JP3313679B2 - Bird's eye and driving simulation system and recording medium - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving simulation system for simulating a forward view of a vehicle traveling on a designed road, and more particularly, to a driving simulation system according to a road plan based on current digital terrain data. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bird's-eye view and travel simulation system in a road design system that performs road design and digitally generates various drawing data, and a recording medium therefor.

[0002]

2. Description of the Related Art In a road design system, a road is designed in accordance with a road plan based on current digital terrain data, and various drawings such as a plan plan view and a plan sectional view are created. The drawing created after the design in this way is described two-dimensionally, and in order to three-dimensionally grasp the state of the planned and designed road, it is necessary to further modify the design data for three-dimensional use. There is also a need to verify the design results by performing various simulations.

As a part of this, for example, it is conceivable to visually simulate a designed road three-dimensionally. In such a case, generally, not a design engineer engaged in the design work, but an operator who is familiar with CG (computer graphics) and computers obtains a plan view, a longitudinal view, and a cross-sectional view which are the results of the road design work. While looking at the two-dimensional drawing, etc., necessary data is intuitively input based on experience to create simulation data.

[0004] However, such a simulation system functions independently as a completely separate system from the road design system, is not interconnected as a data processing system, and is satisfactory from the viewpoint of design technology. It cannot perform the desired verification.

[0005]

SUMMARY OF THE INVENTION In view of such circumstances, the present invention links road design and simulation,
A running simulation is performed using the planned plan view and plan sectional view (longitudinal view, cross-sectional view), etc., which are the design results, and the state of the designed road and surrounding environment is three-dimensionally viewed from the road running vehicle. A main object of the present invention is to provide a bird's-eye view and travel simulation system that can accurately grasp and confirm or feed back a design result.

[0006]

According to a main feature of the present invention, there is provided a bird's-eye view and travel simulation system capable of capturing survey data measured by a surveying instrument and having a display, wherein the surveying instrument transmits a road plan. Means for acquiring current three-dimensional data measured at random points in the planned area and representing the current topography of the planned road planning area; means for generating current bird's-eye view data based on the obtained current three-dimensional data; Means for displaying a current bird's-eye simulation image of the planned road planning area on a display based on the generated current bird's-eye data, and a planned road shape and surroundings of the planned road planning area based on the acquired current three-dimensional data Means for generating plan three-dimensional data representing the terrain, and a plan designed based on the generated plan three-dimensional data. Means for generating a traveling simulation data to simulate the view from a vehicle traveling on the road,
Means for displaying a driving simulation image on a display based on the generated driving simulation data, and a bird's-eye and driving simulation system,
In addition, it is a recording medium that can take in survey data measured by surveying equipment and is readable by an information processing device equipped with a display, and is surveyed at a random point in a planned road planning area from surveying equipment, Obtaining current three-dimensional data representing the current topography of the planned road planning area; generating current bird's-eye data based on the obtained current three-dimensional data; and generating road data based on the generated current bird's-eye data. Displaying the current bird's-eye simulation image of the planned area on the display; and generating the planned three-dimensional data representing the planned road shape and the surrounding terrain of the planned road area based on the acquired current three-dimensional data. Steps and generated plan 3
Generating driving simulation data that simulates a field of view from a vehicle traveling on a designed road based on the dimensional data; and displaying a driving simulation image on a display based on the generated driving simulation data. A recording medium for bird's-eye view and driving simulation recording a program comprising the program, and means for generating post-planning bird's-eye data of a planned road planning area based on the generated planning three-dimensional data; Means for displaying a post-planning bird's-eye simulation image of a road planning area on a display based on the post-planning bird's-eye data.

[Effect of the Invention] In the bird's-eye view and traveling simulation system according to the present invention, when a road and a surrounding environment are designed according to a road plan, a plan 3 representing the designed road and surrounding environmental terrain.
The dimensional data is created, and travel simulation data (video clip data) that simulates a field of view from a vehicle traveling on the designed road is generated based on the created planned three-dimensional data. In this way, assuming that the vehicle travels on the designed road, by simulating the view seen from the vehicle traveling on the road, the state of the road and the surrounding environment can be accurately grasped three-dimensionally. It is possible to inspect and confirm the design results sufficiently, and if there are any design problems, it is possible to provide effective feedback to the design stage. That is, when a design defect is found on the computer based on the running simulation result, the design can be corrected again by feedback, and a new running simulation can be quickly executed to confirm the redesign result.

[0008] The system of the present invention provides a new system capable of running simulation as part of a road design system. When a design engineer performs a design in the same manner as a conventional road design, the system engineer simultaneously performs the design. Travel simulation data is created automatically. Normally, to create dynamic graphics data such as running simulation data, it must be performed by an operator who is familiar with CG and computers. However, in the system of the present invention, a road design engineer or CAD is required.
It can be created by an operator. Therefore, from a design engineer's point of view, the design result can be visually grasped,
The quality of the final result and design problems can be grasped accurately. That is, since the road design result is visually displayed on the computer screen, it is possible to quickly determine a design problem that could not be imagined using only the design drawings.

Further, since the planned three-dimensional data is created in accordance with the road plan based on the current three-dimensional data representing the current environment, a series of steps from the grasp of the current situation to the simulation through the design phase is performed. The processes are linked, and the data can be managed centrally. In addition, the part of the surrounding environment that has not been modified in the design stage faithfully reflects the current environment represented by the current three-dimensional data. it can.

[0010]

Preferred embodiments of the present invention will be described below in detail with reference to the drawings. The following embodiment is merely an example, and various modifications can be made without departing from the spirit of the present invention.

[Outline of System] FIG. 1 is a block diagram showing the overall configuration of a road plan design support system to which the present invention is applied. As a general processing flow, first, the current topographical data is obtained. As a surveying instrument for this purpose, a GPS (Global Positioning System) device 1 or a total station (Total Station) 2 is used to measure the current terrain, thereby obtaining three-dimensional coordinates as current terrain data. I do.
The three-dimensional coordinate data obtained by the GPS device 1 or the total station 2 is immediately sent to the site computer 7 via the respective wireless devices 3 and 4 and the site wireless devices 5 and 6.

The on-site computer 7 automatically generates contour line (contour) data using an automatic contour line generation program. The contour data automatically generated here can be confirmed on a liquid crystal display (not shown). When the confirmation is completed, the contour data is input from the on-site computer 7 to the host computer 8 via, for example, a serial transmission line. You.

The three-dimensional coordinate data generated by the GPS device 1 or the total station 2 is directly input to the host computer 8 as shown by a broken line, and the contour data is generated by using the automatic contour line generating function of the host computer 8. (Direct data input from the total station 2 to the host computer 8 is not shown). G with automatic contour generation function
When the PS device 1 or the total station 2 is used, the contour data may be directly input to the host computer 8 from the surveying devices 1 and 2.

A digitizer 9 and a scanner 10 can be further connected to the host computer 8, and these devices can receive current drawing data converted into vector data.

In the host computer 8, the GPS
Raw contour data obtained by surveying at the device 1 or the total station 2 [via the on-site computer 7 or directly (when using the surveying device 1 or 2 having an automatic contour generating function)], or 3 Dimensional coordinate data,
Vector data from the digitizer 9 and the scanner 10
Under the control of a central processing unit (CPU) 11, the data is temporarily stored in a memory 14 from an interface 12 via an internal bus 13.

A keyboard 15 and a display 16 are connected to the bus 12. After storing various data in the memory 14, the CPU 1 operates according to the operation of the keyboard 15.
Contour line data is automatically generated from three-dimensional coordinate data or vector data based on a contour line automatic generation function, and current state map data is semi-automatically generated from contour line data based on a current state map creation function. By providing the on-site computer 7 with the on-site computer 7 having the on-site computer 7 function, the on-site computer 7 can generate on-the-fly map data and transfer the on-the-fly map data to the host computer 8.

In the host computer 8, a road plan is designed based on the current state map data thus obtained, and plan plan views and plan sectional views (cross-sectional views, longitudinal views) are generated. The corresponding various drawings are drawn by the plotter 18 via the interface 12.

Further, the host computer 8 automatically generates mesh point coordinate data after the plan design based on the plan map data, and uses the mesh point coordinate data to generate landscape simulation data or travel simulation data. Generate As a result, a dynamic landscape simulation image or a running simulation image with excellent visibility is automatically displayed on the display 16, and a bird's-eye view or a running view of an arbitrary viewpoint on the simulation screen is displayed using graphic data corresponding to the screen. The simulation diagram can be automatically printed out by the printer 17.

Note that the printer 17 and the plotter 18
It is preferable to use a color laser printer, a color ink jet plotter, or the like so as to output a drawing or a calculation sheet in which the difference between the current state data and the plan data or the data under construction can be distinguished in color.

[Overview of System Functions] FIGS.
FIG. 2 is a functional block diagram showing a schematic function of a road plan design support system to which the present invention is applied. In the road plan design support system of FIG. 1, the GPS device 1 does not have an automatic contour line generation function, The computer 7 shows a functional block diagram in the case where the computer 7 does not have a current state diagram creation function.

The GPS device 1 (FIG. 2) is a digital geodetic device based on the GPS system. Due to the remarkable progress in recent years, the size of the device is reduced, the measurement operation is easy, and the equipment is very simple. Very high precision digital survey data can be obtained in time. In one embodiment of the present invention, when surveying the existing topography of the planning area,
As shown by the functional block F1, by performing the GPS-based geodetic measurement by the GPS device 1 at a random arbitrary point, highly accurate digital three-dimensional coordinate data [x (east-west), y ( North-south), z (altitude)].

That is, according to the present invention, the present situation survey is performed at an arbitrary random point [(xr, yr) = random arbitrary point] which is easy to measure. Surveying is performed in consideration of the density of surveying points, for example, it is necessary to increase the number of surveying points in an area such as a complicated or route candidate site. As a result, GP
In addition to the high-accuracy three-dimensional surveying by S, the surveying can be performed with variable surveying point density emphasizing the changing points of the terrain, and a survey result with further improved accuracy can be obtained regardless of the efficient surveying work.

The total station 2 is a digital geodetic device for performing survey data processing using digital signals using a distance measuring angle finder. Due to the development of technology, relatively accurate digital surveying can be performed regardless of small and easy measurement operations. Data is obtained. In one embodiment of the present invention, when surveying the current topography of the plan target area, as shown by a function block F2, by performing geodetic survey by the total station 2 at a random arbitrary surveying site, digital at each random site. 3D coordinate data (xr, yr, zr)
Can be obtained. The measurement points of the GPS device 1 and the total station 2 may be random, but if the mutual positional relationship is selected so as to form each vertex of a triangle as close as possible to an equilateral triangle, the subsequent processing can be performed conveniently and in good condition. Processing results can be obtained.

The on-site computer 7 is a portable personal computer provided with an automatic contour generation function by application software.
A portable device called an “electronic flat plate” is used. With such a site computer 7, the function block F
As shown by 3, digital three-dimensional coordinate data (xr, yr) of a random point (xr, yr) from geodetic devices 1 and 2
yr, zr), it is possible to generate contour data in which each contour is represented by three-dimensional point sequence information.

The digitizer 9 is a drawing coordinate reading system, and generates current drawing vector data by reading the coordinate data of the current drawing as shown by a function block F4. Further, the scanner 10 includes a function block F5.
As shown by, automatic vectorization (auto vectorization)
Current drawing vector data by function (current vector drawing)
Generate

The host computer 8 has a function block F
6, contour line data is automatically generated from the three-dimensional coordinate data from the GPS device 1 or the total station 2 by the contour line automatic generation function, or the vector from the digitizer 9 or the scanner 10 as indicated by a function block F7. Contour line heightening processing is performed on the data to create contour line data. The contour data obtained in this way or the contour data already obtained from the GPS device 1 or the total station 2 via the on-site computer 7 are converted to the current mesh point coordinates as shown by a function block F8. Data, various drawing data, planned mesh point coordinate data, various drawing data, and various data for simulation are automatically generated.

Although not shown in FIG. 2 and FIG. 3, as will be described later, the host computer 8 uses the 3
It can be configured to generate mesh point coordinate data (xm, ym, zm) directly from the dimensional coordinate data (xr, yr, zr). Various drawing data generated by the host computer 8 is handed to the plotter 18,
As a result, the plotter 18 draws a current drawing and a plan drawing (a plan view, a longitudinal section, a cross section, a bird's-eye view, etc.) based on the drawing data and the like, as indicated by the function block F9.

FIG. 3 shows the processing functions of the host computer 8 more specifically. The specific processing contents of the function block F8 in FIG.
This is indicated by F16. In the function block F10, the current state plan view data, the current state longitudinal data, the current state crossing data, and the current state mesh point coordinate data are obtained from the current state contour line data obtained in the function blocks F3, F6, and F7 or the current state three-dimensional coordinate data. (Xm, ym, zm) and the like are automatically generated. In function block F11, a current bird's-eye view, a current plan, a current profile, a current cross section, and the like are created based on the current contour data, the current plan data, the current profile data, the current cross data, the current mesh point coordinate data, and the like. I do.

In the function block F12, a road is designed in accordance with a road plan while referring to the current state figures. In the design, the road route (linear) is selected, the measurement points are determined, the crossing line is automatically created, the plan longitudinal data and the plan crossing data are created, and this is developed into the plan plan, and the width, slope, The retaining wall, the land width, etc. are defined, the planned longitudinal data and the planned crossing data are corrected, and the planned contour data and the planned floor plan data are created. Based on this, the planned mesh point coordinate data and the like are automatically created. The created various plan data is handed over to the plotter 18 together with the current state drawings, and the function blocks F13 to F1 are provided.
As illustrated in FIG. 6, a plan vertical section, a plan cross section, a plan plan view, a plan bird's-eye view, and the like are created. Although not shown, various quantities such as soil volume are also calculated from the difference between the current situation data and the plan data, and the quantity calculation report can be output in color from the printer 17.

In one embodiment of the present invention, a function block F17
As shown in (1), landscape (bird's eye) simulation data representing the landscape of the road planning target area before and after the design is generated from an arbitrary high place, or as shown in a functional block F18, the road on which the plan is designed is designed. Simulation data is generated that represents the traveling field of view of the road after the plan design from the traveling vehicle. Based on these simulation data, a simulated image is displayed on the display 1.
6 can be dynamically displayed. As a result, a landscape and a traveling simulator that can be fed back are realized, and a road plan can be efficiently designed while evaluating the landscape in the planning process. Note that a predetermined simulation screen can be printed out by the printer 17 as needed.

As described above, a plan bird's-eye view or a landscape simulation, a running simulation, and the like visually make it possible to plan a road plan in consideration of the quality of the road plan, harmony with the current situation, and safe road conditions. In addition, as a result of this evaluation, when the plan design is performed again, the plan bird's-eye view or the landscape simulation data or the traveling simulation data can be created simply by re-inputting only the changed portions. Optimal road plan design results can be obtained in a short time.

[Overall Processing Flow] FIG. 4 is a flowchart showing an example of the overall processing procedure for designing a road plan according to an embodiment of the present invention. First, in step S1, current contour data is calculated from the current three-dimensional topographic data. As described above, the following methods can be used for this calculation: (1) The present three-dimensional random coordinate data (xr, yr) measured at random points by the GPS device 1 or the total station 2 , Zr), a method for generating contour line data by the contour line automatic generation processing function of the on-site computer 7 or the host computer 8; (2) an existing status map (paper) is pasted on the digitizer 9 and read; A method of performing contouring processing to generate contour line data, (3) a method of reading an existing status map (paper) with the scanner 10 to vectorize the data, and manually inputting the height with the host computer 8.

The current contour data converted in step S1 is used to create a current plan in step S2. In step S3, the current contour data is divided into meshes, and each mesh point (xm,
The height (zm) on the ym) is calculated, and current mesh point coordinate data (xm, ym, zm) represented by the mesh point coordinates (xm, ym) and the elevation value (zm) are generated. In step S4, current state simulation data is generated based on the current state mesh point coordinate data. In step S5, a bird's eye view can be created or a current state scene (bird's eye view) moving image can be displayed using this data.

On the other hand, when the process proceeds from step S1 to step S6, the host computer 8 first calls the present state plan view (step S2) or the present state bird's-eye view (step S4) on the display 16, and sufficiently grasps the present state. Using the current plane screen, the plane alignment is examined while correcting the IP points (road break points) in accordance with the road plan, etc., and the optimal road plan route including the vertical line is determined in the next step S7. After determining a plurality of optimum measurement points, main points, transverse lines, and the like, the process proceeds to step S8.

In step S8, longitudinal data (a set of positional information on the center line of the road plan, represented by additional distances and their altitudes) is determined based on the determined route data (point sequence data of longitudinal lines representing the optimal route). Calculate and step S9
To create a current profile. In the next step S10, the crossing data corresponding to the determined vertical line [a set of vertical position information on the road planning center line (vertical line), the distance from the center line and the elevation thereof] is calculated. Then, a current state cross section is created in step S11. The following methods can be used for calculating the longitudinal data or the transverse data: (1) The longitudinal data measured on the site using the total station 2 or the like can be used as a communication interface (for example,
RS-2C), (2) Manual entry of a surveyed and filled-out notebook, (3) Pasting and reading the existing longitudinal section on the digitizer 9, (4) Existing longitudinal section A method of reading a figure by the scanner 10 and vectorizing the figure.

Next, from step S10 to step S12
In the specific design stage, the current vertical section along the route is called up on the display 16 and a one-sided grading (gradual graduation to both slopes) is performed using a decoration tool or condition setting prepared in advance. Various input operations, such as change) and widening, are performed to study the longitudinal plan, and plan longitudinal data is generated. The plan profile data is used for generating a plan profile in step S13.

Further, at step S14, examination of a crossing plan is started, and a cross section cut into a plurality of crossing lines is called on the display 16 in conjunction with the linear plan data and the plan longitudinal data. On the other hand, input the standard cross-section conditions that have been set in advance, further set and correct detailed settings for each cross-section, change the specifications of details such as slope shapes and structures, measure and calculate soil volume, etc. Is performed, cross-plan data is generated. In step S15, a cross section along the cross line can be created from this data.

When the process proceeds to step S16 through the longitudinal and traversal plans in steps S12 and S14, the results of these plans are developed on a plane and plan plane data [3D obtained by developing the longitudinal data and traverse data on the x and y planes] Of random point data]. In other words, the plan view reflecting these data contents is developed on the display 16 in reverse from the linear plan data, the plan longitudinal data, and the plan crossing data.
The width, slope, retaining wall, area, etc. set in the plan profile and cross-section data generation stages are automatically drawn on this floor plan, so the designer can correct only the necessary parts. The plan plane data including the planned contour data having the same contour (elevation difference) size as the current contour data is completed.
Then, in step S17, a plan plan view can be created based on the plan plane data.

As described above, steps S12 to S16
When the plan data including the plan longitudinal data, the plan crossing data, the plan plane data, and the like is determined, the next step S18 is performed.
, Planned mesh point coordinate data (DV) having the same mesh (interval) size as the current mesh point coordinate data is automatically generated. The planned mesh point coordinate data (DV) is three-dimensional data. In step S19, the planned mesh point coordinate data (DV)
By applying the three-dimensional computer graphics technology to V), planned bird's-eye view data, planned landscape (bird's-eye view) simulation data, and traveling simulation data are generated. Thus, in step S20, a planned bird's-eye view can be drawn or various simulation contents can be displayed as a moving image.

[Generation of Contour Line Data] In one embodiment of the present invention, the current three-dimensional coordinate data (xr, yr, yr,
zr), the current contour data can be generated with relatively high accuracy. In this contour line automatic generation processing, in the three-dimensional coordinate system (x, y, z), a random plane represented by the present three-dimensional coordinate data is connected to each other to form a triangle plane group having a shape closest to an equilateral triangle. Are formed, and these triangular plane groups are cut at (x, y) planes at constant height intervals (altitude z direction) to generate constant height cross-sectional lines. Then, cross-section lines having the same height are sequentially connected from the start point to the end point to form respective contour lines, and these contour lines are collected, and (x, y) coordinate values are sequentially arranged for each contour line elevation value (z). Is the current contour data.

In order to concretely execute such a method of generating contour line data, contour points are interpolated on each side of a triangular plane, and contour points having the same elevation value are successively arranged from a start point to an end point. It is possible to employ a simple method of connecting and drawing a spline curve passing through these equivalent contour points to obtain contour data.

[Generation of Mesh Point Coordinate Data] In one embodiment of the present invention, the coordinates of the two existing contour data are simply and uniformly interpolated at the intersection between the two existing contour data and each mesh line. Current mesh point coordinate data can be obtained, but it can also be directly generated from current three-dimensional coordinate data measured at random points. In this case, the current mesh point coordinate data can be simply obtained by uniformly interpolating from the coordinate values of the three measurement points forming the smallest triangle surrounding the (x, y) coordinates of each mesh point. It can also be calculated with relatively high accuracy using the least square method or the like.

[Cross Section Data and Cross Section Data] The cross section data and cross section data in steps S7 and S9 in FIG.
It can be generated from the contour data. That is, the longitudinal data is obtained by calculating the intersection of the contour line and the longitudinal line (road center line), and represents the additional distance and the altitude. The elevation (z) value of the measurement point to be calculated is the elevation (z) of the intersection before and after the contour line.
It is calculated by proportional distribution from the value. The crossing data is calculated in a similar manner by calculating the intersection of the contour line and the crossing line, and represents the crossing distance from the center (a point on the road center line) and the altitude.

[Simulation Process] FIG. 5 is a flow chart showing an example of a traveling simulation process for obtaining traveling simulation data according to an embodiment of the present invention. FIGS. 6 and 7 show coordinate calculations in this simulation process. It is a figure for explaining. In one embodiment of the present invention, as described in step S18 of FIG. 4, plan mesh point coordinate data is generated as three-dimensional data DV from plan data. In a first step S21 of this processing flow, three-dimensional data DV defined as a position on three-dimensional coordinates (x, y, z) is read in order to perform a running simulation or the like.

In the next step S22, as shown in FIG.
The driver's viewpoint position Ov on the three-dimensional coordinates (x, y, z)
(A, b, c) is determined, and the position (x, y, z) on the three-dimensional data DV is a shift coordinate system (xv, yv, zv) moved to the viewpoint position coordinates (a, b, c). And each axis position xv, y represented by the following equations (1) to (3).
xv = x−a (1) yv = y−b (2) zv = z−c (3)

In this way, the viewpoint position coordinates (a, b,
Let c) be the reference point for coordinate calculation with the origin as the origin. The shift coordinate system (xv, yv, zv) shifted from the coordinate system (x, y, z) of the three-dimensional data DV further has the viewpoint position Ov as a rotation center, and according to the angle of the viewpoint (viewing angle). tilted by an angle θx about the x-axis (east-west direction axis), an angle θy about the y-axis (north-south direction axis), and an angle θz about the z-axis (vertical direction axis) (−π <θx, θy, θz <π) The position of the target point on the tilted three-dimensional coordinate system (X, Y, Z) is calculated, and the three-dimensional coordinate system (X, Y, Z) is used as the original coordinates for creating travel simulation data. Is used as a simulation coordinate system.

For example, when rotated about the y-axis by the angle θy, the simulation coordinate system (X, Y, Z) is expressed as shown in FIG. 7 with respect to the shift coordinate system (xv, yv, zv), Position (xvp, yv) of target point P on the system
p, zvp) is converted into a position (Xp, Yp, Zp) on the simulation coordinate system represented by the following equations (4) to (6): Xp = xvp · cos (θy) −zvp · sin (θy) ) (4) Yp = yvp (5) Zp = xvp · sin (θy) + zvp · cos (θy) (6)

When the image is rotated by the angle θx about the x axis, the shift coordinate system (xv, yv, z
v) Position of target point P on (xvp, yvp, zvp)
Is converted into a position (Xp, Yp, Zp) on the simulation coordinate system (X, Y, Z) represented by the following equations (7) to (9): Xp = xvp (7) Yp = yvp · cos (θx) −zvp · sin (θx) (8) Zp = −yvp · sin (θx) + zvp · cos (θx) (9)

Further, when the image is rotated by the angle θz about the z-axis, the shift coordinate system (xv, yv, z
v) Position of target point P on (xvp, yvp, zvp)
Is a position (Xp, Yp, Z) on the simulation coordinate system (X, Y, Z) represented by the following equations (10) to (12).
p): Xp = xvp · cos (θz) + yvp · sin (θz) (10) Yp = −xvp · sin (θz) + yvp · sin (θz) (11) Zp = zvp (12) )

In this manner, any viewpoint position (a,
b, c) and the viewing angle (θx, θy, θz), the target point position of the three-dimensional data DV on the simulation coordinate system (X, Y, Z) is calculated in step S2.
3, the simulation coordinate system (X, Y,
The three-dimensional data represented by Z) is converted into two-dimensional view coordinates for projection on a two-dimensional view screen. Here, the display range from the drawing to the screen is calculated in consideration of the scale of the drawing to be drawn, the clip of the display range is calculated, and it is converted into the final screen system two-dimensional view coordinates. Further, hidden lines are calculated according to the magnitude of the depth value (Z value = representing the depth from the viewpoint position to each target position) obtained at the time of coordinate conversion into a two-dimensional view, and hidden line elimination processing is performed. . The vector data for drawing obtained in this way is
It is used for creating travel simulation data after the next step S24, but can also be used for creating a travel landscape map by the plotter 18.

In step S24, the view coordinate-converted vector data is developed (drawn) into image data (bitmap data, for example, BMP file data) targeting the screen, and the developed image data is processed in the next step. In step S25, the data is stored as drawing data for one scene, and in step S26, it is combined with the already stored drawing data as a series of moving image data (video clip data) to be displayed on the display 16. Thereafter, in step S27, it is determined whether or not to end the simulation processing. If the simulation processing is to be ended (YES), the processing is ended and the processing is continued (N
In O), the process returns to step S22.

Returning to step S22, the three-dimensional data DV is transferred to the next viewpoint position Ov (a, a) along the trajectory of the driver's viewpoint on the vehicle traveling on the designed road.
b, c) and the simulation coordinates (X, Y, Z) corresponding to the viewing angle.
3 to S26 are performed. Until it is determined in step S27 that the processing has been completed, steps S22 to S
27 is repeated.

In the embodiment of the present invention, not only the running simulation but also the current situation or the planned landscape simulation can be performed by the same processing. As the three-dimensional data DV, not only is the planned mesh point coordinate data generated from the plan data (see step S in FIG. 4).
18), as described in steps S1 and S3 in FIG.
Since the current mesh point coordinate data is generated based on the current contour data obtained from the data from the various input terminals 1, 2, 9, and 10, the processing flow in FIG.
In the first step S21, by reading the planned mesh point coordinate data as the three-dimensional data DV, it is possible to perform the planned landscape simulation processing to obtain the planned bird's-eye view data or the landscape simulation data, and to read the current state mesh point coordinate data. Current scenery simulation processing for obtaining current bird's-eye view data or landscape simulation data.

Such a landscape simulation process is achieved by setting a predetermined bird's-eye point position as the viewpoint position in step S22 in the flowchart of FIG. That is, the viewpoint position and the viewing angle set in step S22 are sequentially changed along the bird's-eye point locus above the area where the road plan is designed, and step S23 is performed.
By repeating the processing of steps S26 to S26, it is possible to obtain drawing data and moving image data at the time of landscape simulation. Then, create a bird's-eye view using the drawing data,
Dynamic landscape simulation can be performed using moving image data.

[Various Drawing Examples] FIGS. 8 to 16 are actually plotters 18 for understanding the display form on the drawings and screens.
FIG. 8 shows a specific example of a drawing or an image drawn on the display 16 or displayed on the display 16.
FIG. 8A shows an example of a current state plan created based on the current state plan data.
[2] is an example of a current bird's eye view created based on the current bird's eye data.

In one embodiment of the present invention, as described above, the present bird's-eye view data and the present situation scene simulation data are generated, thereby creating a bird's-eye view, performing a scene simulation, and sufficiently examining the road plan. Can be done. A three-dimensional figure such as the present bird's-eye view in FIG. 8 [2] is not only plotted in color using drawing vector data by the plotter 18 but also processed into landscape (bird's-eye) simulation moving image data and displayed on the display 16 in the present situation simulation. By dynamically displaying the screen, it is possible to view various targets in the current situation from various viewpoints and rotate and zoom up the current landscape image without taking an aerial photograph. In addition, since a bird's-eye view of an arbitrary viewpoint on the simulation screen can be automatically printed out by the printer 17 using the graphic data corresponding to the screen, it is useful for a preliminary study for designing a road plan. In addition, 3
As a method of expressing a dimensional figure, a texture can be pasted (texture mapping) to a “wire mesh” as shown in FIG. 8 [2].

In the road planning and designing stage, first, an optimum road route is determined, and an optimum measurement point, a main point,
By determining the traversing line, for example, as shown in FIG. 9, a linear plan drawing representing an optimal road route is created.
Next, various settings are input to the current state vertical section along the route of the linear plan and plan vertical data is generated, thereby creating a plan vertical view as shown in FIG. 10, for example. Next, the plan cross section data as shown in FIGS. 11 and 12 is generated by adding condition setting, correction, etc. to the cross section diagram linked to the data of the linear plan map and the plan vertical data. create.

Conversely, from the data of the linear plan drawing, the plan longitudinal data and the plan crossing data, a plan view reflecting these data contents is developed. Complete the plan plane data,
Thereby, a plan plan view as shown in FIG. 13 is created. In addition, data such as plan longitudinal data, plan crossing data, plan plan data, and the like, or plan mesh point coordinate data is automatically generated. This plan mesh point coordinate data (or plan contour data) is used as plan bird's-eye data and landscape ( Bird's-eye view)
It is used for generating simulation data and traveling simulation data.

In one embodiment of the present invention, as described in the description of the simulation processing, planned bird's-eye view data and planned scenery simulation data are generated, whereby a bird's-eye view is created, a scenery simulation is performed, and a design object is created. Can be visually verified. When color plotting bird's-eye views viewed from various viewpoints via the plotter 18 based on the planned bird's-eye data, the road area is set to a red-based emphasis color, and the unchanged landform that is left as it is is set to a green-based background color. By doing so, it is possible to easily examine the planned and designed road conditions. Further, by using the planned landscape simulation data, a landscape simulation for dynamically displaying a planned bird's-eye image on the display 16 can be executed.

FIG. 14 shows an example of an image of a planned bird's-eye view of a three-dimensional figure displayed on the display 16 based on the landscape simulation data. This landscape image is entirely displayed as shown in FIG. Or a partially enlarged display as shown in FIG. 14 [2]. A plan bird's-eye view substantially equivalent to this can be drawn by the plotter 18 based on the plan bird's-eye data as described above.

When an image of the planned bird's-eye view is displayed on the display 16, three-dimensional landscape images from various viewpoint positions are dynamically displayed as shown in FIGS.
In addition, operations such as pause, rotation, and zoom-up can be freely applied to the landscape image. Further, when necessary, a bird's-eye image at an arbitrary viewpoint on the planned landscape simulation screen can be automatically printed out as a bird's-eye view by the printer 17 using the graphic data corresponding to the screen. Thus, in one embodiment of the present invention,
A landscape simulation was used to visually verify the design, and a bird's-eye view image of the planned and designed road and its surrounding terrain was dynamically displayed. Can be done on the whole,
It is possible to verify the quality of the plan and the harmony with the surrounding environment.

In the example shown in the figure, the three-dimensional figure can be pasted or colored (texture mapping) as a surface to the portion surrounded by the wire mesh as necessary. In addition, only the image of the planned road area is highlighted with reddish color or high brightness, so that it can be clearly distinguished from the surrounding area in the current state. If circumstances such as computer processing capacity allow, 3
Various display techniques in three-dimensional computer graphics, for example, surface processing (rendering) such as coloring and shading may be used to display a more natural scenery image.

In one embodiment of the present invention, as described in the description of the simulation processing, the running simulation data is generated and the running simulation for dynamically displaying the running simulation screen on the display 16 is executed. The planned and designed road can be verified in terms of vehicle operation. 15 and 16
Shows an example of a driving simulation screen displayed on the display 16 based on the driving simulation data.

Here, the driving simulation data is
Assuming that the vehicle actually travels on the planned road, the traveling vehicle is mainly used for the shape of the planned road and the surrounding area three-dimensionally represented by the planned mesh point coordinate data or the planned contour data. It is obtained by performing projection conversion and hidden line processing according to the line of sight from the driver's viewpoint in the vehicle traveling direction, and sequentially changing this viewpoint along the driver's viewpoint coordinate locus. Therefore, display 1
The driving simulation screen displayed on 6 allows three-dimensional simulation of the field of view ahead of the vehicle as viewed from the driver's seat when the vehicle actually runs on the planned and designed road.
By setting the driver's viewpoint in various ways,
A simulated field of view according to the vehicle type and the traveling lane is obtained, and a simulated field of view according to the vehicle speed is obtained by changing the changing speed of each simulated field of view image. Furthermore, if the direction of the line of sight is changed not only in the traveling direction but also in the left and right and front and rear directions by an arbitrary angle, it is possible to simulate the environmental view from the vehicle window in any direction.

For example, such a three-dimensional simulated visual field map is obtained by arranging a plurality of continuous scenes in a list form as still images and displaying them collectively as shown in FIG.
As shown in FIGS. 16A and 16B, moving images can be sequentially displayed in accordance with the traveling speed. Therefore, the designer can use such a running simulation to, for example, suddenly move from a state in which the front of the road is invisible and disconnected as shown in FIG. Where a sharp curve appears), etc., to discover inadequate parts in the design of road plans, and to examine various incidental matters such as the location of traffic signs and information boards, the setting of speed limits, etc. When necessary, a simulated view map at an arbitrary road position on the driving simulation screen is automatically printed out by the printer 17 using the graphic data corresponding to the screen, and the defective portion can be confirmed on paper. As described above, in one embodiment of the present invention, it is possible to verify a design with exactly the same feeling as when actually driving on a planned and designed road. Etc. can be effectively picked up and fed back to the planning and designing stage to make design corrections, and for example, it is possible to implement a fine-grained and advanced road planning design, for example, to avoid accident-prone points in advance at the time of designing.

Although the running simulation screen can be displayed two-dimensionally as necessary, it is better to display the running simulation screen by the wire mesh method as shown in the examples of FIGS. It is preferable because it is easy to do. In addition, the image of the planned and designed portion is displayed in bluish color, and the peripheral portion and the background portion can be displayed bright and dark according to the distance from the viewpoint, and the brightness of the image can be distinguished between day and night. If circumstances such as processing power allow, various display techniques of three-dimensional computer graphics, such as coloring, shading,
By using surface processing such as texture mapping on the road surface, etc., and at the time of simulating driving at night, the lighting environment is colored and shaded so that the visibility environment at the time of driving simulation is displayed more realistically. You may.

[0067]

[0068]

As described above, according to the present invention, when a road and a surrounding environment are designed in accordance with a road plan,
Plan three-dimensional data representing the designed road and surrounding environment is created, and based on the created plan three-dimensional data,
Driving simulation data that simulates the field of view from the vehicle traveling on the designed road is generated, and simulates the field of view seen from the vehicle traveling on the road, assuming that the vehicle is traveling on the designed road. I have to. Therefore, the state of the road and the surrounding environment can be grasped three-dimensionally and accurately, the result of the design can be sufficiently inspected and confirmed, and if there is a problem in the design, it can be effectively fed back to the design stage. In other words, when a design defect is found on the computer based on the running simulation result, the design can be corrected again by feeding back, and a new running simulation can be executed quickly and the redesign result can be confirmed.

According to the present invention, there is provided a new system capable of running simulation as part of a road design system. When a design engineer performs a design in the same manner as a conventional road design, the system engineer simultaneously performs the design. The running simulation data is automatically created, and can be created by a road design engineer or a CAD operator. Therefore, when the road design result is visually displayed on the computer screen, the quality of the final result and design problems that could not be imaged only with the design drawings can be quickly judged from the viewpoint of the design engineer.

Further, since the plan three-dimensional data is created in accordance with the road plan based on the present three-dimensional data representing the present environment, a series of steps from the grasp of the present situation to the simulation through the design stage are performed. The processes are linked, and the data can be managed centrally. In addition, the part of the surrounding environment that has not been modified in the design stage faithfully reflects the current environment represented by the current three-dimensional data. it can.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of a road plan design support system to which the present invention is applied.

FIG. 2 is a part of a functional block diagram showing schematic functions of a road planning design support system to which the present invention is applied;

FIG. 3 is another part of a functional block diagram showing schematic functions of a road planning design support system to which the present invention is applied;

FIG. 4 is a flowchart illustrating an example of an overall processing procedure for designing a road plan according to an embodiment of the present invention.

FIG. 5 is a flowchart illustrating an example of a simulation process according to an embodiment of the present invention.

FIG. 6 is a diagram for explaining calculation of shift coordinate conversion in a simulation process.

FIG. 7 is a diagram for explaining calculation of simulation coordinate conversion in a simulation process;

FIG. 8 shows an example of a current state drawing and the like, and FIG.
FIG. 8B is an example of a current bird's-eye view or a landscape simulation image.

FIG. 9 is an example of a linear (planned) diagram.

FIG. 10 is an example of a planned longitudinal section.

FIG. 11 is a part of an example of a plan cross section.

FIG. 12 is another part of the example of the plan cross section.

FIG. 13 is an example of a plan plan view.

FIG. 14 shows an example of a planned bird's-eye view or a landscape simulation image. FIG. 14 [1] shows an example of the whole, and FIG. 14 [2] shows an example of an enlarged display of a part. .

FIG. 15 is a diagram illustrating an example of a traveling simulation screen.

FIG. 16 is a diagram illustrating another example of the traveling simulation screen.

[Explanation of symbols]

 8 Host computer.

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-4-290915 (JP, A) Yoshihisa Okamoto et al., Running 3D simulation on agricultural road planning route, Journal of Japan Society of Agricultural Engineering, Japan, Japan Society of Agricultural Engineering , April 1, 1998, vol. 66, no. 4, pp. 411-417 Seiji Tokushima et al., Utilization of Moving Image in Road Planning, Report of the 41st Technical Meeting of the Ministry of Construction, Japan, Civil Engineering Research Center, October 20, 1988, p505-511 Yo Terakawa et al. , the development of road landscape simulation system, the Public Works research Institute materials, Japan, the Ministry of Construction Public Works research Institute, No. 3588 (August 1998), p25-26 (58) investigated the field (Int.Cl. ⁷ G06F 17/50 680 G06F 17/50 610 JICST file (JOIS)

Claims (3)

(57) [Claims] 1. A bird's-eye view and running simulation system capable of taking survey data measured by a surveying instrument and having a display, wherein the surveying instrument is surveyed at a random point in a road planning area by a surveying instrument. Means for acquiring current three-dimensional data representing the current topography of the planned area; means for generating current bird's-eye data based on the acquired current three-dimensional data; and road planning based on the generated current bird's-eye data Means for displaying a current bird's-eye simulation image of the area on a display; means for generating plan three-dimensional data representing the road shape and surrounding topography of the planned road plan area based on the acquired present state three-dimensional data; Based on the generated plan 3D data, a run that simulates the field of view from a vehicle running on the designed road Bird's eye and traveling simulation system characterized by comprising means for generating simulation data, and means for displaying on the display a running simulation image based on the generated traveling simulation data. And means for generating post-planning bird's-eye view data of the planned road planning area based on the generated plan three-dimensional data, and a planned bird's-eye view of the road planning planned area based on the generated post-planning bird's-eye data. 2. A means for displaying a simulation image on a display.
The bird's-eye view and the bird's-eye and traveling simulation system described in 1. 3. A recording medium capable of taking survey data measured by a surveying instrument and readable by an information processing apparatus having a display, wherein the recording medium is provided at a random point in a planned road planning area from the surveying instrument. Obtaining current 3D data that is surveyed and representing the current topography of the planned road planning area; generating current bird's-eye data based on the obtained current 3D data; Displaying a current bird's-eye view simulation image of the planned road area on the display based on the acquired current three-dimensional data, and planning three-dimensional data representing the planned road shape and surrounding topography of the planned road planning area based on the acquired current three-dimensional data Generating a vehicle based on the generated plan three-dimensional data. Generating a driving simulation data that simulates a world, and displaying a driving simulation image on a display based on the generated driving simulation data. Recording media for