JP3475240B2 - Road traffic evaluation system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle (simulated vehicle) simulating vehicle behavior such as acceleration, deceleration, and lane change on a computer, and a road structure simulating road structure such as road width, slope, and lane configuration. The present invention relates to a road traffic evaluation device according to a micro traffic simulation that autonomously travels on a (simulated road) and simulates traffic of a simulated vehicle.

[0002]

2. Description of the Related Art As a micro-traffic simulator that simulates the movement of a vehicle in road traffic on a computer, "PARAMICS (Gordon Cameron, Brian JNWylie, David
McArthur, PARAMICS-Moving Vehicles on the Connec
Machine ", IEEE 1994"), American "Smart
PATH (Farokh Eskafi, Delnaz Khorramabadi, Pravin Var
aiya, "SmartPATH: An Automated Highway System Simul
ator ”, PATH TECHNICALMEMORANDUM 92-3, October 23,19
92 ”), Japanese“ SOUND (Masao Kuwahara, “Wide Area Network Simulation”, Automotive Technology Vol52, N01,199)
8) ”etc. Further, for example, (1) “Japanese Patent Laid-Open No. 9-147285” describes a traffic flow simulator capable of reflecting traffic regulations, vehicle routes, etc. in a traffic flow. All of these simulators
Traffic flow simulation is performed by simulating vehicle movement, road infrastructure such as traffic lights, and driver's route selection on a computer.
It is a device that evaluates road traffic by outputting simulation results such as vehicle movement and traffic volume. On the other hand, as a driving simulator capable of simulating vehicle driving, first, various game machines for amusement purposes, and second, "JARI" driving simulator (Kaneo Hiramatsu, Kenji Sato, for the purpose of studying driver behavior). Hitoshi Soma, Hiroshi Uno
(Japan Automobile Research Institute, Road Traffic Laboratory), ITS research example using a driving simulator-Driver's behavior when avoiding stationary and moving obstacles, "Automotive Technology Vol52, N04, 199
8), “AVCS Study Group” driving simulator (Yasuyuki Shirano, “Study on crisis avoidance in ITS environment using driving simulator”, Proceedings of t
he 2 nd Tokyo AVCS Conference, 1997.2.28 ), Daimler-Benz Driving Simulator (Wilfried K
ading and Friedrich Hoffmeyer, "The Advanced Daim
ler-Benz Driving Simulator, SAE International Con
gress and Exposition, 1995). These all simulate the traffic of other vehicles in a preset scenario,
The position / direction of the vehicle of the subject is changed according to the operation of the handle, accelerator pedal, and brake pedal of the subject, and the visual field of the subject is changed accordingly. Regarding the latter driving simulator for the purpose of studying the behavior of the driver, the driving behavior of the driver can be recorded and output. Further, for example, (2) “Japanese Patent Laid-Open No. 8-248871” describes a simulated vehicle driving device in which another vehicle moves in accordance with the movement of the own vehicle. Furthermore, as an example of connecting a traffic simulator and a driving simulator, a simulator of Mitsubishi Motors Corporation (Takahiro Mae
mura, Yoshiki Miichi, Tetsushi Mimuro, Kenji Kimura,
An Application of Traffic Simulation to Co-drive
r System Development, Second Annual World Congres
s on Intelligent Transport Systems, 1995) and Mitsubishi Electric simulator (Masahico Ikawa, Hiroyuki Kumazaw)
a, Yukio Goto, Haruki Furusawa, Simulation Environme
nt For ITS-Real Time 3D Simulatior, 5 th World Congr
ess on Intelligent Transport Systems, 1998).

[0003]

By the way, in order to study various measures for improving the safety and smoothness of road traffic, the behavior of the driver constituting the road traffic is
After all, it is indispensable to model in response to various traffic situations. Therefore, it is necessary to simulate various traffic situations, collect a large amount of information from a large number of subjects, and create a model relating to the driving behavior of the driver (hereinafter referred to as “driving behavior model”). However, in the conventional traffic flow simulator, it is possible to evaluate the road traffic by changing the parameters related to traffic such as traffic volume and road structure and performing simulation, and outputting the simulation results of vehicle movement, traffic volume, etc. It was not possible to obtain information on the driving behavior of the driver. On the other hand, in the conventional driving simulator, it is possible to reflect the simulated driving behavior of the subject on the behavior of the simulated vehicle in the simulation and obtain information about the driving behavior of the driver in simulated traffic, but Runs on the basis of a scenario set before execution of the simulation, so a huge amount of scenario settings were required to simulate the actual traffic conditions in the simulation. Further, regarding a device that connects a traffic flow simulator and a driving simulator that can collect data on the driving behavior of the subject under various traffic conditions, in the conventional device, the driving operation of the subject is the driving in the traffic flow simulator. It was only reflected in the behavior of the simulated vehicle such as acceleration, deceleration, and lane change, and did not change the driving behavior model itself.

Therefore, using the information on the driving operation from the driving simulator and the information on the simulated traffic flow from the traffic flow simulator, a driving behavior model created according to various traffic situations can be created. In order to reflect it in the model, it was necessary to perform complicated operations such as analysis of collected information after simulation and setting of initial parameters before simulation. Therefore, it takes a lot of labor and time to reflect the new driving behavior model created in the driving behavior model of the simulated vehicle of the traffic flow simulator, repeat the simulation and data collection, and improve the accuracy of the driving behavior model. There was a problem that was.

Therefore, an object of the present invention is to solve the problem of the conventional road traffic evaluation apparatus as described above, and to make a model relating to the driving behavior by allowing a large number of test subjects to perform a driving operation using the driving simulation apparatus. It is to provide a road traffic evaluation system that can generate and reflect the generated new model in a driving behavior model of a simulated vehicle of a traffic simulator and automatically improve the accuracy of the driving behavior model.

[0006]

Road traffic evaluation of the present invention, there is provided a means for solving] Shi
In the system , a vehicle (simulated vehicle) that simulates vehicle behavior on the road by using a model (driving behavior model) related to vehicle behavior on the road such as acceleration, deceleration, and lane change on a road The traffic simulation function that autonomously travels on the road simulating the structure displays the surrounding conditions of the driver of the vehicle specified by the user (hereinafter referred to as "driving simulated vehicle") in the simulated vehicle of this traffic simulation. Then, the steering simulator, the brake pedal, and the accelerator pedal operated by the subject according to the display are combined so that the driving simulation functions capable of reflecting the behavior of the driving simulation vehicle are linked to each other.
Furthermore, a driving behavior model generation function that generates a driving behavior model using information on driving operations of a plurality of test subjects from the driving simulation device and information on simulated traffic states of the traffic simulator at the time when the test subjects operated is linked. Then, the generated driving behavior model is automatically reflected in the vehicle behavior model in the traffic simulation function.

Further, the traffic simulation has a function of setting parameters of the traffic simulation such as the generation amount of the simulated vehicle, the shape of the simulated road, the simulated infrastructure equipment on the simulated road, and the micro behavior of the simulated vehicle (data string of position and speed). ) And traffic volume of simulated vehicles, average speed, and the function to output information about the results of traffic simulation. Further, the evaluation device has means for observing the movement of the simulated vehicle, and provides the user with means for designating an arbitrary simulated vehicle as a driving simulated vehicle. When the user designates a specific simulated vehicle during the traffic simulation as a driving simulated vehicle, a transmission path is established so that the traffic simulation function and the driving simulation function can exchange information. As a result, the driving simulation vehicle uses the information about the types, positions, speeds, and accelerations of the vehicles surrounding the driving simulation vehicle sent from the traffic simulation function and the information about the invariant elements such as road structure and road infrastructure equipment. Display the surrounding information of the driver. Then, based on the operation information related to the vehicle behavior such as the steering wheel operation, the brake pedal operation, and the accelerator pedal operation of the subject, the information such as the position / speed / acceleration of the driving simulation vehicle is updated. Then, the display information in the driving simulation function is updated. Further, the updated information is transmitted to the traffic simulation function. This traffic simulation function updates the information of the designated driving simulation vehicle based on the sent information. For the simulated vehicles other than the driving simulated vehicle, the information on the vehicle behavior such as the position, speed, and acceleration is updated based on the preset driving behavior model and the vehicle model.

Using the above-mentioned device, a plurality of test subjects carry out a driving operation and the brake pedals, accelerator pedals,
Information about driving operation such as steering wheel operation is extracted. Furthermore, at the time when the test subject performed the driving operation,
Information about traffic conditions such as the position and speed of the simulated vehicle around the driving simulated vehicle driven by the subject is extracted from the traffic simulation function. By using the information about the driving operation of the subject and the information about the traffic situation, a relationship about the input / output where the input is the traffic situation and the output is the driving operation is created, and this is used as the driving behavior model. Then
The created driving behavior model and the driving behavior model in the traffic simulation function are compared, and if there is a difference in the value of the parameter that defines the input / output relationship, the new value is added to the parameter value of the driving behavior model in the traffic simulation function. Add a value. Then, as a result of the comparison, if a driving behavior model having the same input / output element does not exist in the traffic simulation function, a new driving behavior model is added in the traffic simulation function.

In this evaluation system , the information about the driving operation of the subject is reflected in the behavior of the vehicle during the traffic simulation simulating the actual road traffic, and the driving behavior model is created from the information about the driving operation of the subject. , It is necessary to collect information about the same driving operation as when driving the actual vehicle. Therefore, in this evaluation system , real-time simulation is performed to match the time on the computer with the real time. Therefore, the position of the simulated vehicle
When updating data on vehicle behavior such as speed and acceleration, calculations are performed based on the current time. Also, in the driving simulation function, the subject's steering wheel operation, brake pedal operation,
Also when updating the position, speed, and acceleration of the driving simulation vehicle from the driving operation related to the vehicle behavior such as the accelerator pedal operation, the calculation is performed based on the current time.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a first embodiment of the present invention. First, the outline of the present invention will be described with reference to FIG. The present invention is a traffic simulator 101, a driving simulator 1
02, the driving behavior model updating unit 113. The traffic simulator 101 is a computer that simulates the movement of a plurality of simulated vehicle groups 104 running on a computer simulated road 103. The driving simulation device 102 presents a scenery seen by a driver of a vehicle 105 (hereinafter, referred to as “driving simulated vehicle”) designated by the user in the vehicle 104 simulated by the traffic simulator 101, and the scenery is examined by the subject 106A. ，
106B is a computer that can control the movement of the driving simulation vehicle 105 as viewed. The driving behavior model updating unit 113 creates a driving behavior model using information from the driving simulators 102A and 102B and the traffic simulator 101, and
The driving behavior model database 118 in 101 is updated.
The traffic simulator 101 includes an environment setting unit 107, a control unit 108, an information presenting unit 109, and a driving behavior model database 118. In the environment setting unit 107, parameters of the simulation performed by the control unit 108 of the traffic simulator 101, such as the structure of the road 103 simulated by the control unit 108, the place / number / timing of generating the simulated vehicle group 104, and the model of the behavior of the simulated vehicle group 104. To set. The control unit 108 also performs a traveling simulation of the plurality of simulated vehicle groups 104 based on the settings made by the environment setting unit 107. The information presenting unit 109 is the control unit 1
The results of the traveling simulation of the simulated vehicle group 104 executed by 08 are presented to the user of the traffic simulator 101 in real time during the simulation. The driving behavior model database 118 is a set of models related to the driving behavior of the driver in various traffic situations, and the simulated vehicle group
It is used when autonomously driving a 104.

Driving simulators 102A and 102B are surrounding information presenting units.
110A and 110B, control units 111A and 111B, and driving behavior acquisition unit 112A,
It is composed of 112B. In the surrounding information presentation units 110A and 110B, the driving simulation vehicle 105 of the control unit 108 of the traffic simulator 101
The scenery seen by the drivers A and 105B is displayed using three-dimensional computer graphics. Driving behavior acquisition unit 11
2A and 112B imitate in-vehicle devices such as the steering wheel, brake pedal, and accelerator pedal of the simulated driving vehicles 105A and 105B, and acquire information about the steering wheel operation, brake pedal operation, and accelerator pedal operation of the subjects 106A and 106B. .
The control units 111A and 111B acquire information on the driving simulation vehicle and its surroundings from the control unit 108 of the traffic simulator 101, and transmit the information to the surrounding information presenting units 110A and 110B. At the same time, the driving behavior information of the subjects 106A and 106B is acquired from the driving behavior acquisition units 112A and 112B, the positions and speeds of the driving simulation vehicles 105A and 105B are updated, and the updated positions and speeds are controlled by the traffic simulator 101. It is transmitted to the unit 108. As a result, the test subjects 106A and 106B are the driving simulation vehicles 105A and 105A of the control unit 108 of the traffic simulator 101.
It is possible to obtain a feeling as if the driver is driving 105B, and the driving behavior of the subjects 106A and 106B based on the feeling is simulated driving vehicle 105A,
It is reflected in the movement of 105B.

The driving behavior model updating unit 113 comprises a driving behavior data extracting unit 114, a traffic situation data extracting unit 115, a driving behavior model creating unit 116, and a driving behavior model comparing unit 117. In the driving behavior data extraction unit 114, the driving simulation device 102
Subject 1 collected by driving behavior acquisition unit 112A, 112B of A, 102B
The driving behavior required for the driving behavior model to be created is extracted from the driving behaviors of 06A and 106B. Traffic data extractor
In 115, the traffic simulator shows the traffic conditions around the simulated vehicle groups 105A and 105B operated by the subjects 106A and 106B at the time when the driving behavior extracted by the driving behavior data extraction unit 114 occurs.
It is extracted from the control unit 108 of 101. Driving behavior model creation unit 11
6 creates a driving behavior model using the data extracted by the traffic situation data extraction unit 115. Here, as the input traffic conditions and driving behavior model is obtained by provisions of the relationship for input and output to output the driving behavior thereby generated. The driving behavior model comparison unit 117 compares the driving behavior model newly created by the driving behavior model creation unit 116 with the driving behavior model database 118 preset in the traffic simulator 101, and the values of the parameters defining the input / output relationship are different. If there is, a new parameter value is added to the parameter value of the driving behavior model of the driving behavior model database 118 in the traffic simulator 101. Then, as a result of the comparison, if a driving behavior model having the same input / output element does not exist in the traffic simulator 101, a new driving behavior model is added to the driving behavior model database 118 in the traffic simulator 101.

The traffic simulator 101, the driving simulators 102A and 102B, and the driving behavior model updating unit 113 can be realized in one device. In addition, the driving simulator 102A, 102B
Can connect to multiple subjects and can simultaneously collect driving behavior data from multiple subjects 106A and 106B. Next, processing in the control unit 108 of the traffic simulator 101 will be described with reference to FIG. In the flowchart of FIG. 2, when the traffic simulator 101 is activated, first, the environment setting process 201 is performed. In this environment setting process 201, the environment setting unit 1 of FIG.
Through 07, the parameters of the simulation performed by the control unit 108 of the traffic simulator 101, such as the structure of the road 103 simulated by the control unit 108, the place / number / timing of generating the simulated vehicle group 104, and the driving behavior model database 118, are set. Details of the environment setting process 201 will be described later with reference to FIG. A simulation start 202 is performed after the environment setting process 201. This simulation start 2
After 02, the current time acquisition / time update processing 203 is performed.
In the current time acquisition / time update processing 203, the current time is acquired from the system and the information of the previous time step is copied to the previous time step time. Then proceed to branch 204, branch 204
If is not the branch of the first time step, the previous time step start time acquisition processing 205 is performed. Here, the time step is the process 20 in the flowchart of FIG.
The part from 3 to processing 214. The time step start time is the current time acquired in process 203. In branch 204, if branch 204 is the first time step branch, branch 206 is taken.

Next, if there is no driving simulation vehicle 105A, 105B connected to the driving simulation device at branch 206, branch 20
In step 207, if the user makes a connection request to the driving simulator in step 207, the operation proceeds to branch 208. At the branch 206 , the driving simulation vehicles 105A, 10A connected to the driving simulation device
If there is 5B, proceed to branch 208. At branch 208 , if the user does not request disconnection from the driving simulator,
Proceed to processing 209 for providing information to the driving simulator. Details of the information providing process 209 to the driving simulator will be described later with reference to FIG. After the process 209, the process proceeds to the process 210. The aforementioned branch
At 207, if the user does not make a connection request to the driving simulator, and at branch 208, if there is a connection release request from the driving simulator by the user, the process proceeds to step 210. In the vehicle update process 210, the driving simulation vehicles 105A and 105B are used.
Information about the previous time step start time of the data such as the position, speed, and acceleration of the simulated vehicle group 104 other than is updated to the information of the current time step start time. Processing 21
Details of 0 will be described later with reference to FIG. 7. After the processing 210, in the branch 211, if there is no driving simulation vehicle 105A or 105B connected to the driving simulation device, the process proceeds to processing 213. When there are driving simulation vehicles 105A and 105B connected to the driving simulation device, driving simulation vehicle update processing 212 is performed.
Further, in the process 212, information such as the position / speed / acceleration of the driving simulation vehicles 105A, 105B connected to the driving simulation device is acquired from the control units 111A, 111B of the driving simulation devices 102A, 102B, and the position of the driving simulation vehicle is detected. Update information such as speed and acceleration. Information such as the position / speed / acceleration of the driving simulators 105A and 105B is obtained by the subject 10 of the driving simulators 102A and 102B.
Calculation is performed by the control units 111A and 111B of the driving simulators 102A and 102B based on the driving behaviors of 6A and 106B. After the process 212, the process 213 is performed.

In the data collection process 213, the information updated at the current time step (data relating to vehicle behavior such as position / speed / acceleration of the simulated vehicle group 104 and the driving simulated vehicles 105A and 105B) is recorded and saved in a file. After the process 213, the process proceeds to the information presentation process 214. Information presentation processing 214
Then, the information updated at the current time step is presented to the user of the traffic simulator 101 in real time using an interface such as a display. After the processing 214, the process proceeds to the branch 215. On the other hand, if there is a request to end the simulation at branch 215, the simulation ends. If there is no request to end the simulation at branch 215, the process returns to the current time acquisition process 203, and the processes 203 to 214 are repeated until there is a request to end the simulation. Next, the environment setting process 201 of FIG. 2 will be described with reference to FIGS. FIG. 3 is a detailed flowchart of the environment setting process 201 in the flowchart of FIG. First, a road data file reading process 302 is performed. In the road data file reading process 302, the road data file in which the road data of the simulated range is described
304 is prepared in advance, and the data of the file is sent to the control unit 108 of the traffic simulator 101. This road data file is also read into the driving simulators 102A and 102B.

Next, the contents of the road data file will be described with reference to FIG. The road data file 304 is made up of two types of data: road structure data 401 and road infrastructure equipment data 402. Information necessary for driving the vehicles 104, 105A, 105B in the simulation and the driving simulation device 102A, The information necessary for creating the scenery that 102B presents to the subjects 106A and 106B is described. The data 401 regarding the road structure includes a link 404 that approximately expresses the road 403, data 406 that is represented by a set of nodes 405 that are points of contact between the links, and data 409 that details the file 406 into a set of links 408 for each lane 407. Composed. The information included in the data 406 includes the position of the node 405, the number and ID number of the links 404 connected to the node, the length of the links 404, the gradient, the number of lanes, the restricted speed, and other attribute information of the links 404. The information included in the data 409 includes, in addition to the information in the data 406, the width of the lane, the traveling direction of the lane, the presence / absence / type of the side wall / median strip, and the like. Data on infrastructure equipment
Reference numeral 402 indicates the position of the traffic light and the timing of signal display, the position and type of the display board, the position of the variable display board and the display content / display timing, and the like.

As shown in the flowchart of FIG. 3, after the road data file reading process 302, the traffic flow setting process 3
Do 03 In this traffic flow setting processing 303, settings relating to the generation of the vehicles 104, 105A, 105B to be simulated are performed. The contents of the setting include the vehicle generation interval in the vehicle generation extinguishing unit, the size of the generated vehicle, the acceleration performance, the destination, and the like. Here, as shown in FIG. 5, the vehicle generation extinguishing portion is a portion 503 where the boundary line 501 and the road 502 of the simulated road range intersect.
And a node 504 within the simulated road.
Next, the information providing processing 209 to the driving simulator in the flowchart of FIG. 2 will be described with reference to FIG. In the flowchart of FIG. 6, the driving simulator vehicles 105A and 105 are branched at 601.
If this process for B is the first time, the process proceeds to the information provision process 602 regarding the driving simulation vehicle. In the information providing process 602 regarding the driving simulation vehicle, the types of the driving simulation vehicles 105A and 105B, the initial values of the position / speed (including direction) / acceleration, and the like are provided to the control units 111A and 111B of the driving simulation devices 102A and 102B. Processing 60
After 2, proceed to process 603. It should be noted that the process proceeds to the process 603 even if the present process for the driving simulation vehicle is not the first time at the branch 601.

In the driving simulator vehicle surrounding information providing process 603, the driving simulator devices 102A and 102B determine the types, positions, and speeds of the surrounding vehicles that can be visually recognized by the drivers of the driving simulator vehicles 105A and 105B.
To provide. Next, the vehicle update process 210 in the flowchart of FIG. 2 will be described with reference to FIG. Figure 7
As shown in the flowchart of FIG.
Do 1 Here, the simulated vehicle group 104 is generated in the vehicle generation extinguishing section shown in FIG. 5 based on the environment setting regarding vehicle generation (vehicle generation interval, vehicle type, speed at the time of generation, etc.). A unique ID number is given to the generated vehicle,
It is stored in the vehicle database together with the attribute information of the vehicle. After the process 701, the following processes 702 to 709 are performed for all the vehicles registered in the vehicle database. That is, at the branch 702, if the vehicle is not the driving simulation vehicle 105A or 105B connected to the driving simulation device,
The process proceeds to the vehicle position / velocity / acceleration acquisition process 703 in the previous time step. In process 703, the position / speed / acceleration of the vehicle obtained in process 705 in the previous time step is acquired. In the case of a vehicle generated at the current time step, the vehicle generation processing 701 acquires the position / velocity / acceleration given to the vehicle. After processing 703, the process proceeds to processing 704.

In the vehicle surrounding information acquisition processing 704,
Types of surrounding vehicles that the driver of the vehicle 104 can visually recognize,
Get position, speed, etc. After the process 704, the process proceeds to the process 705. In the vehicle position / velocity / acceleration calculation process 705 at the current time step, the calculation is performed using the information acquired in the processes 703 and 704, the driving behavior model database 118, and the vehicle model database 710. Details of the processing 705 and the driving behavior model database 118 will be described later with reference to FIG. After the processing 705, the process proceeds to the branch 707. Here, also in the case where the vehicle is the driving simulation vehicle connected to the driving simulation device at the branch 702, the process proceeds to the branch 707. If the vehicle arrives at the vehicle generation extinction section at branch 707, the vehicle extinction processing
Proceed to 708. In this vehicle disappearance processing 708, the vehicle that has reached the vehicle occurrence disappearance portion is deleted from the vehicle database.
In this case, when the deleted vehicles are the driving simulation vehicles 105A and 105B, the connection to the driving simulation device is released. After the processing 708, the process proceeds to the branch 709. If the vehicle has not reached the vehicle generation extinguishing unit at the branch 707, the process proceeds to the branch 709.
At branch 709, if there is an unupdated vehicle other than the driving simulation vehicle in the vehicle database, return to branch 702,
The processes 702 to 707 are performed on the vehicle that has not been updated. If there is no unupdated vehicle in the vehicle database at branch 709, the process ends.

Next, the vehicle position / velocity / acceleration calculation process 705 and the driving behavior model database 118 at the current time step in the flowchart of FIG. 7 will be described with reference to FIG. In the flowchart of FIG. 8, first, subject recognition element extraction / input processing 801 is performed. In process 801, the recognition elements such as the front vehicle, the side vehicle, and the traffic light recognized by the driver of the vehicle 104 obtained in the vehicle surrounding information acquisition process 704 in the flowchart of FIG. 7 are extracted,
The driving behavior model database 118 is searched. Then, in the next driving behavior extraction processing 802, when the same data as the recognition element of the subject exists in the driving behavior model database 118, the driving behavior which is supposed to be generated by the recognition element is extracted and is output as the processing 802. On the other hand, when the same data as the recognition element of the subject does not exist, the driving behavior model database 118 is searched and extracted for some recognition elements of the recognition element of the subject, and the driving that is caused by the extracted recognition element is performed. Extract and process behavior
802 output. Following the process 802, a vehicle position / speed / acceleration calculation process 805 is performed.

In step 805, the position / speed / acceleration of the vehicle at the current time step is calculated based on the driving behavior (left / right steering wheel operation, accelerator operation, brake operation) determined in step 804. At this time, the time T between the previous time step start time and the current time step start time is calculated from the current time obtained in the process 203 of FIG. 2 and the previous time step start time obtained in the process 205 of FIG. It is determined that the determined driving behavior continues to be performed during the time T, and the position / speed / acceleration of the vehicle at the previous time step obtained in the process 703 of FIG. 7 is updated. In the calculation, the vehicle model database 710 that describes the relationship between the driving behavior of the driver and the vehicle behavior caused thereby is used. The update result is registered in the vehicle database.

Next, referring to FIG. 9, the driving simulator 10 of FIG.
The processing in the control units 111A and 111B of 2A and 102B will be described. In the flowchart of FIG. 9, first, in the environment setting processing 901, the road data file is read and
Information presenting units 110A and 110B of the driving simulators 102A and 102B
Convert to drawing data in. Road data files are the data read by the traffic simulator and the white lines on the road.
It is an addition of elements that need to be presented to the subject, such as guardrails and surrounding buildings. The road data in the drawing data is obtained by converting the road data in FIG. 4 into three-dimensional polygon data. After the processing of 901, a simulation start 902 is performed, and the process proceeds to branch 903. If there is no connection request from the traffic simulator at branch 903, the process waits until there is a connection request from the traffic simulator. If there is a connection request from the traffic simulator at branch 903, the process proceeds to information acquisition processing 904 regarding the driving simulation vehicle. Here, the driving simulation vehicle is the vehicle 105A, 105B in FIG. 1 designated by the user during the simulation, and the behavior of the driving simulation vehicle is the driving behavior acquisition unit of the driving simulation devices 102A, 102B.
It depends on the behavior of subjects 106A and 106B obtained at 112A and 112B. In the information acquisition processing 904 regarding the driving simulation vehicle, the information providing processing 209 to the driving simulation device in the flowchart (FIG. 2) of the processing in the control unit 108 of the traffic simulator 101.
Then, the information provided from the traffic simulator 101 to the driving simulators 102A and 102B is acquired. The information to be acquired is information such as the types of the simulated driving vehicles 105A and 105B and the initial values of the position / speed / acceleration. After the processing 904, the process proceeds to the surrounding information acquisition processing 905 of the driving simulation vehicle.

In the driving simulator vehicle surrounding information acquisition processing 905 , in the processing flow chart (FIG. 2) of the control unit 108 of the traffic simulator 101 of FIG. Driving simulator 102A,
Get the information provided to 102B. The information to be acquired is the driving simulation vehicle group 105A, 105B connected to the traffic simulator.
Types of vehicles within the range that can be visually recognized by
Position, speed, etc. After the processing 905, the drawing processing 906 is performed. In this drawing process 906, the visual information required by the test subjects 106A and 106B for the simulated driving is presented through the surrounding information presentation units 110A and 110B of the driving simulators 102A and 102B. Drawing process 905
Details of will be described later with reference to FIG.

After the process 906, a current time acquisition process 907 is performed. The current time of the acquired system is the vehicle position /
Used in the speed calculation process 909. After the processing 907, the driving behavior acquisition processing 908 is performed. In the driving behavior acquisition processing 908, the driving behaviors of the subjects 106A and 106B collected by the driving behavior acquisition units 112A and 112B of the driving simulators 102A and 102B (related to vehicle behavior such as accelerator pedal depression angle, brake pedal depression angle, and steering wheel operation angle). Driving operation). The acquired driving behavior is used in the vehicle position / speed calculation processing 909 described later. After processing 908, the process proceeds to vehicle position / speed calculation processing 909. In the vehicle position / speed calculation processing 909,
The positions and speeds of the simulated driving vehicles 105A and 105B are updated based on the information acquired in the above-mentioned driving behavior acquisition processing 908. FIG. 11 shows details of the vehicle position / speed calculation processing 909.
Will be described later. Then, after the process 909, the process proceeds to a process 911 of providing the information on the driving simulation vehicle to the traffic simulator.
In process 911, the information about the simulated driving vehicles 105A and 105B updated in the vehicle position / speed calculation process is sent to the traffic simulator. The information sent to the traffic simulator is the simulated driving vehicle update processing 212 in the flowchart of FIG. 2 showing the processing in the control unit 108 of the traffic simulator 101.
Used in.

After processing 911, the process proceeds to branch 910. In branch 910, if there is a connection release request from the traffic simulator, the process ends. At branch 910, if there is no disconnection request from the traffic simulator, the process returns to processing 905,
Processing until disconnect request from traffic simulator
Steps 905 to 909 are repeated. Next, the drawing process 906 in the flowchart of FIG. 9 will be described with reference to FIG. In the flowchart of FIG. 10, first, at branch 1001, if the drawing process is the first time, the process proceeds to process 1002. Processing 10
In 02, the position (including the direction) of the vehicle is acquired from the information regarding the driving simulation vehicle in the process 904 of the flowchart of FIG. 9, and the position of the viewpoint and the direction of the line of sight of the subject (driver of the driving simulation vehicle) are calculated. . If the drawing is not the first time in the branch 1001, the process proceeds to the process 1003. In process 1003, process 909 in the process of the previous time step in the flowchart of FIG.
The information on the position (including the direction) of the vehicle is acquired from the vehicle position / speed calculation results of, and the position of the viewpoint and the direction of the line of sight of the subject are calculated.

After the processing 1002 and the processing 1003, the own vehicle drawing 1004 is performed. Here, the own vehicle is a portion of the vehicle structure of the driving simulation vehicles 105A and 105B that can be visually recognized by the subject (driver of the driving simulation vehicle) (a view of the vehicle from the inside. Bonnet, rearview mirror, instruments) Etc.) based on the information regarding the simulated driving vehicle (data regarding the structure of the vehicle) in the processing 904 of the flowchart of FIG. 9 and drawing from the viewpoint calculated in the above processing 1002 or processing 1003. After processing 1004, surrounding information drawing processing 1005 is performed. The surrounding information is information such as road structure and infrastructure equipment acquired by the environment setting processing 901 of FIG. 9 and converted into drawing (three-dimensional polygon data) and surroundings of the simulated driving vehicle acquired in processing 905 of FIG. It is data obtained by converting information (another vehicle that can be visually recognized by the driver of the driving simulation vehicle) for drawing. After the process 1005 is completed, the process ends.

Next, the vehicle position / speed calculation processing 909 of FIG. 9 will be described with reference to FIG. In the flowchart of FIG. 11, first, at branch 1101, if the vehicle position / speed calculation process is the first time, the process proceeds to process 1102. In process 1102, the initial values of the positions and speeds of the simulated driving vehicles 105A and 105B are acquired from the information on the simulated driving vehicle in the process 904 of the flowchart of FIG. After processing 1102, the process proceeds to processing 1103. Processing 11
In 03, the information of the process 1102 of the flowchart of FIG. 11 (initial values of the position / speed of the driving simulation vehicles 105A and 105B), the current time acquired in the process 907 of the flowchart of FIG. From the driving behavior of the vehicle driver), the positions and speeds of the simulated driving vehicles 105A and 105B at the current time step are calculated. In branch 1101, if the vehicle position / speed calculation process is not the first time, the process proceeds to process 1104. In this process 1104, the positions of the driving simulation vehicles 105A and 105B in the process 909 of the process of the previous time step in the flowchart of FIG.
Get speed.

After the process 1104, the process proceeds to the process 1105. Process 1105
Then, the information of processing 1104 in the flowchart of FIG. 11 and FIG.
Current time and process 9 acquired in process 907 of the flowchart
From the driving behavior of the subject (driver of the driving simulation vehicle) acquired in 08, the position / speed of the driving simulation vehicle 105A, 105B at the current time step is calculated. After processing 1103 and processing 1105, the processing ends. Next, the driving behavior data extracting unit 114 of the driving behavior model updating unit 113 in FIG. 1 will be described with reference to FIG. Figure
13 shows the flow of data in the driving behavior model updating unit 113 in FIG. Driving behavior data extraction unit 11
At 4, driving behavior data extraction processing 1301 is performed. The driving behavior data extraction unit 114 receives data from the driving behavior acquisition units 112A and 112B of the driving simulators 102A and 102B, and outputs the data to the traffic situation data extraction unit 115. Further, the data in the control unit 108 of the traffic simulator 101 is referenced 1303. The input data 1302 is driving behavior data for each T [s] of the subject i (i = 1 to N). In this case, the data format is {time ti [s], accelerator (ON / OFF), brake (ON / OFF), steering wheel (right / straight / left)}. Control unit 108 of traffic simulator 101
Reference data 1303 to is the traveling lane number of the simulated vehicles 105A and 105B driven by the subject at time ti and the vehicle speed. The data format is {lane number j, speed [m / s]}. Further, the output data 1304 is the driving behavior targeted when the driving behavior model is created and its attributes. In this case, the data format is {driving behavior start time ti [s], driving behavior type (accelerator ON / OFF, brake ON / OFF, steering wheel right / straight /
Left), speed [m / s]}. Here, the output is performed whenever output data exists. Also, driving behavior data extraction processing
In 1301, the input data regarding the subject i is accumulated as a function of time ti. In this case, the format of the accumulated data is {time ti [s] accelerator (ON / OFF), brake (ON / OFF), steering wheel (right / straight / left), lane number, speed [m / s]} { Time ti + 1 [s] accelerator (ON / OFF), brake (ON / OFF), steering wheel (right / straight / left), lane number, speed [m / s]}. When the following conditions are met in the process of accumulating these data, the following processing is performed. (1) Condition: When any of the following items are met: Either the accelerator or brake value changes,
And when the speed changes more than V [m / s].・ When the value of the steering wheel changes and the lane number changes. (2) Processing: The changed driving behavior and the speed at the time when the changed driving behavior occurs are calculated as the driving behavior data extraction unit 11
4 output 1304. When this process is performed, the driving behavior data extraction unit 114 outputs 1304. This driving behavior extraction processing is performed for all test subjects i (i = 1 to N).

Next, the traffic condition data extraction unit 115 in FIG. 1 will be described with reference to FIG. Traffic situation data extraction unit 1
At 15, traffic condition data extraction processing 1306 is performed. The traffic situation data extraction unit 115 receives the data from the driving behavior data extraction unit 114 and outputs the data to the driving behavior model creation unit 116. Further, the data in the control unit 108 of the traffic simulator 101 is referred to. The input data is the same as the output 1304 of the driving behavior data extraction unit 114. The reference data 1307 to the control unit 108 of the traffic simulator 101 is traffic elements (other vehicles, roadside equipment, roads) existing within the radius R [m] of the simulated vehicles 105A and 105B driven by the subject at time ti [s]. Structure). The data format is {number of surrounding elements, type of element 1 (small vehicle / large vehicle / traffic light / right sharp curve ...), attribute of element 1 (in case of element type small vehicle, outline of position (forward vehicle / rear vehicle) Vehicle ...) / position (relative distance) / relative speed), type of element 2, attribute of element 2 ...}. The output data 1308 has the following data format. {Driving behavior start time ti [s], driving behavior type (accelerator ON / O
FF, brake ON / OFF, steering wheel right / straight / left), * Multiple possible), speed [m / s], surrounding element} Here, the data format of "surrounding element" is reference data 1307 to the traffic simulator and Is the same. Further, in the traffic situation data extraction processing 1306, the contents of the reference data 1306 are added to the input 1304.

Next, the driving behavior model creating unit 116 in FIG. 1 will be described with reference to FIG. Driving behavior model creation unit 1
At 16, the driving behavior model creation processing 1310 is performed. In the driving behavior model creating unit 116, the data is input from the traffic situation data extracting unit 115 and the data is output to the driving behavior model comparing unit 117. The input data is the traffic situation data extraction unit 115.
This is the same as the output data 1308 of, and is input at any time. The output data 1311 is the created driving behavior model. The data format is as follows. {Driving behavior, speed, surrounding elements} Here, the data format of "surrounding elements" is {number of surrounding elements, type of element 1 (small vehicle / large vehicle / traffic light / right sharp curve ...), attribute of element 1 Value distribution (in case of small type vehicle, outline of position (front vehicle / rear vehicle ...) / position (relative distance) / relative speed distribution), element 2
, Distribution of attribute values of element 2 ...}. Here, the distribution of attribute values means that when the type of element is a small vehicle and the outline of the position of the element is a forward vehicle, (relative distance to the forward vehicle)
The frequency distribution of / (relative speed to the vehicle ahead) is used. Further, in the driving behavior model creation processing 1310, the following processing is performed. (1) The input data 1308 is classified by the driving behavior type. (2) The data classified by the driving behavior type is classified by speed and surrounding elements. When classifying by speed, classify by the range divided by V1 [m / s]. In addition, when classifying by surrounding elements, first, classification is performed by the number of surrounding elements and the type of element, and then by the attributes of the surrounding elements. When classifying by the attributes of surrounding elements, consider the attribute values by delimiting them within a certain range. For example, in the case of a small vehicle ahead, the relative distance / relative speed to the small vehicle <
The case of T1 [s] is classified as A, and the relative distance / relative speed with small cars ≤
The case of T1 [s] is classified as Category B. As a result of the above processing, the input data 1308 is classified into a plurality of types. When N pieces of the same kind of input data are collected, the same kind of data group is used as one driving behavior model element and becomes output data 1311. For example, one type of data is structured as follows and processed as output data.・ Type: Driving behavior type: Brake ON, speed V: V1 ≤ V ≤ V
2, number of surrounding elements: 1, surrounding element type: front small car / element attributes ... Relative distance / relative speed ≤ T1 [s] If N input elements 1308 satisfying the above conditions are accumulated, the following driving behavior model Let the element be the output 1311. {Brake ON, V1 ≤ speed ≤ V2, 1 surrounding element, small vehicle in front, element attribute distribution (frequency) In this case, for example, relative distance / relative speed = frequency distribution of T [s]}

Next, the driving behavior model comparison unit 117 in FIG. 1 will be described with reference to FIG. 13 again. The driving behavior model comparison unit 117 performs driving behavior model comparison processing 1313. The driving behavior model comparing unit 117 receives the data from the driving behavior model creating unit 116 and outputs the data to the driving behavior model database 118 of the traffic simulator 101. Further, the data of the driving behavior model database 118 of the traffic simulator 101 is referred to. The input data is the same as the output 1311 of the driving behavior model creation unit 116. The reference data 1314 to the driving behavior model database is extracted from the driving behavior model database 118 by the method described below. The data format in this case is the same as that of the input element 1311. The output data is the result of the driving behavior model comparison processing 1313, and the data format is the same as the input 1311.

In the driving behavior model comparison processing 1313, first,
For items other than the distribution of attribute values in the input data,
Traffic behavior model database 118 for traffic simulator 101
If the same driving behavior model element exists by searching the inside, the driving behavior model element is set as the reference data 1314.
Then, data of the distribution of the value of the attribute of the driving behavior model element of the reference data 1314 (for example, the distribution of the frequency of the relative distance to the preceding vehicle / the value of the relative speed) is added to the driving behavior model element of the input data 1311. The output is 1315. In the driving behavior model database 118, the driving behavior model element of the reference data 1314 is replaced with the driving behavior model element of the output data 1315.

As a result of the search in the driving behavior model database 118, if there is no item that is the same as the input 1311 except for the distribution of the attribute value, the input 1311 is directly output 13
15, and the driving behavior model element having the output 1315 is added to the driving behavior model database 118. Next, the timing of processing of the traffic simulator 101 and the driving simulators 102A and 102B will be described. The driving behaviors of the subjects 106A and 106B (drivers of the driving simulation vehicle) of the driving simulation vehicles 105A and 105B acquired by the driving simulation devices 102A and 102B are reflected in the traffic simulation that simulates the actual road traffic. ，
It is necessary for the 106B to feel as if the driving simulator vehicles 105A and 105B are actually driving. Therefore, the simulation of the driving simulators 102A and 102B needs to be real-time simulation. Also, a driving simulator
Since 102A and 102B exchange data with the traffic simulator 101, the traffic simulation of the traffic simulator 101 also needs to be real-time simulation. Further, the simulation time of the traffic simulator 101 and the simulation time of the driving simulators 102A and 102B must match. First, a method of realizing the real-time simulation in the driving simulators 102A and 102B will be described. In the flowchart of FIG. 9 showing the processing performed by the control units 111A and 111B of the driving simulators 102A and 102B, the current time of the system is acquired by the current time acquisition processing of processing 907. When the vehicle position / speed calculation process 909 is performed for each time step, real time simulation can be realized by performing calculation using this current time.

Next, a method of realizing a real-time simulation in the traffic simulation of the traffic simulator 101 will be described. In the flowchart of FIG. 2 showing the processing performed by the control unit 108 of the traffic simulator 101, the current time of the system is acquired in the current time acquisition processing of processing 203, and the simulated vehicle group 104 is acquired at each time step.
Real-time simulation can be realized by updating the position / velocity values by using the current time. Next, referring to FIG. 12, the simulation time of the traffic simulator 101 and the driving simulation device 102
A method of matching the times of A and 102B on the simulation will be described. In the upper part 1201A of FIG. 12, the processing of the traffic simulator is faster than that of the driving simulator, and in the lower part 1201B of FIG. 12, the processing of the driving simulator is faster than that of the traffic simulator. ing. The horizontal axis of the figure is the time axis, the upper time axes 1203A and 1203B are the time axis of the traffic simulator, and the lower time axes 1204A and 1204B are the time axis of the driving simulator. The part from 1211A, 1211B to 1212A, 1212B in the figure is one time step of the simulation. In addition, a part 1213 of the graph represents that the process is in progress, and a part 1214 of the graph represents that the process is not performed and the process is in a standby state. Also, 1205A, 120 on the time axis of the traffic simulator
The portion 5B is the time for one processing from the processing 203 to the processing 209 in the flowchart of FIG. 2 showing the processing performed by the control unit 108 of the traffic simulator 101, and the portions 1206A and 1206B are the ones in the flowchart of FIG. Then, the time for one processing 210, and the portions 1207A and 1207B represent the time for one processing from processing 212 to processing 215 in the flowchart of FIG. The arrows 1209A and 1209B indicate that the data is sent from the traffic simulator 101 to the driving simulators 102A and 102B in the process 209.

The portion 1208A, 1208B on the time axis of the driving simulator is the processing 90 in the flowchart of FIG. 9 showing the processing performed by the control units 111A, 111B of the driving simulator 102A, 102B.
It represents the time for one processing from 5 to processing 911. 12
The arrows of 10A and 1210B indicate the process 911 in the driving simulator 102A, 1
It shows that the data is sent from 02B to the traffic simulator 101. If the processing of the traffic simulator ends earlier, as in the case of the 1201A, the processing of the driving simulator
The processing of the traffic simulator is stopped until 1208A ends and data is sent from the driving simulation device by the arrow 1210A.
On the contrary, if the processing of the driving simulator ends earlier, as in the case of 1201B, the processing using the data from the driving simulator shown by arrow 1210B after the processing of 1206B of the traffic simulator ends. Perform 1207B. By this method, the traffic simulator and the driving simulator can be synchronized. 1212A and 1211B to 1212A and 121 in FIG.
The time corresponding to one time step of the simulation corresponding to 2B is the processing of the traffic simulator and the driving simulator.
1205A, 1205B, 1206A, 1206B, 1207A, 1207B, 1208A, 1
It varies depending on the time taken for 208B. By the above method, it is possible to realize a real-time simulation in which the traffic simulator and the driving simulator are synchronized with each other.

[0036]

According to the present invention, a model relating to this driving behavior is created only by the subject performing a driving operation using the driving simulation device, and the created new model is reflected in the model of the vehicle simulated by the traffic simulator. There is an effect that the accuracy of the model regarding driving behavior can be automatically improved.

[Brief description of drawings]

FIG. 1 is a diagram showing an outline of the present invention.

2 is a flowchart of processing performed by a control unit 108 of the traffic simulator 101 of FIG.

FIG. 3 is a detailed flowchart of an environment setting process 202 in the flowchart of FIG.

FIG. 4 is a diagram illustrating a road data file 304 used in the flowchart of FIG.

FIG. 5: Traffic flow setting process 303 in the flowchart of FIG.
5 is an explanatory diagram of a vehicle occurrence extinguishing unit, which is one of the setting contents of FIG.

6 is a detailed flowchart of an information providing process 209 to the driving simulator in the flowchart of FIG.

FIG. 7 is a detailed flowchart of a vehicle update process 210 in the flowchart of FIG.

8 is a detailed flowchart of a vehicle position / velocity / acceleration calculation process 705 at the current time step in the flowchart of FIG. 7. FIG.

9 is a control section 111A of the driving simulators 102A and 102B shown in FIG.
It is a flowchart of the process performed in 111B.

10 is a detailed flowchart of a drawing process 906 in the flowchart of FIG. 9.

11 is a detailed flowchart of a vehicle position / speed calculation process 909 in the flowchart of FIG. 9.

FIG. 12 is a diagram illustrating a method of matching a simulation time of the traffic simulator 101 of FIG. 1 and a simulation time of the driving simulators 102A and 102B.

FIG. 13 is a diagram illustrating a process and information flow in the driving behavior model updating unit 113 in FIG. 1.

[Explanation of symbols]

101 ... Traffic simulator, 102A, 102B ... Driving simulator, 1
03 ... Simulated road, 104 ... Simulated vehicle group, 105A, 105B ... Driving simulated vehicle, 106A, 106B ... Subject, 107 ... Environment setting section, 108 ...
Control unit (inside traffic simulator), 109 ... Information presenting unit, 110
A, 110B ... Surrounding information presentation unit, 111A, 111B ... Control unit (in driving simulator), 112A, 112B ... Driving behavior acquisition unit, 113 ... Driving behavior model updating unit, 114 ... Driving behavior data extraction unit, 115
… Traffic condition data extraction unit, 116… Driving behavior model creation unit, 117… Driving behavior model comparison unit, 118… Driving behavior model database, 201… Environment setting processing, 202… Simulation start, 203… Current time acquisition / information updating processing ， 204
… Branch processing regarding whether it is the first time step, 20
5 ... Previous time step start time acquisition processing, 206 ... Branching processing regarding whether there is a vehicle connected to the driving simulator, 207 ...
Branching process regarding whether there is a connection request to the driving simulator, 208 ... Branching process regarding whether there is a connection release request from the driving simulator, 209 ... Information providing process to the driving simulator, 210 ... Vehicle update process, 211… Branching process regarding whether there is a vehicle connected to the driving simulator, 212…
Driving simulation vehicle update processing, 213 ... Data collection processing, 214 ... Information presentation processing, 215 ... Branch processing regarding whether or not there is a simulation end request, 302 ... Road data file reading processing, 303 ... Traffic flow setting processing, 304 ... Road data File, 401 ... Road structure data, 402
... data about infrastructure equipment, 403 ... road, 404 ... road link, 405 ... road node, 406 ... road link node data, 407 ... lane, 408 ... lane link, 409 ... lane link node data , 501 ... Boundary line of simulated road range, 502 ... Simulated road line, 503 ... Part where road boundary line and road intersect, 601 ... Branching process regarding whether it is the first process, 602 ... Provision of information on driving simulated vehicle Processing, 603 ... Surrounding information provision processing for driving simulation vehicle, 701
… Vehicle generation process, 702… Branch process regarding whether the vehicle is a driving simulation vehicle, 703… Vehicle position / velocity / acceleration acquisition process in previous time step, 704… Vehicle surrounding information acquisition process, 705… Current time step Vehicle position / velocity / acceleration calculation process in 706, 706 ... Driver behavior database, 7
07 ... Branching process regarding whether the vehicle has reached the vehicle vanishing section, 708 ... Vehicle vanishing process, 709 ... Branching process regarding whether there is an unupdated vehicle, 801 ... Subject recognition element extraction / input process, 802 ... Driving behavior Extraction process, 805 ... Vehicle position / velocity / acceleration calculation process, 901 ... Environment setting process, 9
02… Start simulation, 903… Branch processing related to whether there is a connection request from the traffic simulator, 90
4 ... Information acquisition process related to driving simulation vehicle, 905 ... Ambient information acquisition process of driving simulation vehicle, 906 ... Drawing process, 907 ... Current time acquisition process, 908 ... Driving behavior acquisition process, 909 ... Vehicle position /
Speed calculation processing, 910 ... Branch processing regarding whether or not there is a disconnection request from the traffic simulator, 911 ... Providing information of driving simulation vehicle to the traffic simulator, 1001 ... Branch processing regarding whether or not it is the first drawing, 1002 ... Processing 904 Subject's viewpoint / line-of-sight determination processing based on information of 1003 ... Processing
Subject's viewpoint / gaze determination based on 905 information, 100
4 ... Own vehicle drawing processing, 1005 ... Surrounding information drawing processing, 1101 ... Branch processing regarding whether it is the first processing, 1102 ... Position / speed acquisition processing based on processing 904, 1103 ... Processing 1102, 907, 908
Position / velocity calculation processing of the current time step from the data of
1104… Position / velocity acquisition process of previous time step, 1105
… Processing 1104, 907, and 908 data position / velocity calculation processing at the current time step, 1201… Timing of processing when traffic simulator processing is faster than driving simulator processing, 1202… Driving simulator Timing when processing is faster than traffic simulator processing, 1203 ... Time axis of traffic simulator, 1204 ... Time axis of driving simulator, 12
05 ... Time for one processing from processing 203 to 209 in the flowchart of FIG. 2 1206 ... Time for one processing from processing 209 to 212 in the flowchart of FIG. 1207 ... Within the flowchart of FIG. Time for one processing from processing 212 to processing 215, 1208 ... Processing 90 in the flowchart of FIG.
Time for one processing from 5 to processing 911, 1210 ... Processing 911
Then, the data sent from the driving simulation device 102 to the traffic simulator 101, 1211 ... Start time point of one simulation time step, 1212 ... End time point of one simulation time step, 1301 ... Driving behavior data extraction processing, 1302 ...
Input to the driving behavior data extraction unit, 1303 ... Reference data input to the driving behavior data extraction unit, 1304 ... Output from the driving behavior data extraction unit, input to the traffic situation data extraction unit, 13
06 ... Traffic situation data extraction processing, 1307 ... Reference data input to the traffic situation data extraction unit, 1308 ... Output from the traffic situation data extraction unit, input to the driving behavior model creation unit, 1310
… Driving behavior model creation process, 1311… Output from driving behavior model creation unit, input to driving behavior model comparison unit, 1313…
Driving behavior model comparison processing, 1314 ... Reference data input to the driving behavior model comparison unit, 1315 ... Output from the driving behavior model comparison unit

Continuation of front page (56) Reference JP-A-11-272158 (JP, A) JP-A-6-259407 (JP, A) JP-A-2000-123070 (JP, A) JP-A-9-282595 (JP, A) JP 2000-237453 (JP, A) JP 9-147285 (JP, A) JP 8-248871 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G08G 1/00 G06F 17/60 112 G06F 19/00 110 G09B 9/04

Claims (2)

(57) [Claims] 1. A environment simulated vehicle that simulates the vehicle behavior on the road on a computer, for setting a first control unit for traveling on simulated road simulating the road structure, the parameters relating to the simulated road and the simulated vehicle Setting section and driving behavior model
It is a group of Dell and autonomously runs the simulated vehicle
Collecting and transportation simulation unit, and <br/> Table Shimesuru ambient information presentation unit around information of the driver simulated vehicle, the driving behavior information simulating the driving operation device for a vehicle having a driving behavior model database for use in that
Driving behavior acquisition unit for driving, and the first system of the traffic simulation unit
Acquiring the ambient information of the driving simulation vehicle from the control unit, and
The driving behavior information is transmitted to the first control unit of the traffic simulation unit.
Based on the driving behavior obtained from the driving behavior acquisition unit , the driving simulation unit having a second control unit that reaches
A driving behavior data extraction unit that extracts rolling behavior, and
The predetermined driving behavior extracted by the motion data extraction unit
Traffic around the driving simulation vehicle at the time of occurrence of
Traffic situation data extraction unit that extracts the situation from the first control unit
Then, using the traffic conditions as input, the specified driving behavior is output.
Create the driving behavior model that specifies the input and output as force.
Driving behavior model creating unit, and the driving behavior model creating unit
Behavior model created by
By comparing with the driving behavior model existing in the database,
If the input and output parameter values are different,
Driving behavior model existing in driving behavior model database
And the driving behavior model comparison unit that adds this parameter value to
A road traffic evaluation system comprising: a driving behavior model updating unit having a . 2. The driving behavior model comparison unit is configured to perform the driving
The driving behavior model generated by the behavior model creation unit
The driving behavior model existing in the driving behavior model database
If there is no same input / output element compared with
The driving behavior model is added to the driving behavior model database.
Road traffic evaluation according to claim 1 , characterized in that
System .