JP2002260157A - Simulator of traveling support road system - Google Patents
Simulator of traveling support road systemInfo
- Publication number
- JP2002260157A JP2002260157A JP2001061065A JP2001061065A JP2002260157A JP 2002260157 A JP2002260157 A JP 2002260157A JP 2001061065 A JP2001061065 A JP 2001061065A JP 2001061065 A JP2001061065 A JP 2001061065A JP 2002260157 A JP2002260157 A JP 2002260157A
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- Prior art keywords
- road
- vehicle
- data
- simulation device
- outputs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004088 simulation Methods 0.000 claims description 47
- 238000012545 processing Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 4
- 238000011156 evaluation Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
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- Traffic Control Systems (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ＡＨＳ（Advanced
Cruise Hiway System）と称されている走行支援道路シ
ステム(以下本書ではＡＨＳと略称する)の安全性に対す
る評価を行うためのシミュレーション装置に関するもの
である。TECHNICAL FIELD The present invention relates to an AHS (Advanced
The present invention relates to a simulation device for evaluating the safety of a driving support road system (hereinafter, abbreviated as AHS) called Cruise Hiway System.
【０００２】[0002]
【従来の技術】ＡＨＳのような道路施設においては、施
設を整備した後では変更が困難なため、事前に設計段階
での評価が重要になる。2. Description of the Related Art In a road facility such as an AHS, it is difficult to change the road facility after the facility has been prepared. Therefore, an evaluation in a design stage is important in advance.
【０００３】[0003]
【発明が解決しようとする課題】ところで特にシステム
設計段階では、実物が存在しないため、適当な評価手順
が存在しないという問題がある。In the system design stage, however, there is a problem that there is no proper evaluation procedure because there is no actual product.
【０００４】そこで本発明の目的は、このような従来の
問題を解消し、ＡＨＳの安全性に対する評価を行うこと
ができるシミュレーション装置を提供することである。An object of the present invention is to solve such a conventional problem and to provide a simulation apparatus capable of evaluating AHS safety.
【０００５】[0005]
【課題を解決するための手段】本発明は、前記のような
目的を達成するために、ＡＨＳのシミュレーション装置
において、天候、交通状況を表す外的環境部分、道路種
類、形状、線形等を表す道路構造部分、路側と車側に搭
載されるＡＨＳ機能部分、走行支援道路システム機能に
反応する動作部分、車両運動部分、及び入出力を行う部
分によって構成され、一般道や自専道におけるおけるイ
ンフラの挙動と、車載の機器の挙動と、ドライバの反応
挙動と、車両運動を模擬することを特徴とするものであ
る。According to the present invention, in order to achieve the above object, in an AHS simulation apparatus, an external environment portion representing weather, traffic conditions, a road type, a shape, a linear shape, and the like are represented. It is composed of a road structure, an AHS function part mounted on the road side and the vehicle side, an operation part that responds to the driving support road system function, a vehicle movement part, and a part that performs input and output. , The behavior of a vehicle-mounted device, the reaction behavior of a driver, and the vehicle motion.
【０００６】[0006]
【発明の実施の形態】図面には、本発明の実施の形態が
示されており、この実施の形態について図面を参照して
説明する。図１においてＡはシミュレーション装置を示
し、このシミュレーション装置Ａは、外的環境模擬装置
１、道路構造模擬装置２、ＡＨＳ機能模擬装置３、ドラ
イバ模擬装置４、車両運動模擬装置５、入出力装置６に
よって構成されている。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of the present invention, and this embodiment will be described with reference to the drawings. In FIG. 1, A indicates a simulation device, which is an external environment simulation device 1, a road structure simulation device 2, an AHS function simulation device 3, a driver simulation device 4, a vehicle motion simulation device 5, an input / output device 6. It is constituted by.
【０００７】つぎにシミュレーション装置Ａを構成する
前記の各構成装置についてその動作を説明する。外的環
境模擬装置１は、明るさ、天候、路面摩擦係数、信号機
の位置及び現示、歩行者の位置及び速度を保持して、Ａ
ＨＳ機能模擬装置３やドライバ模擬装置４に出力する。Next, the operation of each of the components constituting the simulation apparatus A will be described. The external environment simulation device 1 holds the brightness, the weather, the road surface friction coefficient, the position and the indication of the traffic light, the position and the speed of the pedestrian, and
The data is output to the HS function simulator 3 and the driver simulator 4.
【０００８】道路構造模擬装置２は、道路種類（一般
道、自専道）、道路形状（幅員、車線数）、道路線形
（平面線形、縦断線形、横断線形）、道路工種（一般
部、狭量、トンネル）、道路機能（単路部、交差点、分
合流点）の各データを保持して、ＡＨＳ機能模擬装置
３、ドライバ模擬装置４、車両運動模擬装置５に出力す
る。The road structure simulation device 2 includes a road type (general road, own road), a road shape (width, number of lanes), a road alignment (horizontal alignment, vertical alignment, transverse alignment), and a road construction type (general part, narrow area). , Tunnels) and data on road functions (single roads, intersections, junctions) are output to the AHS function simulator 3, the driver simulator 4, and the vehicle motion simulator 5.
【０００９】図１に示されているＡＨＳ機能模擬装置３
は、その構成が図２に示されていて、路側センサ装置３
１、路側判断処理装置３２、路車間通信模擬装置３３、
車載センサ模擬装置３４、車載判断処理装置３５によっ
て構成されている。路側センサ装置３１は、センサの検
出範囲、処理時間、誤差、作動周期を保持する。路側判
断処理装置３２は、ＡＨＳの種別を保持する。路車間通
信模擬装置３３は、路車間通信の通信範囲、誤差と遅れ
と作動周期の各データを保持する。車載センサ模擬装置
３４は、センサの検出範囲、処理時間、誤差、作動周期
を保持する。車載判断処理装置３５は、ＡＨＳサービス
の種別を保持する。The AHS function simulator 3 shown in FIG.
Is shown in FIG. 2 and the roadside sensor device 3
1, roadside determination processing device 32, roadside-vehicle communication simulation device 33,
An on-vehicle sensor simulation device 34 and an on-vehicle determination processing device 35 are provided. The roadside sensor device 31 holds the detection range, processing time, error, and operation cycle of the sensor. The roadside determination processing device 32 holds the type of AHS. The road-vehicle communication simulation device 33 holds the data of the communication range, the error, the delay, and the operation cycle of the road-vehicle communication. The in-vehicle sensor simulation device 34 holds the detection range, processing time, error, and operation cycle of the sensor. The in-vehicle determination processing device 35 holds the type of the AHS service.
【００１０】路側センサ装置３１は、作動周期毎にセン
サの検出範囲に存在する車両や障害物及び路面状況のデ
ータを収集して誤差処理を行い、路側判断処理装置３２
に出力する。路側判断処理装置３２は、路側センサ装置
３１から入力されたセンサのデータを用いて、ＡＨＳサ
ービスの種別に応じた判断処理を行い、判断結果を路車
間通信模擬装置３３に出力する。路車間通信模擬装置３
３は、作動周期毎に、路側判断処理装置３２から入力さ
れたデータを誤差処理して、車載判断処理装置３５に出
力する。車載センサ模擬装置３４は、作動周期毎にセン
サの検出範囲にある障害物等の物体のデータを収集し、
誤差処理をして車載判断処理装置３５に出力する。車載
判断処理装置３５は、路車間通信模擬装置３３と車載セ
ンサ模擬装置３４から入力されたデータを用いて、ＡＨ
Ｓサービス種別にに応じた処理を行い、判断処理の結果
をドライバ模擬装置４と車両運動模擬装置５とに出力す
る。The roadside sensor device 31 collects data on vehicles, obstacles, and road surface conditions existing in the detection range of the sensor for each operation cycle, performs error processing, and performs a roadside determination processing device 32.
Output to The roadside determination processing device 32 performs a determination process according to the type of the AHS service using the sensor data input from the roadside sensor device 31, and outputs the determination result to the road-vehicle communication simulation device 33. Road-vehicle communication simulator 3
3 performs error processing on the data input from the roadside determination processing device 32 for each operation cycle, and outputs the processed data to the on-vehicle determination processing device 35. The in-vehicle sensor simulator 34 collects data of an object such as an obstacle in the detection range of the sensor for each operation cycle,
The error is processed and output to the on-vehicle judgment processing device 35. The in-vehicle determination processing device 35 uses the data input from the road-vehicle communication simulation device 33 and the in-vehicle sensor simulation device 34 to perform AH
The process according to the S service type is performed, and the result of the determination process is output to the driver simulation device 4 and the vehicle motion simulation device 5.
【００１１】ドライバ模擬装置４は、反応遅れ時間、操
作周期、目標車頭時間、目標速度、最大減速度、警告無
視性向の各データを保持する。そして操作周期毎に、外
敵環境模擬装置１と道路構造模擬装置２とＡＨＳ機能模
擬装置３とからの入力データを用いて、道路環境と道路
構造とを認知し、認知した結果に基づいて判断を行い、
判断結果に基づいて車両運動模擬装置５へスロットル開
度とブレーキ圧とハンドル角とを出力する。The driver simulating device 4 holds data of a reaction delay time, an operation cycle, a target headway time, a target speed, a maximum deceleration, and a warning neglect tendency. Then, for each operation cycle, the road environment and the road structure are recognized using the input data from the enemy environment simulation device 1, the road structure simulation device 2, and the AHS function simulation device 3, and the judgment is made based on the recognized result. Do
The throttle opening, the brake pressure, and the steering wheel angle are output to the vehicle motion simulation device 5 based on the determination result.
【００１２】車両運動模擬装置５は、車両特性データ
（車両形状、大きさ、質量、タイヤ特性、空力特性）、
車両制御特性データを保持し、外的環境模擬装置１と道
路構造模擬装置２とドライバ模擬装置４とからの入力デ
ータに基づいて、車両の運動を計算し、車両の位置、角
度、速度、角速度を、入出力装置６に出力する。入出力
装置６は、車両運動模擬装置５の出力をユーザに対して
出力する。The vehicle motion simulation device 5 includes vehicle characteristic data (vehicle shape, size, mass, tire characteristics, aerodynamic characteristics),
It holds vehicle control characteristic data, calculates the motion of the vehicle based on input data from the external environment simulation device 1, the road structure simulation device 2, and the driver simulation device 4, and calculates the position, angle, speed, and angular velocity of the vehicle. Is output to the input / output device 6. The input / output device 6 outputs the output of the vehicle motion simulation device 5 to the user.
【００１３】[0013]
【発明の効果】本発明は、前記のようであって、ＡＨＳ
の安全性に対する評価を、事前の設計段階で正確に評価
することができるという効果がある。According to the present invention, as described above, the AHS
This has the effect that the evaluation of the safety of the vehicle can be accurately evaluated at the design stage in advance.
【図１】本発明の実施の形態の全体構成図である。FIG. 1 is an overall configuration diagram of an embodiment of the present invention.
【図２】同上のＡＨＳ機能模擬装置の構成図である。FIG. 2 is a configuration diagram of an AHS function simulator of the above.
Ａ シミュレーション装置 １ 外的環境模擬装置 ２ 道路構造模擬装置 ３ ＡＨＳ機能模擬装置 ４ ドライバ模擬装置 ５ 車両運動模擬装置 ６ 入出力装置 ３１ 路側センサ装置 ３２ 路側判断処理装置 ３３ 路車間通信模擬装置 ３４ 車載センサ模擬装置 ３５ 車載判断処理装置 Reference Signs List A simulation device 1 external environment simulation device 2 road structure simulation device 3 AHS function simulation device 4 driver simulation device 5 vehicle motion simulation device 6 input / output device 31 roadside sensor device 32 roadside judgment processing device 33 roadside vehicle communication simulation device 34 in-vehicle sensor Simulator 35 In-vehicle judgment processor
Claims (1)
る外的環境模擬装置と、道路種類、道路形状、道路線
形、道路工種、道路機能のデータを保持・出力する道路
構造環境模擬装置と、保持している路側センサの検出範
囲、処理時間、誤差、作動周期と前記外的環境模擬装置
から入力したとに基づいて誤差処理を行い、毛っ結果デ
ータを出力する路側センサ模擬装置と、前記路側センサ
模擬装置から入力したデータを用いて、予め保持してい
る走行支援道路システムサービスの種別に応じた判断処
理を行い、結果データを出力する路側判断処理装置と、
前記路側判断処理装置から入力されたデータを用いて、
予め保持している路車間通信の通信範囲、誤差、遅れ、
作動周期の各データに基づいて誤差処理をして結果デー
タを出力する路車間通信模擬装置と、車載センサの検出
範囲、処理時間、誤差、作動周期を保持・出力する車載
センサ模擬装置と、前記路車間通信模擬装置から入力さ
れたデータと、前記車載センサ模擬装置から入力された
データを予め保持している走行支援道路システムサービ
スの種別を用いて、走行支援道路システムサービスの種
別に応じた処理を行い、判断結果を出力する車載判断処
理装置と、前記外的環境模擬装置と、前記道路構造環境
模擬装置と、前記車載判断処理装置とからの、データを
用いて、道路環境と道路構造とを認知し、認知した結果
に基づいて判断を行い、判断結果に基づいてスロットル
開度とブレーキ圧とハンドル角とを出力するドライバ模
擬装置とからの入力データ、予め保持している車両特性
データに基づいて、車両の運動を計算し、車両の位置、
角度、速度、各速度を出力する車両運動模擬装置とを有
することを特徴とする走行支援道路システムのシミュレ
ーション装置。1. An external environment simulator for storing and outputting weather and traffic condition data, and a road structure environment simulator for storing and outputting data of road type, road shape, road alignment, road construction type, and road function. A roadside sensor simulating device that performs error processing based on the detection range of the roadside sensor held, processing time, error, operation cycle and input from the external environment simulating device, and outputs hair result data, Using data input from the roadside sensor simulation device, a roadside determination processing device that performs a determination process according to the type of the driving support road system service held in advance, and outputs result data,
Using data input from the roadside determination processing device,
Communication range, error, delay,
A road-vehicle communication simulation device that performs error processing based on each data of the operation cycle and outputs result data, a vehicle-mounted sensor simulation device that holds and outputs a detection range, a processing time, an error, and an operation cycle of a vehicle-mounted sensor; Using the data input from the road-to-vehicle communication simulation device and the type of the driving support road system service that holds the data input from the on-vehicle sensor simulation device in advance, processing according to the type of the driving support road system service Performing, the on-board judgment processing device that outputs the judgment result, the external environment simulation device, the road structure environment simulation device, and the data from the on-board judgment processing device, using the data, the road environment and the road structure From the driver simulation device that outputs the throttle opening, brake pressure, and steering wheel angle based on the determination result. Data, based on the vehicle characteristic data stored in advance to calculate the motion of the vehicle, the position of the vehicle,
A simulation device for a driving support road system, comprising: a vehicle motion simulation device that outputs an angle, a speed, and each speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001061065A JP3595844B2 (en) | 2001-03-06 | 2001-03-06 | Simulation device for driving support road system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001061065A JP3595844B2 (en) | 2001-03-06 | 2001-03-06 | Simulation device for driving support road system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002260157A true JP2002260157A (en) | 2002-09-13 |
| JP3595844B2 JP3595844B2 (en) | 2004-12-02 |
Family
ID=18920414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001061065A Expired - Lifetime JP3595844B2 (en) | 2001-03-06 | 2001-03-06 | Simulation device for driving support road system |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008068832A1 (en) * | 2006-12-04 | 2008-06-12 | Fujitsu Limited | Driving simulation evaluating method, driving simulation evaluating device and computer program |
-
2001
- 2001-03-06 JP JP2001061065A patent/JP3595844B2/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008068832A1 (en) * | 2006-12-04 | 2008-06-12 | Fujitsu Limited | Driving simulation evaluating method, driving simulation evaluating device and computer program |
| WO2008069189A1 (en) * | 2006-12-04 | 2008-06-12 | Fujitsu Limited | Operation simulation evaluation method, operation simulation evaluation device, and computer program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3595844B2 (en) | 2004-12-02 |
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