JP2009092383A - Obstacle detection sensor mounting simulation apparatus, obstacle detection sensor mounting simulation method, and obstacle detection sensor mounting simulation program - Google Patents

Abstract

An object of the present invention is to provide means for enabling judgment of the quality of an obstacle detection sensor before actually mounting an obstacle detection sensor on a vehicle in an obstacle detection sensor-mounted simulation apparatus.
An obstacle detection sensor-equipped simulation apparatus includes a data acquisition unit, a simulated object arrangement unit, a display unit, and a display. The data acquisition means 20 acquires sensor data representing the position and detection area of a sonar that is an obstacle detection sensor, and simulated object data representing the shape and dimensions of the wheel stopper simulated body. The simulated object arranging means 26 arranges the ring stop simulated body in the virtual three-dimensional space so that the position and direction with respect to the sonar are in a preset relationship. The display unit 32 causes the display 16 to display an image in which the detection area shape representing the detection area and the ring stopper simulated body are arranged on the virtual three-dimensional space.
[Selection] Figure 1

Description

  The present invention relates to an obstacle detection sensor mounting simulation apparatus, an obstacle detection sensor mounting simulation method, and an obstacle detection sensor mounting simulation program for determining whether or not an obstacle detection sensor mounted on a vehicle is good.

  Conventionally, for example, by mounting an obstacle detection sensor called a clearance sonar on a bumper on the front side or rear side of a vehicle such as an automobile, the vehicle is equipped with an obstacle detection sensor so that the vehicle can be parked or traveled. For example, when an obstacle such as a wall approaches a certain range, it is considered to notify the driver of the approach by a buzzer sound, sound, display, or the like. Such an obstacle detection sensor makes it easier for the driver to drive the vehicle. The obstacle detection sensor can detect an obstacle, for example, by transmitting ultrasonic waves and receiving ultrasonic waves reflected by the obstacles.

  Patent Document 1 discloses an ultrasonic wave transmission / reception device that is attached to a rear bumper of an automobile, transmits ultrasonic waves to the rear of the automobile, receives ultrasonic waves reflected by an obstacle, and detects the presence or absence of the obstacle. An apparatus is described. Further, it is said that the end position of the taper formed in the case of the ultrasonic sensor is moved back and forth to widen or narrow the obstacle detection range, thereby making it appropriate.

JP 2001-289939 A

  The obstacle detection sensor can detect an obstacle as described above. However, if the detection area of the obstacle detection sensor is excessively located on the lower side, there is no need to detect the obstacle on the road surface. There is a possibility that an erroneous detection of detecting even an arrangement object, for example, a wheel stop block arranged in a parking lot, may occur. For this reason, when an obstacle detection sensor is mounted on a vehicle, the obstacle detection sensor needs to be arranged at a position where such erroneous detection can be prevented.

  In contrast to this, conventionally, when an obstacle detection sensor is mounted on a vehicle, the obstacle detection sensor is temporarily placed at various positions of the vehicle after the vehicle is actually built, and the obstacle detection sensor is stopped by the wheel. It has been considered to test whether or not an object on the road surface such as a block is erroneously detected and confirm whether the position of the obstacle detection sensor is good. However, in a vehicle actually built in this way, judging whether the obstacle detection sensor arrangement state is good or not causes a long time for the examination of the obstacle detection sensor arrangement state, and the optimal obstacle. It is difficult to find the arrangement state of the detection sensor. In addition, when the position or detection area of the obstacle detection sensor is changed at the time of design, the quality of the obstacle detection sensor cannot be confirmed at the design stage, so the design work can be performed efficiently. There is room for.

  On the other hand, Patent Document 1 does not disclose a means for making it possible to determine whether or not the obstacle detection sensor is in an arrangement state before actually mounting the obstacle detection sensor on the vehicle.

  An object of the present invention is to provide an obstacle detection sensor mounting simulation apparatus, an obstacle detection sensor mounting simulation method, and an obstacle detection sensor mounting simulation program. It is an object of the present invention to provide means for making it possible to determine the quality of the arrangement state.

  An obstacle detection sensor-mounted simulation device according to the present invention is an obstacle detection sensor-mounted simulation device for determining whether or not an obstacle detection sensor mounted on a vehicle is good, and the position of the obstacle detection sensor and Sensor data acquisition means for acquiring sensor data representing a detection area, and simulation on a road surface that is placed in a virtual three-dimensional space in order to investigate interference between the object placed on the road surface and the detection area by the user Simulated object data acquisition means for acquiring simulated object data representing the shape and dimensions of the object, and the simulated object on the road surface so that the position and direction with respect to the obstacle detection sensor are set in advance in the virtual three-dimensional space. A simulated object placement means for placing the object, a detection area shape representing the detection area in the virtual three-dimensional space, and a simulated object on the road surface. It is obstacle detecting sensor mounting simulation device, characterized in that it comprises a display means for displaying the part.

  Preferably, the apparatus further comprises body part data obtaining means for obtaining body part data representing the shape and position of the body part on which the obstacle detection sensor is placed, and sensor placement means, wherein the sensor data obtaining means comprises obstacle detection. Sensor data representing an angle, a height position, and a detection area with respect to the vehicle width direction position or the vehicle front-rear direction of the sensor is acquired, and the sensor placement means includes an angle of the obstacle detection sensor with respect to the vehicle width direction position or the vehicle front-rear direction, and Based on the height position and the shape and position of the body part, an obstacle detection sensor is placed on the body part, and the simulated object placement means corresponds to the position directly below the obstacle detection sensor in the virtual three-dimensional space. The simulated object is arranged on the road surface so as to face the direction corresponding to the direction of the obstacle detection sensor from the position where the obstacle is detected, and the display means displays the obstacle detection sensor in the virtual three-dimensional space. And detection area shape corresponding to, is displayed on the output section an image obtained by arranging the body part and the road surface on the simulated object.

  More preferably, the sensor data acquisition means acquires necessary gap data representing a necessary gap shape having the necessary gap of the obstacle detection sensor, and the display means arranges the obstacle detection sensor in the virtual three-dimensional space. An image in which a necessary gap shape corresponding to the position is arranged is displayed on the output unit.

  More preferably, the sensor data acquisition means acquires sensor data representing an angle, a height position, and a detection area with respect to the vehicle width direction position or the vehicle front-rear direction of the plurality of obstacle detection sensors, and the sensor arrangement means includes: A plurality of obstacle detection sensors are arranged on the body part based on the angle and height position of the plurality of obstacle detection sensors with respect to the vehicle width direction position or the vehicle longitudinal direction, and the shape and position of the body part, and display means Causes the output unit to display an image in which detection area shapes corresponding to a plurality of obstacle detection sensors and vehicle body parts are arranged in a virtual three-dimensional space.

  More preferably, it comprises display condition data acquisition means for acquiring display condition data representing display conditions including a viewpoint position and a line-of-sight direction when displaying an image on the output unit, and the display means is based on the display conditions, The shape defined by the three-dimensional data is projected onto a two-dimensional projection surface and displayed on the output unit.

  An obstacle detection sensor mounting simulation method according to the present invention is an obstacle detection sensor mounting simulation method for determining whether the mounting position of an obstacle detection sensor mounted on a vehicle is good. A sensor data acquisition step for acquiring obstacle detection sensor data representing the position and detection area of the detection sensor, and a virtual three-dimensional space for examination of interference between the object placed on the road surface and the detection area by the user. The simulated object data acquisition step for acquiring simulated object data representing the shape and size of the simulated object on the road surface to be simulated, and the position and direction with respect to the obstacle detection sensor are set in advance in the virtual three-dimensional space. As shown, a simulated object placement step for placing a simulated object on the road surface and a detection area that represents a detection area in a virtual three-dimensional space. Are obstacle detecting sensor mounting simulation method characterized by executing a display step of displaying on the output section of the image disposed a A shape and a road surface on the simulated object, the.

  An obstacle detection sensor mounting simulation program according to the present invention is an obstacle detection sensor mounting simulation program for determining whether the mounting position of an obstacle detection sensor mounted on a vehicle is good. Simulated in virtual three-dimensional space for sensor data acquisition procedure for acquiring obstacle detection sensor data representing position and detection area, and for studying prevention of interference between object and detection area placed on road surface by user The simulated object data acquisition procedure for acquiring simulated object data representing the shape and dimensions of the simulated object on the road surface to be placed, and the position and direction with respect to the obstacle detection sensor are in a preset relationship on the virtual three-dimensional space , Place the simulated object on the road surface, place the simulated object on the road surface A display procedure for displaying on the output section images were arranged and 擬物 body, are obstacle detecting sensor mounting simulation program, characterized in that executable in a computer.

  According to the obstacle detection sensor mounting simulation apparatus, the obstacle detection sensor mounting simulation method, and the obstacle detection sensor mounting simulation program according to the present invention, the position and direction with respect to the obstacle detection sensor are set in advance in the output unit. An image in which a simulated object on a road surface and a detection area shape representing a detection area are arranged in a virtual three-dimensional space is displayed. For this reason, before the obstacle detection sensor is actually mounted on the vehicle, a user such as a designer can easily grasp the positional relationship between the detection area and the simulated object on the road surface by simulation. Therefore, before the obstacle detection sensor is actually mounted on the vehicle, the user can determine whether the arrangement state of the obstacle detection sensor is good or bad. Further, it is possible to shorten the time required for examining the quality of the obstacle detection sensor arrangement, and to easily find the optimum arrangement state of the obstacle detection sensor.

  The sensor data acquisition means acquires necessary gap data representing the necessary gap shape having the necessary gap of the obstacle detection sensor, and the display means corresponds to the arrangement position of the obstacle detection sensor in the virtual three-dimensional space. According to the configuration in which the image in which the required gap shape is arranged is displayed on the output unit, the peripheral part is displayed in the required gap shape by displaying the peripheral part of the obstacle detection sensor together with the required gap shape on the output unit. The user can determine whether there is interference, and the user can more effectively determine the quality of the obstacle detection sensor arrangement.

  The sensor data acquisition means acquires sensor data representing an angle, a height position, and a detection area with respect to a vehicle width direction position or a vehicle front-rear direction of the plurality of obstacle detection sensors, and the sensor arrangement means includes a plurality of obstacles. A plurality of obstacle detection sensors are arranged on the vehicle body part based on the angle and height position of the detection sensor with respect to the vehicle width direction position or the vehicle longitudinal direction, and the shape and position of the vehicle body part. According to the configuration in which an image in which a detection area shape corresponding to a plurality of obstacle detection sensors and body parts are arranged on the original space is displayed on the output unit, the detection corresponding to the plurality of obstacle detection sensors is performed on the output unit. Since the image in which the area shape is arranged is displayed, the user can more easily determine whether there is an area that cannot be detected between the plurality of detection area shapes. For this reason, it becomes possible for a user to judge the quality of an obstacle detection sensor arrangement | positioning more effectively.

  Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. 1 to 22 show an example of an embodiment of the present invention. FIG. 1 is a basic configuration diagram showing an obstacle detection sensor mounting simulation apparatus according to the present embodiment. FIG. 2 is a diagram showing a plurality of elements acquired by the data acquisition means. FIG. 3 is a flowchart showing the obstacle detection sensor mounting simulation method of the present embodiment. 4A is a perspective view showing a state in which a front ground line plane is created on a virtual three-dimensional space in which a front bumper is disposed, and FIG. 4B is a virtual three-dimensional space in which a rear bumper is disposed. It is a perspective view which shows the state which created the back side ground line plane. FIG. 5A is a view of the state in which the front center sonar is disposed on the front bumper as viewed from the front to the rear, and FIG. 5B is a view of the same in the width direction. FIG. 6A is a view in which the rear center sonar is disposed on the rear bumper as viewed from the rear in the forward direction, and FIG. 6B is a view in the same width direction. FIG. 7A is a view of the state in which the front corner sonar is disposed on the front bumper as viewed from above, and FIG. 7B is a view of the same in the width direction. FIG. 8A is a view in which the rear corner sonar is disposed on the rear bumper as viewed from the rear to the front, and FIG. 8B is also a view in the width direction. FIG. 9 is a perspective view showing a state in which the front center sonar and the front corner sonar are projected onto the front ground line plane. FIG. 10 is a diagram showing a state in which a ring stopper simulated body is arranged on the front ground line plane. FIG. 11 is a view of FIG. 10 viewed in the vehicle width direction. FIG. 12 is a perspective view showing a state in which detection area shapes are arranged corresponding to the sonar mounted on the front bumper. FIG. 13 is a perspective view showing a state in which short-distance detection lines corresponding to the front center sonar or the rear center sonar are arranged. FIG. 14 is a perspective view showing a state in which a short-distance detection line corresponding to the front corner sonar or the rear corner sonar is arranged. FIG. 15 is a diagram illustrating an example of an image displayed on the display of an angle formed by the vehicle front-rear direction and the front center sonar direction. FIG. 16 is a diagram illustrating an example of an image displayed on the display of an angle formed by the front ground line plane and the direction of the front center side sonar. FIG. 17 is a diagram illustrating an example of an image that displays on the display an angle formed by the vehicle longitudinal direction and the direction of the front corner sonar. FIG. 18 is a diagram illustrating an example of an image displayed on the display of an angle formed by the front ground line plane and the direction of the front corner sonar. FIG. 19 is a diagram showing an example of an image displaying the distance between the lower end of the detection area shape of the front center side sonar and the upper surface of the ring stopper simulated body. FIG. 20 is a diagram illustrating an example of an image displaying the distance between the lower end of the detection area shape of the front corner sonar and the upper surface of the ring-stop simulated body. FIG. 21 is a diagram illustrating an example of an image representing a relationship between a detection area shape corresponding to a plurality of sonars on the front side of the vehicle and a ring stopper simulated body. FIG. 22 is a diagram showing an example of an image of the components shown in FIG. 21 as viewed from above.

  As shown in FIG. 1, the obstacle detection sensor-mounted simulation apparatus 10 according to the present embodiment is a computer, and includes a processing unit 12, an input unit 14, a display 16 that is an output unit, and a storage unit 18. . The input unit 14 is a keyboard, a mouse, or the like. The processing unit 12 includes a CPU, a memory, and the like, and includes a data acquisition unit 20, a ground line plane creation unit 22, a sensor arrangement unit 24, a simulated object arrangement unit 26, a detection area arrangement unit 28, and sensor arrangement information. The calculation means 30, the display means 32, and the three-dimensional CAD system 34 are provided. The data acquisition unit 20 includes a sensor data acquisition unit 36, a body part data acquisition unit 38, a simulated object data acquisition unit 40, and a display condition data acquisition unit 42.

  The obstacle detection sensor mounting simulation apparatus 10 assists in designing an object in a virtual three-dimensional space by a three-dimensional CAD system 34 functioning as a design support unit. That is, the three-dimensional CAD system 34 receives input of data from the input unit 14 by the user, creates a shape of the object based on the received data, and displays a three-dimensional or two-dimensional shape screen on the display 16. Display. The shape data of the object created by the three-dimensional CAD system 34 is stored in the storage unit 18, the memory in the processing unit 12, or the like. The storage unit 18 is a hard disk as an external storage device, or a recording medium such as a CD-ROM or a floppy disk (registered trademark). The storage unit 18 may be a database or the like at a remote location connected by a line.

  In particular, the obstacle detection sensor mounting simulation apparatus 10 according to the present embodiment is an obstacle placed on a vehicle in a stage before mounting the obstacle detection sensor on an actual vehicle, such as when designing a vehicle such as an automobile. It is an object of the present invention to provide means for determining whether or not the mounting position of the detection sensor is good, that is, enabling determination. That is, (1) in a configuration in which obstacle detection sensors are mounted at a total of eight places, four at each of the front bumper and the rear bumper of the vehicle, the detection area of the obstacle detection sensor, the simulated object of the wheel stop block, It is an object to enable a user to determine whether or not interference occurs.

  Another object of the present invention is to enable the user to determine whether or not the gap shape of the peripheral portion of each obstacle detection sensor can be sufficiently secured in the same configuration. Another object of the present invention is to enable the user to determine whether or not the detection areas of the obstacle detection sensors overlap with each other on the front bumper side and the rear bumper side in the same configuration.

  For such purposes (1) to (3), the obstacle detection sensor-mounted simulation apparatus 10 is a simulation of a wheel stopper, which is a sonar detection area of an obstacle detection sensor and a simulated object of a wheel stopper block. The state of arrangement with the body is simulated, that is, calculated and displayed on the display 16 (FIG. 1). A sonar is also called a clearance sonar that is installed in a vehicle and outputs a detection signal when the vehicle approaches or exceeds an obstacle such as a wall when parking or running. The control unit is used to output a signal for notifying the driver of an approach by a buzzer sound, sound, display, or the like when a detection signal is input.

  When the vehicle includes such a sonar, the driver can easily perform the driving operation of the vehicle. The sonar, for example, transmits an ultrasonic wave and receives an ultrasonic wave reflected by the obstacle so that the obstacle can be detected. In the present embodiment, as shown in FIG. 2, as the sonar, a front center sonar 46 mounted near the center of the front bumper 44 in the vehicle width direction, a front corner sonar 48 mounted on the corner, and a rear bumper 50 are also mounted. The rear side center sonar 52 mounted near the center of the vehicle width direction and the rear side corner sonar 54 mounted on the corner are also simulated. In the entire specification, the front side and the rear side refer to the front side and the rear side in the vehicle front-rear direction, respectively.

  Moreover, in order to perform such a simulation, the data acquisition means 20 shown in FIG. 1 acquires the following data. FIG. 2 shows the shape of the element represented by the data acquired by the data acquisition means 20. That is, among the data acquisition means 20 shown in FIG. 1, the sensor data acquisition means 36 includes a center sonar shape data representing the shape of the front center sonar 46 and the required gap shape and a front corner sonar 48 shown in FIG. 2. Corner shape sonar shape data representing the shape and the necessary gap shape. Each sonar shape data includes necessary gap data representing a necessary gap shape having the necessary gaps of the respective sonars 46 and 48.

  Further, the center sonar shape data and the corner sonar shape data are design surface data represented by three-dimensional data as shown in FIG. The required gap shape is a box-shaped portion 56 or 58 having a substantially box shape so as to surround most of the periphery of each of the sonars 46 and 48, and between the inner surfaces of the box-shaped portions 56 and 58 and the outer surfaces of the sonar 46 and 48. The space part becomes the necessary gap part. That is, when the sonars 46 and 48 are actually arranged in the vehicle, it is necessary to prevent the peripheral parts of the sonars 46 and 48 from interfering with the necessary gap portions.

  The shape of the front center sonar 46 and the box-shaped portion 56 (FIG. 2) are the same as the shape of the rear center sonar 52 and the box-shaped portion that is the necessary gap shape. Further, the shape of the front corner sonar 48 and the box-shaped portion 58 (FIG. 2) are the same as the shape of the rear corner sonar 54 and the box-shaped portion which is a necessary gap shape.

  Also, the sensor data acquisition means 36 shown in FIG. 1 acquires detection area data representing the detection area shape 60 of the front center sonar 46 and the detection area shape 62 of the front corner sonar 48 as shown in FIG. To do. Each detection area shape 60 (or 62) is constituted by closed curved lines 68 and 70 (or 72 and 74) formed on two mutually orthogonal planes, and both closed curved lines 68 and 70 (or 72, 74) is defined by a closed space portion (not shown) having a part of the outer peripheral edge. That is, each detection area shape 60, 62 represents a detection area. Further, both of the two planes corresponding to the front center side sonar 46 are rectangular planes. The two planes corresponding to the front corner sonar 48 are a rectangular plane and a substantially semicircular plane. The detection area shapes 60 and 62 of the rear center sonar 52 and the rear corner sonar 54 are the same as the detection area shapes 60 and 62 of the rear center sonar 52 and the rear corner sonar 54, respectively.

  Further, the sensor data acquisition means 36 (FIG. 1) acquires position data representing the angle and height position of each sonar 46, 48, 52, 54 with respect to the vehicle width direction position or the vehicle longitudinal direction. The center sonar shape data, corner sonar shape data, detection area data, and position data constitute the sensor data recited in the claims.

  The detection area data also includes data representing the detection axis that matches the direction of the sonar 46, 48, 52, 54, which is called the sound axis of the corresponding sonar 46, 48, 52, 54 or the x-axis. Although not shown in the drawing, a plurality of grid-like straight line portions are formed on two rectangular planes including closed curved lines 68 and 70 constituting the detection area shape 60 of each of the center sonars 46 and 52, respectively. Is done. Similarly, although not shown in the figure, a plurality of grid-like straight line portions are formed on a rectangular plane including closed curved lines 72 and 74 constituting the detection area shape 62 of each corner sonar 48 and 54. In the substantially semicircular plane, a plurality of arcs and radial straight lines are formed.

  The sensor data acquisition means 36 (FIG. 1) acquires short-distance detection line data representing the short-distance detection line radii R1 and R2 (FIGS. 13 and 14) of the sonars 46, 48, 52, and 54, respectively. The short distance detection line radii R1 and R2 are distances from the detection portions of the sonars 46, 48, 52, and 54, and are used to define a short distance detection area. The short distance detection area is a partial spherical area that is a distance from the detection unit of the sonars 46, 48, 52, and 54. The short distance detection area is configured by short distance detection lines 76, 78, 80, and 82 (FIGS. 13 and 14), and the short distance detection lines 76, 78, 80, and 82 are formed on two planes orthogonal to each other. Arcs that constitute the same short-range detection area and have the same radius R1 (or R2).

  When the sonars 46, 48, 52, and 54 (FIG. 2) detect that the detection target is located in the short-range detection area within the detection area, that is, the detection target is positioned at a short distance, Is output. Then, a control unit (not shown) provided in the vehicle responds to the input of the short distance detection signal with respect to the case where the detection target is located outside the short distance detection area within the detection area. By changing the display, etc., it is possible to notify the driver that an obstacle has approached a short distance. In the present embodiment, the sensor data acquisition unit 36 acquires such short distance detection line radii R1 and R2 (FIGS. 13 and 14) as sensor data.

  Further, the vehicle body part data acquisition means 38 shown in FIG. 1 is a design surface representing the position and shape of the front bumper 44 and the rear bumper 50 in the virtual three-dimensional space, which are vehicle body parts, as shown in FIG. Acquire body part data, which is data.

  Moreover, the simulated object data acquisition means 40 shown in FIG. 1 is a simulated object on the road surface, and the shape of the wheel stopper simulated body 84 (FIG. 10), which is a simulated body of the wheel stopper block arranged on the road surface of the parking lot. And simulated object data representing dimensions. Such a ring stopper simulated body 84 is for the purpose of investigating interference prevention by the user between the wheel stopper block, which is an object placed on the road surface, and the detection areas of the sonar 46, 48, 52, and 54 (FIG. 2). Further, it is a rectangular parallelepiped object that is arranged in a virtual three-dimensional space in a simulated manner.

  Further, the display condition data acquisition unit 42 illustrated in FIG. 1 acquires display condition data representing display conditions including a viewpoint position and a line-of-sight direction when an image is displayed on the display 16. The viewpoint position is a position serving as a reference point when an image is displayed by projecting a shape in a virtual three-dimensional space onto a two-dimensional projection plane, and the line-of-sight direction is a direction corresponding to the projection direction.

  Although not shown, the data acquisition unit 20 (FIG. 1) includes a ground line plane creation data acquisition unit. The ground line plane creation data acquisition means is, for example, a front side ground line plane 86 (FIG. 4) and a rear side ground line plane 88 (which are horizontal planes that coincide with the ground and have a finite size). Point coordinate data representing the position coordinates in the three-dimensional space of arbitrary ground line plane points x1 and x2 (FIG. 4) for creating FIG. 4) is acquired.

  As described above, a plurality of data acquired by the data acquisition unit 20 (FIG. 1) may be acquired by the data acquisition unit 20 by directly receiving data from the input unit 14 (FIG. 1) operated by the user. In addition, in accordance with the operation of the input unit 14 by the user, data such as shape data stored in the memory and the storage unit 18 (FIG. 1) may be read and acquired by the data acquisition unit 20.

  Further, as described above, the processing unit 12 shown in FIG. 1 includes the ground line plane creation means 22, the sensor placement means 24, the simulated object placement means 26, the detection area placement means 28, and the sensor placement information calculation means 30. And a display means 32. The ground line plane creation means 22 passes through the ground line plane points x1 and x2 based on the point coordinate data of arbitrary ground line plane points x1 and x2 (FIG. 4) acquired by the data acquisition means for ground line plane creation. Then, a front ground line plane 86 (FIG. 4) and a rear ground line plane 88 (FIG. 4) having an arbitrary size are created. The front-side ground line plane 86 and the rear-side ground line plane 88 are respectively positioned below the front bumper 44 (FIG. 2) and below the rear bumper 50 (FIG. 2).

  Further, the sensor arrangement means 24 shown in FIG. 1 has the sonar 46, 48, 52, 54 (FIG. 2) acquired by the sensor data acquisition means 36, the angle with respect to the vehicle width direction position or the vehicle longitudinal direction, and the height position. And the center corresponding to each bumper 44, 50 based on the shape and position of the front bumper 44 (FIG. 2) and the rear bumper 50 (FIG. 2) acquired by the body part data acquisition means 38 (FIG. 1). Side sonars 46 and 52 (FIG. 2) and corner sonars 48 and 54 (FIG. 2) are arranged.

  Further, the simulated object placement means 26 shown in FIG. 1 is locked so that the position and direction with respect to each of the sonars 46, 48, 52, 54 (FIG. 2) are set in advance in the virtual three-dimensional space. A simulated body 84 (FIG. 10) is arranged.

  Moreover, the detection area arrangement | positioning means 28 shown in FIG. 1 is each sonar 46,48,52,54 arrange | positioned to each of the front side bumper 44 (FIG. 2) and the rear side bumper 50 (FIG. 2) on virtual three-dimensional space. Corresponding to (FIG. 2), detection area shapes 60 and 62 (FIG. 2) and short-distance detection lines 76, 78, 80 and 82 (FIGS. 13 and 14) are arranged. 1 calculates a preset angle and distance corresponding to each of the sonar 46, 48, 52, and 54.

  Further, as shown in FIGS. 21 and 22, which will be described later, the display means 32 shown in FIG. 1 has a detection area shape 60, corresponding to each of the sonar 46, 48, 52, and 54 (FIG. 2) in the virtual three-dimensional space. 62 and short-distance detection lines 76, 78, 80, 82 (FIGS. 13 and 14), a ground line plane 86 (or 88 (FIG. 4B)), and a bumper 44 (or 50 (FIG. 4B)). ) And each wheel stopper simulated body 84 are displayed on the display 16 (FIG. 1). At this time, the display means 32 projects the shape defined by the three-dimensional data on the two-dimensional projection surface based on the display condition, and displays it on the display 16.

  Further, the display unit 32 has a function of causing the display 16 to display an image representing at least one angle or one of the angles and distances calculated by the sensor arrangement information calculation unit 30 based on a user operation. Also have. Moreover, the display means 32 is a box-shaped part 56 which is a required gap shape corresponding to the arrangement position of each sonar 46,48,52,54 (FIG. 2) on virtual three-dimensional space based on a user's operation. It also has a function of causing the display 16 to display an image in which 58 (FIG. 2) is arranged.

  Next, the obstacle detection sensor mounting simulation method of the present embodiment and the configuration of the processing unit 12 (FIG. 1) will be described in detail with reference to the flowchart shown in FIG. In the following description, the reference numerals assigned in FIG. 1 to FIG. The obstacle detection sensor mounting simulation method according to the present embodiment is executed by the obstacle detection sensor mounting simulation apparatus 10. First, in step S 1 of FIG. 3, data acquisition is performed based on the input by the user input unit 14. The means 20 performs a data acquisition step for acquiring sensor data, body part data, simulated object data, display condition data, and point coordinate data. The data acquisition step includes a sensor data acquisition step of acquiring sensor data by the sensor data acquisition means 36 and a simulated object data acquisition step of acquiring simulated object data by the simulated object data acquisition means 40.

  Next, in step S2 of FIG. 3, the ground line plane creating means 22 creates the front ground line plane 86 and the rear ground line plane 88 as shown in FIGS. 4 (a) and 4 (b) based on the point coordinate data. Create the ground line plane creation step. That is, the ground line plane creation means 22 is based on the point coordinate data representing the coordinates of the ground line plane points x1 and x2 arbitrarily set by the user, forward, rearward, and vehicle width of the ground line plane points x1 and x2. A front side ground line plane 86 and a rear side ground line plane 88 having arbitrary lengths on both sides in the direction are created. Each of the ground line planes 86 and 88 has an outer peripheral edge parallel to the L direction that is the vehicle front-rear direction and the W direction that is the vehicle width direction. Further, on the virtual three-dimensional space in which the ground line planes 86 and 88 are created, the front bumper 44 or the rear bumper 50 corresponding to the ground line planes 86 and 88 is arranged based on the body part data. . In addition, the H direction shown to Fig.4 (a) (b) is a height direction. The definitions of the L direction, the W direction, and the H direction are the same in FIG.

  Also, the point coordinate data is obtained by the data acquisition means 20 by the user inputting position coordinates in the three-dimensional space using a keyboard, or by clicking the position coordinates in the three-dimensional space using a mouse. It can also be acquired. Also, the size of each ground line plane 86, 88 passing through the ground line plane points x1, x2 can be arbitrarily set based on the user's operation.

  Next, the sensor placement means 24 shown in FIG. 1 is configured to determine the angle of each sonar 46, 48, 52, 54 with respect to the vehicle width direction position or the vehicle longitudinal direction based on the sensor data acquired by the sensor data acquisition means 36, and the height Based on the position and the shapes and positions of the front bumper 44 and the rear bumper 50, a sensor placement step of placing the sonars 46, 48, 52, 54 corresponding to the bumpers 44, 50 is performed. That is, in step S3 of FIG. 3, the sensor arrangement means 24 is arranged so that the front center sonar 46 is located at two positions near the center in the vehicle width direction on the front surface of the front bumper 44, as shown in FIGS. (In FIGS. 5 (a) and 5 (b), only one front-side sonar 46 is shown). 5A and 5B, the front center sonar 46 is disposed on the front bumper 44 based on the acquired vehicle width direction position and height position of the front center sonar 46. The front center side sonar 46 is disposed on the front bumper 44 so that the detection axis faces in a direction orthogonal to the design surface shape of the surface of the front bumper 44.

  In addition, the dashed-dotted line W0 shown to Fig.5 (a) represents the center virtual plane parallel to the perpendicular direction including the vehicle width direction center. The definition of W0 is the same below. In the example shown in FIG. 5A, the sensor data acquisition unit 36 acquires the vehicle width direction distance Wa of the front center sonar 46 from the central virtual plane W0 as the vehicle width direction position of the front center sonar 46. Yes. In the example shown in FIG. 5B, the sensor data acquisition means 36 uses the distance Ha, which is the height of the front center sonar 46 from the front ground line plane 86, as the height position of the front center sonar 46. Have acquired.

  Further, as shown in FIGS. 6A and 6B, the sensor arrangement means 24 arranges the rear center sonar 52 at two positions near the center in the vehicle width direction on the rear surface of the rear bumper 50 (see FIG. 6). 6 (a) and 6 (b) each show only one rear center sonar 52). 6A and 6B, as in the case of the front center sonar 46 (FIG. 5), the rear center sonar 52 is placed on the rear bumper 50 based on the vehicle width direction position and the height position. It is arranged. The rear center sonar 52 is also arranged on the rear bumper 50 so that the detection axis faces in a direction orthogonal to the design surface shape of the surface of the rear bumper 50. In the example shown in FIG. 6A, the sensor data acquisition means 36 uses the vehicle width direction distance Wb of the rear center sonar 52 from the central virtual plane W0 as the vehicle width direction position of the rear center sonar 52. Is getting as. Further, in the example shown in FIG. 6B, the sensor data acquisition unit 36 sets the distance Hb, which is the height of the rear center sonar 52 from the rear ground line plane 88, to the height of the rear center sonar 52. The position is acquired.

  Further, as shown in FIGS. 7A and 7B, the sensor arrangement means 24 arranges the front corner sonar 48 at two positions on the side surfaces of the front bumper 44 at both ends in the vehicle width direction (FIG. 7 ( (a) (b) shows only one front corner sonar 48). In the example shown in FIGS. 7A and 7B, the front corner sonar 48 is set to an angle α in the detection axis direction with respect to the vehicle longitudinal direction and the height position when the vehicle is viewed from above. Based on this, a front corner sonar 48 is arranged on the front bumper 44. For example, in FIG. 7A, the angle α is 45 degrees. Further, in the example shown in FIG. 7B, the sensor data acquisition unit 36 sets the distance Hc, which is the height of the front corner sonar 48 from the front ground line plane 86, to the height position of the front corner sonar 48. Is getting as.

  Further, as shown in FIGS. 8 (a) and 8 (b), the sensor arrangement means 24 arranges the rear corner sonar 54 at two positions on the side surfaces of the corners of both ends of the rear bumper 50 (see FIG. 8). 8 (a) and 8 (b) each show only one rear corner sonar 54). In the example shown in FIGS. 8A and 8B, the rear corner sonar 54 is disposed on the rear bumper 50 based on the vehicle width direction position and the height position. Further, the rear corner sonar 54 is disposed on the rear bumper 50 so that the detection axis faces in a direction orthogonal to the design surface shape of the surface of the rear bumper 50. In the example shown in FIG. 8A, the sensor data acquisition means 36 uses the vehicle width direction distance Wd of the rear corner sonar 54 from the central virtual plane W0 as the vehicle width direction position of the rear corner sonar 54. Is getting as. Further, in the example shown in FIG. 8B, the sensor data acquisition unit 36 calculates the distance Hd, which is the height of the rear corner sonar 54 from the rear ground line plane 88, of the rear corner sonar 54. Acquired as the height position.

  5, 6, and 8, the front center sonar 46, the rear center sonar 52, and the rear corner sonar 54 are the same as the front corner sonar 48 shown in FIG. 7. Further, when viewed from the top to the bottom of the vehicle, the bumpers 44 and 50 can be disposed on the corresponding bumpers 44 and 50 based on the angle in the detection axis direction relative to the vehicle longitudinal direction and the height position. Further, the front corner sonar 48 shown in FIG. 7 is the same as the case of the front center sonar 46, the rear center sonar 52, and the rear corner sonar 54 shown in FIGS. In addition, the front bumper 44 can be arranged based on the vehicle width direction position and the height position.

  Next, the simulated object placement means 26 shown in FIG. 1 seems to have a preset relationship with respect to the sonar 46, 48, 52, 54 (FIGS. 5 to 8) in the virtual three-dimensional space. Next, a simulated object placement step of placing a ring stopper simulated body 84 as shown in FIGS. 10 and 11 is performed. That is, the simulated object placement unit 26 corresponds to a position corresponding to a position directly below the positions of the plurality of sonars 46, 48, 52, 54 arranged in the bumpers 44, 50 in the virtual three-dimensional space, that is, a corresponding ground directly below. From the position on the line planes 86, 88, the direction corresponding to the direction of the detection axes of the plurality of sonars 46, 48, 52, 54, that is, the detection axes of the plurality of sonars 46, 48, 52, 54 are set to the ground line planes 86, The obtained ring stop simulated body 84 is arranged on the corresponding ground line planes 86 and 88 so as to face the direction of the projection detection axis when projected onto the plane 88.

  Next, this will be described in more detail by using FIG. 9 to FIG. 11 as a representative of the ring stopper simulated body 84 (FIG. 10) disposed on the front ground line plane 86. That is, in step S4 of FIG. 3, the simulated object placement means 26, as shown in FIG. 9, on the front ground line plane 86, the detection center of the front center sonar 46 and the front corner sonar 48 and the detection axis. , The projection detection unit centers t1 and t2 and the projection detection axes u1 and u2 are set to L. Then, the simulated object placement means 26, as shown in FIGS. 10 and 11, is based on the projection detection unit centers t1 and t2 and the projection detection axes u1 and u2 and the acquired shape and dimensions of the ring stop simulation body 84. In addition, a plurality (four in the illustrated example) of ring stopper simulated bodies 84 corresponding to the sonars 46 and 48 are arranged on the front ground line plane 86. In this case, on the front ground line plane 86, the ring stop simulation is performed so as to face the projection detection axes u1, u2 (FIG. 9) of the sonar 46, 48 from the positions of the projection detection unit centers t1, t2 (FIG. 9). The body 84 is arranged. In addition, by changing the dimension or the like represented by the simulated object data acquired by the simulated object data acquisition unit 40, the dimension or the like of the ring stopper simulated body 84 can be changed. For example, the width S (FIG. 10) of the ring stopper simulated body 84 is 300 mm, and the height T (FIG. 10) is 150 mm. Although not shown, the rear center sonar 52 (FIG. 6B) is also applied to the rear ground line plane 88 (FIG. 4B) similarly to the ring stopper simulated body 84 arranged on the front ground line plane 86. ) And the rear corner sonar 54 (FIG. 8), the four ring stopper simulated bodies 84 are arranged.

  Next, the detection area arrangement means 28 shown in FIG. 1 corresponds to the sonars 46, 48, 52, 54 (FIG. 2) arranged in the bumpers 44, 50 (FIG. 2) in the virtual three-dimensional space. Then, the detection area arrangement step of arranging the detection area shapes 60 and 62 (FIG. 2) and the short distance detection lines 76, 78, 80, and 82 (FIGS. 13 and 14) is performed. That is, the detection area arrangement means 28 corresponds to each of the sonars 46 and 48 (48 refer to FIGS. 7A and 7B) arranged on the front bumper 44 in step S5 of FIG. 3, as shown in FIG. A plurality of detection area shapes 60 and 62 are arranged in a virtual three-dimensional space. For example, the intersecting lines of two orthogonal planes including the detection area shapes 60 and 62 coincide with the detection axis directions of the corresponding sonars 46 and 48. Although illustration is omitted, the detection area arranging means 28 similarly arranges a plurality of detection area shapes 60 and 62 corresponding to the sonars 52 and 54 arranged in the rear bumper 50 in the virtual three-dimensional space. To do.

  Further, as shown in FIGS. 13 and 14, the detection area arranging means 28 is close to the virtual three-dimensional space corresponding to each front center sonar 46 and each front corner sonar 48 arranged on the front bumper 44. Distance detection lines 76, 78, 80, 82 are arranged. The short distance detection lines 76, 78, 80, 82 are circular arcs formed on two planes orthogonal to each other, respectively from the center of the detection part of each front side center sonar 46 or each front side corner sonar 48. A radius of curvature, which is a distance, is defined by the acquired short-distance detection line radii R1 and R2.

  The sensor data acquisition means 36 does not acquire the short distance detection line data representing the short distance detection line radii R1, R2 of the sonars 46, 48, 52, 54, and instead, the short distance detection line radius. R1 and R2 may be stored in advance in the memory 18 and the memory of the processing unit 12, and the detection area placement unit 28 may read and use the stored short distance detection line radii R1 and R2. Similarly, the detection area arranging means 28 corresponds to each rear center sonar 52 and each rear corner sonar 54 arranged on the rear bumper 50, in the virtual three-dimensional space. Distance detection lines 76, 78, 80, 82 are arranged.

  Next, the sensor arrangement information calculation unit 30 shown in FIG. 1 performs a sensor arrangement information calculation step for calculating a preset angle and distance corresponding to each of the sonars 46, 48, 52, and 54. That is, the sensor arrangement information calculation means 30 determines in step S6 in FIG. 3 between the direction in which the detection axis of each sonar 46, 48, 52, 54 faces and the vehicle longitudinal direction when the vehicle is viewed from above. When the vehicle is viewed in the width direction, when the detection axis of each sonar 46, 48, 52, 54 faces and the angle formed by the ground line planes 86, 88, when the vehicle is viewed in the width direction The distances between the lower ends of the detection area shapes 60 and 62 of the sonars 46, 48, 52, and 54 and the upper surface of the ring stopper simulated body 84 (FIG. 10) are calculated. The display unit 32 shown in FIG. 1 displays an image representing at least one angle or one of the angles and distances calculated by the sensor arrangement information calculation unit 30 in step S7 of FIG. The display step to display is performed.

  FIGS. 15 to 20 show examples of display images in which one of the above angles and distances is displayed on the display 16. First, FIG. 15 shows an example of an image representing an angle β formed by the direction in which the detection axis of the front center sonar 46 disposed on the front bumper 44 faces and the vehicle longitudinal direction when the vehicle is viewed from above. Is shown. FIG. 16 shows an example of an image representing an angle γ formed between the direction in which the detection axis of the front center sonar 46 faces and the front ground line plane 86 when the vehicle is viewed in the width direction. FIG. 17 shows an example of an image representing the angle formed between the direction in which the detection axis of the front corner sonar 48 arranged on the front bumper 44 faces and the vehicle front-rear direction when the vehicle is viewed from above. Show. FIG. 18 shows an example of an image representing an angle formed between the direction in which the detection axis of the front corner sonar 48 faces and the front ground line plane 86 when the vehicle is viewed in the width direction.

  FIG. 19 shows an example of an image representing the distance H1 between the lower end of the detection area shape 60 of the front center side sonar 46 and the upper surface of the wheel stopper simulated body 84 when the vehicle is viewed in the width direction. Show. FIG. 20 shows an example of an image representing the distance H2 between the lower end of the detection area shape 62 of the front corner sonar 48 and the upper surface of the wheel stopper simulated body 84 when the vehicle is viewed in the width direction. Show. In FIG. 15 to FIG. 20, the reference numerals are given for the sake of clarity, except for β, γ, α, δ, H1, and H2, which represent angles or distances, and are not displayed in an actual image. . In practice, numerical values of the actually calculated angles and distances are displayed in the angles β, γ, α, δ, H1, and H2. The angles β, γ, α, and δ are calculated from the positions of the sonars 46 and 48 disposed on the front bumper 44 and the positions of the reference vehicle width direction center line W0 and the front ground line plane 86. The distances H1 and H2 are calculated from the lower end positions of the detection area shapes 60 and 62 of the sonars 46 and 48 disposed on the front bumper 44 and the shape and position of the ring stopper simulated body 84.

  Although not shown, the sensor arrangement information calculation unit 30 (FIG. 1) similarly detects the rear center sonar 52 and the rear corner sonar 54 when the vehicle is viewed from above. The angle between the direction of the axis and the longitudinal direction of the vehicle, the direction of the detection axis of the rear center sonar 52 and the rear corner sonar 54 when the vehicle is viewed in the width direction, and the rear ground line plane 88 (the angle between FIG. 4B and the distance between the lower end of the detection area shapes 60 and 62 of the rear center sonar 52 and the rear corner sonar 54 and the upper surface of the ring stopper simulated body 84, respectively. Then, the display means 32 causes the display 16 to display an image representing at least one of the angles and distances related to the rear center sonar 52 and the rear corner sonar 54. Further, the display means 32 includes: Sensor placement information Of the image representing the calculated angle or distance by calculation means 30, an image to be displayed on the display 16, and can be selected on the basis of the operation of the user.

  Further, as shown in FIGS. 21 and 22, the display means 32 shown in FIG. 1 includes detection area shapes 60 and 62 and short-distance detection lines 76 corresponding to the front sonar 46 and 48 in the virtual three-dimensional space. , 78, 80, 82, the front ground line plane 86 and the front bumper 44, and an image in which the front wheel stopper simulated body 84 is arranged is displayed on the display 16. In FIG. 21, the short-distance detection lines 76, 78, 80, and 82 (FIG. 22) are not shown. In FIG. 22, two planes orthogonal to each other including closed curved lines 68, 70, 72, and 74 constituting the detection area shapes 60 and 62, and short-distance detection lines 76, 78, 80, and so on, respectively. Each of two planes orthogonal to each other including 82 is omitted. In FIGS. 21 and 22, reference numerals are assigned for the sake of clarity, but no reference numerals are displayed in actual images.

  Further, the display means 32 projects the shape defined by the three-dimensional data on the two-dimensional projection surface based on the display conditions, and displays it on the display 16. For example, as shown in FIG. 21, the display unit 32 sets the viewpoint position obliquely upward on the front side of the vehicle and causes the display 16 to display an image viewed in the line-of-sight direction from the viewpoint position toward the periphery of the front bumper 44. As shown in FIG. 22, a viewpoint position can be set on the upper front side of the vehicle, and an image viewed in a downward line-of-sight direction can be displayed on the display 16, and an image viewed from an arbitrary direction can be selected. Yes. For example, according to the image as shown in FIG. 22, the user confirms whether or not the plurality of detection area shapes 60 and 62 corresponding to the front sonar 46 and 48 when viewed from above partially overlap. It becomes possible.

  Similarly, the display means 32 includes a detection area shape 60, 62 and a short distance detection line 76, 78, 80, 82 corresponding to the rear sonar 52, 54 in the virtual three-dimensional space, and a rear ground. An image in which the line 88 (FIG. 4B), the rear bumper 50, and the rear wheel stopper simulated body 84 (FIG. 10) are arranged is displayed on the display 16. Further, the display means 32 displays an image including the detection area shapes 60 and 62 corresponding to the front sonars 46 and 48 on the display 16 on the display 16 based on the user's operation, or It is possible to select whether an image including the detection area shapes 60 and 62 corresponding to the rear sonars 52 and 54 and the wheel stopper simulated body 84 is displayed on the display 16.

  Further, when the image displayed on the display 16 by the display means 32 includes at least one shape of each of the sonars 46, 48, 52, 54, the box-shaped portions 56, 58 which are necessary gap shapes are included. You can also. Further, as described above, the image displayed on the display 16 can be displayed as an image viewed from a viewpoint position arbitrarily set based on a user input, that is, projected on a set two-dimensional plane. The viewpoint position for display on the display 16 can be set in advance, stored in the storage unit 18, memory, etc., and read when displayed.

  Moreover, the obstacle detection sensor mounting simulation program of this embodiment is a computer-readable program for executing the obstacle detection sensor mounting simulation method of this embodiment. The obstacle detection sensor-mounted simulation program includes a sensor data acquisition procedure, a simulated object data acquisition procedure, a simulated object placement procedure, and a display procedure. Each procedure is executed by the obstacle detection sensor-mounted simulation device 10 which is a computer. Make it executable.

  The sensor data acquisition procedure acquires sensor data representing the position and detection area of each sonar 46, 48, 52, 54. In the simulated object data acquisition procedure, simulated object data representing the shape and dimensions of the ring stop simulated body 84 that is a simulated object on the road surface is acquired. Further, in the simulated object placement procedure, the wheel stopper simulated body 84 is placed in the virtual three-dimensional space so that the positions and directions with respect to the sonar 46, 48, 52, and 54 are set in advance. In the display procedure, the display 16 displays an image in which the detection area shapes 60 and 62 representing the detection area on the virtual three-dimensional space and the ring stopper simulated body 84 are arranged.

  The program is executed by the obstacle detection sensor mounting simulation apparatus 10 including the three-dimensional CAD system 34, thereby executing the obstacle detection sensor mounting simulation method of the present embodiment. The program is stored in the storage unit 18 and the memory in the processing unit 12 and is executed by being read from the storage unit 18 and the memory by the processing unit 12.

  According to the present embodiment as described above, the display 16 is provided with the ring stop simulated body 84 in which the position and direction with respect to each of the sonar 46, 48, 52, and 54 are set in advance, and the detection area shape representing the detection area. An image in which 60 and 62 are arranged in the virtual three-dimensional space is displayed. For this reason, before actually mounting each sonar 46, 48, 52, 54 on the vehicle, a user such as a designer can easily grasp the positional relationship between the detection area and the wheel stopper simulated body 84 by simulation. That is, it becomes possible for the user to confirm by simulation whether or not the gap between the lower end of each detection area shape 60, 62 and the corresponding ring stopper simulated body 84 is sufficient. For this reason, before actually mounting the sonar 46, 48, 52, 54 on the vehicle, the user can determine whether the arrangement state of the sonar 46, 48, 52, 54 is good. Further, it is possible to shorten the time required for examining the quality of the arrangement of the sonar 46, 48, 52, and 54 and to easily find the optimum arrangement state of the sonar 46, 48, 52, and 54. Therefore, the object (1) can be achieved.

  The sensor data acquisition means 36 acquires necessary gap data representing the necessary gap shape having the necessary gaps of the sonars 46, 48, 52, 54, and the display means 32 displays the sonar 46, 48 in the virtual three-dimensional space. , 52, 54 can be displayed on the display 16 with an image in which the box-shaped portions 56, 58, which are necessary gap shapes corresponding to the arrangement positions of the display unit 32, are arranged. By displaying the peripheral parts of the sonar 46, 48, 52, 54 together with the box-shaped parts 56, 58, the user can determine whether the peripheral parts are interfering with the box-shaped parts 56, 58. It becomes possible to determine the quality of the sonar 46, 48, 52, and 54 more effectively. Therefore, the object (2) can be achieved.

  The sensor data acquisition means 36 acquires sensor data representing the angle, height position, and detection area with respect to the vehicle width direction position or the vehicle front-rear direction of the plurality of sonars 46, 48, 52, 54, and the sensor placement means 24. The plurality of sonars 46, 48, 52, 54 has a plurality of sonars on the bumpers 44, 50 based on the angle and height position with respect to the vehicle width direction position or the vehicle front-rear direction and the shape and position of the bumpers 44, 50 46, 48, 52 and 54 are arranged. Further, the display means 32 displays on the display 16 an image in which the detection area shapes 60 and 62 corresponding to the plural sonars 46, 48, 52 and 54 and the bumpers 44 and 50 are arranged on the virtual three-dimensional space. . For this reason, for example, as shown in FIG. 22 above, an image in which the detection area shapes 60 and 62 corresponding to the plurality of sonars 46 and 48 are arranged is displayed on the display 16. It can be determined more easily whether there is an area that cannot be detected between the area shapes 60 and 62. For this reason, it becomes possible for a user to judge the quality of sonar 46,48,52,54 arrangement | positioning more effectively. Therefore, the object (3) can be achieved.

  In the present embodiment, the obstacle detection sensor mounting simulation apparatus 10 includes the three-dimensional CAD system 34. However, the obstacle detection sensor mounting simulation apparatus 10 is provided separately from the CAD system, and the screen for the CAD system is provided. An image generated by simulation can be displayed on a different screen. In the present embodiment, the simulated road object is the ring stop simulated body 84. However, the present invention may be a simulated object of other arrangement on the road surface. For example, the simulated object on the road surface may be a curb simulated object that is a simulated curb object.

  Further, in the present embodiment, the case of simulating the arrangement state of the sonars 46, 48, 52, 54 mounted on the front bumper 44 side and the rear bumper 50 side has been described, but only the front bumper 44 side or the rear It is also possible to simulate the arrangement state of the sonars 46 and 48 (or 52 and 54) mounted only on the side bumper 50 side. In this case, the data acquisition unit may acquire sensor data, body part data, and simulated object data corresponding to only the front bumper 44 side or only the rear bumper 50 side. Further, the vehicle body parts on which the sonars 46, 48, 52, 54 are arranged can be parts other than the bumpers 44, 50.

It is a basic lineblock diagram showing an obstacle detection sensor loading simulation device of an example of an embodiment of the invention. It is a figure which shows the several element which a data acquisition means acquires. It is a flowchart which shows the obstacle detection sensor mounting simulation method of an example of embodiment. (A) is a perspective view which shows the state which created the front side ground line plane on the virtual three-dimensional space which has arrange | positioned the front side bumper, (b) is the rear side ground line on the virtual three-dimensional space which has arranged the back side bumper. It is a perspective view which shows the state which created the plane. (A) is the figure which looked at the state which has arrange | positioned the front center side sonar on the front bumper from the front to the back, and (b) is the figure which looked in the width direction similarly. (A) is the figure which looked at the state which has arrange | positioned the rear side center side sonar to the rear side bumper from the back to the front, and (b) is the figure which looked similarly in the width direction. (A) is the figure which looked at the state which has arrange | positioned the front corner | angular part sonar to the front bumper from the upper direction to the downward | lower direction, (b) is the figure similarly seen in the width direction. (A) is the figure which looked at the state which has arrange | positioned the rear corner | angular part sonar to the rear bumper from the back from the front, (b) is the figure which looked at the width direction similarly. It is a perspective view which shows the state which projected the front side center side sonar and the front side corner | angular sonar on the front side ground line plane. It is a figure which shows the state which has arrange | positioned the ring stop simulated body to the front side ground line plane. It is the figure which looked at FIG. 10 in the vehicle width direction. It is a perspective view which shows the state which has arrange | positioned the detection area shape corresponding to the sonar mounted in the front side bumper. It is a perspective view which shows the state which has arrange | positioned the short distance detection line corresponding to a front side center side sonar or a back side center side sonar. It is a perspective view which shows the state which has arrange | positioned the short distance detection line corresponding to a front side corner | angular sonar or a rear side corner | angular sonar. It is a figure which shows an example of the image which displays on a display the angle which a vehicle front-back direction and the direction of the front side center side sonar show. It is a figure which shows an example of the image which displays on the display the angle which the front side ground line plane and the direction of the front side center side sonar have. It is a figure which shows an example of the image which displays on the display the angle which the vehicle front-back direction and the direction of a front side corner | angular part sonar show. It is a figure which shows an example of the image which displays the angle which the front side ground line plane and the direction of the front side corner | angular part sonar display on a display. It is a figure which shows an example of the image which displays the distance between the lower end of the detection area shape of front side center side sonar, and a ring stop simulated body upper surface. It is a figure which shows an example of the image which displays the distance between the lower end of the detection area shape of a front side corner | angular part sonar, and a ring stop simulated body upper surface. It is a figure which shows an example of the image showing the relationship between the detection area shape corresponding to the some sonar of a vehicle front, and a wheel stop simulated body. It is a figure which shows an example of the image which looked at the component of FIG. 21 from upper direction.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Obstacle detection sensor mounting simulation apparatus, 12 processing part, 14 input part, 16 display, 18 memory | storage part, 20 data acquisition means, 22 ground line plane preparation means, 24 sensor arrangement means, 26 simulated object arrangement means, 28 detection area Arrangement means, 30 Sensor arrangement information calculation means, 32 Display means, 34 Three-dimensional CAD system, 36 Sensor data acquisition means, 38 Vehicle body part data acquisition means, 40 Simulated object data acquisition means, 42 Display condition data acquisition means, 44 Front bumper 46, front center sonar, 48 front corner sonar, 50 rear bumper, 52 rear center sonar, 54 rear corner sonar, 56, 58 box, 60, 62 detection area shape, 68, 70, 72, 74 Closed curve line, 76, 78, 80, 82 Short distance Intellectual line, 84-wheel stop mimics, 86 front-side ground line plane, 88 rear-side ground line plane.

Claims (7)

An obstacle detection sensor mounting simulation device for determining whether the mounting position of an obstacle detection sensor mounted on a vehicle is good or bad,
Sensor data acquisition means for acquiring sensor data representing the position and detection area of the obstacle detection sensor;
Simulated object that obtains simulated object data representing the shape and dimensions of a simulated object on the road surface that is placed in a virtual three-dimensional space in order to investigate interference prevention between the object placed on the road surface and the detection area by the user Data acquisition means;
Simulated object placement means for placing a simulated object on the road surface so that the position and direction with respect to the obstacle detection sensor are in a preset relationship on the virtual three-dimensional space;
An obstacle detection sensor-mounted simulation apparatus comprising: a display unit configured to display an image in which a detection area shape representing a detection area and a simulated object on a road surface are arranged in a virtual three-dimensional space on an output unit. In the obstacle detection sensor mounting simulation apparatus according to claim 1,
Body part data acquisition means for acquiring body part data representing the shape and position of the body part on which the obstacle detection sensor is disposed;
Sensor placement means,
The sensor data acquisition means acquires sensor data representing an angle, a height position, and a detection area with respect to the vehicle width direction position or the vehicle front-rear direction of the obstacle detection sensor,
The sensor arrangement means arranges the obstacle detection sensor on the vehicle body part based on the position and height position of the obstacle detection sensor in the vehicle width direction or the vehicle front-rear direction, and the shape and position of the vehicle body part,
The simulated object placement means arranges the simulated object on the road surface in the virtual three-dimensional space so as to face in the direction corresponding to the direction of the obstacle detection sensor from the position corresponding to the position immediately below the position of the obstacle detection sensor.
The display means displays on the output unit an image in which a detection area shape corresponding to the obstacle detection sensor and a vehicle body part and a simulated object on the road surface are arranged on the virtual three-dimensional space. On-board simulation device. In the obstacle detection sensor mounting simulation apparatus according to claim 1 or 2,
The sensor data acquisition means acquires necessary gap data representing a necessary gap shape having a necessary gap of the obstacle detection sensor,
An obstacle detection sensor-mounted simulation apparatus, wherein the display means displays an image in which a necessary gap shape corresponding to an arrangement position of the obstacle detection sensor is arranged on the virtual three-dimensional space on the output unit. In the obstacle detection sensor mounted simulation apparatus according to claim 2 or claim 3,
The sensor data acquisition means acquires sensor data representing an angle, a height position, and a detection area with respect to a vehicle width direction position or a vehicle longitudinal direction of a plurality of obstacle detection sensors,
The sensor placement means includes a plurality of obstacle detection sensors on the vehicle body part based on the angle and height position of the plurality of obstacle detection sensors with respect to the vehicle width direction position or the vehicle longitudinal direction, and the shape and position of the vehicle body part. Place and
The display means displays an image in which detection area shapes corresponding to a plurality of obstacle detection sensors and body parts are arranged in a virtual three-dimensional space on an output unit, and the obstacle detection sensor-mounted simulation device . In the obstacle detection sensor mounting simulation apparatus according to any one of claims 1 to 4,
Comprising display condition data acquisition means for acquiring display condition data representing a display condition including a viewpoint position and a line-of-sight direction when displaying an image on the output unit;
An obstacle detection sensor-equipped simulation apparatus, wherein the display means projects a shape defined by the three-dimensional data on a two-dimensional projection surface based on display conditions and displays the shape on an output unit. An obstacle detection sensor mounting simulation method for determining whether the mounting position of an obstacle detection sensor mounted on a vehicle is good or bad,
On the computer,
A sensor data acquisition step for acquiring obstacle detection sensor data representing the position and detection area of the obstacle detection sensor;
Simulated object that obtains simulated object data representing the shape and dimensions of a simulated object on the road surface that is placed in a virtual three-dimensional space in order to investigate interference prevention between the object placed on the road surface and the detection area by the user A data acquisition step;
On the virtual three-dimensional space, a simulated object placement step for placing a simulated object on the road surface so that the position and direction with respect to the obstacle detection sensor are in a preset relationship;
An obstacle detection sensor-mounted simulation method characterized by causing an output unit to display an image in which a detection area shape representing a detection area in a virtual three-dimensional space and a simulated object on a road surface are arranged. An obstacle detection sensor mounting simulation program for determining whether the mounting position of an obstacle detection sensor mounted on a vehicle is good or bad,
A sensor data acquisition procedure for acquiring sensor data representing the position and detection area of the obstacle detection sensor;
Simulated object that obtains simulated object data representing the shape and dimensions of a simulated object on the road surface that is placed in a virtual three-dimensional space in order to investigate interference prevention between the object placed on the road surface and the detection area by the user Data acquisition procedure;
On the virtual three-dimensional space, a simulated object placement procedure for placing the simulated object on the road surface so that the position and direction with respect to the obstacle detection sensor have a preset relationship;
Equipped with an obstacle detection sensor capable of executing on a computer a display procedure for displaying an image in which a detection area shape representing a detection area in a virtual three-dimensional space and a simulated object on a road surface are arranged on an output unit Simulation program.

Images