JP5355338B2 - Vehicle group cooperative simulation method and apparatus - Google Patents

Description

The present invention provides a normal traffic flow simulation device having a function of causing vehicles having the same traveling speed, distance between vehicles, and the like, which are characteristics of a traveling vehicle, to travel as a vehicle group, and reducing the distance between vehicles. The present invention relates to a novel simulation method and apparatus for evaluating a traveling vehicle automatic driving system that realizes elimination of traffic congestion and reduction of CO ₂ .

As disclosed in Patent Document 1, the conventional traffic flow simulation apparatus can display a simulation result of traffic volume as a behavior for each vehicle and use it for analysis. On the other hand, in the driving support road system (AHS) proposed for the purpose of alleviating traffic congestion and reducing CO ₂ by controlling an actual vehicle, a roadway-to-vehicle communication function is used to connect a highway junction or a tunnel. An actual system that supports smooth running at the head and sag sections is being studied, and there is an example in which the effectiveness of the actual system is evaluated using a simulation device as in Non-Patent Document 1. Furthermore, as a development system of the driving support system, an automatic driving system that forms a vehicle group and runs under a certain condition between a plurality of vehicles by computer control as in Non-Patent Document 2 has been proposed. Independent administrative corporation National Institute of Advanced Industrial Science and Technology and JSK are jointly carrying out a demonstration (demonstration 2000) of actual vehicle group coordination. In these vehicle group cooperation systems, the distance between vehicles constituting the vehicle group is minimized, and high-speed and high-density traveling is realized.

  In the vehicle group coordination system, the vehicle group once formed can enter the vehicle, separate the vehicle from the vehicle group, or eliminate the vehicle group under certain conditions in the traveling vehicle group. Furthermore, the vehicle groups can be integrated or the vehicle groups can be divided. In this way, by providing a degree of freedom in the configuration method of the vehicle group, the same convenience as when traveling alone is ensured.

JP-A-8-83044

Toshiba Review Vol. 59 no. 4 2004 http://www.toshiba.co.jp/tech/review/2004/04/index_j.htm Demonstration of collaborative driving technology by ITS self-driving vehicles (Demo 2000) http://www.aist.go.jp/MEL/soshiki/tokatsu/press/DEMO2000/DEMO2000-2.htm

  Conventional traffic flow simulation devices can basically handle only the behavior of each vehicle and have no vehicle group management function. For this reason, in order to evaluate a vehicle group coordination system that controls each vehicle with a vehicle group using a simulation device, in addition to the function of the conventional traffic flow simulation, the traveling state of each vehicle is grasped. However, new functions are required to form a vehicle group, to enter, separate, and eliminate vehicle groups under certain conditions, and to integrate or divide vehicle groups. In addition, it is essential to display the behavior of these vehicle groups in an easy-to-understand manner and at high speed using an animation or the like on a display device.

  The present invention relates to a traffic flow simulation apparatus that simulates the flow of a vehicle on a computer and creates and evaluates a traffic plan. Network data representing a road structure including intersection positions and positional relationships between intersections, and network data Traffic flow simulation means for performing simulations based on traffic flow parameters related to control of vehicles and traffic lights etc., and vehicle group driving for generating and managing multiple vehicles as vehicle groups based on the vehicle behavior of each vehicle Based on the generation management means, the vehicle group traveling state storage means for storing the vehicle group traveling state information for managing the traveling state of the generated vehicle group, and the vehicle group traveling state information stored in the vehicle group traveling state storage means Vehicle group traveling state determination means for determining a traveling state of the vehicle group and generating vehicle group display information representing the traveling state, and behavior and traveling state of each vehicle and the vehicle group based on the vehicle group display information. A vehicle group display image generating means for generating a display image representing a display means for displaying the generated vehicle group displayed image provided, and performs vehicle group co-simulation.

  Further, the vehicle group display image generation means displays at least one of an animation image, a still image, or a character image generated from the vehicle group display information generated by the vehicle group traveling state determination means by the display means. To do.

  Furthermore, in a simulation method of a traffic flow simulation apparatus that simulates the flow of a vehicle on a computer and drafts and evaluates a traffic plan, network data representing a road structure including intersection positions and positional relationships between intersections, and network data A simulation is performed based on traffic flow parameters related to the control of vehicles and traffic lights traveling on the vehicle, and a plurality of vehicles are generated and managed as vehicle groups based on the behavior of each vehicle. Manages the driving state, stores the driving state information, determines the driving state of the vehicle group based on the stored vehicle group driving state information, generates the vehicle group display information indicating the driving state, and displays the vehicle group display A vehicle group co-simulation method that generates a vehicle group display image based on information and displays the behavior of each vehicle or vehicle group as an image is characterized.

  Further, vehicle group display information indicating the behavior and running state of each vehicle or vehicle group is obtained based on the simulation result, and at least one of an animation image, a still image, or a character image is generated and displayed based on the vehicle group display information. It is characterized by.

  According to the present invention, in the traffic flow simulation device, a vehicle group travel generation management unit that travels vehicles satisfying certain conditions as a vehicle group, a vehicle group travel state determination unit that displays a vehicle group travel state, and a vehicle group display image generation Thus, the traffic flow control device can be used to evaluate the traffic flow control system based on the vehicle group control in addition to the normal simulation for examining the traveling state of the vehicle alone. In addition, the vehicle group running state display means generates the vehicle group's running state that changes from moment to moment with an outline figure that represents the entire vehicle group, thereby increasing the generation speed and switching necessary information from various viewpoints. Display and simulation work can be performed efficiently.

It is a block diagram which shows the whole system configuration | structure of this invention. It is a processing flow figure of the whole vehicle group cooperation simulation. It is a flowchart of a vehicle group formation process. It is a flowchart of a vehicle group traveling state display process. It is a schematic diagram shown about the driving state of a vehicle-to-vehicle communication vehicle. It is a schematic diagram shown about the running state of a vehicle group. It is explanatory drawing shown about the content of the vehicle management table. It is explanatory drawing shown about the content of a vehicle group management table. It is a schematic diagram shown about the process which enters into a vehicle group. It is a schematic diagram shown about the process isolate | separated from a vehicle group. It is explanatory drawing which shows the content of the vehicle management table before vehicle entry. It is explanatory drawing which shows the content of the vehicle group management table after vehicle entry. It is a schematic diagram shown about the processing content which cancels a vehicle group. It is explanatory drawing which shows the content of the vehicle management table before vehicle group cancellation. It is explanatory drawing which shows the content of the vehicle management table after vehicle group cancellation. It is a schematic diagram shown about the process which integrates vehicle groups. It is a schematic diagram shown about the process which divides | segments a vehicle group. It is explanatory drawing which shows the content of the vehicle management table before vehicle group integration. It is explanatory drawing which shows the content of the vehicle management table after vehicle group integration. It is a schematic diagram which shows the driving | running | working state display at the time of vehicle group driving | running | working. It is explanatory drawing which shows screen operation on an animation screen.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram illustrating the hardware configuration of the present invention. The vehicle group cooperative simulation apparatus used in the present invention is based on network data 15 that defines road shape information and traffic flow parameters 16 that define traffic characteristics of vehicles such as traffic lights, generated traffic volume, and route information. A micro-model traffic flow simulation means 10 that handles the behavior of each vehicle, and vehicle group traveling that searches for candidate vehicles that are subject to a vehicle group and forms a vehicle group based on the simulation results of the traffic flow simulation means 10 The generation management unit 11, the traveling vehicles constituting the vehicle group, the vehicle group traveling state storage unit 12 that stores information on the latest traveling state of the vehicle group, and the vehicle group stored in the vehicle group traveling state storage unit 12 Based on the driving state information, the vehicle group driving state determination means 13 for determining the current driving state of the vehicle group and generating the vehicle group display information indicating the driving state, and the simulation result Both each one and the vehicle group display image generating unit 14 for generating a display image to be displayed as a behavior of the vehicle group, and a display 17 for displaying the image display.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows the overall processing flow of the vehicle group cooperative simulation apparatus.
First, the behavior of each vehicle is obtained by the traffic flow simulation means 10 based on the network data 15 and the traffic flow parameter 16, and the vehicle group traveling state information is stored in the vehicle group traveling state storage unit (S20). Here, the handling as the behavior of each vehicle determined by the traffic volume simulation means 10 is purely one vehicle, or a group of a plurality of vehicles is handled as one vehicle. Next, conditions necessary for forming a vehicle group are instructed from the traffic volume simulation means 10, or a vehicle group generation request is issued based on an instruction from the traffic flow simulation device (S21).

Next, the vehicle group traveling state management unit 11 searches for a vehicle that can be a target of vehicle group formation from the vehicle group traveling state information stored in the vehicle group traveling state storage unit 12, forms a vehicle group, and forms a vehicle group traveling state. Information is generated (S22). Next, the vehicle group traveling state determination unit 13 generates vehicle group display information representing the shape figure and traveling state of the vehicle group necessary for image display such as animation display from the generated vehicle group traveling state information. Based on this, the vehicle group display image generation means 14 generates image data for displaying the vehicle group and the like and displays it on the display 17 (S23).
The above processing is repeatedly executed from the simulation start time to the end time (S24).

  FIG. 3 is a diagram showing a detailed flow of the vehicle group formation process in S22 of FIG. First, the vehicle group travel generation management unit 11 extracts vehicle group travel state information from the vehicle group travel state storage unit 12 (S31), and forms a vehicle group based on the retrieved vehicle group travel state information. It is determined whether or not the vehicle meets the conditions (S32).

  Applicable conditions for forming a vehicle group include, for example, a vehicle traveling at a speed and an inter-vehicle distance close to a set value, or a vehicle having a similar route on the way to the destination or destination. Furthermore, it is conceivable to form a vehicle group with a set number of vehicles in order from the top, or to form vehicles with a short inter-vehicle distance in order until the vehicle reaches a predetermined vehicle group length. Next, when the vehicle group traveling state information corresponding to the vehicle group exists, the vehicle group traveling state information in the vehicle group traveling state storage unit 12 is updated (S33).

  The above processing is performed for all the vehicle data in the vehicle group management table (S34).

  FIG. 4 is a diagram showing a detailed flow of the vehicle group traveling state display process by the vehicle group traveling state determination unit 13 and the vehicle group display image generation unit 14 shown in S23 of FIG. In the vehicle group traveling state display process, when the vehicle group travels, there is a vehicle in the same traveling state in which the information on the distance between the vehicles, the traveling speed, and the destination that is the traveling state of the vehicle group is the same. (S41), can enter the vehicle group. In this case, an animation display process for understanding the state of entry of the vehicle group is performed (S45). When the destination of the vehicle in the vehicle group is changed, the vehicle can be separated from the vehicle group (S42). In this case, an animation display process for knowing the state of separation from the vehicle group is performed (S46).

  In the entire vehicle constituting the vehicle group, for example, when the destination or route of all the vehicles is changed, the vehicle group can be canceled once (S43). In this case, an animation display showing how the vehicle group is cleared is performed (S47). When the number of vehicles constituting the vehicle group increases from the predetermined number, the vehicle group can be divided (S44). In this case, an animation display process showing a state of dividing the vehicle group is performed (S48). When there are multiple vehicle groups and the number of vehicles in a certain vehicle group is less than or equal to a predetermined value and the information on the distance between vehicles, the traveling speed, and the destination are close, the vehicle group They can be integrated (S45). In this case, an animation display process showing the state of integration between the vehicle groups is performed (S49).

5 and 6 are diagrams showing a process of forming a vehicle group from the traveling vehicles shown on the display. Vehicles C1, C2, and C3 in FIG. 5 can perform data communication with each other. Vehicles C4, C5, and C6 can similarly perform data communication. Here, in the case of an actual vehicle, the vehicle position, accelerator, brake, and steering wheel control information is shared between the vehicles, and the vehicle travels in cooperation to form a vehicle group. However, the strict behavior of the vehicle control system is simplified on the simulation device in consideration of the purpose of use of the simulation and the load of calculation processing. As a result of the control of the communication vehicle in FIG. 5, as shown in FIG. 6, vehicles C1, C3, and C6 are formed in the vehicle group g1, and C4, C5, and C7 are formed in the vehicle group g2.
The formed vehicle group display is defined by an external figure including the entire vehicle group such as g1 and g2.

  FIG. 7 is a diagram showing the contents of a traveling state management table 70 for managing the traveling state of each traveling vehicle in FIG. The vehicle basically has C1 to C7 which are IDs unique to the vehicle, the current travel position coordinates (x, y), the current travel speed, the inter-vehicle distance from the preceding vehicle, and the destination to which the vehicle is destined. However, it may further include information such as vehicle type and vehicle performance. Here, the destination information may be either pair information of the starting point and the ending point or route information including a waypoint connecting the starting point and the ending point. Usually, the traveling state management table 70 is generated when the traffic flow simulation apparatus is activated, and is sequentially updated in the execution process.

  FIG. 8 is a diagram showing the contents of a vehicle group management table 80 for managing the running conditions of the vehicle group formed based on the contents of the travel state management table 70 of FIG. The vehicle group management table is composed of g1 and g2 that are IDs unique to the vehicle group, the IDs of the vehicles constituting the vehicle group, and the conditions used to configure the vehicle group. Here, the vehicle group g1 is composed of vehicles having the same destination as can be seen by referring to C1, C3, and C6 of the vehicle management table. Similarly, the vehicle group g2 also refers to C4, C5, and C7. Thus, it is understood that the distance between the vehicles is the same.

  FIG. 9 is a diagram illustrating a process in which a traveling vehicle enters the vehicle group. When the vehicle C5 enters the vehicle group 91 before entering made up of the vehicles C1 to C4, a vehicle group 94 after entering made up of the vehicles C1 to C5 is formed. Here, the vehicle group 94 after entry has a vehicle group shape that is larger by the size 93 of one vehicle than the vehicle group 91 before entry, so when generating the vehicle group shape on the animation screen, the vehicle group 94 A rectangle having a size corresponding to the number of vehicles constituting the is generated. As described above, the process of entering the vehicle group is generated on the animation screen using the information in the vehicle management table 110 and the vehicle group management table 111 in FIG. At this time, a vehicle figure that shows the shape of each vehicle in the outline figure of the vehicle group may be generated. However, since the load of the generation process actually becomes heavy, it can be generated by switching depending on the situation. To.

  In the case of display for each vehicle, when a figure representing the vehicle is selected with a mouse, the vehicle ID can be specified from the position coordinates of the mouse and the travel position coordinates of the vehicle. Can also be displayed.

  FIG. 10 is a schematic diagram illustrating a state where a specific vehicle in the vehicle group is separated from the vehicle group. When the vehicle C5 is separated from the vehicle group 100 before separation composed of the vehicles C1 to C5, a vehicle group 101 after separation composed of the vehicles C1 to C4 is formed. Here, the vehicle group 101 after separation is smaller in size than the vehicle group 100 before entry by the size of one vehicle, so when generating the vehicle group shape on the animation screen, A rectangle having a size corresponding to the number of vehicles constituting the group is generated.

  In this manner, the process of separating the vehicle group is generated in the same manner as the process of entering the vehicle group using the vehicle group traveling state information.

  Similar to the external rectangle generation at the time of entering the vehicle group described above, a vehicle figure for each vehicle can be generated inside the rectangle, but it is easier to identify whether the external rectangle is a vehicle group at a glance. There is a merit.

  FIG. 11 is a diagram showing the contents of the vehicle management table 110 and the vehicle group management table 111 immediately before the vehicle 92 enters the vehicle group 91 of FIG. Here, the vehicles registered in the vehicle ID are g1 and C5. Further, since g1 is registered in the vehicle group ID of the vehicle group management table, it can be seen that it is a vehicle group. Furthermore, by referring to the vehicle ID in the vehicle group table, the vehicles C1 to C4 constituting the vehicle group and the entire vehicle group can refer to the destination A → B (from A to B). By using the management table 110 and the vehicle group management table 111, the vehicle C5 and the vehicle group 91 before entering the vehicle group can be generated. Vehicles and vehicle groups are generated, for example, with the running position as the center of gravity, and in the case of vehicles, the vehicle length and vehicle width are fixed and generated. In the case of vehicle groups, the distance between vehicles is fixed based on the vehicle length and vehicle width of one vehicle. In other words, it can be generated by converting the given number of vehicles into the length of the vehicle group.

  FIG. 12 is a diagram showing the contents of the vehicle management table 120 and the vehicle group management table 121 immediately after the vehicle C5 enters the vehicle group 91 of FIG. In the vehicle management table 120, since the vehicle C5 has entered the vehicle group g1, C5 is removed from the table. Instead, the vehicle C5 is added to the vehicle ID in the vehicle group management table 121. In this way, the vehicle C5 and the vehicle group 94 immediately after entering the vehicle group can be generated using the data of the vehicle management table 120 and the vehicle group management table 121. The generation of the process of separating the vehicle from the vehicle group in FIG. 10 can also be generated using the vehicle management table and the vehicle group management table in the same manner as the vehicle group entry.

  FIG. 13 is a schematic diagram showing how the entire vehicle group is once resolved and separated into individual vehicles. When the entire vehicle group 130 composed of the vehicles C1 to C5 is eliminated, the individual vehicles 131 of the vehicles C1 to C5 are formed. Here, when generating the vehicle group shape on the animation screen, the cancellation of the vehicle group can be confirmed on the animation screen by not generating the rectangle generated before the vehicle group cancellation after the cancellation.

  FIG. 14 is a diagram illustrating the contents of the vehicle management table 140 and the vehicle group management table 141 immediately before the vehicle group 130 of FIG. 13 cancels the vehicle group. Here, the vehicle registered in the vehicle ID is only g1. Since g1 is registered in the vehicle group ID of the vehicle group management table 141, it can be seen that the vehicle group is a vehicle group by referring to the vehicle group management table 141.

  Furthermore, by referring to the vehicle ID in the vehicle group management table 141, the vehicles C1 to C5 constituting the vehicle group and the entire vehicle group can refer to the destination A → B (from A to B). The generation of the vehicle group on the animation screen generates the outline figure 130 of the vehicle group g1 composed of C1 to C5 as in the case of entering the vehicle group. Here, the vehicle figure of the individual vehicle may be generated or switched in the outer figure.

  FIG. 15 is a diagram illustrating the contents of the vehicle management table 150 immediately after the vehicle group 130 cancels the vehicle group.

In the vehicle management table 150, the vehicle group 130 is eliminated and the vehicles C1 to C5 are formed, so that the vehicles C1 to C5 are registered. The data of the vehicle group g1 is deleted from the vehicle group management table 141 by the vehicle group cancellation. In order to represent the traveling state after the vehicle group cancellation on the animation screen, a group 131 composed of the vehicles C1 to C5 is generated based on the vehicle management table 150. FIG. 16 shows that the vehicle groups are integrated into one vehicle group. It is a figure which shows a mode. When the vehicle group 160 composed of the vehicles C1 to C3 and the vehicle group 161 composed of the vehicles C4 and C5 are integrated, an integrated vehicle group 162 composed of the vehicles C1 to C5 is formed. Here, the shape of the vehicle group 162 after the integration increases by the amount of the vehicle group 160 and the vehicle group 161 before the integration, so when generating the vehicle group shape on the animation screen, A rectangle having a size corresponding to the number of vehicles constituting the group is generated.

  FIG. 17 is a schematic diagram showing how the vehicle group is divided. When the vehicle group 170 composed of the vehicles C1 to C5 is divided, a vehicle group 171 composed of the vehicles C4 and C5 and a vehicle group 172 composed of the vehicles C1 to C3 are formed. Here, the divided vehicle groups 171 and 172 generate rectangles having a size corresponding to the number of vehicles constituting each vehicle group when generating the vehicle group shape on the animation screen.

  FIG. 18 is a diagram illustrating the contents of the vehicle management table 180 and the vehicle group management table 181 immediately before the vehicle group 160 and the vehicle group 161 are integrated in FIG.

  Here, the vehicles registered in the vehicle management table 180 are g1 and g2. Further, since g1 and g2 are registered in the vehicle group ID of the vehicle group management table 181, it can be seen that they are vehicle groups by referring to the table.

  Furthermore, by referring to the vehicle ID in the vehicle group management table 181, the vehicles C1 to C3, C4, C5 and the entire vehicle group constituting the vehicle group are destinations A → B (from A to B). You can refer to it. The generation on the animation screen generates the outer shape figure 161 of the vehicle group g1 constituted by C1 to C3 and the outer shape figure 160 of the vehicle group g2 constituted by c4 and c5, respectively, in the same manner as the vehicle group entry.

  FIG. 19 is a diagram illustrating the contents of the vehicle management table 190 and the vehicle group management table 191 immediately after the vehicle group 160 and the vehicle group 161 are integrated. In the vehicle management table, since the vehicle group 161 is integrated with the vehicle group 160, the vehicle group g2 is removed from the table. Instead, the vehicles C4 and C5 are added to the vehicle ID in the vehicle group management table. The generation on the animation screen generates the outer shape figure 162 of the vehicle group g1 composed of C1 to C5 as in the case of the vehicle group entry.

  As described above, the same applies to the vehicle division from the vehicle group of FIG.

  FIG. 20 is a diagram illustrating an example in which the traveling state of the vehicle group is displayed on the animation screen. Vehicle groups 201 and 202 are respectively displayed as graphics representing the outer shape of the vehicle group. 203 shows a vehicle figure in which the shape of each vehicle is known in the outline figure of the vehicle group. However, since it takes time to generate the vehicle figure, it is usually an outline figure such as 201 and 202. indicate. The vehicle groups 201, 202, and 203 are generated by hatching 200 in the display figures. Thereby, for example, it is possible to display such that the conditions (the coincidence of the speed, the distance between vehicles, the destination, etc.) that the vehicle group is formed can be understood. In the vehicle groups 201 and 202, the number and speed of the vehicle groups can be displayed numerically.

  FIG. 21 is a diagram illustrating a method for displaying the traveling state of the traveling vehicle group constituting the vehicle group on the animation screen. For example, the vehicle 212 constituting the vehicle group 211 running on the display screen is selected with a mouse or the like, so that the vehicle management table of FIG. Can do. Further, by selecting a necessary display function from the menu 210, for example, the route information is displayed on the animation screen using the route search method such as the Dijkstra method based on the network data 15 from the destination information of the vehicle 212. You can also

10: Traffic flow simulation means 11: Vehicle group travel generation management means 12: Vehicle group travel state storage means 13: Vehicle group travel state determination means 14: Animation data generation means 15: Network data 16: Traffic flow parameters 17: Display

Claims (14)

In a traffic flow simulation device that executes a micro model traffic flow simulation that handles the behavior of each vehicle, simulates the flow of the vehicle on a computer, and creates and evaluates a traffic plan, positions of intersections and positions between intersections Traffic flow simulation means for simulating based on network data representing road structures including relationships, traffic flow parameters related to control of vehicles and traffic lights traveling on the network data, and based on vehicle behavior for each vehicle Vehicle group travel generation management means for generating and managing a plurality of vehicles as a vehicle group, vehicle group travel state storage means for storing vehicle group travel state information for managing the travel state of the generated vehicle group, and vehicle group travel A vehicle group traveling state judgment for determining the traveling state of the vehicle group based on the vehicle group traveling state information stored in the state storage means and generating vehicle group display information representing the traveling state. Means and the vehicle group display image generating means for generating a display image for vehicle group outline graphic representing the external shape of the behavior and the running state and the vehicle group for each vehicle and vehicle group based on the vehicle group display information generated vehicle group A vehicle group co-simulation apparatus comprising display means for displaying a display image.   2. The vehicle group cooperative simulation apparatus according to claim 1, wherein the vehicle group display image generation unit includes at least an animation image, a still image, or a character image generated from the vehicle group display information generated by the vehicle group traveling state determination unit. One vehicle group co-simulation apparatus, wherein one is displayed by the display means.   3. The vehicle group cooperative simulation apparatus according to claim 1 or 2, wherein the vehicle group traveling generation management means is based on vehicle traveling state information obtained by the traffic flow simulation means and given vehicle group generation conditions. A vehicle group co-simulation apparatus that determines whether or not to form a vehicle group and generates a vehicle group. 4. The vehicle group cooperative simulation apparatus according to claim 3, wherein the vehicle group display image generation unit generates a plurality of nearby vehicles that exhibit similar vehicle behavior as a vehicle group based on the vehicle behavior of each vehicle. In addition, when any vehicle in the vehicle group deviates from the vehicle behavior of the vehicle in the other vehicle group, the deviating vehicle is separated from the vehicle group, and the vehicle group outline figure is displayed on the display means. A vehicle group co-simulation apparatus characterized by that.   3. The vehicle group cooperative simulation apparatus according to claim 1, wherein the vehicle group traveling state storage unit manages a vehicle management table that manages a vehicle group and a traveling state of the vehicle, and vehicle information that constitutes the vehicle group. It has a vehicle group management table and manages vehicle group driving state information representing vehicle group driving state including at least one of vehicle group entry, separation, cancellation, integration or division by the vehicle management table and the vehicle group management table. A vehicle group co-simulation apparatus characterized by:   3. The vehicle group cooperative simulation apparatus according to claim 1 or 2, wherein the vehicle group display image generation unit is configured to display a vehicle group on the display unit based on vehicle group display information generated by the vehicle group traveling state determination unit. A vehicle group outer shape representing the outer shape of the vehicle group is displayed, and the vehicle group driving state information indicating the current traveling state of the vehicle group and the shape graphic of the vehicle constituting the vehicle group are switched and displayed on the vehicle group outer shape. A vehicle group co-simulation device characterized by this.   The vehicle group cooperative simulation device according to claim 1 or 2, wherein the vehicle group display image generation unit is arranged on the display unit based on the vehicle group display information generated by the vehicle group traveling state determination unit. A vehicle group co-simulation apparatus characterized by displaying vehicle group running state information for each vehicle constituting the vehicle group on the displayed vehicle group outline figure. In a simulation method of a traffic flow simulation device that executes a micro model traffic flow simulation that handles the behavior of each vehicle, simulates the flow of the vehicle on a computer, and creates and evaluates a traffic plan. Simulation based on the network data representing the road structure including the positional relationship between them and traffic flow parameters related to the control of vehicles and traffic lights traveling on the network data, and based on the behavior of each vehicle A vehicle is generated and managed as a vehicle group, the driving state of the generated vehicle group is managed and the driving state information is stored, and the driving state of the vehicle group is determined based on the stored vehicle group driving state information. the car group display information representing the running state generates generates a vehicle group display image for vehicle group outline graphic representing the external shape of the vehicle group on the basis of the vehicle group display information Te, the vehicle 1 Vehicle group co-simulation method characterized by image display behavior of each or vehicle group. The vehicle group cooperative simulation method according to claim 8 , wherein vehicle group display information representing behavior and running state of each vehicle or vehicle group is obtained based on the simulation result, and an animation image, a still image, or a character is calculated based on the vehicle group display information. A vehicle group co-simulation method comprising generating and displaying at least one of images. The vehicle group cooperative simulation method according to claim 8 or 9 , wherein vehicle group generation is performed by determining whether or not to form a vehicle group based on the vehicle running state information obtained by the traffic flow simulation and a predetermined condition. A vehicle group co-simulation method characterized by being performed.   10. The vehicle group cooperative simulation method according to claim 9, wherein a plurality of nearby vehicles exhibiting similar vehicle behavior are generated as a vehicle group based on the vehicle behavior of each vehicle, and any one of the vehicle groups If the vehicle deviates from the vehicle behavior of vehicles in other vehicle groups, the deviated vehicle is separated from the vehicle group, and the behavior of each vehicle or the vehicle group outline figure is displayed as an image. Group co-simulation method. The vehicle group cooperative simulation method according to claim 8 or 9 , wherein the vehicle group traveling state information indicating the vehicle group traveling state including at least one of entry, separation, cancellation, integration, or division of the vehicle group is obtained. A vehicle group co-simulation method characterized by individually managing each state and vehicle running state. 10. A vehicle group cooperative simulation method according to claim 8 or 9 , wherein vehicle group display information representing a vehicle group external shape is generated by generating vehicle group display information representing a travel state based on the stored vehicle group travel state information. Vehicle group coordination, characterized in that the vehicle group running state information indicating the current traveling state of the vehicle group and the shape figure of the vehicle constituting the vehicle group are switched and displayed on the vehicle group outer shape figure. Simulation method. 10. The vehicle group cooperative simulation method according to claim 8 or 9 , wherein a specific vehicle constituting the vehicle group on a vehicle group external shape representing the vehicle group external shape on the display means based on the stored information. A vehicle group cooperative simulation method comprising: selecting a figure and displaying vehicle group traveling state information of the vehicle.

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