JP2009128395A - Driving simulation equipment - Google Patents

Abstract

[PROBLEMS] To realize a driving simulation with high reproducibility even if the performance of driving support is freely changed.
A driving simulation apparatus includes, for each target appearing on a simulated road environment, first attribute information indicating whether or not a driver can see the target, and second indicating whether or not the target can be detected. The road environment database 50 that stores the attribute information of the vehicle, the driving environment sensor in the simulated driving support device 90 that detects the object according to the second attribute information, and the simulated vehicle traveled according to the driving operation of the driver An image generating device 60 that generates an image in which a target appears or does not appear on the simulated road environment viewed from the simulated vehicle according to the first attribute information, and an image generated by the image generating device 60 is displayed on the simulated vehicle. A projector 70 that displays to the driver and a simulated driving support device 90 that supports driving of the simulated vehicle based on the detection result of the traveling environment sensor 91 are provided.
[Selection] Figure 1

Description

  The present invention relates to a driving simulation apparatus.

  2. Description of the Related Art Conventionally, a driving simulator that can simulate driving of a vehicle has been disclosed in order to evaluate vehicle characteristics and driving behavior of a driver.

  Patent Document 1 discloses a driving simulator that displays a traveling state of a moving body such as a preceding vehicle or an oncoming vehicle projected on a screen by approximating the actual traveling state. This driving simulator is a visual field display device that displays a simulated visual field for a driver sitting in a simulated driver's seat, and a simulated visual field generation that generates a simulated visual field from driving information and environmental information by simulated driving and issues a command to the visual field display device And a device for adding a random fluctuation component to the position data of the moving object in the environmental information. As a result, the driving simulator brings the traveling state of the moving body such as the preceding vehicle and the oncoming vehicle projected onto the screen closer to the actual traveling state.

Further, Patent Document 2 discloses a simulation apparatus that performs sensitivity evaluation for vehicle characteristics without using a prototype vehicle and that can accurately reflect the evaluation result in vehicle design. The simulation apparatus includes vehicle characteristic simulation means for simulating the vehicle characteristics with a plurality of parameters, sensory stimulus application means for applying stimulation to the evaluators' plurality of sensations, and a sense to which the stimulation is applied and Stimulus content setting means for setting the amount of stimulus applied according to the content of the parameter, parameter adjustment means for adjusting the parameter according to the input operation of the evaluator who has received the stimulus, and the parameter after adjustment Data output means for outputting. As a result, the adjusted parameters can be reflected as design data in the vehicle design.
JP-A-4-243291 JP 7-271289 A

  The techniques described in Patent Documents 1 and 2 are designed to simulate a vehicle driving environment and provide sound, vibration, and the like as human sensory stimuli in order to improve the reality. However, when a new driving support device is added to such a technique, it is necessary to mount a device that simulates the operation based on the specifications of the system. Furthermore, it is not easy to change the performance of these devices, for example, the detection performance of the sensor and the accuracy of information.

  The present invention has been proposed to solve the above-described problems, and an object of the present invention is to provide a driving simulation apparatus that realizes a highly reproducible driving simulation even if the performance of driving assistance is freely changed. .

  The driving simulation apparatus according to the first aspect of the present invention provides, for each target appearing on the simulated road environment, first attribute information as to whether or not the driver can see the target, and whether or not the target can be detected. Storage means for storing the second attribute information, detection means for detecting the object according to the second attribute information stored in the storage means, and a simulated vehicle according to the driving operation of the driver Image generating means for generating an image in which the target appears or does not appear on the simulated road environment viewed from the simulated vehicle when the vehicle travels according to the first attribute information stored in the storage means; Display means for displaying the image generated by the image generation means to the driver of the simulated vehicle, and simulated driving support means for supporting driving of the simulated vehicle based on the detection result of the detection means That.

  A driving simulation apparatus according to a second aspect of the present invention is the driving simulation apparatus according to the first aspect, wherein the first and second attribute information is set for each target according to the detection performance of the detection means. Setting means is further provided, and the storage means stores first and second attribute information set by the setting means for each target appearing on the simulated road environment.

  A driving simulation apparatus according to a third aspect of the present invention is the driving simulation apparatus according to the first or second aspect, wherein the confirmation behavior measurement for measuring the confirmation behavior of the driver with respect to driving assistance by the simulated driving assistance means. And an evaluation means for evaluating the effect of the driving support means or the driver's reaction based on driving assistance by the simulated driving assistance means and confirmation behavior measured by the confirmation behavior measurement means. ing.

  According to the first aspect of the present invention, a highly reproducible driving simulation can be realized even when the driving support performance is freely changed.

  According to the invention of claim 2, the driving support performance can be easily set according to the detection performance of the detection means.

  According to the invention of claim 3, it is possible to evaluate the effect of the driving support means or the response of the driver in the set driving support performance.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a configuration of a driving simulation apparatus according to an embodiment of the present invention.

  The driving simulation device includes a driver reaction detection device 10 that detects a response of a driver who has boarded a simulated vehicle, a vehicle motion calculation device 20 that calculates the motion of the simulated vehicle, and a traffic situation simulation calculation device 30 that calculates a simulated traffic situation. , An initial setting unit 40 for setting initial values, and a road environment database 50 for storing data such as a simulated road environment.

  Further, the driving simulation device includes an image generation device 60 that simulates an image of a simulated road environment, a projector 70 that projects an image on a screen 80, a simulated driving support device 90 that provides driving support for a simulated vehicle, and driving. And an evaluation device 100 for evaluating the response of the support or driver.

  FIG. 2 is a principal block diagram of the driving simulation apparatus. The driver behavior detection device 10 is provided in, for example, a simulated driver's seat, and is operated by a driver, a camera 12 that captures the driver's face, a driving behavior measurement unit 13 that measures the driving behavior of the driver, and a driver. And a driver confirmation action unit 14 that determines whether or not there has been confirmation action on an obstacle (control target).

  The operation unit 11 corresponds to, for example, an accelerator pedal, a brake pedal, and steering, and supplies a driving operation amount when operated by a driver to the driving behavior measurement unit 13 and the vehicle motion calculation device 20. The camera 12 generates a face image of the driver and supplies the face image to the driving behavior measurement unit 13.

  The driving behavior measurement unit 13 measures where on the screen 80 the driver's line of sight is based on the face image supplied by the camera 12. The driving behavior measurement unit 13 measures what operation the driver has performed based on the amount of driving operation from the operation unit 11.

  The driver confirmation action unit 14 determines whether the driver has confirmed the obstacle (control target) displayed on the screen 80, for example, whether the obstacle has the driver's line of sight for a predetermined time or whether there is an avoidance driving action for the obstacle. Such a determination result is output to the evaluation apparatus 100.

  The vehicle motion calculation device 20 solves the vehicle motion equation based on the driving operation amount supplied from the operation unit 11, calculates the vehicle speed / acceleration representing the motion of the vehicle, the position / direction of the vehicle, and the calculation result is This is supplied to the traffic situation simulation computer 30.

  The traffic situation simulation calculation device 30 has road network information for linking with information stored in the road environment database 50, map information, and information on traffic conditions for reproducing movements of other vehicles. ing. And the traffic condition simulation calculation apparatus 30 performs the calculation for reproducing a traffic condition based on the calculation result of the vehicle motion calculation apparatus 20 using such information.

  The initial setting unit 40 sets the position of the target appearing in the simulated road environment and the moving route of the simulated vehicle according to the operation of the operator. The initial setting unit 40 can also set sensor detection performance (false alarm rate, missing alarm rate) and alarm logic (alarm alert distance).

  The road environment database 50 stores information on objects such as roads, pedestrians, other vehicles, and surrounding conditions in advance. In particular, the road environment database 50 has information and image data for setting sensor performance.

  The image generation device 60 generates an image of a simulated road environment based on the driver's viewpoint based on the calculation result of the traffic situation simulation calculation device 30. The projector 70 projects an image of the simulated road environment generated by the image generation device 60 on the screen 80. Thereby, the driver can take a driving action while looking at the simulated road environment.

  The simulated driving support device 90 performs preset simulated driving support based on the traffic situation reproduction result based on the calculation result of the traffic situation simulation calculation device 30. In this embodiment, as simulated driving assistance, a pedestrian on a simulated road environment is detected, and alert information about the presence of the pedestrian is presented to the driver.

  Specifically, as shown in FIG. 2, the simulated driving support device 90 includes a traveling environment sensor 91 that detects a detection target (for example, a pedestrian) on the simulated road environment, and the vehicle speed, acceleration, A simulated vehicle state detection unit 92 that detects a position, a direction, and the like; an alarm determination unit 93 that determines whether to issue an alarm; and an information provision unit 94 that provides information on the presence of a pedestrian by voice output or image output. I have. The traveling environment sensor 91 is not particularly limited as long as it can detect a predetermined target such as a camera or a laser radar.

  The evaluation device 100 evaluates how much the driving support by the simulated driving support device 90 is effective for the driving behavior of the driver, and includes a comparison unit 101 that compares the timing of driving support and driving confirmation, and simulated driving A support effect evaluation unit 102 that evaluates support or driver's reaction.

  The comparison unit 101 compares the timing at which information is provided by the information providing unit 94 with the timing at which the driver confirming action is determined by the driver confirming action unit 14, and evaluates the time difference between these timings as a support effect evaluation. Output to the unit 102. The support effect evaluation unit 102 stores the time difference output from the comparison unit 101 as an avoidance reaction time.

  FIG. 3 is a diagram for defining the operating state of the traveling environment sensor 91. The operating state of the travel environment sensor 91 is based on the state of the detection target of the travel environment sensor 91, that is, whether or not the detection target exists in front of the driver's field of view, and the travel environment sensor 91 detects the detection target and alarm logic. Depending on whether or not information is provided.

  For example, when a detection target exists and the traveling environment sensor 91 detects it (when information is provided), the traveling environment sensor 91 is “normal operation”. When the detection target exists and the traveling environment sensor 91 does not detect it (when information is not provided), the traveling environment sensor 91 is a “missing report”. When there is no detection target, but the traveling environment sensor 91 detects it (when information is provided), the traveling environment sensor 91 is “false information”.

  Here, the performance of the traveling environment sensor 91 (hereinafter referred to as “sensor performance”) is determined by the false alarm rate and the missing alarm rate. The false alarm rate refers to the ratio of the number of false alarms to the total number of objects whose information is detected by the traveling environment sensor 91 (information is provided). The missing report rate refers to the ratio of the number of missing reports to the total number of objects whose information is detected by the traveling environment sensor 91 (information is provided).

  FIG. 4 is a diagram for explaining the setting of the sensor performance. The performance of the simulated driving support device 90 depends on sensor performance and alarm logic. Therefore, by storing information for the road environment database 50 to set the sensor performance in advance, the sensor performance can be freely set.

  Specifically, as shown in FIG. 4, each target appearing in the simulated road environment is divided into a normal target, a missing report target, and a false report target. The normal object refers to an object detected by the traveling environment sensor 91 and visible to the driver. The missing report target is a target that is not detected by the traveling environment sensor 91 but is visible to the driver. The false alarm target is an object that is detected by the travel environment sensor 91 but is invisible to the driver.

  The sensor performance can be freely set by setting the ratio of the number of missing reports to the total number of objects stored in the road environment database 50 and the ratio of the number of false alarm targets to the total number of objects, respectively. Become.

  FIG. 5 is a diagram showing an object (in this case, a pedestrian) representing sensor performance. FIG. 5A shows a case where both the false alarm rate and the false alarm rate are 0%, and FIG. When the rate is 10%, (B) is when the false alarm rate is 10% and the missing alarm rate is 0%.

  In the case of FIG. 10A, 10 pedestrians appear in the simulated road environment, but none of the pedestrians are subject to false reports or missing information. In the case of FIG. 10B, 10 pedestrians appear in the simulated road environment, but one of them is the subject of missing information. In the case of FIG. 10C, 10 pedestrians appear in the simulated road environment, but one of them is the subject of false alarm.

  FIG. 6 (A) is a diagram showing a missing report occurrence scene, and FIG. 6 (B) is a diagram showing a false report occurrence scene. For example, as shown in FIG. 4A, when a pedestrian is hidden in a parked vehicle, the driver can see the pedestrian, but the traveling environment sensor 91 cannot detect the pedestrian. In such a case, missing information occurs. For example, as shown in FIG. 5B, when the pedestrian is hidden on the utility pole, the driver does not see the pedestrian, but the driving environment sensor 91 can detect the pedestrian. In such cases, false alarms occur.

  FIG. 7 is a flowchart showing a driving simulation routine. In the driving simulation apparatus configured as described above, the processes from the following steps S1 to S10 are performed.

  In step S1, an initial setting value is input to the initial setting unit 40 in accordance with the operation of the operator, and the process proceeds to step S2. Examples of the initial set value include the target position, the travel route of the simulated vehicle in the simulated road environment, the missing report rate, and the false report rate. Moreover, you may set alarm logics, such as alarm alerting distance.

  In step S <b> 2, the control target is registered in the road environment database 50. That is, a control object corresponding to the missed report, a control object corresponding to the misreport, and a control object that is neither a missing report nor a false report are prepared according to the missing report rate and the false report rate set in step S1, and thereafter, the process proceeds to step S3. move on.

  FIG. 8 is a diagram illustrating registration of a control target in a missing report occurrence scene. Here, the attribute of the parked vehicle that is one of the control targets is “visible” to the driver, and is set outside the detection target of the travel environment sensor 91. On the other hand, the attribute of the pedestrian, which is another control target, is “visible” to the driver and is not detected although it is the detection target of the driving environment sensor 91 (cannot be detected). Is set.

  FIG. 9 is a diagram for explaining control object registration in a false alarm occurrence scene. Here, the attribute of the utility pole, which is one of the control targets, is “visible” to the driver, and is set outside the detection target of the travel environment sensor 91. On the other hand, the attribute of the pedestrian, which is another control target, is “invisible” to the driver, but is set so as to be detected (detectable) by the driving environment sensor 91. .

  In step S3, the driving behavior measurement unit 13 of the driver reaction detection device 10 measures the driving operation amount of the operation unit 11 such as an accelerator operation amount, a brake operation amount, a steering operation angle, and the like, and proceeds to step S4.

  In step S4, the vehicle motion calculation device 20 calculates the vehicle speed and acceleration, which are movements of the simulated vehicle, the position and direction of the simulated vehicle, based on the driving operation amount measured by the driving behavior measurement unit 13, and the step Proceed to S5.

  In step S <b> 5, the traffic situation simulation calculation device 30 performs a calculation for reproducing the traffic situation based on the calculation result of the vehicle motion calculation device 20 and the data of the road environment database 50. Then, each process of step S6 and step S8 is performed in parallel.

  In step S <b> 6, the image generation device 60 simulates a simulated road environment (a pedestrian to be controlled, a parked vehicle, a power pole) from the viewpoint of the driver based on the calculation result for reproduction of the traffic situation by the traffic situation simulation calculation device 30. Etc.) is generated. Note that when the attribute of the control target is “visible” by the driver, the image generation device 60 generates an image of a simulated road environment in which the control target (for example, a parked vehicle or a power pole) appears, and the control target attribute is determined by the driver. When “not visible”, an image of a simulated road environment in which the control target (for example, a pedestrian) does not appear is generated, and the process proceeds to step S7.

  In step S <b> 7, the projector 70 projects the simulated road environment image generated by the image generation device 60 onto the screen 80. Thereby, the driver in the driver's seat of the simulated vehicle can visually observe the simulated road environment. Then, the process proceeds to step S10.

  On the other hand, in step S <b> 8, when the simulated driving support device 90 detects a pedestrian in the simulated road environment reproduced by the calculation of the traffic situation simulation calculation device 30, the simulated driving support device 90 performs simulated driving support.

  Specifically, the traveling environment sensor 91 of the simulated driving support device 90 detects a pedestrian existing in the simulated road environment. However, the traveling environment sensor 91 does not detect the pedestrian when the attribute of the pedestrian is “not detectable”, and detects the pedestrian when the attribute of the pedestrian is “detectable”.

  The alarm determination unit 93 determines whether the pedestrian and the simulated vehicle have a predetermined time based on the pedestrian detected by the traveling environment sensor 91 and the vehicle speed, acceleration, position, and direction of the simulated vehicle detected by the vehicle state detection unit 92. The collision determination flag is supplied to the information providing unit 94, and the process proceeds to step S9.

  In step S9, when the warning determination flag is supplied, the information providing unit 94 highlights the pedestrian on the monitor screen or generates a warning sound to present the presence of the pedestrian to the driver. The process proceeds to step S10.

  In step S10, the traffic situation simulation calculation device 30 determines whether or not the simulation vehicle has reached the destination. If the simulation vehicle has not reached, the process returns to step S3, and if it has reached, the process ends.

  At this time, the evaluation device 100 may evaluate the effect of the simulated driving support device 90. Specifically, the support effect evaluation unit 102 of the evaluation device 100 stores the timing difference output from the comparison unit 101 as an avoidance reaction time, determines whether the avoidance reaction time is within a predetermined time, When it is within the predetermined time, the simulation driving support device 90 has an effect, and when the predetermined time is exceeded, it is evaluated that there is no effect. Note that the evaluation apparatus 100 may evaluate the driver's reaction using the correct answer rate of the driver's avoidance action.

  FIG. 10 is a diagram illustrating an example of a driver reaction evaluation method. When an object such as a pedestrian exists and information / alarm is presented, the driver's response is a correct response. If the subject is absent and information / alarms are presented, the driver's response is an erroneous response. If the target exists and the information / alarm is not presented, the driver's response is a positive response. When the target is absent and the information / alarm is not presented, the driver's response is a positive / negative response (not subject to evaluation). Then, the evaluation apparatus 100 may evaluate [(ratio of correct response) − (ratio of incorrect response)] as a response result.

  As described above, the driving simulation apparatus according to the present embodiment can detect whether or not the driving environment sensor 91 can detect each target appearing in the simulated road environment in order to reproduce the detection performance of the driving environment sensor 91. Information on whether or not it can be seen by the driver is stored in the road environment database 50. As a result, the driving simulation apparatus can reproduce the detection performance of the traveling environment sensor 91 using the data of the road environment database 50 and can also reproduce the oversight of the object by the driver.

  Therefore, the driving simulation apparatus can easily realize the driving simulation when the detection performance of the traveling environment sensor 91 is freely set. Also, sensor performance can be controlled freely and with high reproducibility according to the simulated road environment (arbitrary location) and traffic conditions (positional relationship with other vehicles).

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that the present invention can also be applied to a design modified within the scope described in the claims. For example, in the above-described embodiment, the simulated driving support device 90 issues a warning to the driver when the target is detected, but instead controls the steering angle or the brake so as not to collide with the target. You may provide driving assistance.

It is a block diagram which shows the structure of the driving simulation apparatus which concerns on embodiment of this invention. It is a principal part block diagram of a driving simulation apparatus. It is a figure for defining the operating state of a travel environment sensor. It is a figure for demonstrating the setting of sensor performance. It is a figure which shows the object showing sensor performance, (A) is a case where both a misreport rate and a missing report rate are 0%, (B) is a case where a misreport rate is 0% and a missing report rate is 10%, (B ) Is when the false alarm rate is 10% and the missing alarm rate is 0%. (A) is a figure which shows a missing report occurrence scene, (B) is a figure which shows a false report occurrence scene. It is a flowchart which shows a driving simulation routine. It is a figure explaining the registration of the control object in a missing report occurrence scene. It is a figure explaining registration of the controlled object in a false report occurrence scene. It is a figure which shows an example of the evaluation method of a driver reaction.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Driver reaction detection apparatus 20 Vehicle motion calculation apparatus 30 Traffic condition simulation calculation apparatus 40 Initial setting part 50 Road environment database 60 Image generation apparatus 70 Projector 80 Screen 90 Simulated driving assistance apparatus 100 Evaluation apparatus

Claims (3)

A memory for storing first attribute information indicating whether or not the driver can see the target and second attribute information indicating whether or not the target can be detected for each target appearing on the simulated road environment. Means,
Detecting means for detecting the object according to the second attribute information stored in the storage means;
The target appears or appears on the simulated road environment viewed from the simulated vehicle when the simulated vehicle travels according to the driving operation of the driver according to the first attribute information stored in the storage means Image generating means for generating no image,
Display means for displaying the image generated by the image generating means to the driver of the simulated vehicle;
Simulated driving support means for supporting driving of the simulated vehicle based on the detection result of the detecting means;
Driving simulation device with According to the detection performance of the detection means, further comprising setting means for setting the first and second attribute information for each target,
The driving simulation apparatus according to claim 1, wherein the storage unit stores the first and second attribute information set by the setting unit for each target appearing on the simulated road environment. Confirmation action measuring means for measuring the driver's confirmation action for driving assistance by the simulated driving assistance means;
The apparatus further comprises an evaluation unit that evaluates an effect of the driving support unit or a response of the driver based on driving support by the simulated driving support unit and confirmation behavior measured by the confirmation behavior measuring unit. The driving simulation apparatus according to claim 1 or 2.

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