JP2010197593A - Driving simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving simulator for simulating driving or running of a vehicle such as a car or a motorcycle on a track such as a road, to which a flexible and diversified scenario can be applied, and of which responsiveness and performance can be maintained at a high level without changing hardware configuration. <P>SOLUTION: The driving simulator includes a first simulation means for simulating behavior of a vehicle according to the driving and a second simulation means for simulating behavior of a plurality of virtual vehicles present around the vehicle. As the relative distance of the virtual vehicles from the vehicle increases, the second simulation means simulates the behavior of the virtual vehicles less frequently. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving simulator that simulates driving or running of a vehicle such as an automobile or a motorcycle on a track such as a road.

  Driving simulators can be used for driving training, etc., because highly advanced information processing technology can be applied to simulate desired driving inexpensively, safely and efficiently without actually riding a car. Many are being used.

FIG. 6 is a diagram illustrating a configuration example of a conventional driving simulator.
In the figure, the motion base 61 includes, for example, an operation unit that is operated by an operator in the course of simulation relating to driving of an automobile, and an output unit that conveys the result of the simulation to the operator as rocking or sound of the motion base 61. Is provided. Note that, for example, a steering wheel, a brake pedal, an accelerator pedal, and a speaker (none of which are shown) correspond to these operation unit and output unit. Such an operation unit and an output unit are connected to corresponding ports of the computer 63M through the interface unit 62. A projector 64 is connected to a specific port of the computer 63M via an image generation unit 64. A screen 66 is arranged at a position where an image is projected by the projector 64 and an operator on the motion base 61 can see the image.

  In the driving simulator having such a configuration, as shown in FIG. 7, a vehicle state register 63S that is set based on a preset scenario and that can be referred to and updated is arranged in the main memory of the computer 63M. .

The vehicle state register 63S has a record corresponding to a unique vehicle identification number indicating an individual automobile, and each of these records stores a direction d in which the corresponding automobile travels and a position P of the automobile. Field to be included.
Each record of the vehicle state register 63S is operated on the motion base 61 and travels in parallel with the automobile to be simulated (hereinafter referred to as “own vehicle”). A plurality of virtual automobiles (hereinafter referred to as “other vehicles”) that provide a traffic environment in the process are also individually assigned.

  In the following, regarding the vehicle identification number, “0” is assigned to the own vehicle, and a unique integer i (1 ≦ i ≦ n) of “1” or more is assigned to the other vehicle, and the direction of each vehicle About d and the position P, it describes with "di" and "Pi" which added the vehicle identification number i as a subscript number.

  In such a conventional driving simulator, the computer 63M performs processing as the central part of the driving simulator based on the information given from the operation unit described above via the interface unit 62 and the scenario given in advance. Thus, the posture of the driver is changed via the motion base 61 or the motion base is swung.

The computer 63M appropriately updates the directions d0 to dn and the positions P0 to Pn between the host vehicle and the other vehicles based on the procedure of such processing, and road information indicating roads and blocks around the position P0 of the host vehicle. Generate. Further, the computer 63M delivers these directions d0 to dn, positions P0 to Pn, and road information to the image generation unit 64.
The image generation unit 64 converts the delivered directions d0 to dn, positions P0 to Pn, and road information into polygonal images of a predetermined format, and projects these images onto the screen 66 via the projector 65.

The image thus projected is transmitted to the operator as visual information indicating the relative position of the host vehicle with respect to another vehicle and the position of the host vehicle.
Therefore, it is possible to acquire driving skills or confirm / evaluate the behavior and performance of the own vehicle without actually getting in the car.

Prior art related to the present invention includes the following.
“The first to Mth order number ranges that divide the order numbers assigned to the display objects in order of the distance from the viewpoint position are shorter than the (K + 1) th order number range in the Kth order number range. On the premise that the display object is set so as to include a sequence number assigned to a display object having a short distance from the viewpoint position, the precision of the display object to which the sequence number belongs to the Kth order number range is set to (K + 1) th. A high-quality image can be formed in real time even when a large amount of display objects are gathered near the viewpoint by making it higher than the precision of the display objects to which the sequence numbers belong in the sequence number range. Apparatus and image composition method ... Patent Document 1

  “The change in shape and parts indicates the precision of the display object. For display objects whose order number range or distance range is close to the viewpoint position, the shape and parts are changed and the order number range or distance range is displayed far from the viewpoint position. 3D simulator device and image composition method characterized in that high quality images can be formed in real time even when many display objects are gathered near the viewpoint without changing the shape and parts of the object. 2

  “Each of the moving objects is represented by a driver model that models a driving operation by a virtual driver and a moving body model that is a combination of a vehicle motion model that models the physical behavior of each moving body, By moving in the road traffic environment in which each mobile model is independently represented on a computer, the mobile environment can be freely moved without previously classifying the traffic environment or predefining corresponding traffic rules. A road traffic simulation device characterized by the point of realizing "high motion traffic simulation" ...

  “The mobile model has a driver model that has a road traffic environment database and a mobile model, and that models the driving operation of the driver, and a vehicle motion model that models the behavior of the vehicle. Free-orbital traffic is characterized by simulating the behavior of a moving body more naturally by executing processing of periods with different lengths in parallel, without setting the situation and the corresponding rules individually. Simulator ... Patent Literature 4

JP 2000-348216 A JP 11-258974 A JP 2004-199287 A JP-A-2005-1242688

By the way, in the above-described conventional example, the simulation of the arrangement and movement of the own vehicle and other vehicles is performed uniformly for all the vehicles, so that even if the processing amount of the image generation unit 64 is sufficient, the computer Due to 63M throughput and cost constraints, for example, it was not easy to simulate the placement and movement of more than 100 other vehicles.
However, the number of other vehicles to be simulated is strongly required to be “1000” to “10000” in order to fully simulate the actual driving environment.

  An object of the present invention is to provide a driving simulator in which responsiveness and performance are improved and maintained at a high level without changing a hardware configuration, and a flexible and diverse scenario can be applied. To do.

In the first aspect of the invention, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Furthermore, the second simulation means simulates the behavior at a lower frequency as the virtual vehicle has a larger relative distance from the vehicle.
That is, since the simulation of the behavior of the virtual vehicle is not performed more frequently as the relative distance from the vehicle is larger, the processing amount of the second simulation means does not significantly degrade the apparent performance, and It is preferentially used for simulating a virtual vehicle having a small relative distance.

In the invention according to claim 2, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Furthermore, the second simulation means simulates the behavior at a lower frequency as the total number of the virtual vehicles is larger.
That is, since the simulation of the behavior of the virtual vehicle is not performed as frequently as the total number of virtual vehicles is large, the processing amount of the second simulation means is not significantly deteriorated in the apparent performance and the specific virtual vehicle It is effectively used without being biased toward simulation.

In the invention according to claim 3, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Further, the second simulation means simulates the behavior with a lower frequency as the resource surplus of the second simulation means is smaller.
In other words, since the simulation of the behavior of the virtual vehicle is not performed as frequently as the surplus of resources of the second simulation means is small, the apparent performance of the processing amount of the second simulation means is significantly deteriorated. Without being biased toward the simulation of a specific virtual vehicle.

In the invention according to claim 4, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Further, the second simulation means simulates the behavior at a lower frequency as the speed of the vehicle is smaller.
That is, as the speed of the vehicle whose operation is simulated by the first simulation means is smaller, the behavior of the virtual vehicle is not frequently simulated. Therefore, the processing amount of the second simulation means is the apparent performance. Is effectively used without being significantly deteriorated and without being biased toward simulation of a specific virtual vehicle.

In the invention according to claim 5, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Further, the second simulation means simulates the behavior at a lower frequency as the virtual vehicle has a lower speed.
That is, since the simulation of the behavior of the virtual vehicle is not performed as frequently as the virtual vehicle having a lower speed, the processing amount of the second simulation means does not significantly deteriorate the apparent performance, and the specific virtual vehicle. It is effectively used without being biased toward simulation.

In the invention described in claim 6, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Furthermore, the second simulation means simulates the behavior at a lower frequency as the virtual vehicle has a higher relative speed with the vehicle.
That is, since the simulation of the behavior of the virtual vehicle is not performed as frequently as the virtual vehicle having a higher relative speed with the vehicle, the processing amount of the second simulation means does not significantly deteriorate the apparent performance, and It is effectively used without being biased toward the simulation of a specific virtual vehicle.

In the invention according to claim 7, the first simulation means simulates the operation of the vehicle according to the driving. The second simulation means simulates the behavior of a plurality of virtual vehicles located around the vehicle. Furthermore, the second simulation means simulates the behavior with a lower frequency in a virtual vehicle whose moving direction is different from the moving direction of the vehicle.
In other words, the simulation of the behavior of the virtual vehicle is not performed as frequently as the virtual vehicle moving in a direction different from the direction in which the vehicle moves. Without being biased toward the simulation of a specific virtual vehicle.

According to the present invention, it is possible to incorporate more virtual vehicles than the conventional example without changing the hardware configuration.
In the present invention, even when a large number of virtual vehicles are incorporated, the performance is stably maintained high without changing the hardware configuration.

  Therefore, according to the present invention, under various and flexible scenarios, driving lessons and confirmation and evaluation of vehicle performance under a large traffic volume can be realized at a lower cost than in the conventional example.

It is a figure which shows one Embodiment of this invention. It is an operation | movement flowchart of this embodiment. It is a figure explaining operation | movement of this embodiment. It is a figure which shows the structure of a relative distance register. It is a figure which shows the structure of another vehicle class table. It is a figure which shows the structural example of the conventional driving simulator. It is a figure which shows the structure of a vehicle state register.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing an embodiment of the present invention.
The hardware configuration shown in FIG. 1 is different from the conventional example in that a computer 11M is provided instead of the computer 63M shown in FIG.

In the main memory of the computer 11M, a relative distance register 11d shown in FIG. 2 and another vehicle class table 11c shown in FIG. 3 are arranged in addition to the vehicle state register 63S shown in FIG.
The relative distance register 11d individually corresponds to the vehicles (the own vehicle and other vehicles) having the vehicle identification information i described above, and stores the relative distance of the corresponding vehicle to the own vehicle (hereinafter referred to as “ri”). Configured as a set of records to be processed.

  The feature of this embodiment lies in the procedure and calculation target of processing performed by the computer 11M. This computer 11M can be replaced by the computer 63M shown in FIG. 6 when there is no shortage of resources such as processing amount. is there.

FIG. 2 is an operation flowchart of this embodiment.
FIG. 3 is a diagram for explaining the operation of the present embodiment.
The operation of the first embodiment of the present invention will be described below with reference to FIGS. 1 to 5 and FIG.

The feature of this embodiment is the following processing procedure performed by the computer 11M.
(1) The position P0 of the host vehicle is updated based on the above-described scenario (step S1 in FIG. 2).
(2) For the positions P1 to Pn of other vehicles, three classes H (relative distance to the own vehicle is less than 10 meters) determined based on the relative distance to the own vehicle, M (relative to the own vehicle) The distance is 10 meters or more and less than 100 emails.), L (relative distance to the vehicle is 100 meters or more) in the order of the longest set ((1/60) seconds, (1/30) seconds , (1/10) seconds), the periodic tasks H, M, and L are updated. In the following, items corresponding to all the three classes H, M, and L are expressed as “class C”, and a periodic task corresponding to the “class C” is expressed as “periodic task C”. .
(3) The periodic task C performs the following processing.
(3-1) By referring to the other vehicle class table 11c, all identification information of other vehicles of the corresponding class is acquired (step 11 in FIG. 2).
(3-2) All positions of other vehicles indicated by these identification information are updated based on the scenario (step S12 in FIG. 3).
(3-3) The updated position of the other vehicle is stored in the vehicle state register 63S (step S13 in FIG. 3).
(3-4) Further, the relative distance of the position of each other vehicle with respect to the position of the own vehicle at this time is obtained and stored in the relative distance register 11d (step S14 in FIG. 3).
(3-5) These relative distances are classified into the above-described three classes H, M, and L (step S15 in FIG. 3) and correspond to each class in the other vehicle class table 11c so as to match the result of the classification. The identification information to be updated is updated (step S16 in FIG. 3).

(4) The number and size of polygon data such as the own vehicle, the block to be projected on the screen 66 together with the own vehicle, and other vehicles at the time (or displayed on the map together with the own vehicle) The number n of other vehicles to be obtained is obtained (step S2 in FIG. 2).

(5) The image generation unit 64 has resources that can correspond to the determined number and size of polygon data and the number n of other vehicles, and the responsiveness of the image generation unit 64 is reduced (expected overload state). It is determined whether it can be kept within an allowable limit (step S3 in FIG. 2).

(6) When the decrease in the responsiveness of the image generation unit 64 can be suppressed within an allowable limit, the following processes (7) to (8) are omitted and the same process as the conventional one is performed (step in FIG. 2). S4).

(7) When it is determined that the decrease in the responsiveness of the image generating unit 64 exceeds the allowable limit, the “other vehicle that can be displayed together with the own vehicle” while suppressing the decrease in the responsiveness within the allowable limit. Is determined (step S5 in FIG. 2), and Max other vehicles are selected in ascending order of the relative distance held in the relative distance register 11d (step S6 in FIG. 2).

(8) Further, road information indicating roads and blocks around the position P0 of the own vehicle is generated in the same manner as in the conventional example (step S7 in FIG. 2), and the above-mentioned information is combined with the position P0 and the direction d0 of the own vehicle. The direction and position of the Max other vehicle and the road information are delivered to the image generation unit 64 (step S8 in FIG. 2).

  The image generation unit 64 converts the direction, position, and road information delivered in this way into images of a predetermined unit of polygon units, and projects these images onto the screen 66 via the projector 65.

That is, the position of the other vehicle (indicated by “□” and “×” in FIG. 3) drawn on the screen 66 together with the own vehicle (indicated by “■” in FIG. 3). The update is performed less frequently as the relative distance to the host vehicle is larger.
As described above, according to the present embodiment, the processing amount of the computer 11M is preferentially allocated for updating the position of another vehicle (indicated by “□” in FIG. 3) close to the own vehicle. It is possible to greatly increase the maximum number Max of other vehicles that can be simulated within the processing amount range.

Therefore, it is possible to realize a drive simulation in which a vast number of other vehicles are incorporated as compared to the conventional example without fundamentally changing the hardware configuration, and the responsiveness and performance are improved. Scenarios can be applied.
In the present embodiment, the longer the frequency (frequency) at which the position update process (periodic task) is started, the longer the other vehicle has a greater relative distance to the host vehicle. However, such a period (frequency) may be set based on any combination of criteria (1) to (7) listed below, for example.

(1) The longer the relative distance to the host vehicle is, the longer it is set.
(2) Set longer as the absolute value of the number of other vehicles increases.
(3) The longer the surplus processing amount and other resources of the computer 11M, the longer it is set.
(4) The longer the vehicle speed, the longer it is set.

(5) Set longer for other vehicles with lower speed.
(6) Set longer as the relative speed to the host vehicle is slower.
(7) Set shorter for other vehicles that travel in a direction that includes many components in common with the direction of movement of the host vehicle.

  In this embodiment, other vehicles are classified into the three classes H, M, and L described above, but the present invention is applied to the number of such classes and the criteria for classification of each class. As long as the performance and other specifications of the driving simulator are satisfied, the driving simulator may be set to any value, and may be appropriately changed according to a driving simulation form or a situation that can be identified based on the simulation result.

  In this embodiment, the period at which the above-described periodic task C is activated is set to (1/60) seconds, (1/30) seconds, and (1/10) seconds for each of the classes H, M, and L. Yes. However, these periods may be set in any manner as long as the performance and other specifications of the driving simulator to which the present invention is applied are satisfied.

In the present embodiment, the positions of the host vehicle and the other vehicle amount are determined and updated by the processor 11M based on a preset scenario. For example, a pointing device such as a mouse operated by the operator, Alternatively, it may be set by a predetermined terminal.
The present invention is not limited to a driving simulator for automobiles. For example, like a “riding simulator” that simulates driving of a motorcycle, the vehicle can move on the same road with other vehicles and can be overtaken or approached each other. It can be applied to the simulation of various vehicle driving.

In the present invention, the image displayed on the screen 66 is not limited to the relative position between the host vehicle and the other vehicle and the road condition, and for example, various information to be provided in the process of driving simulation is also displayed. It may be displayed as a three-dimensional image.
In the present invention, the information transmitted to the operator does not have to be transmitted to the operator as motion-based rocking or sound. For example, the relative distance or relative distance between the host vehicle and the other vehicle according to the simulation of driving. It may be only the position.

In the present invention, the position of the host vehicle on the screen 66 does not necessarily have to be in the center, and may be any position as long as it is suitable for simulating driving of the host vehicle.
The present invention is also applicable to a state where the host vehicle is stopped.

In the present embodiment, the above-described processing illustrated in steps S5 to S8 in FIG. 2 may not be performed when the processing amount and resources of the image generation unit 64 are sufficiently ensured.
In this embodiment, each of the periodic tasks H, M, and L may be configured as a process, and if an operating system that performs task management or process management is not incorporated, an interrupt that is activated at a predetermined period It may be realized as a process.

In the present invention, in the first and second embodiments described above, the processing described above performed in cooperation with the computer 11M and the image generation unit 64 may be distributed in function or load in any form.
The present invention is not limited to the above-described embodiment, and can be realized as an embodiment of any aspect within the scope of the present invention, and any improvement may be applied to some or all of the components.

11c Other vehicle class table 11d Relative distance register 11M, 63M Computer 61 Motion base 62 Interface unit 63S Vehicle state register 64 Image generation unit 65 Projector 66 Screen

Claims (7)

A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
A driving simulator that simulates the behavior at a lower frequency as the virtual vehicle has a larger relative distance to the vehicle. A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
The driving simulator simulating the behavior at a lower frequency as the total number of the virtual vehicles is larger. A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
The driving simulator that simulates the behavior at a lower frequency as the surplus of the resource of the simulation means is smaller. A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
The driving simulator simulating the behavior at a lower frequency as the vehicle speed is lower. A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
A driving simulator characterized by simulating the behavior at a lower frequency in a virtual vehicle having a lower speed. A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
A driving simulator that simulates the behavior at a lower frequency in a virtual vehicle having a higher relative speed to the vehicle. A first simulation means for simulating the operation of the vehicle according to driving;
Second simulation means for simulating the behavior of a plurality of virtual vehicles located around the vehicle,
The second simulation means is
A driving simulator that simulates the behavior at a lower frequency in a virtual vehicle in which the moving direction is different from the moving direction of the vehicle.