism in place of the rubber tire. The bicycle simulator 1 can be variously modified such as providing an impact absorbing mechanism on the front fork 28 of the simulated bicycle 20 or attaching a small sub monitor to the handlebar 21.

  FIG. 2 is a block diagram showing a configuration of the bicycle simulator 1 according to the present embodiment. FIG. 3 is a flowchart showing a procedure of real-time warning control according to the present embodiment. First, referring to the block diagram of FIG. 2, the control unit 14 includes an operation state detection unit 71 that detects the operation state of the occupant 100 from the simulated bicycle 20 and various sensors 61 to 66 attached around the simulation bicycle 20, and a course route. A warning state determination unit that determines whether or not the running state during the simulation requires a warning from the course information database 72 that stores information such as the operation status detection unit 71 and the information in the course information database 72 70, a warning sound control unit 74 that outputs a warning sound from the speaker 12a when it is determined that a warning is required, a warning display control unit 75 that displays a warning on the monitor 11 when it is determined that a warning is required, A warning voice database 73 that stores a plurality of warning voices and a warning display database 76 that stores a plurality of warning displays are included. The operation state detection unit 71 includes a rear confirmation sensor 61 that detects a rear confirmation operation of the occupant 100, a grip sensor 62 that detects whether or not the occupant 100 is properly grasping the handle grip, a steering angle of the handlebar 21, and Steering wheel angle sensor 63 that detects the rotation speed, brake operation amount sensor 64 that detects the sliding amount of the brake wire, crank angle sensor 65 that detects the rotation speed of the pedal 34, and rotation speed of the flywheel 50. The output signals from the wheel rotation speed sensor 66 are respectively input. In the present embodiment, since the crank angle sensor 65 and the wheel rotation speed sensor 66 are provided, it is possible to detect inertial traveling while traveling without pedaling.

  In the flowchart of FIG. 3, when a simulation (simulation operation) by the bicycle simulator 1 is started in step S10, various data are read from the course information database 72 in step S11. In the course information database 72, in addition to the course route in the virtual space where the simulation is performed, the road surface conditions (steps, manholes, presence of puddles, etc.), traffic light conditions (red, blinking started, etc.), other vehicle Various event information such as movement (opposite bicycle, left-turning four-wheeled vehicle, etc.), pedestrian movement (walking forward, jumping out of the alley, etc.) is stored, and this various event information is appropriately displayed on the course route. By generating it, it is possible to carry out a simulation in a different situation every time even on the same course route. Then, based on the combination of the selected course route and various event information, an ideal driving range to be observed by the occupant is determined. The parameters of the ideal driving range include, for example, the current position, the speed limit, the backward confirmation, the interval secured when passing with a pedestrian or another vehicle, the braking start position before the stop target, and the like.

  In subsequent step S12, the operation status of the occupant is detected by the operation status detection unit 71 based on information from the various sensors 61-66. In step S13, the warning required state determination unit 70 determines the traveling state of the vehicle including the current position based on the course information and the operation state. In step S14, the traveling state and the ideal driving range are determined. Is compared. This comparison is made, for example, by comparing the speed limit at the current position indicated in the ideal driving range with the output signal of the wheel rotational speed sensor 66, or whether the rear confirmation sensor 61 is activated in a scene where rear confirmation is required. This is done by determining whether or not.

  In step S15, the driving state of the vehicle deviates from the ideal driving range, that is, for example, the output signal of the wheel rotation speed sensor 66 exceeds 10 km / h even though the speed limit is 10 km / h. When it is determined that the rear confirmation sensor 61 has not been operated in a scene where the rear confirmation is required, the process proceeds to step S16 to immediately alert the occupant. Thus, when it is determined that the traveling state of the vehicle has become a warning required state due to an inappropriate driving operation of the occupant 100, the occupant is warned in real time. In the present embodiment, “current position of own vehicle”, “vehicle speed of own vehicle”, “presence / absence of backward confirmation by occupant” are applied to the parameters of the driving state compared with the ideal driving range. The warning can be implemented by detecting a dangerous driving operation such as a sudden steering wheel, a sudden braking, a handless operation, or the like that may make the traveling state of the host vehicle unstable.

  Note that the comparison between the traveling state of the host vehicle and the ideal driving range in step S14 is continued until the driving simulation is completed, and a negative determination is made in step S15, that is, the traveling state of the host vehicle satisfies the ideal driving range. If there is no deviation, real-time warning control is terminated without warning.

  As shown in FIG. 2, the “warning” in the present embodiment is selected by the warning voice control unit 74 from a plurality of warning voices stored in the warning voice database 73 that is suitable for the current warning-required state. Then, the warning sound output from the speaker 12a and the warning display control unit 75 select the one that is suitable for the current warning state from the plurality of warning displays stored in the warning display database 76, and display it on the monitor 11. It consists of a warning display to be displayed. This warning may be an audio output only, and a “warning” for improper operation is output from the speaker 12a with a warning voice, and various event guidance (for example, “the road surface is slippery due to rain” ”,“ Visibility is getting worse in the evening ”), or the like may be displayed on the monitor 11.

  FIG. 4 shows an example of the warning voice stored in the warning voice database 73. The warning state determination unit 70 (see FIG. 2) according to the present embodiment can select and output one or a plurality of warning voices stored in the warning voice database 73. For example, if the vehicle speed parameter deviates from the ideal driving range, that is, if the vehicle speed exceeds the speed limit, a warning prompting a deceleration operation (for example, “Decelerate by operating the front and rear brakes”) is issued. Of course, if the deceleration operation is not executed despite a single warning, a stronger warning (for example, “Overspeed!” And “Operating the front and rear brakes” is combined by combining multiple warning sounds. Then decelerate ") can be configured to do.

  Further, as shown in the figure, warning sounds can be grouped according to the degree of urgency or importance, and warning sounds appropriate for the current running state can be output stepwise. For example, in the case of overspeed, first of all, the group A's “road width becomes narrower” is less than the speed limit at the current position, but if the vehicle does not decelerate, the speed limit will soon decrease and become overspeed. Run as a first-stage warning to notice. Such a first-stage warning is, for example, when the speed limit of the road sign displayed on the monitor, that is, the apparent speed limit is 10 km / h, and the speed of the actual ideal driving range is 8 km / h. This can be realized by setting.

  Next, when the speed is exceeded in spite of the warning at the first stage, the problem of the current driving state is immediately set as a warning at the second stage by the "Broad speed is over!" Execute. This real-time warning enhances the warning effect on the passenger, that is, the guidance effect. Subsequently, when the deceleration operation is not performed even by the warning in the second stage, the specific operation for avoiding the accident by the group C warning sound “Please operate the front and rear brakes to decelerate!” Can be executed as a third stage warning. When an accident occurs despite the re-warning, notify the passengers of the results of the fourth-stage warning according to Group D's “I contacted a pedestrian who has jumped out of the alley”. Is possible.

  In conventional bicycle simulators, real-time warnings for inappropriate driving operations by passengers and instructions for specific operations to avoid accidents are not given. Although there was a possibility that it could not be sufficiently increased, in the bicycle simulator according to the present invention as described above, a warning is given in real time for inappropriate driving operations, which driving operation is inappropriate This makes it easier for passengers to feel. In addition, since a specific operation for avoiding an accident can be instructed in real time, the learning effect of the bicycle simulator can be greatly enhanced.

  The content of warnings executed in the same driving state can be arbitrarily changed, and a plurality of warning voices corresponding to the same driving state are prepared, and randomly selected and output. You may do it. Also, do not output the group A warning sound for notifying the departure from the ideal driving range for passengers who have experienced driving a bicycle or experience a bicycle simulator or who are highly aware of safe driving. It is also possible to shift the warning timing by changing the parameter setting value of the ideal operation range. As a result, simulation corresponding to the skill of the occupant becomes possible, and the effect of the simulator for learning driving skills, risk prediction methods, and the like can be further enhanced.

  The shape and structure of the simulated bicycle and the production device section constituting the bicycle simulator, the content of the warning voice stored in the warning voice database, the parameters for determining the warning state, etc. are not limited to the above-described embodiments, but various modifications Is possible. For example, a standing state may be detected by a pressure sensor built in the saddle, or a warning may be performed by detecting whether a hand signal is being accurately executed by a sensor using infrared rays. Further, a vibrator may be built in the saddle or the handle grip, and this may be configured to vibrate when various events or warnings occur.

It is a perspective view of the bicycle simulator concerning one embodiment of the present invention. It is a block diagram which shows the structure of a bicycle simulator. It is a flowchart which shows the procedure of the real-time warning control which concerns on one Embodiment of this invention. It is an example of the audio | voice information stored in a warning audio | voice database.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Bicycle simulator, 11 ... Monitor, 12a ... Speaker, 14 ... Control part, 61 ... Back confirmation sensor, 62 ... Grip sensor, 63 ... Steering wheel angle sensor, 64 ... Brake operation amount sensor, 65 ... Crank angle sensor, 66 DESCRIPTION OF SYMBOLS ... Wheel rotational speed sensor, 70 ... Warning state determination part, 71 ... Operation condition detection part, 72 ... Course information database, 73 ... Warning voice database, 74 ... Warning voice control part, 75 ... Warning display control part, 76 ... Warning Display database

Claims (5)

In the bicycle simulator (1) that simulates the driving operation of a bicycle,
An operation status detection unit (71) for detecting the operation status of the occupant (100) based on signals from a plurality of sensors;
Course information database (72) for storing course route, various event information and ideal driving range ;
A warning state determination unit (70) that determines a state that requires a warning,
The warning state determination unit (70) is based on the operation state detected by the operation state detection unit (71) and the information stored in the course information database (72) , and the running state of the vehicle being simulated. And comparing the traveling state with an ideal driving range determined from the course route and various event information, and as soon as it is determined that the traveling state has deviated from the ideal driving range, the occupant (100) A bicycle simulator characterized by being configured to warn the user. The parameters of the running state used for the comparison with the ideal driving range include the current position of the host vehicle, the speed of the host vehicle, presence / absence of a backward confirmation operation by the occupant, and the danger of sudden steering, sudden braking and handless driving The bicycle simulator according to claim 1, wherein at least one of presence / absence of an operation is included. One or more warnings are selected from a plurality of voice information stored in the voice database (73) corresponding to the running state, and warning sounds are grouped according to urgency or importance in advance. The bicycle simulator according to claim 1 or 2, wherein the bicycle simulator outputs the signal stepwise in accordance with the state and is transmitted to the occupant (100) by sound output from a speaker (12a) . 4. A warning image and characters are displayed on a monitor (11) for displaying a simulation image based on the running state of the vehicle in addition to the warning by the sound output. Bicycle simulator described in 1. 2. The bicycle simulator according to claim 1, wherein the various event information includes road surface conditions, traffic light conditions, movements of other vehicles, and movements of pedestrians.

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