JP2023078179A - Simulation system, simulation program, and simulation method by computer - Google Patents

Abstract

To provide a simulation system, a simulation program, and a simulation method that cause no decrease in simulation capability.SOLUTION: A simulation system simulates activities of a plurality of entities arranged in a three-dimensional virtual space constituted by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height relative to the plane. Each virtual space body has a plurality of layers in which entity information for identifying the entity has a plurality of layers registered according to an attribute of the entity. Entity information of other entities associated with entity information registered in a layer in response to a request of one entity associated with entity information registered in a layer is provided to one entity.SELECTED DRAWING: Figure 7

Description

The present invention relates to a simulation system, a simulation program, and a simulation method, in particular, a three-dimensional virtual space configured by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane. The present invention relates to a simulation system, a simulation program, and a simulation method for simulating activities of a plurality of entities arranged in space.

For example, technology that analyzes and evaluates entities, which are targets, through simulations based on various simulation models, such as the behavior of armed forces in military operations and the driving conditions of autonomous vehicles in vehicle driving environments. is proposed.

In Patent Document 1, in a simulation system that performs collision determination for moving entities, the movable range of entities is obtained from the simulation results, entities that may collide with each other are extracted from the overlap of the obtained movable ranges, and inter-entity It is disclosed that collision determination between entities is performed by calculating the close distance between the entities.

Japanese Patent Application Laid-Open No. 2009-251519

By the way, in this type of simulation system, the evaluation of the effect of the activity of one entity on the activity of another entity (often assumed to be entities existing in the vicinity of a certain entity) is a simulation. is the main purpose of

In this case, since these entities move by adjusting the movement distance and movement time based on the information processing performed between one entity and another entity, the information processing amount and processing time between entities increases, the load on the simulation system is increased, and it is feared that this will eventually lead to a decrease in the simulation capability.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a simulation system, a simulation program, and a simulation method that do not cause deterioration in simulation performance.

In order to achieve the above object, a simulation system according to the present invention provides a three-dimensional space configured by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane. A simulation system for simulating the activities of a plurality of entities placed in a virtual space, wherein each virtual space body comprises a plurality of layers in which entity information for identifying the entity is registered according to the attributes of the entity; Entity information of another entity associated with entity information registered in a layer is provided to one entity in response to a request of one entity associated with the registered entity information.

According to this, since the virtual space body provides entity information of another entity to one entity in response to a request of one entity, the simulation can be performed without processing information between entities. executed.

Therefore, since the amount of information processed and the processing time between entities do not increase, a simulation system that does not cause deterioration in simulation performance is realized.

Each virtual space body of this simulation system provides one entity with entity information of other entities placed at arbitrary positions in the three-dimensional virtual space specified by one entity.

Each virtual space body of this simulation system is placed in an arbitrary range of the three-dimensional virtual space specified by one entity from the reference position, with an arbitrary position of the virtual space body in which one entity is placed as a reference position. It provides one entity with entity information of another entity.

Furthermore, each virtual space body of the simulation system provides one entity with entity information of the other entity before the one entity moves when the other entity is placed on the path along which the one entity moves. It is.

In this simulation system, a virtual space body is placed outside the three-dimensional virtual space, and entity information of entities placed outside the three-dimensional virtual space is registered in this virtual space body.

In this simulation system, multiple time increments evaluated as the next time in discrete time are set as tags, and each entity placed in a three-dimensional virtual space starts its activity. A three-dimensional virtual space in which a hierarchical timewheel that is composed of multiple timewheels that are associated and registered as events and hides each timewheel and each entity that is associated with the event registered in the hierarchical timewheel is arranged and application software that generates a

Further, the simulation system may be such that any one of the entities is a self-driving vehicle and simulates the activities of the self-driving vehicle.

A simulation program according to the present invention for achieving the above object is a three-dimensional space configured by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane. A simulation program for simulating the activities of a plurality of entities placed in a virtual space, wherein each virtual space body comprises a plurality of layers in which entity information identifying the entities is registered according to the attributes of the entities; Entity information of another entity associated with entity information registered in a layer is provided to one entity in response to a request of one entity associated with the registered entity information.

A simulation method according to the present invention for achieving the above object is a three-dimensional space configured by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane. A simulation method for simulating the activities of a plurality of entities placed in a virtual space, wherein each virtual space entity having a plurality of layers in which entity information identifying the entity is registered according to the attributes of the entity is registered in the layer. It provides one entity with entity information of another entity associated with the entity information registered in the layer in response to a request of one entity associated with the registered entity information.

According to the present invention, a simulation system, a simulation program, and a simulation method that do not cause deterioration in simulation performance are realized.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the outline of the simulation system which concerns on embodiment of this invention. Similarly, it is a figure explaining the outline of a structure of the computer of the simulation system based on this Embodiment. Similarly, it is a block diagram for explaining the outline of the configuration of the hierarchical time wheel stored in the memory of the computer of the simulation system according to the present embodiment. Similarly, it is a figure explaining the outline of the structure of several timewheel which comprises the hierarchical timewheel memorize|stored in the memory of the computer of the simulation system based on this Embodiment. Similarly, it is a figure explaining the operation|movement outline of the hierarchized timewheel memorize|stored in the memory of the computer of the simulation system based on this Embodiment. Similarly, it is a figure explaining the outline of the structure of the storage of the computer of the simulation system which concerns on this Embodiment. Similarly, FIG. 3 is a block diagram for explaining the outline of the configuration of scenario data in the storage of the computer of the simulation system according to the present embodiment. Similarly, it is a diagram for explaining the outline of the configuration of the three-dimensional virtual space developed in the memory of the computer of the simulation system according to the present embodiment. Similarly, it is a diagram for explaining the outline of the configuration of the virtual space body that constitutes the three-dimensional virtual space developed in the memory of the computer of the simulation system according to the present embodiment. Similarly, it is a figure explaining the outline of the process in the virtual space body which comprises the three-dimensional virtual space expand|deployed with the memory of the computer of the simulation system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the process in the virtual space body which comprises the three-dimensional virtual space expand|deployed with the memory of the computer of the simulation system which concerns on this Embodiment. Similarly, it is a figure explaining the outline of the process in the virtual space body which comprises the three-dimensional virtual space expand|deployed with the memory of the computer of the simulation system which concerns on this Embodiment. Similarly, it is a diagram for explaining an outline when a virtual space body is arranged outside the three-dimensional virtual space developed in the memory of the computer of the simulation system according to the present embodiment. It is a block diagram explaining an outline of a simulation system concerning other embodiments of the present invention.

Next, a simulation system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 13. FIG.

FIG. 1 is a diagram for explaining an outline of a simulation system according to this embodiment. As illustrated, the simulation system 1 is configured by a computer 10 that generates a simulation model 100 implemented in a three-dimensional virtual space, which will be described later.

In the present embodiment, the simulation model 100 evaluates an automatic driving vehicle, and the activity of an entity such as an evaluation vehicle or other vehicle, or a bicycle or a pedestrian, which is an object to be evaluated, is an event. Registered and the registered event is triggered.

The computer 10 evaluates an object based on the simulation model 100 generated by the operation of the user U. In this embodiment, a computer functioning as a server, a desktop computer, a notebook computer, a smartphone Alternatively, it is implemented by various computers such as a tablet computer.

FIG. 2 is a block diagram for explaining the outline of the configuration of the computer 10. As shown in FIG. As illustrated, the computer 10 has a processor 11 , a memory 12 , a storage 13 , a transmitter/receiver 14 , and an input/output unit 15 as main components, which are electrically connected to each other via a bus 16 .

The processor 11 is an arithmetic device that controls the operation of the computer 10, controls transmission and reception of data between elements, and performs processes necessary for program execution.

The processor 11 is, for example, a CPU (Central Processing Unit) in this embodiment, and executes a program stored in a storage 13 and developed in a memory 12 to perform various processes.

The memory 12 includes a main storage device comprising a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary storage device comprising a non-volatile storage device such as a flash memory and a HDD (Hard Disc Drive). .

This memory 12 is used as a work area for the processor 11, and stores a BIOS (Basic Input/Output System) executed when the computer 10 is started, various setting information, and the like.

In the present embodiment, when a layered timewheel, which will be described later, is generated, the timewheels forming the layered timewheel are registered as a dictionary, and the layered timewheel is stored.

The storage 13 stores programs and information used for various processes. The configuration of this storage 13 will be described later.

The transmission/reception unit 14 connects the computer 10 to a network such as the Internet network, and may include a short-range communication interface such as Bluetooth (registered trademark) or BLE (Bluetooth Low Energy).

The input/output unit 15 is an interface to which input/output devices are connected. Examples of such input/output devices are assumed to be a keyboard, a mouse, and a display.

The bus 16 transmits, for example, address signals, data signals, and various control signals among the connected processor 11, memory 12, storage 13, transmission/reception unit 14, and input/output unit 15. FIG.

FIG. 3 is a diagram for explaining the outline of the structure of the layered time wheel 21 registered and stored in the memory 12 as a dictionary. As illustrated, the hierarchical time wheel 21 is composed of a plurality of time wheels respectively corresponding to a plurality of time layers with different time units. It is composed of time wheels 22 to 26 corresponding to the time hierarchy of hours, minutes, seconds and milliseconds.

FIG. 4 is a diagram for explaining the outline of the configuration of each of the timewheels 22 to 26 forming the hierarchical timewheel 21. As shown in FIG. As shown, each timewheel 22-26 has a tag T set to the time step size to be evaluated as the next time in discrete time, and the tag T is the maximum number of time deltas for event processing. It is a time table type storage area arranged in a circle with .

An event is registered in association with the tag T of each of the timewheels 22 to 26, and avails A1, which are the first to n-th designated positions indicating the current time, are set in advance for each of the timewheels 22 to 26. If ~A5 matches the trigger time of the event associated with tag T, the event fires.

Since each of the timewheels 22 to 26 is hidden by the hierarchical timewheel 21 from programs that illegally intrude into the memory 12, it is prevented from being detected and modified by this program.

Furthermore, since the timewheels 22 to 26 are made invisible even to the user U who operates the computer 10 by the layered timewheel 21, the user U uses the layered timewheel 21 when generating the layered timewheel 21. It is not necessary to set each of the constituent timewheels 22-26. Therefore, the simulation can be easily executed.

FIG. 5 is a diagram explaining an outline of the operation of the layered time wheel 21. As shown in FIG. As shown in the figure, when the timewheels 23 to 25 corresponding to the time hierarchy of "hour", "minute" and "second" are configured, the timewheel 24, for example, is the first timewheel.

In this case, if the time wheel 25 corresponding to the time layer "seconds", which is a lower time layer than the time wheel 24, is the n-th time wheel, then from the starting point tag T where the avail A4 of the time wheel 25 is located When the event progresses to the end point tag T, the event progresses from the current tag T to the next tag T with the avail A3 of the time wheel 24, which is the first time wheel.

When the avail A3 of the time wheel 24 progresses from the current tag T to the next tag T, in the present embodiment, the time corresponding to the time layer "hour", which is a higher time layer than the time wheel 24, is displayed. An event registered in the wheel 23 is activated.

When a simulation is performed using the time wheel configured as described above, arithmetic processing is performed by skipping tags that are not registered with associated events, so processing in the simulation can be processed at high speed. .

FIG. 6 is a block diagram for explaining the outline of the configuration of the storage 13. As shown in FIG. As illustrated, the storage 13 includes scenario data 30, a simulation program 40, and a 3D display processing program 50 stored in a storage area of the storage 13. FIG.

FIG. 7 is a block diagram outlining the structure of the scenario data 30. As shown in FIG. As illustrated, the scenario data 30 is composed of spatial data D1, event data D2 and entity data D3.

Space data D1 is data for generating a three-dimensional virtual space in which simulation model 100 is realized in the present embodiment.

The event data D2 is data for generating events activated in the simulation model 100, such as running of an emergency vehicle, changes in traffic lights, walking of pedestrians, and the like.

In this embodiment, the entity data D3 is data for generating an entity that is a moving body such as an automatic driving vehicle or other vehicle, a bicycle, a pedestrian, or the like, or an entity that is a structure such as a road surface or a traffic light. be.

As shown in FIG. 6, the simulation program 40 comprises a timewheel generation module 41, a space generation module 42 and an event registration module 43.

The timewheel generation module 41 in this embodiment is a module that generates any timewheels 22 to 26 required according to the simulation model 100 as the hierarchical timewheel 21 .

Space generation module 42 is a module that generates a three-dimensional virtual space in which simulation model 100 is realized in this embodiment.

FIG. 8 is a diagram for explaining the outline of the configuration of the three-dimensional virtual space. As illustrated, a three-dimensional virtual space 60 is constructed by arranging a plurality of virtual space objects 61 .

In the present embodiment, the virtual space body 61 is a cubic shape that virtually partitions a three-dimensional space having a plane made up of x and y coordinates and a height made up of h coordinates with respect to this plane. is developed in the memory 12 of

FIG. 9 is a diagram for explaining the outline of the configuration of the virtual space body 61. As shown in FIG. As shown, the virtual space body 61 comprises multiple layers 61a-61n. In the present embodiment, entity information for identifying an entity such as the name (type) and color of the entity is registered in these layers 61a to 61n according to the attribute of the entity.

In the present embodiment, for example, the layer 61a registers entity information of an entity having an attribute of "object" that appears in the simulation model 100. FIG. Entities having the attribute of "object" are assumed to include, for example, an automatically driven vehicle, other vehicles, bicycles, pedestrians, and the like.

In the layer 61b, in the present embodiment, entity information of entities appearing in the simulation model 100 and having an attribute of "obstacle" is registered. Entities having the attribute of "obstacle" are assumed to be, for example, buildings, topography, construction status, and the like.

In the layer 61c, in the present embodiment, entity information of an entity having an attribute of "road" that appears in the simulation model 100 is registered. As an entity having an attribute of "road", for example, a road network composed of roads and intersections on which automatic driving vehicles and other vehicles, which are targets, run is assumed.

On the other hand, in the layer 61d, in the present embodiment, entity information of an entity having an attribute of "signal" that appears in the simulation model 100 is registered. A traffic light is assumed as an entity having the attribute of "signal".

In this embodiment, such a virtual space body 61 is associated with the entity information registered in the layers 61a-61n in response to the request of one entity associated with the entity information registered in the layers 61a-61n. Provides one entity with entity information of another entity.

As shown in FIG. 10, the virtual space body 61 is placed at an arbitrary position in the three-dimensional virtual space 60 designated by one entity E1 (for example, an automatic driving vehicle that is an object) placed in the virtual space body 61. An entity E1 is provided with entity information of another entity E2 (for example, another vehicle) to be processed.

Specifically, the x-coordinate, y-coordinate and h-coordinate of the three-dimensional virtual space 60 (for example, x: 8, y: 3, h: 6) are specified, and any layer from layers 61a to 61n (for example, layer 61a in which entity information of an entity having an attribute of "object" is registered) is specified. provides one entity E1 with entity information of another entity E2 located on the layer 61a at a specified position (x:8, y:3, h:6).

On the other hand, as shown in FIG. 11, the virtual space body 61 is specified by one entity E1 from the reference position S, which is an arbitrary position of the virtual space body 61 where one entity E1 is arranged. One entity E1 is provided with entity information of another entity E2 placed in an arbitrary range of the three-dimensional virtual space 60. FIG.

Specifically, one entity E1 designates an arbitrary range by projecting a fan-shaped search sensor P from a reference position S in the virtual space body 61 in which the one entity E1 is arranged. An arbitrary range of the three-dimensional virtual space 60 is designated through an arbitrary range designated by .

In the present embodiment, the virtual space body 61 provides one entity E1 with entity information of another entity E2 arranged in a designated range on which the search sensor P is projected.

The search sensor P projected onto the virtual space body 61 is not limited to a fan shape, and various shapes or forms such as a rectangle, an ellipse, or a cube may be employed.

As shown in FIG. 12, in the virtual space body 61, when another entity E2 is placed on the path along which one entity E1 moves, one entity E1 moves the entity information of the other entity E2. provided to one entity E1 before.

Specifically, when the path along which one entity E1 moves is, for example, in the N directions indicated by the arrow N, the entity E1 moves the entity information of another entity E2 arranged in the N directions. provided to one entity E1 before.

As a result, one entity E1 can detect another entity E2 before moving in the N direction. E direction, NE direction, W direction and NW direction) can avoid a collision with another entity E2.

13A and 13B are diagrams for explaining the outline when the virtual space object 61 is arranged outside the three-dimensional virtual space 60. FIG. As shown, a single virtual space body 61 is further arranged outside the three-dimensional virtual space 60 .

In this virtual space body 61, entity information of entities that act outside the activity range of the entities assumed in the simulation model 100 is registered in a plurality of layers 61a to 61n according to the attributes of the entities.

In the present embodiment, in the simulation model 100 that evaluates an automatic driving vehicle, for example, when processing another vehicle approaching from a distant area with respect to the area where the activity range is defined as an entity, the entity's Entity information is registered in a virtual space body 61 arranged outside the three-dimensional virtual space 60 .

As a result, the activity of the entity acting outside the activity range can be simulated without expanding the activity range of the entity in the simulation model 100. Therefore, the resource consumption of the computer 10 associated with the expansion of the activity range can be minimized. A decrease in the processing capacity of the simulation system 1 is avoided.

As shown in FIG. 6, in this embodiment, the event registration module 43 associates an event with any tag T of any of the timewheels 22 to 26 of the hierarchical timewheel 21 generated by the timewheel generation module 41. It is a module to register with.

For events registered in any of the time wheels 22 to 26, time differences in event processing are stored as activation times. Events are registered across all or any of the plurality of timewheels 22 - 26 of wheel 21 .

The 3D display processing program 50 is a program for processing to display the simulation model 100 in 3D on a display connected to the computer 10 .

Next, a procedure for using the simulation system 1 of this embodiment will be described.

In the present embodiment, first, the simulation model 100 and the layered time wheel 21 generated according to the event activated in the simulation model 100 are registered in the memory 12 as a dictionary for each of the time wheels 22 to 26, and layered. A timewheel 21 is generated.

For example, when the activation time of an event spans the time hierarchy of "hour", the time hierarchy of "minute" and the time hierarchy of "second", the time wheels 23 to 25 are registered and stored as a dictionary, and the time wheel 23 . . . 25 generate a layered timewheel 21 .

Next, in the memory 12 , a plurality of virtual space objects 61 are generated and arranged according to the simulation model 100 to form a three-dimensional virtual space 60 .

The event is then registered. In the present embodiment, events to be registered are, for example, evaluation vehicles, which are entities generated based on the entity data D3, and other vehicles such as emergency vehicles and bicycles, which are also entities, in the three-dimensional virtual space 60. Appearing time, position, etc. are registered as an event.

On the other hand, entity information of an entity registered as an event is registered in a plurality of layers 61a to 61n of each virtual space 61 forming the three-dimensional virtual space 60 according to the attributes of the entity.

Next, a simulation is performed based on the simulation model 100, and automatic driving of the evaluation vehicle is evaluated based on the simulation of automatic driving of the evaluation vehicle. At this time, the simulation model 100 is displayed three-dimensionally on a display connected to the computer 10 in this embodiment.

In the simulation executed by the simulation system 1 of this embodiment, the virtual space body 61 provides one entity with entity information of another entity in response to a request from one entity.

For example, one entity E1 designates a position on the virtual space body 61 and an arbitrary layer among the layers 61a to 61n, or designates an arbitrary range by projecting the search sensor P from the reference position S. Then, the virtual space body 61 provides one entity E1 with the entity information of another entity E2 placed on an arbitrary layer at the specified position.

Furthermore, when another entity E2 is arranged on the path along which one entity E1 moves, the virtual space body 61 stores the entity information of the other entity E2 in the one entity E1 before the one entity E1 moves. Provide to E1.

On the other hand, in the present embodiment, a single virtual space body 61 is further arranged outside the three-dimensional virtual space 60, and entity information of entities acting outside the activity range of the entities assumed in the simulation model 100 is registered. , and the simulation model 100 can simulate the activities of entities acting outside the scope of activities in which the entities act.

Thus, according to the simulation system 1 of the present embodiment, since the virtual space body 61 provides one entity with entity information of another entity in response to a request from one entity, The simulation is performed without any processing of information in the .

Therefore, the amount of information processed and the processing time between entities do not increase, so that the simulation system 1 that does not cause deterioration in simulation performance is realized.

(Other embodiments)
Next, based on FIG. 14, a simulation system 2 according to another embodiment of the present invention will be described.

In addition, in the simulation system 2, the same code|symbol is attached|subjected to the structure similar to the simulation system 1, and the description is abbreviate|omitted.

As illustrated, the simulation system 2 includes a computer 10, a hierarchical timewheel 21 executed on the computer 10, and a simulation program 40 that generates the hierarchical timewheel 21 and registers events in the generated hierarchical timewheel 21. , and a hierarchical model comprising application software 70 that creates entities on the hierarchical timewheel 21 .

In this simulation system 2, a layered time wheel 21 can be used as an OS (Operating System) of a computer 10 that simulates a simulation model.

On the other hand, in the simulation system 2, an environment for developing application software 70 that generates entities registered as events on the hierarchical timewheel 21 is provided by, for example, an API (Application Programming Interface), or the source of the application software 70 Provided by publishing code.

In the present embodiment, the application software 70 includes a virtual space body 61, a three-dimensional virtual space 60 in which a plurality of the virtual space bodies 61 are arranged, and entities included in a simulation model arranged in the three-dimensional virtual space 60. It is generated.

As the application software 70, in addition to space generation application software that generates the virtual space body 61 and the three-dimensional virtual space 60, for example, in the case of the simulation model 100, a moving body that generates a moving body such as an automatic driving vehicle and other vehicles Generation application software, structure generation application software for generating structures such as road surfaces or topography on which automatic driving vehicles and the like travel are assumed.

Furthermore, for example, application software related to utility of entities, such as direction control application software for controlling the traveling direction of a moving body and display control application software for controlling display of the simulation model 100 on a display, is also assumed.

Note that the application software 70 may be configured to implement the simulation program 40 .

As described above, according to the simulation system 2 of the present embodiment, each of the timewheels 22 to 26 constituting the hierarchical timewheel 21 is hidden by the hierarchical timewheel 21 and executed on the computer 10. This prevents the hierarchized time wheel 21 from being detected and altered by a program illegally intruding into the memory 12 .

On the other hand, the layered timewheels 21 make the timewheels 22 to 26 invisible even to the developer who develops the application software 70, so the developer can use the layered timewheels 21 when developing the application software 70. , the application software 70 can be developed easily.

Therefore, in a safe environment where the hierarchized timewheel 21 is not altered by a program that invades the memory 12, while using the application software 70 generated without being aware of each of the timewheels 22 to 26, the simulation model Since the layered timewheel 21 can be constructed flexibly according to the situation, the highly versatile simulation system 2 is realized.

The present invention is not limited to the above-described embodiment and other embodiments, and various modifications can be made without departing from the scope of the invention.

In the above embodiment, another entity E2 is another vehicle for the self-driving vehicle to be evaluated as one entity E1. It may be various entities such as

In the above embodiment, the case where the simulation model 100 evaluates an automatic driving vehicle has been described. It can be used for various evaluations such as action evaluation, communication analysis of radio waves between radio wave transmission sources, search for interference transmission sources, and distribution analysis inside and outside a factory.

1, 2 simulation system 10 computer 21 layered time wheel 22-26 time wheel 30 scenario data 40 simulation program 41 time wheel generation module 42 space generation module 60 three-dimensional virtual space 61 virtual space body 61a-61n layer 70 application software E1 Entity E2 Other Entity P Search Sensor U User

Claims (7)

A plurality of entities including at least a flying object placed in a three-dimensional virtual space constructed by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane A simulation system for simulating activities,
Each virtual space body is
comprising a plurality of layers in which entity information identifying the entity is registered according to the attributes of the entity;
providing the entity information of the other entity associated with the entity information registered in the layer in response to a request of the entity associated with the entity information registered in the layer, to one of the entities;
simulation system. A plurality of entities including at least a flying object placed in a three-dimensional virtual space constructed by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane A simulation system for simulating an activity, comprising:
A simulation system that transmits entity information identifying said other entity before said one entity moves on a path when said other entity is placed on a path along which said one entity moves. A simulation system according to claim 2,
Each virtual space body is
A simulation system comprising a plurality of layers in which entity information identifying said entity is registered according to attributes of said entity. The simulation system according to claim 2 or 3,
When the other entity is placed on a path along which the one entity moves, the entity information identifying the other entity is provided, before the one entity moves, indicating the traveling direction of the one entity. Simulation system to send to the controlling directional control application software. The simulation system according to claim 2 or 3,
A display that controls display of entity information identifying the other entity on a display before the one entity moves when the other entity is placed on a path along which the one entity moves. Simulation system to send to control application software. A plurality of entities including at least a flying object placed in a three-dimensional virtual space constructed by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane A simulation program for simulating an activity,
A simulation comprising the step of transmitting entity information identifying the other entity before the one entity moves on the route when the other entity is placed on the route along which the one entity moves. program. A plurality of entities including at least a flying object placed in a three-dimensional virtual space constructed by arranging a plurality of virtual space bodies that virtually partition a three-dimensional space having a plane and a height with respect to the plane A simulation method for simulating an activity by computer,
A simulation method using a computer, wherein, when the other entity is placed on a path along which the one entity moves, entity information identifying the other entity is transmitted before the one entity moves on the path. .

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