CN120752689A

CN120752689A - Device for simulating driving of a land vehicle and corresponding method

Info

Publication number: CN120752689A
Application number: CN202380090543.4A
Authority: CN
Inventors: 迪亚哥·米嫩
Original assignee: Vigrad Co ltd
Current assignee: Vigrad Co ltd
Priority date: 2022-11-15
Filing date: 2023-11-15
Publication date: 2025-10-03
Also published as: JP2025536090A; WO2024105105A1; EP4619965A1; IT202200023544A1

Abstract

An apparatus (10) for simulating driving of a land vehicle comprises a base platform (11), an upper platform (12) on which a steering platform (13) is mountable, and a movement unit (14) mounted on the base platform (11) and connected to the upper platform (12) for imparting six degrees of freedom of movement to the steering platform (13).

Description

Device for simulating driving of a land vehicle and corresponding method

Technical Field

The present invention relates to an apparatus and corresponding method for simulating driving of land vehicles, including essentially cars, buses, vans, motorcycles or other similar or comparable vehicles, in accordance with six or more degrees of freedom.

In particular, the device according to the present invention is capable of reproducing very faithfully various real driving conditions when one of the above-mentioned vehicles is traveling along a predetermined route and in accordance with a driving mode set by the driver.

The invention may also be used for driving training of a particular person for a particular activity and/or simulating an unmanned experience for one or more passengers.

Background

Various devices for simulating driving of a land vehicle are known.

Typically, such devices comprise a base platform, which may be a floor or any load-bearing base, over which is provided an upper platform to which the driver is connected, on which the driver can sit

When the base platform is set it can be moved by three linear actuators in two linear directions X, Y on the simulated surface and about up>A vertical axis Z as described in WO-up>A-2013/114179 or by up>A suitable and alternately tensioned cable as described in WO-up>A-2017/021323.

The operator's station generally includes a driver's seat, steering wheel, brake pedal, clutch, accelerator, etc., and a projection screen for projecting the driving environment in which the driver is positioned during the simulation. The steering stage is connected to the base platform by a motion unit consisting of a plurality of telescopic linear actuators.

Typically, the kinematic unit is of six-foot kinematic construction, i.e. consisting of six independent telescopic linear actuators, or of a lesser number of actuators mounted on the base platform.

The known simulation devices have several drawbacks, mainly including kinematic coupling problems between the degrees of freedom of the system, noise generated during operation, and a larger overall footprint compared to the actual space available for simulation. Furthermore, known devices often suffer from a lack of dynamic response time due to the limited stiffness of the system.

Accordingly, there is a need to develop an apparatus for simulating driving of a land vehicle and a corresponding method thereof that overcome at least one of the drawbacks of the prior art.

For this reason, there is a need to solve the technical problems of improvement regarding the upper stage moving unit.

In particular, it is an object of the present invention to provide a device for simulating driving of a land vehicle that enables a high degree of kinematic independence between the degrees of freedom of the system.

Another object of the present invention is to provide a device for simulating driving of a land vehicle that is able to ensure that the upper platform achieves a large movement displacement without producing interference between the elements constituting the movement unit.

It is a further object of the present invention to provide a device for simulating driving of a land vehicle with particularly high rigidity, enabling high performance of the system in terms of dynamic response time.

It is another object of the present invention to provide a device for simulating driving of a land vehicle that is quieter than prior devices.

Another object of the present invention is to provide an apparatus for simulating driving of a land vehicle, which can make maximum use of installation space for simulation.

Another object of the present invention is to provide a method for simulating driving of a land vehicle which is simple, reliable and particularly true in terms of stresses acting on the steering column.

The applicant has devised, verified and embodied the present invention to overcome the shortcomings of the state of the art and to achieve the above and other purposes and advantages.

Disclosure of Invention

The invention is defined and described by the independent claims. The dependent claims describe other features of the invention or variants to the main inventive concept.

According to the above purpose, in order to solve the above technical problems in a novel and original manner and to achieve significant advantages over the prior art, the device for simulating driving of a land vehicle of the present invention comprises a base platform (or load-bearing base), an upper platform on which a driver's cab is mounted, and a moving unit mounted on the base platform and connected to the upper platform, so that the driver's cab can move in six degrees of freedom.

According to one aspect of the invention, the movement unit comprises:

-six link-crank mechanisms, movable on a horizontal plane of movement, respectively connected to motors mounted on the base platform;

six rigid rods, the first or lower ends of which are connected to the corresponding link-crank mechanisms by respective first joints, the second or upper ends of which are connected to the upper platform by respective second joints, and

-A curved or rectilinear guide mounted on said base platform, said guide lying on a guide plane parallel to the plane of movement, on which guide the first joint on the rod is slidingly supported.

As mentioned above, the base platform is understood to be any type of load-bearing base, and may even be a simple ground.

This achieves at least the following advantages:

a. the compactness of the device is improved, on the one hand because the entire effective volume of the base platform is used, and on the other hand because the curved guide device occupies a smaller space with the same track length.

B. the kinematic independence among the motion degrees of the system is realized. In fact, by means of the torque applied by the motor, the upper platform can move independently in six degrees of freedom about its central point, provided of course that it is within the physical limits allowed by the movement unit.

C. friction is reduced, thereby reducing noise and wear, as linear actuators or similar devices that generate noise and require long-term maintenance and/or replacement are no longer used.

According to another aspect of the invention, the plane of motion comprises a first plane of motion and a separate second plane of motion.

According to another aspect of the invention, the first and the separate second planes of motion are parallel to each other and are arranged at different heights with respect to a reference plane of the base platform.

According to another aspect of the invention, two adjacent link-crank mechanisms are movable on said first movement plane and said second, independent movement plane, respectively, which are parallel to each other and are arranged at different heights with respect to a reference plane of the base platform.

According to a variant of the invention, the movement planes are coincident. In particular, these planes of motion are parallel to each other and are at the same height relative to the reference plane of the base platform.

According to another aspect of the invention, the guiding plane comprises a first guiding plane and a separate second guiding plane.

According to another aspect of the invention, the first guide plane and the second guide plane are parallel to each other and are disposed at different heights relative to a reference plane of the base platform.

According to another aspect of the invention, the first joints of the bars connected to adjacent link-crank mechanisms are supported to slide on respective circular guides, which are located on a first guide plane and a separate second guide plane, respectively, which are parallel to each other and at different heights with respect to the reference plane of the base platform.

According to a variant of the invention, the guide planes are coincident. In particular, the two guiding planes are parallel to each other and at the same height with respect to the reference plane of the base platform.

According to another aspect of the invention, said first joint is connected to a respective slider mounted on a curved or rectilinear guide and to a respective link-crank mechanism.

According to another aspect of the invention, the guide means may be of the curved type.

According to another aspect of the invention, the guide includes a pair of rails, each rail defining a respective planar circular track.

According to a variant of the invention, the guide means may be rectilinear.

According to another aspect of the invention, the guide may comprise six independent additional tracks, each defining a respective flat linear track.

According to another aspect of the invention, six independent additional tracks may advantageously be arranged in a hexagonal arrangement.

According to another aspect of the invention, the motors may be arranged at angular intervals relative to a center point of the base platform.

According to a variant of the invention, the motors may be arranged in different ways at angular intervals with respect to the centre point of the base platform.

According to another aspect of the invention, the motors are configured to produce rotational movement about respective rotational axes that are parallel to each other and extend in a substantially vertical direction.

According to another aspect of the invention, the distances of the axes of rotation of two adjacent motors relative to the center point are different. Some variants include arrangements in which one or more motors overlap each other so that their axes of rotation are coaxially arranged, or in which all motors are equidistant from a central point so that their axes of rotation lie on the same circumference centered on said central point.

According to another aspect of the invention, the motors are rotary motors, capable of being driven independently of each other, and controlled and managed by a control unit of the device according to user instructions or a preset simulation program.

According to another aspect of the invention, the electric machine is a rotary electric machine, equipped with a stator and a rotor.

According to another aspect of the invention, one braking unit may preferably be associated with each motor.

According to another aspect of the invention, each brake unit may be of mechanical construction.

According to another aspect of the invention, each mechanical brake unit may comprise at least one interference member configured to exert pressure on the rotating component of the respective motor.

According to another aspect of the invention, the interference member may be a brake caliper or comprise a brake caliper or other similar element.

According to a variant of the invention, each braking unit may be of the magnetic type.

According to some embodiments of the invention, there is also a method for simulating driving of a land vehicle, the method comprising positioning a base platform on a stationary surface and moving a steering table mounted on an upper platform by a motion unit mounted on the base platform.

According to one aspect of the invention, the movement unit generates, by coordinated and selective actuation of six motors, a rectilinear translational movement and a rotational movement of the steering stage with respect to a set of three orthogonal cartesian axes (x, y, z) fixed to the base platform. The six motors respectively drive the corresponding connecting rod-crank mechanisms to move on the horizontal movement plane, and each connecting rod-crank mechanism is connected with the first lower end of the rigid rod through a first connector. The opposite second upper end of the rigid rod is connected to the upper platform by a second joint. The first joint is arranged to be slidably mounted on a curved or straight guide means fixed to the base platform, said guide means lying on a guide plane parallel to said plane of movement.

Drawings

These and other aspects, features and advantages of the present invention will become more apparent from the following description of an embodiment, as a non-limiting example, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a three-dimensional view of an apparatus for simulating driving of a land vehicle according to the present invention;

FIG. 2 is a three-dimensional view of the device of FIG. 1 (not shown in the operator's station);

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a side view of FIG. 2, with the base platform and upper platform illustrated in phantom;

FIG. 5 is a three-dimensional view of another embodiment of the device for simulating driving of a land vehicle according to the invention

FIG. 6 is a three-dimensional view of another embodiment of an apparatus for simulating driving of a land vehicle according to the present invention;

FIG. 7 is a side view of FIG. 6;

Fig. 8 is a three-dimensional view showing the motor with the corresponding braking unit.

It is to be understood that the phraseology and terminology employed herein, as well as the abstract of the drawings, including the manner of description, are for the purpose of more clearly illustrating and explaining the present invention, and are for the purpose of non-limiting example only. The protection scope is defined by the claims.

To facilitate understanding, identical reference numerals have been used, where possible, to designate identical or similar elements throughout the figures. It is to be appreciated that elements and features of one embodiment may be conveniently combined or integrated in other embodiments without further description.

Detailed Description

Referring to fig. 1, an apparatus 10 for simulating driving of a land vehicle in accordance with the present invention includes a substantially planar base platform 11, an upper platform 12 that is also substantially planar, and a cab 13 mounted on the upper platform 12.

As mentioned above, the base platform 11 is also understood to be the same floor as the device 10 is located on, or any stationary load-bearing base.

The apparatus 10 may further comprise a projection screen (not shown) arranged in front of the driver's deck 13 for projecting the driving environment for the user to obtain an immersive experience during the simulation.

The projection screen may be of any size, with the height and/or angular extension thereof not being limited.

Furthermore, the projection screen may be stationary or movable.

The driver's cabin 13 may comprise a frame, in which seats and control means for user operation, such as steering wheels, pedals and dashboards, are mounted, which are not shown in the figures, in the passenger compartment of the land vehicle.

The apparatus 10 further comprises a movement unit 14 mounted on the base platform 11 and connected to the upper platform 12 for determining the movement of the steering table 13, said movement comprising linear translation and rotation with respect to the three-axis orthogonal cartesian coordinate system (x, y, z axis) directions fixed integral with the base platform 11. Specifically, in the field of vehicle simulators, rotation of the cab 13 about the first direction x-axis is referred to as roll (roll), rotation about the second direction y-axis is referred to as pitch (pitch), and rotation about the third direction z-axis is referred to as yaw (yaw).

Thus, the apparatus 10 enables at least six degrees of freedom simulation of land vehicle driving.

According to the invention, with reference to fig. 2 to 8, the movement unit 14 comprises six link-crank mechanisms 15, which are movable on horizontal movement planes M1, M2 (fig. 4), and are connected to respective motors 16 mounted on said base platform 11.

These motors 16 are independent of each other and do not interfere with each other.

Six non-telescoping rigid rods 19 (preferably of the same length but not required) are connected at their first lower (base) ends 19a and second upper ends (19 b) to the respective link-crank mechanism 15 and upper platform 12 by first and second joints (21, 22), respectively. The motion generated by the motor 16 is transmitted through the link-crank mechanism 15 to move the upper platform 12.

As mentioned above, the length of the rods 19 may be the same or different.

The rod 19 extends in a rectilinear direction and is supported in a sliding manner on a guide 23 at its first joint 21.

The guide means may be curved (fig. 1 to 5) or rectilinear (fig. 6, 7).

The guide 23 is mounted on the base platform 11 on guide planes G1, G2 (fig. 4 and 7), which are parallel to the movement planes M1, M2 of the movable link-crank mechanism 15.

The curved guides 23 (described in more detail below) are represented here as two concentric circles, one with a larger radius and the other with a smaller radius, on which the ends of the first and second sets of three link-crank mechanisms 15, 15 respectively, can move.

It should be understood that the guide 23 is not limited to a complete circle, and its shape may be represented by an arc, a segment of an arc, or even a curved segment, depending on the movement stroke required by the rod-crank mechanism 15.

According to an alternative embodiment, which will be described in more detail below, said guide means 23 may be linear and therefore substantially consist of several linear segments or sections, each of which is movable by one end of one rod-crank mechanism 15, respectively, as shown in fig. 6.

The link-crank mechanism 15 is coordinated by the motor 16 (for example according to a user control operation or a preset simulation program) under the control of the control unit of the device 10, so that the lower end 19a of the rigid rod 19 can slide along the curved or rectilinear guide 23 and tilt in space with respect to the upper platform 12. Thus, the upper platform 12 is correspondingly displaced and rotated with respect to three orthogonal Cartesian axes (x, y, z).

In order to achieve a motion that is interference-free and has the greatest possible travel, two adjacent link-crank mechanisms 15 can be moved in a first plane of motion M1 and a second plane of motion M2, respectively, that are independent of one another.

The first movement plane M1 and the second movement plane M2 are parallel to each other and are in a substantially horizontal state.

The first plane of movement M1 and the second plane of movement M2 may be arranged at different heights, for example with respect to the reference plane 17 of the base platform 11, see fig. 4.

It should be appreciated that adjacent link-crank mechanisms 15 may move on the same plane of motion M1 or M2. According to other embodiments, in fact, the first movement plane M1 and the second movement plane M2 may be at the same height with respect to the reference plane 17 of the base platform 11, see fig. 7. In this case, the first movement plane M1 coincides with the second movement plane M2.

Similarly, the first joint 21, provided at the lower end 19a of the rod 19 connected to the adjacent link-crank mechanism 15, is slidingly supported on a corresponding curved or rectilinear guide 23 respectively on the first guide plane G1 and on the other independent second guide plane G2.

The first guide plane G1 and the second guide plane G2 are parallel to each other and substantially horizontal.

The first guide plane G1 and the second guide plane G2 may be arranged at different heights, for example with respect to a reference plane 17 of the base platform 11, see fig. 4.

It will be appreciated that the first joint 21 may be moved on respective guides 23 located on the same guide plane G1, G2. According to other embodiments, in practice, the first guide plane G1 and the second guide plane G2 may be arranged at the same height, for example with respect to the reference plane 17 of the base platform 11 (see fig. 7). In this case, the first guide plane G1 coincides with the second guide plane G2.

According to some embodiments, the motor 16 is mounted on a reference or datum surface 17 that is flat and substantially horizontal.

The reference surface 17 is the bottom surface of the base platform 11.

The reference surface 17 may be defined by a flat wall surface.

In the example described herein, the susceptor platform 11 is substantially disk-shaped.

As shown in fig. 3, the motor 16 is arranged around the center point C of the reference surface 17 at an angular interval.

In examples where reference surface 17 is circular, center point C may correspond to the center of the circle.

The motors 16 may be, but need not be, equiangularly spaced, in this particular example 60.

Two or more motors 16 may also be arranged in a co-located or other corresponding geometric arrangement.

The motors 16 are configured to produce rotational movement about respective substantially perpendicular rotational axes V.

The motor 16 is preferably a rotary motor equipped with a stator and a rotor.

The rotation axes V of the motors 16 are substantially perpendicular to the reference plane 17 and parallel to each other.

Specifically, each motor 16 may include a respective drive shaft 18 that rotates about a corresponding rotational axis V and is connected to a respective link-crank mechanism 15.

Each link-crank mechanism 15 comprises a first element, the crank 15a, connected in a known manner to a drive shaft 18 of a respective motor 16, and a second element, the link 15b, connected to the end of the first crank element 15a by means of a cylindrical joint having an axis of rotation perpendicular to the plane of movement M1, M2.

The axes of rotation V of two adjacent motors 16 are located at different distances L1 and L2, respectively, with respect to the center point C. For example, the axes of rotation V of a pair of adjacent motors 16 may be located at a first distance L1 and a second distance L2, respectively, which are different, as shown in fig. 3, wherein the first distance L1 is greater than the second distance L2.

According to a possible embodiment, the rotation axes V of the motors 16 are all located at the same distance from the centre point C. In this case, the rotation axes V of the motors 16 are arranged on the same circumference centered on the center point C.

According to other possible embodiments, two or more adjacent motors 16 may be coaxial, so that the respective axes of rotation V coincide.

According to some embodiments, each motor 16 may be used in conjunction with a brake unit 34, as shown in FIG. 8.

The brake unit 34 may be mechanical. Each mechanical brake unit 34 includes at least one interference member 34a, the interference member 34a being configured to apply pressure to the rotating component 16a of the respective motor 16. The interference member 34a may be, for example, a brake caliper.

According to a possible variant, each braking unit 34 may be of the magnetic type, or a combination of mechanical and magnetic braking.

According to some embodiments, the curved guiding means 23 comprise a first rail 24 and a separate second rail 25, which are arranged on said first guiding plane G1 and said second guiding plane G2, respectively, as shown in fig. 4.

The first guiding plane G1 is located at a first height H1 from the reference plane 17, which is greater than a second height H2 at which the second guiding plane G2 is located, as shown in fig. 4.

In addition to the reference surface 17, the base platform 11 is provided with a first support surface 26 and a second support surface 27, the first rail 24 being mounted on the first support surface 26 and the second rail 25 being mounted on the second support surface 27, the first support surface 26 and the second support surface 27 being provided on respective wall surfaces of the base platform 11, see fig. 2 and 3.

The first rail 24 and the second rail 25 are both circular curved rails. The first track 24 and the second track 25 each define a circular track having a first radius R1 and a second, different radius R2, the first radius R1 and the second radius R2 being measured with respect to a center point C of the reference surface 17, as shown in fig. 3.

With specific reference to FIG. 3, the first radius R1 is greater than the second radius R2. However, a structural configuration in which the relationship between the first radius R1 and the second radius R2 is reversed is not excluded.

According to some embodiments, the first joints 21 of the rods 19 connected to adjacent link-crank mechanisms 15 are slidingly supported on respective independent tracks 24, 25.

According to an alternative embodiment, the linear guide 23 comprises six additional tracks 32 independent of each other, each defining a respective flat linear trajectory, as shown in fig. 6.

The additional tracks 32 are preferably arranged in a hexagonal pattern. The hexagons may be in the form of open sides, i.e. the sides need not be connected to each other, but may be suitably spaced from each other, but still maintain the geometry of the hexagons, not necessarily regular hexagons.

The additional tracks 32 are preferably arranged on the same guide plane G1 or G2. In this case, the first guide plane G1 and the second guide plane G2 may coincide and be located at the same height with respect to the reference plane 17 (see fig. 7).

The guide plane G1 or G2 in which the additional track 32 is located may preferably be defined by a single support surface 33. The support surface 33 is substantially parallel and lies above the reference surface 17. The support surface 33 may be constituted by a flat wall surface.

The length or extension of all of the additional tracks 32 is substantially the same. The function of this length or extension is to ensure that the lower end 19a of the rod 19 has sufficient travel to enable the upper platform 12 to perform all the necessary movements.

The first joints 21 of the rods 19 are each supported for sliding movement on a respective independent additional track 32. In other words, each additional track 32 supports the sliding of only one first joint 21.

According to some embodiments, the first joint 21 provided on the lower end 19a of the rod 19 is connected to the corresponding slider 28, 29 (fig. 2 to 4).

For the curved guide 23, the sliders 28 and 29 can be slidably mounted on the first rail 24 or the second rail 25 according to the above principle. Thus, three rods 19 are respectively connected to the sliders 28 slidably mounted on the first rail 24 and independent of each other and not interfering with each other, and the remaining three rods 19 are respectively connected to the sliders 29 slidably mounted on the second rail 25 and independent of each other and not interfering with each other.

For the linear guide 23, a slider indicated by reference numeral 28 may be slidably mounted on the additional rail 32, as shown in fig. 6 and 7.

According to some embodiments, and by way of non-limiting example only, the first joint 21 and the second joint 22 may be spherical joints. Or the first joint 21 and the second joint 22 may be universal joints. Furthermore, the two ends 19a and 19b of the rod 19 may also be connected to different types of joints, respectively.

The slides 28 and 29 are also connected to the corresponding link-crank mechanism 15, respectively.

The link-crank mechanism 15 may be provided with end arms 30 (fig. 2 to 4) connected to the sliders 28, 29 to achieve heights H1, H2 corresponding to the guide planes G1, G2 on which the first rail 24 and the second rail 25 respectively lie. The end arm 30 is connected to the end of the link 15 b.

With particular reference to the embodiment of fig. 2 and 3, each arm 30 connected to a slider 28 provided on the first track 24 is inserted into a respective curvilinear slot 31 provided through the wall defining the first support surface 26. In this case, the curved groove 31 preferably has an extension path which substantially corresponds to the maximum travel of the slide 28 on the first rail 24, so that an emergency travel end is formed, if possible, for preventing collisions between the rods 19 or between the rod-crank mechanism 15.

According to some embodiments, the base platform 11 may be stably attached to a floor, which may be the floor of a building, another platform, or a custom board having an circumscribing flat support surface.

In other arrangements, as described above, the base platform 11 may be the floor itself.

According to other embodiments, the device 10 may comprise another movement unit, for example equipped with a linear drive, or alternatively using a suitably tensioned cable, which is connected to the base platform 11 and configured to drive the movement of the base platform 11.

Thus, in a modular solution, an additional degree of freedom of movement can be added to the device, since the base platform 11 can be translated linearly with respect to the X, Y axis, as well as rotated with respect to the Z axis. In this case, nine degrees of freedom are possible for the movement of the driver's table 13, three of which are redundant degrees of freedom, since these movements may overlap with the movement generated by the movement unit 14 on the driver's table 13.

Those skilled in the art will readily appreciate that additional motion units (such as, but not limited to, a common six degree of freedom platform mechanism) may also be incorporated with the foregoing apparatus 10 to achieve more redundant motion on the operator's platform 13 to enhance the driving experience of a simulated land vehicle.

The operation of the device 10 described above corresponds to the method of the invention, which is achieved by coordinated and selective actuation of six rotary motors 16, determining the linear translational and rotational movements of the operator's station 13 with respect to a set of three orthogonal cartesian axes (x, y, z axes) integral with the base platform 11.

Rotation of the drive shaft 18 connected to the link-crank mechanism 15 enables determination of the corresponding angle of inclination of the link 19. Since the link 19 is slidably mounted on the rails 24, 25 or the additional rail 32 via the first joint 21 and is connected to the upper platform 12 via the second joint 22, the combined rotational and translational movement required of the cab 13 can be achieved.

It is clear that modifications and/or additions of parts or steps may be made to the apparatus 10 and to the method for simulating driving of a land vehicle as described heretofore, without departing from the field of the present invention and the scope of the claims.

It should also be clear that, although the present invention has been described with reference to several specific examples, a person of skill in the art shall be able to realise other equivalent devices for simulating the driving of a land vehicle and corresponding methods having the characteristics indicated in the claims, and that these equivalent forms shall be included within the protection scope defined by the claims.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Claims

1. A device (10) for simulating driving a land vehicle, comprising a base platform (11), an upper platform (12), on which a driving platform (13) can be mounted; and a motion unit (14) mounted on the base platform (11) and connected to the upper platform (12), the motion unit (14) being used to cause the driving platform (13) to move.

It is characterized in that: the motion unit (14) includes:

six connecting rod-crank mechanisms (15) movable on horizontal motion planes (M1, M2) and respectively connected to corresponding motors (16) mounted on the base platform (11);

six rigid rods (19) having first lower ends (19a) and second upper ends (19b) connected to corresponding connecting rod-crank mechanisms (15) and upper platforms (12) via first and second joints (21, 22), respectively; and

A guide device (23) is mounted on the base platform (11) and is located on a guide plane (G1, G2) parallel to the movement plane (M1, M2), and the first joint (21) of the rod (19) is slidably supported on the guide device (23).

2. The device (10) according to claim 1 is characterized in that: the movement plane includes a first movement plane and an independent second movement plane (M1, M2), the first movement plane and the independent second movement plane are parallel to each other and are arranged at different heights relative to the reference plane (17) of the base platform (11).

3. The device (10) according to claim 2 is characterized in that two adjacent connecting rod-crank mechanisms (15) can move in the first movement plane (M1) and the independent second movement plane (M2) respectively.

4. The device (10) according to claim 1, characterized in that the movement planes (M1, M2) coincide with each other.

5. The device (10) according to claim 1 is characterized in that the guide plane includes a first guide plane and an independent second guide plane (G1, G2), the first guide plane and the second guide plane are parallel to each other and are arranged at different heights relative to the reference plane (17) of the base platform (11).

6. The device (10) according to claim 5 is characterized in that the first joint (21) of the rod (19) connected to the adjacent connecting rod-crank mechanism (15) is slidingly supported by corresponding guide devices (23) located on the first guide plane (G1) and the independent second guide plane (G2).

7. The device (10) according to claim 1, characterized in that the guide planes (G1, G2) coincide with each other.

8. Device (10) according to any of the preceding claims, characterized in that the first joint (21) is connected to a corresponding slider (28, 29), which is mounted on the guide device (23) and is connected to the respective connecting rod-crank mechanism (15).

9. Device (10) according to any one of the preceding claims, characterized in that the guide means (23) is curved.

10. Device (10) according to claim 9, characterized in that the guide means (23) comprises a pair of rails (24, 25), each rail defining a corresponding planar circular trajectory.

11. The device (10) according to any one of claims 1 to 8, characterized in that the guide device (23) is linear.

12. Device (10) according to claim 11, characterized in that the guide device (23) comprises six additional tracks (33) independent of each other, each additional track defining a corresponding planar linear trajectory.

13. The device (10) according to claim 12, characterized in that the six independent additional tracks (33) are arranged in a hexagonal pattern.

14. The device (10) according to any one of the preceding claims, characterized in that the motors (16) are arranged at angular intervals relative to a center point (C) of the base platform (11).

15. The device (10) according to any one of the preceding claims, characterized in that the motors (16) are configured to generate a rotational movement around respective rotation axes (V), the rotation axes being parallel to each other and substantially perpendicular to the base platform (11).

16. Device (10) according to claims 14 and 15, characterized in that the rotation axes (V) of two adjacent motors (16) are arranged at different distances (L1, L2) relative to the center point (C).

17. The device (10) according to any one of the preceding claims, characterized in that the motors (16) are rotary electric motors that can be driven independently of each other and are controlled by a control unit of the device (10) according to instructions issued by a user or a preset simulation program.

18. The device (10) according to any one of the preceding claims, characterized in that the electric machine (16) is a rotary electric motor equipped with a stator and a rotor.

19. The device (10) according to any one of the preceding claims, characterized in that each of the electric motors (16) is provided with a braking unit (34).

20. The device (10) according to claim 19, characterized in that each braking unit (34) is of mechanical type and comprises at least one interference member (34a) configured to exert pressure on a rotating part of the corresponding motor (16).

21. The device (10) according to claim 20, characterized in that the interference member (34a) is a brake caliper.

22. The device (10) according to claim 19, characterized in that each braking unit (34) is of magnetic type.

23. A method for simulating driving of a land vehicle, comprising: placing a base platform (11) on a stationary surface, and driving a driving platform (13) mounted on an upper platform (12) to move by a motion unit (14) mounted on the base platform (11), characterized in that: the motion unit (14) determines the linear translation and rotational motion of the driving platform (13) relative to a set of three orthogonal Cartesian coordinate axes (x, y, z) fixed to the base platform (11) through the coordinated and selective driving of six motors (16); the six motors The machine (16) drives the corresponding connecting rod-crank mechanism (15) to move on the horizontal motion plane (M1, M2), and the first lower end (19a) and the second upper end (19b) of the rigid rod (19) are respectively connected to the corresponding connecting rod-crank mechanism (15) and the upper platform (12) through the first and second joints (21, 22); the first joint (21) is slidably arranged on a guide device (23) installed on the base platform (11), and the guide device (23) is located on a guide plane (G1, G2) parallel to the motion plane (M1, M2).