JP3400969B2 - 4-wheel driving simulator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a four-wheel vehicle driving simulator which enables a simulated experience of driving a four-wheel vehicle, for example, a truck, and more particularly to a four-wheel vehicle driving simulator suitable for safety education of drivers. Regarding

[0002]

2. Description of the Related Art A typical prior art is a two-wheeled vehicle driving simulator disclosed in Japanese Patent Application Laid-Open No. 9-81024 by the present applicant. In this prior art, a driver rides on a real vehicle portion of a two-wheeled vehicle installed at a fixed position to perform a driving operation. This driver wears a head mounted display (abbreviated as HMD) display device on his / her head. The screen drive and scenery are displayed on the display device by a pseudo driving operation. In this way, the screen changes according to the driver's operation, and a realistic simulation is realized.

This prior art is for a two-wheeled vehicle and therefore does not simulate the driving operation of a four-wheeled vehicle such as a truck. A four-wheeled vehicle has a vehicle width larger than that of a two-wheeled vehicle, and the driver must correctly grasp this vehicle width for safe driving. Viewpoint information such as the posture of the driver's head is important for education for safe driving of a four-wheeled vehicle. A two-wheeled vehicle does not require reverse operation, but a four-wheeled vehicle requires a simulated reverse operation. Therefore, such a prior art two-wheeled vehicle driving simulator cannot be directly implemented for a four-wheeled vehicle.

Further, in the prior art, a dangerous scene for safe driving education is programmed and stored in a memory at a predetermined fixed position on a traveling route. Therefore, the user cannot easily change the position of the dangerous scene for safe driving education.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to provide a driver of a four-wheeled vehicle with a proper understanding of vehicle body information such as the vehicle width of the four-wheeled vehicle so that the driver can be trained to drive safely. It is to provide a four-wheeled vehicle driving simulator that can be suitably implemented.

[0006]

[0007]

DISCLOSURE OF THE INVENTION The present invention provides a driving operation means including an operation member including steered wheels operated by a driver of a four-wheeled vehicle, an operation sensor for detecting an operation of the operation member, and a driver A display device mountable on the head, comprising a head position sensor for detecting the position of the driver's head, and a display device for a head mounted display for displaying an image, and a display device for simulated driving. Head image display unit for displaying the image data in the driver's field of view in response to outputs from a traveling image memory that stores three-dimensional image data along the traveling route and an operation sensor and a head position sensor. In addition to displaying the display section showing the vehicle width of the vehicle in the front image in the traveling direction, the display section,
A four-wheel vehicle driving simulator, characterized in that the image data in the field of view in front of the driver's cab displayed on the image display device includes image control means, which is a shadow drawn in the vehicle width range. .

According to the present invention, the driving operation means is operated by a driver of a four-wheeled vehicle to operate the operation member for driving operation. The operation member includes a steered wheel and, in addition, includes a pedal operated by a driver and other types of operation members, as described later.

The operation sensor detects the operation of the operation member,
With this, the traveling position of the vehicle on the simulated driving route is calculated, and among the image data corresponding to the traveling position stored in the traveling image memory, the image data in the driver's visual field due to the output of the head position sensor. Is created and displayed on the display means for head mounted display. The display device can be mounted on the driver's head, and the position of the head is detected by a head position sensor. Therefore, the image data in the driver's visual field can be read and created from the traveling image memory in which the three-dimensional image data is stored. In this way, the driver can perform a driving operation by mounting the display device, which is a head-mounted display, on his / her head. Therefore, a large screen for displaying an image is not necessary, and the installation area can be significantly reduced. In addition to being able to do so, it is possible to realize a realistic simulation.

The display device, which is a head mounted display worn by the driver on the head, is provided with the head position sensor as described above, and the position of the driver's head can be detected. Therefore, the line of sight due to the movement of the driver's head is always detected. Therefore, when the driver turns to the rear of the vehicle body, an image corresponding to the driver's viewpoint is displayed in front of the eyes by the display means for head mounted display. Therefore, the reverse driving can be easily simulated with the driver facing backward.

In particular, according to the present invention, the image displayed on the display means for the head mounted display has a display portion showing the vehicle width between the left and right side portions of the vehicle body of the vehicle. Therefore, the driver can intuitively grasp the vehicle width, and thus can easily grasp the position of the vehicle on the road. This allows the driver to perform a safety confirmation operation that is similar to the operation of an actual vehicle.

[0012]

According to the present invention, the display portion representing the vehicle width of the vehicle is a shadow drawn in the vehicle width range. This shadow is a shadow formed on the road surface of the road when sunlight is radiated from the rear of the vehicle body on the axis of the vehicle body. With this, it is easy for the driver to grasp the vehicle width.

The shadow may be configured to display a large number of small black or white dots that enable the marking on the road to be recognized, or may be displayed by hatching with a plurality of parallel diagonal lines. Of course, the shadow-like display may be performed in other display modes.

[0015]

Further, the present invention corresponds to an event data memory for storing event data representing behavior on or near a road for each of a plurality of types of dangerous events, and a position of a travel route stored in a travel image memory. And an event setting unit configured to set an event stored in the event data memory. The image control unit reads out the event data set at the traveling position corresponding to the output of the operation sensor from the event data memory and outputs the head data. It is characterized in that the event is executed on the image of the display means for the mount display.

According to the present invention, event data is stored in the event data memory. This event data represents the behavior on or near the road for each of a plurality of types of dangerous events. For example, a dangerous event at a railroad railroad crossing where a circuit breaker installed near a railroad track that descends / rises. May be a dangerous event that represents the condition of a child who suddenly jumps from the sidewalk of the road to the roadway, or may be a dangerous event that represents a situation in which a ball rolls on the road. .
Such a dangerous event can be set at a desired position on the travel route by the event setting means.
Therefore, a dangerous event is realized while the vehicle is traveling on the travel route, and at this time, the driver's operating state by the operating member can be grasped and the educational effect for safe driving can be enhanced.

Since the event can be set at a desired position on the traveling route as described above, even if the traveling route is familiar to the driver during the simulated driving, the safety event is ensured by executing such a dangerous event. The effect of simulating driving measures is enhanced.

Further, according to the present invention, in response to the respective outputs of the operation sensor and the head position sensor, the respective outputs of the operation sensor and the head position sensor are stored in correspondence with the traveling position of the automobile on the traveling route. A driving operation memory; and an evaluation means for evaluating the operation or the head position of the operation member stored in the driving operation memory at the predetermined traveling position of the traveling route based on the predetermined evaluation reference data. To do.

According to the invention, the driving operation memory shows the output of the operation sensor for detecting the operation of the operating member by the driver and the position of the display device which is the head mounted display worn by the driver on the head. The output and are stored during simulated driving on the travel route. Thus, for example, in order to confirm whether or not the driver's safety confirmation operation at an intersection or a railroad crossing is properly performed, the driving state can be restored and reproduced, and the driver's viewpoint can be grasped. Thereby, the operation of the operation member or the head position can be evaluated based on the evaluation reference data set in advance. In this way, the evaluation of safe driving, and therefore the guidance of safe driving to the driver based on that evaluation,
It becomes possible to do exactly.

The present invention also relates to (a) the actual vehicle section 5, (a1) the driver's seat 1 on which the driver 2 of the four-wheeled vehicle 39 is seated.
7, (a2) an operating member operated by the driver 2, the operating member including a steered wheel 18, a shift lever 19 for operating and changing a shift stage, an accelerator pedal 21, and a brake pedal 22. (A3) an actual vehicle unit 5 including an operation sensor 25 for detecting the operation of each operation member, and (b) a display device 4 mounted on the head of the driver 2, wherein (b1) the driver 2 A head position sensor 14 for detecting a three-dimensional position of the head, (b2) a head-mounted display display means 12 for displaying an image, and (b3) an acoustic output means 13 for giving an acoustic output to the driver 2.
A display device 4 having: and (c) an image generation device 6, (c1) responding to the output of the head position sensor 14,
A viewpoint calculation circuit 41 for calculating a viewpoint to be viewed by (c2), a plurality of roads 29 to 37 intersecting on a map of an area where the simulation is performed, and three-dimensional image data related to the roads 29 to 37, While looking at the front of the driver 2, the traveling image memory 28 to store within a range of a predetermined horizontal visual field θ1 and vertical visual field θ2, and (c3) processing means 42, 43, 44, which are operation sensors. 25 and the field-of-view calculation circuit 41, the position on the road in the travel route stored in the travel image memory 28 is calculated, and the front view for the driver 2 is displayed by the head-mounted display display means 12. The driver 2
With a perspective drawing that is drawn smaller as it goes away from the eyes of the vehicle, a part of the instrument panel 46 in front of the driver's seat 17 of the four-wheeled vehicle 39, the roads 29 to 37 on which the vehicle is traveling, and both sides of the roads 29 to 37. And the objects 47, 48 including the sidewalks and buildings are displayed, and the vehicle width between the left and right side portions of the vehicle body of the four-wheeled vehicle 39 is on the road surface of the roads 29 to 37 in the forward traveling direction of the four-wheeled vehicle 39. Is displayed, and this shadow 51 is
A shadow formed on the road surface of the roads 29 to 37 from behind the vehicle body 39 on the axis line 52 extending in the front-rear direction of the vehicle body of the four-wheeled vehicle 39. The driving position on the map stored in is calculated to calculate information indicating an instruction to travel along a preset traveling route, and an acoustic output is derived from the acoustic output means 13 so that the driver can travel. The four-wheeled vehicle driving simulator is characterized by including an image generation device 6 having processing means 42, 43, 44 for notifying a travel route to be performed by voice.

The present invention further includes an instructor's desk 7 having a travel route preparation device 8 and an instructor processing device 9, and the travel route preparation device 8 has predetermined positions on roads 29 to 37 in the middle of the travel route. Has event setting input processing means 57, 74 for setting a plurality of types of dangerous events, and the processing means 42, 43, 44 respond to the output of the event setting input processing means 57, 74, and are four-wheeled vehicles. When the traveling position of 39 reaches the position where the dangerous event is set, the dangerous event is executed and displayed on the display unit 12 for head mounted display, and the instructor processing device 9 is displayed by the display unit 12. It has an instructor image display means 86 for displaying image data, and an instructor microphone 87 for instructing safe driving during simulated driving by the sound output means 13. It is characterized in.

In the present invention, the dangerous event is road 2
Obstacles 81,8 which are persons or objects on 9,33
It is characterized by the presence of 2,84.

The present invention also provides the processing means 42, 43,
44 is characterized in that after the simulated operation is finished, the simulated operation is reproduced and the result of the reproduction operation is displayed by the instructor image display means 86 of the instructor processing device 9.

According to the present invention, after the end of the simulated driving on the travel route, the trainee or the instructor who is the driver can reproduce the image on the instructor image display means 86 and use it for the instruction of safe driving. it can. For example, by grasping the viewpoint of the trainee during traveling, it is possible to evaluate and confirm the quality of the confirmation action which is important for traffic safety.

[0026]

[0027]

[0028]

[0029]

[0030]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a perspective view of a four-wheel vehicle driving simulator 1 showing the overall configuration of an embodiment of the present invention. FIG. 2 is a four-wheel vehicle driving simulator 1 shown in FIG.
3 is a block diagram showing the electrical configuration of FIG. With reference to these drawings, a four-wheel vehicle driving simulator is basically a trainee who is a trainee who simulate-drives a four-wheel vehicle.
While viewing a screen such as a road for simulated driving by the display device 4 which is detachably attached to the vehicle, a driving operation is performed in the actual vehicle unit 5, and a driving route to be driven in the simulated driving is displayed in the image. It is created by calculation by the generation device 6, and the operation of safe driving by the driver 2 can be observed at the instructor's desk 7. The instructor desk 7 includes a travel route creating device 8 and an instructor processing device 9.

FIG. 3 is a perspective view showing a display device 4 and an actual vehicle portion 5 which can be mounted on the head 3 of the driver 2.
In the display device 4, the display means 12 for head mounted display is attached to the frame 11 that covers the head 3, and
A sound output means 13 such as a speaker is provided. Further, a head position sensor 14 for detecting the three-dimensional position of the head 3 is attached. In the vicinity of the actual vehicle section 5, the above-mentioned FIG.
The magnetic field generating means 15 shown in FIG. The head position sensor 14 detects the direction and magnitude of the magnetic field generated by the magnetic field generating means 15, and thereby the 3 of the head 3 is detected.
The position and orientation of the dimension can be detected. The display unit 12 is realized by, for example, a liquid crystal display element, and can display an image.

In the actual vehicle section 5, a driver's seat 17 which is a seat on which the driver 2 is seated is attached to a base 16 provided at a fixed position, and like the driver's seat of a four-wheeled vehicle, the driver's seat 17 is installed. A steering wheel 18, which is a steering wheel, is provided on the front side, a shift lever 19 for operating and changing the shift stage of the transmission is provided, and an accelerator pedal 21, a brake pedal 22, and a clutch pedal 23 are provided on the floor surface. A parking side brake 24 is provided. In addition to these operation members 18 to 24, operation members may be additionally provided as shown in Table 1.

[0033]

[Table 1]

Each operation of each of the operation members 18 to 24 of reference numerals A to C shown in Table 1 is individually detected by the operation sensor 25. The operation sensor 25 converts the presence or absence of the operation of each operation member by the driver and the operation amount into an electric signal and derives the electric signal.

Input means 7 provided in the instructor processor 9
By operating 8, the operating state can be set by the operating state setting circuit 79. The driving state may be, for example, a weather state while the automobile is running. When rainy weather is selected by the input means 78, the output of the operating state setting circuit 79 is given to the memory means 27 via the communication circuits 61 and 62, and the processing circuit 42 displays the image displayed by the display means 12 on the image. A state in which raindrops adhere to the windshield of the vehicle 39 can be calculated and displayed in a pseudo manner. These operation state setting operations may be executed in step a2 of FIG.

Referring again to FIG. 2, the image generating device 6 is provided with the memory means 27. This memory means 27
The running image memory 28 stores three-dimensional image data of the area where the simulation is performed.

FIG. 4 is a partial view showing a map stored in the running image memory 28. This image data includes, for example, a plurality of intersecting roads 29 to 37 and the roads 29 to 37.
3D image data related to 37 are stored.

FIG. 5 is a plan view showing a part of the road shown in FIG. When a four-wheeled vehicle 39 in pseudo driving is traveling on the road 29 in FIG. 5, the horizontal viewing angle θ1 = 60, for example, while the driver 2 is looking at the front.
And the vertical viewing angle θ2 = 34 degrees, the roads 29-37
And three-dimensional image data that can see the surroundings of the roads 29 to 37 are stored. The four-wheeled vehicle 39 in which the driver 2 is in the pseudo driving may be referred to as the own vehicle 39.
The image displayed by the display means 12 of the display device 4 is
It may be a situation of a road 150 m ahead and its surroundings. In this way, the forward view displayed by the display unit 12 when the driver 2 looks forward with the display unit 12 is as shown in, for example, FIG. 6, and the scenery in the front gives a perspective and the eyes of the driver 2 are shown. It is displayed in a perspective drawing that is drawn smaller as it is farther away from, for example, a one vanishing point perspective projection.

FIG. 7 is a view showing an image displayed on the screen of the display means 12 which is a simplified view of the front view of the driver 2 shown in FIG. The instrument panel 46 in front of the driver's seat 17 of the own vehicle 39 of the vehicle 39 in which the driver 2 is driving in a simulated manner
Is displayed, and the road 29 on which the vehicle is traveling is displayed.
Further, sidewalks, buildings and other objects on both sides of the road 29 are displayed as indicated by reference numerals 47 and 48. A shadow 51 representing the vehicle width between the left and right sides of the vehicle body of the own vehicle 39.
Is displayed on the road surface of the road 29 ahead of the vehicle 39 in the forward traveling direction. This shadow 51 is a display unit, and is a range of the vehicle width of the own vehicle 39 in the image data in the front view seen by the driver 2 seated in the driver's seat 17 of the cab of the actual vehicle unit 5. It is the shadow drawn on. This shadow 51 is on the axis line 52 extending in the front and rear of the vehicle body of the own vehicle 39, and when the sunlight in the sky is radiated from the rear of the vehicle body (lower side in FIGS. 6 and 7), the road 2
9 is a shadow formed on the road surface of No. 9. The shadow 51 may be displayed by a large number of small black or white dots, or may be displayed by hatching with a plurality of parallel diagonal lines, and is displayed by hatching in FIG. 7.
Instead of the display mode of the shadow 51, only the straight line 53 indicating the vehicle width may be displayed, or other symbols may be displayed, and the display unit may be formed in another display mode. . The driver 2 can see the left and right positions of the vehicle 39 on the road surface by seeing the images of FIGS. 6 and 7 displayed by the display means 12, and intuitively grasp the vehicle width. Easy to do. This achieves an excellent effect that the safety confirmation operation close to the operation of the actual vehicle can be performed. 7 is different from FIG. 6 for convenience of description.

The output of the head position sensor 14 provided in the display device 4 is given to the viewpoint calculation circuit 41 provided in the image generation device 6 to calculate the viewpoint viewed by the driver 2, that is, the direction of the line of sight. It is derived and given to the processing circuit 42.
Outputs from the operation sensor 25 that detects the operations of the operation members 18 to 23 of the actual vehicle unit 5 and other operation members are given to the driving information calculation circuit 43 of the image generation device 6 and 4 when the actual vehicle unit 5 is in the pseudo operation. It is calculated and converted into driving information representing the running state of the wheeled vehicle. Driving information calculation circuit 43
Is output to the driving model calculation circuit 44, and the traveling direction, forward movement, backward movement, traveling speed, etc. during the pseudo driving by the above-mentioned operation members are calculated, and stored in the traveling image memory based on these driving model information. The position on the road on the traveled route is calculated and obtained. The output of the driving model arithmetic circuit 44 is given to the processing circuit 42.

FIG. 8 is a diagram for explaining the overall operation of the processing circuit 42. The configuration will be further described with reference to FIG. The process moves from step a1 to step a2, and the travel route for the simulated operation is set. The travel route creation device 8 is used to set the travel route. By operating the input means 55, while looking at the map which is the plane of the roads 29 to 37 shown in FIG.
The roads 29 to 32 are selected from the roads 29 to 37 to set the travel route. The input means 55 and the display means 56 are processing circuits 57 realized by a microcomputer or the like.
The processing circuit 57 stores the travel route in the set route memory 63 of the memory means 27. The travel route set by the processing circuit 57 is also given to the travel route setting circuit 59 provided in the instructor processing circuit 9. This data is sent from the communication circuit 61 when the travel route is selected.
It is given to the communication circuit 62 of the image generating device 6 and is referred to when the travel route is taken out from the set route memory 63 of the memory means 27.

In this way, from the start position 64 on the road 29 of FIG.
The traveling route up to the end position 65 via is stored in the set route memory 63 and becomes selectable. The driver 2 is the actual vehicle section 5
By operating the operation members 18 to 23 and the like, the output from the operation sensor 25 is obtained and converted from the driving information calculation circuit 43 into the driving information of the own vehicle 39. The traveling direction of the vehicle 39, the traveling speed of the vehicle 39, the traveling distance, and the like of the simulated driving by operating the accelerator pedal 21 and the brake pedal 22 are calculated on the map of the roads 29 to 37, and the current traveling of the vehicle 39 is calculated. The position is also calculated by further calculation. A travel instruction means 67 is connected to the processing circuit 42,
As a result, a signal representing the narration process by the synthetic voice and the sound effect is derived.

The processing circuit 42 is a driving model arithmetic circuit 44.
The travel position on the map stored in the travel image memory 28 obtained by the calculation is calculated and obtained, and the vehicle should travel along the preset travel route based on the contents stored in the set route memory 63. Information representing the instruction is calculated and derived, and an acoustic output is derived from the acoustic output means 13 of the display device 4. As a result, the driver 2 can know the traveling route to be traveled by voice, and the instruction of the traveling direction is given. The driver operates the operation members 18 to 23 and the like to drive the vehicle 39 while listening to the acoustic output. Further, at this time, it is also possible to indicate the direction with an arrow or the like by the display means 12.

At this time, the traveling position of the automobile on the traveling route with the passage of time is sequentially stored in the traveling position memory 69 of the storage means 27. Further, the operation state detected by the operation sensor 25 such as the operation members 18 to 23 operated with the passage of time corresponding to the traveling position is stored in the driving operation memory 71. In the driving operation memory 71, the position and direction of the head detected by the head position sensor 14 corresponding to the operation position, and thus the viewpoint and / or line of sight of the driver 2, are sequentially displayed with the passage of time. Will be stored in. The output of the head position sensor 14, and thus the viewpoint or line of sight of the driver 2 as described above, is also stored in the head position memory 72.

In step a3 of FIG. 8, the processing circuit 42
Responds to the viewpoint information from the viewpoint calculation circuit 41, calculates and obtains the line of sight of the driver 2, reads the image data within the field of view of this line of sight from the running image memory 28, and calculates and represents that field of view. The image data is displayed by the display unit 12, and the shadow 51 is also displayed as described above. In this way, the driver 2 can realize a realistic simulation while operating the operation members 18 to 23 and looking at the image displayed by the display unit 12.

In step a4, when the driver 2 is looking at the forward field of view based on the viewpoint information, the forward field of view is displayed by the display means 12 as described with reference to FIGS. 6 and 7. , A shadow 51 representing the width of the own vehicle 39
Is displayed on the screen in step a5. At step a6, the aforementioned store operation is performed in each memory such as the traveling position memory 69, the driving operation memory 71, the head position memory 72 and the like.

FIG. 9 is a diagram showing the contents stored in these memories 69 to 72 in a simplified manner. Memories 28, 63,
Although 69 to 72 may be realized by a single semiconductor memory chip, they may be realized by a plurality of memory chips.

In order to set a dangerous event in the middle of the set traveling route, the traveling route creating device 8 is provided with event setting input means 74. The event setting input means 74 selects one or more of a plurality of types of dangerous events, and selects the road 29 to the middle of the set traveling route.
Set to 32. For example, reference numeral 75 in FIG. 4 indicates that the dangerous event indicated by event 1 has been set. A plurality of types of dangerous events are stored in the event data memory 76 of the memory means 27. By the operation of the event setting input means 74, the processing circuit 57 stores one or more selected dangerous events stored in the event data memory 76 and the traveling position at which the event is to be executed correspondingly. Therefore, the own vehicle 39 calculated by the driving model calculation circuit 44 is obtained.
When the traveling position of the vehicle reaches the position where the dangerous event set by the event setting input means 74 stored in the event data memory 76 is to be executed, the processing circuit 42
Displays the dangerous event data in the event data memory 7
Read from 6 and run the dangerous event program,
The dangerous event is displayed by displaying on the display means 12.

In step a4, when the direction of the line of sight of the driver 2 based on the output obtained by the head position sensor 14 is left or right, the display means 12 displays the left field of view in FIG. 10 (1). Or the right field of view shown in FIG. 10 (2) is displayed. This field of view is changed according to the direction and angle of the line of sight of the driver 2.

FIG. 11 shows a display means 86 for safe driving.
FIG. 5 illustrates the need for left and right views that can be displayed on the display. It is assumed that the vehicle 39 is traveling on the road 29 by the driving of the driver 2, for example, another vehicle, for example, a two-wheeled vehicle 81 is traveling from the road 33. At this time, the traveling state of the automobile 81 is displayed by the display means 12 in the right field of view in FIG. 10 (2). Such entry of the automobile 81 into the road 29 can be set as a dangerous event by the event setting input means 74 so that the dangerous event is executed at the traveling position where the dangerous event is executed. .

When it is determined in step a4 that the front peep has been performed, the image data of the front peep field shown in FIG. 12 is calculated by the operation of the processing circuit 42 and is obtained, as shown in FIG. Is displayed in.

FIG. 13 is a view showing a state when the forward looking field shown in FIG. 12 is obtained. Own vehicle 39
When the driver 2 of the vehicle looks into the road surface of the front lower road 29 of the vehicle 39, an obstacle 82 such as a person or an object is obtained.
Can be confirmed. For the dangerous event, such an obstacle 82 can be selected and the dangerous event can be executed. When starting the own vehicle 39 in FIG. 13, the driver 2 needs to confirm whether or not the front peep has been performed for the purpose of safety driving education in which the front blind spot is confirmed. The image data displayed by the display unit 12 during the simulated driving of the driver 2 is also displayed by the image display unit 86 included in the instructor processing device 9. This allows the instructor to use the microphone 87
To the sound output means 13
The sound is output. In this way, the instructor can give guidance on safe driving during simulated driving in real time.

In step a4 of FIG. 8, the driver 2 drives the vehicle 39
When it is determined that the user has looked backward, the image data for displaying the backward visual field shown in FIG. 14 is calculated and displayed by the display means 12.

FIG. 15 is a diagram for explaining the rear view shown in FIG. There may be an obstacle 84 such as a person or an object behind the own vehicle 39, and whether the driver 2 has confirmed such a backward field of view when the vehicle is moving backward is determined by the driver 2 for safe driving education. It is necessary for.

After the driver 2 finishes the simulated driving in the actual vehicle section 5, the input means 78 controls the reproducing means 88 and the communication circuits 61 and 62 in this order. Based on the stored contents of the memories 28, 63, 69 to 72, 76 of the storage means 27, these contents can be read out, and the reproduction calculation can be performed by the processing circuit 42 based on the reproduction control data described above. As a result, the display unit 86 displays the operation of the simulated driving.

FIG. 16 is a diagram for explaining the operation at the time of reproduction displayed by the display means 86. The forward field of view seen by the driver 2 in the driver's seat 17 is displayed. Further, the image of the side of the road displayed by the display unit 12 viewed by the driver 2 during the driving of the pseudo driving can be displayed by the display unit 86 as shown in FIG. Further, the stored contents of the traveling image memory 28 are read out in correspondence with the traveling position on the traveling route, and image data viewed from the outside of the own vehicle 39 is created. For example, in FIG. 18, image data viewed from above is created, It can be displayed by the display means 86. Further, the image data viewed from the outside of the own vehicle 39 at each traveling position of the simulated driving can be displayed by the display means 86 as shown in FIGS. 19 and 20.
FIG. 19 is a diagram showing a display state of image data viewed from above and behind the vehicle 39 displayed by the display means 86.
FIG. 20 is a diagram showing an image displayed by the display means 86 as seen from the rear of the vehicle 39. Such image data viewed from the outside of the own vehicle 39 can be output and calculated and displayed for the education of safe driving after the end of the pseudo driving, and the effect of teaching safe driving can be improved.

The instructor processing device 9 is provided with a processing circuit 91 realized by a microcomputer or the like.
The calculation result of the processing circuit 91 can be printed on recording paper by the printer 92 and output. Processing circuit 91
Is the driving operation memory 71 at the predetermined traveling position of the traveling route after the end of the simulated driving in the actual vehicle portion 5 of the driver 2.
The head position detected by the operation members 18 to 23 and / or the head position sensor 14 stored in
Therefore, the line of sight is evaluated based on the predetermined evaluation reference data. The evaluation result is printed out on the recording paper by the printer 92.

FIG. 21 is a flow chart for explaining the operation of the processing circuit 91 for performing the evaluation calculation. During or after the pseudo operation, based on the stored contents of the storage means 27, in particular based on the stored contents of the driving operation memory 71, the process moves from step b1 to step b2, and the crossing of a railroad track, for example, on the traveling route. For example, when the own vehicle 39 reaches 100 m before,
The program operation shown in is executed and the driving operation evaluation calculation is performed. At step b3, it is judged whether or not the own vehicle 39 has stopped before the railroad crossing, that is, whether or not the speed of the driving information obtained by the calculation has become zero, and whether or not the brake pedal 22 is stepped on again to brake. Is judged and evaluated. At step b4, it is determined whether or not the driver 2 has checked the left and right after stopping the own vehicle 39.
It is confirmed and evaluated based on the output of the head position sensor 14.

At step b5, for example, take the railroad crossing to the own vehicle 3
9 is running, shift lever 19 and clutch pedal 2
It is confirmed and evaluated whether or not the vehicle has traveled without being operated, that is, without gear change. In this way, the evaluation of the safe driving during the simulated driving is performed at the same time as the simulated driving or after the simulated driving is finished and is calculated.

[0060]

[0061]

According to the present invention, an image in the driver's field of view is displayed on the display means of the display device, which is a head mounted display worn by the driver on the head, and the image is displayed on the image. In addition, a display unit indicating the vehicle widths of the left and right side portions of the vehicle body is displayed in front of the vehicle in the traveling direction, and thus the driver can intuitively understand the vehicle width of the vehicle body on the road. As a result, the operability of the pseudo driving is improved and the position of the vehicle on the road can be grasped, and thus the safety confirmation operation close to the actual vehicle can be performed.

Therefore, the driver of the four-wheeled vehicle cannot correctly grasp the vehicle width of the own vehicle, which increases the burden of operating the steering wheel, which is the steering wheel at the intersection, and drives on a narrow road. Generally, there is a tendency that the burden on the time increases and as a result, the safety confirmation operation becomes insufficient, but the present invention solves such a problem.

According to the present invention, the display portion is a shadow drawn in the range of the vehicle width, and the outline of the vehicle is partially drawn on the road surface of the road. It is easy to know the vehicle width above and the position of the vehicle on the road.

According to the present invention, data of a plurality of types of dangerous events are stored in the event data memory,
This dangerous event can be set to be realized at a desired traveling position on the traveling route. Therefore, it becomes possible to freely set the scene of the dangerous event to a desired position on the driving route, and the education and guidance of the driver's driving operation for safe driving corresponding to the dangerous event will be improved, and Even on a travel route that is familiar with simulated driving, the effect of teaching safe driving can be improved by causing various dangerous events at arbitrary positions.

According to the present invention, the outputs of the operation sensor and the head position sensor are stored in the driving operation memory in correspondence with the respective traveling positions of the automobile traveling on the traveling route, and the operation is performed based on the stored contents. The operation of the member or the position of the head is evaluated based on predetermined evaluation reference data, whereby the safe driving can be accurately evaluated, and the teaching education can be accurately performed. It is also possible to perform this evaluation by a combination of the operation of the operation member and the position of the head.

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[Brief description of drawings]

FIG. 1 is a perspective view of a four-wheel vehicle driving simulator 1 showing the overall configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing an electrical configuration of a four-wheel vehicle driving simulator 1 shown in FIG.

FIG. 3 is a perspective view showing a display device 4 and an actual vehicle section 5 that can be mounted on the head 3 of the driver 2.

FIG. 4 is a diagram showing a map stored in a traveling image memory 28.

5 is a diagram showing a part of the road shown in FIG. 4. FIG.

FIG. 6 is a diagram showing a forward field of view displayed by the display unit 12 when the driver 2 looks forward from the display unit 12.

FIG. 7 is a diagram showing an image displayed on a screen of a display unit 12 that schematically shows the forward field of view of the driver 2 shown in FIG.

FIG. 8 is a diagram for explaining the overall operation of the processing circuit 42.

FIG. 9 is a diagram schematically showing the stored contents of these memories 69, 71, 72, and 76.

FIG. 10 is a diagram showing a state in which the left and right visual fields are displayed by the display means 12.

FIG. 11 is a diagram showing the necessity of a left view and a right view.

FIG. 12 is a view showing the image data of the field of sight looking in the front, which is calculated and obtained by the operation of a processing circuit.
It is a figure which shows the state displayed on.

13 is a diagram showing a state when the forward looking field shown in FIG. 12 is obtained.

FIG. 14 is a diagram showing a state in which image data for displaying a rear view is calculated and displayed on the display unit 12.

FIG. 15 is a diagram for explaining the rear view shown in FIG. 14.

FIG. 16 is a diagram for explaining the operation at the time of reproduction displayed by the display means 86.

FIG. 17 is a view showing an image of a side of the road displayed by the display means 12 viewed by the driver 2 during the driving in the pseudo driving mode.
It is the figure displayed by 6.

FIG. 18 is a diagram in which image data viewed from above outside the automobile 39 is created and displayed by the display means 86.

FIG. 19 is a diagram showing a display state of image data viewed from the upper rear of the own vehicle 39 displayed by a display means 86.

20 is a diagram showing an image displayed by the display means 86 as seen from the rear of the own vehicle 39. FIG.

FIG. 21 is a flowchart for explaining an operation of a processing circuit 91 that performs an evaluation calculation.

[Explanation of symbols]

1 4 wheeler driving simulator 2 driver 3 heads 4 display device 5 real car 6 Image generation device 7 Instructor table 8 travel route creation device 9 Instructor processing device 12 Display means 13 Sound output means 14 Head position sensor 15 Magnetic field generating means 16 bases 17 Driver's seat 18 steering wheels 25 Operation sensor 27 memory means 28 Running image memory 29-37 road 39 own vehicle 41-viewpoint arithmetic circuit 42 Processing circuit 43 Operation information calculation circuit 44 Operation model arithmetic circuit 51 Shadow 55 Input means 56 display means 57 Processing circuit 59 Travel route processing circuit 61,62 Communication circuit 63 Set path memory 64 Start position 65 end position 69 running position memory 71 Operation memory 72 Head position memory 74 Event setting input means 76 Event data memory 86 image display means 88 Playback means 91 Processing circuit 92 Printer

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroyuki Tanaka 1 Kawasaki-cho, Kakamigahara-shi, Gifu Kawasaki Heavy Industries, Ltd. Gifu factory inside (56) Reference JP 9-81024 (JP, A) Patent 2898681 (JP) , B2) International Publication 98/015329 (WO, A1) "Zero Senki USER'S MANUAL PC-9800 Series", System Soft Co., Ltd., December 1993, 47-54 (58) Fields investigated (Int. Cl. ⁷ , DB name) G09B 9/00-9/52 A63F 13/00-13/12 G06T 15/00 G06F 17/60

Claims (7)

(57) [Claims] 1. A driving operation means including an operation member including steered wheels operated by a driver of a four-wheeled vehicle, an operation sensor for detecting an operation of the operation member, and a display device attachable to a driver's head. A display device equipped with a head position sensor that detects the position of the driver's head and a display means for a head mounted display that displays an image, and a three-dimensional image along a simulated driving route. In response to the outputs from the traveling image memory that stores data, the operation sensor and the head position sensor, the image data in the driver's field of view is displayed on the display means for the head mounted display, and in the traveling direction forward. The display section showing the vehicle width of the own vehicle is displayed in the image of, and the display section is drawn in the range of the vehicle width in the image data in the field of view in the front as seen from the driver's cab displayed on the image display device. Shadow Four-wheel vehicle driving simulator which comprises a certain image control unit. 2. An event data memory for storing event data representing behavior on or near a road for each of a plurality of types of dangerous events, and event data corresponding to the position of the travel route stored in the travel image memory. The image control means reads event data set at a traveling position corresponding to the output of the operation sensor from the event data memory, and includes an event setting means for setting an event stored in the memory, and the image control means for the head mounted display. The four-wheeled vehicle driving simulator according to claim 1, wherein the event is executed on the image of the display means. 3. A driving operation memory which responds to the outputs of the operation sensor and the head position sensor and stores the outputs of the operation sensor and the head position sensor corresponding to the traveling position of the vehicle on the traveling route. And the operation or head position of the operating member stored in the driving operation memory at the predetermined traveling position of the traveling route,
The four-wheel vehicle driving simulator according to claim 1 or 2, further comprising: an evaluation unit that evaluates based on predetermined evaluation reference data. 4. (a) The actual vehicle section 5, wherein (a1) the driver's seat 1 on which the driver 2 of the four-wheeled vehicle 39 is seated
7, (a2) an operating member operated by the driver 2, a steering wheel 18, a shift lever 19 for operating and changing a gear position, an accelerator pedal 21, and an operating member including a brake pedal 22; (A3) an actual vehicle unit 5 including an operation sensor 25 for detecting the operation of each operation member, and (b) a display device 4 mounted on the head of the driver 2, wherein (b1) the driver 2 A head position sensor 14 for detecting a three-dimensional position of the head, (b2) a head-mounted display display means 12 for displaying an image, and (b3) an acoustic output means 13 for giving an acoustic output to the driver 2.
A display device 4 having: and (c) an image generation device 6, (c1) responding to the output of the head position sensor 14,
A viewpoint calculation circuit 41 for calculating a viewpoint to be viewed by (c2), a plurality of roads 29 to 37 intersecting on a map of an area where the simulation is performed, and three-dimensional image data related to the roads 29 to 37, While looking at the front of the driver 2, the traveling image memory 28 to store within a predetermined horizontal visual field θ1 and vertical visual field θ2, and (c3) the processing means 42, 43, 44, 25 and the visual field calculation circuit 41, the position on the road in the traveling route stored in the traveling image memory 28 is calculated, and the front view seen by the driver 2 is displayed by the display means 12 for the head mounted display. Is a perspective drawing that is drawn smaller as it gets farther from the eyes of the driver 2, and a part of the instrument panel 46 in front of the driver's seat 17 of the four-wheeled vehicle 39, the roads 29 to 37 on which the vehicle is running, and the roads 9-3
The sidewalks on both sides of 7 and the objects 47 and 48 including buildings are displayed, and roads 29 to 37 are provided in front of the forward traveling direction of the four-wheeled vehicle 39.
A shadow 51 representing the vehicle width between the left and right sides of the vehicle body of the four-wheeled vehicle 39 is displayed on the road surface of the vehicle body 39. The shadow 51 is on the axis line 52 extending in the front-rear direction of the vehicle body of the four-wheeled vehicle 39. Is a shadow formed on the road surface of the roads 29 to 37 when the sunlight in the sky is radiated from behind, and the traveling position on the map stored in the traveling image memory 28 is calculated and set in advance. Processing means 42, 43, 44 for calculating information representing an instruction to travel along the travel route, causing the sound output means 13 to derive an acoustic output, and informing the driver of the travel route to be traveled by voice. A four-wheel vehicle driving simulator, comprising: 5. A travel route creating device 8 and an instructor processing device 9
Further includes an instructor's desk 7 having, and the travel route creation device 8 is provided at a predetermined position on the roads 29 to 37 on the way of the travel route.
It has event setting input processing means 57, 74 for setting a plurality of types of dangerous events, and the processing means 42, 43, 44 respond to the output of the event setting input processing means 57, 74, and When the traveling position reaches the position where the dangerous event is set, the dangerous event is executed and displayed on the display unit 12 for the head mounted display, and the instructor processing device 9 displays the image data displayed by the display unit 12. 5. The four-wheeled vehicle driving system according to claim 4, further comprising: an instructor image display unit 86 for displaying a message, and an instructor microphone 87 for instructing the safe driving during the simulated driving by the sound output unit 13. Simulator. 6. The four-wheel vehicle simulator according to claim 5, wherein the dangerous event is the presence of obstacles 81, 82 and 84 which are persons or objects on roads 29 and 33. 7. The processing means 42, 43, 44 reproduces and calculates the simulated operation after completion of the simulated operation, and the result of the reproduction operation is displayed by the instructor image display means 86 of the instructor processing device 9. The four-wheel vehicle simulator according to claim 6, which is performed.