JP4869903B2 - Moving body simulation apparatus and method - Google Patents

Description

  The present invention relates to a moving body simulation apparatus and method for performing behavior simulation of a moving body.

  In a moving body simulation where many aircraft, ships, vehicles, people, etc. appear, it is very difficult to identify what kind of event occurs when and where each moving body has a complex influence. is there. Therefore, it is difficult to realize an event-driven simulation in which the generated events are processed in time series in the time series in the moving body simulation having such characteristics. In such a simulation, it is common to use a time step method in which a step size (Δt) of a logical time is defined and the simulation time is advanced based on this Δt. Although the simulation accuracy depends on Δt to be defined in the time step method, since a plurality of moving bodies can be simulated at the same time, there is a feature that the speed can be increased by using a parallel simulation technique.

  However, since the moving speed differs for each moving body, it is inefficient to simulate all the moving bodies based on the same Δt by the time step method. If the simulation accuracy and simulation results are the same, increasing Δt as much as possible reduces the processing load required for information exchange with other mobile units and simulation of the mobile unit itself, thereby improving execution performance. become. A method proposed based on this concept is a “dynamic time step control method” (see Non-Patent Document 1).

  The dynamic time step control method thinks that there is no need to exchange information with other mobile units, assuming that each mobile unit can be simulated using only its own status information when it is not in a meeting state with other mobile units, In this method, Δt is increased. Here, the meeting state is a state of being “seen” or “seen” (“detected” or “detected”) with another moving body, that is, a recognized state. In the dynamic time step control method, it is assumed that other mobile objects and their own position information, the linear distance between them, and the maximum speed information of both, approach each other at the maximum speed on the linear distance. Then, the meeting possibility time is obtained. Then, the future time closest to the current time among the meeting possibility times obtained for all the other mobile objects is set as the next simulated time of the mobile object.

"Distributed simulation time synchronization method for moving objects", IEICE Technical Report CST2005-49, pp. 57-62, January 2006

  However, when the dynamic time step control method as described above is applied to an application in which a moving body moves on a road network, it is inefficient to simply implement it. This is because the moving body moves only on the road network, and in the method of obtaining the meeting possibility time and the simulated time based on the straight line distance between the moving bodies, for example, two movements moving in opposite directions with each other as the back Even in the case of a body, the meeting possibility time and the simulated time are obtained based on a point between two mobile bodies that cannot actually occur, and the next Δt becomes considerably smaller than the actual time.

  The present invention relates to a moving body simulation apparatus and method for performing a moving body behavior simulation for an application in which the moving body moves along a route network by applying a dynamic time step control method with improved execution performance. The purpose is to provide.

The present invention is a mobile unit simulation apparatus based on a time step method in which a logical time step width Δt is set to advance a simulation time, wherein the route network is represented by a node and a link, the route network information for each mobile unit The mobile unit information including the planned route data in which the moving route on the route network is represented by the node and the link is input, and the current route is indicated according to the planned route data of the moving unit on the route network and the position where the node or the link matches. Δt determining means for determining a logical time step width Δt based on a moving time from a simulated position to a possibility of meeting with another moving object corresponding to a position where the moving object may be recognized. Behavior simulation means for simulating a moving body by dynamic time step control for advancing the simulation time based on the logical time step size Δt, and in the Δt determination means, the logical time The traveling model information having a preset configuration for moving the moving body to obtain the step size Δt is input, and the meeting object when determining the next logical time step size Δt of the moving body is the moving body or other movement If it is a meeting possibility point with the body, the speed becomes zero at the position of the moving object or the meeting possibility point based on the traveling model information, the constant acceleration motion from the current simulated position, the constant speed motion, the meeting Create a travel model consisting of following movements, which are possible intervals, and logical time increments from the current simulation time to any time between the time when the following movement is entered and the time when the speed becomes zero A moving body simulation apparatus characterized by Δt and a moving body simulation method based thereon.

  In the present invention, when obtaining the time step in the dynamic time step control method, it can be realized with a large time step interval by using the planned route data of each moving body, and the execution performance of the moving body simulation can be improved. it can.

Before describing the embodiment of the present invention, the conventional dynamic time step control method is a conservative method for determining the next simulation time assuming the worst case. FIG. 12 shows a calculation example of Δt for determining the next simulated time of MOa when there is a moving object (MO), MOa, MOb, and MOc. In the case of this example, since the _{Δt a → b <Δt a →} c, a Delta] t for Delta] t _a → _b determines the next simulated time of MOA. In this way, the future time closest to the current time among the meeting possibility times obtained for all other mobile objects is set as the next simulated time of the mobile object.

  FIG. 13 shows an example in which the meeting possibility time and the simulated time are obtained based on a point between two moving objects that cannot actually occur. (N-1, N-2...), Roads are represented by links (R-1, R-2...), And destinations are represented by destinations (D-1, D-2). If this dynamic time step control method is simply implemented as in this example, the meeting possibility point between the moving object A and the moving object B is on the road R-11, and Δt cannot be increased. become. Even if it judges from the present condition, there is no possibility that the moving body A and the moving body B meet on the road R-11, and it will be inefficient execution which does not follow an actual motion.

  In the present invention, when the dynamic time step control method is applied to an application in which a moving body moves on a road network, the planned route data of each moving body is used. Thereby, the next Δt can be increased from the viewpoint of more actual movement. However, in this case, it is necessary to obtain the next Δt using the meeting possibility point instead of the meeting possibility time. At this meeting possibility point, it is unclear whether the mobile body to be meeting or the meeting object first passes through the point.

  Therefore, first, a traveling model in which the speed is 0 at the meeting possibility point is created assuming the worst case. The traveling model basically includes a constant acceleration state, a constant speed state, and a following state. The time when the tracking state is entered is set as the next simulated time. By activating (simulating) the moving body when it becomes in the following state in this way, no matter what the state of the following state is in relation to the meeting target moving body, there will be no contradiction in the causal relationship It can correspond to. This is realized by simulating with fine Δt in the following state.

  The present invention is effective until the planned route data of itself and the related moving body is changed. If changed, it is necessary to obtain the meeting possibility point again and recalculate Δt. is there.

  Further, the present invention can be applied to all simulations in which a moving body composed of an aircraft, a ship, a vehicle, and the like moves on a route network (air route network, route route network, road network), but is applied to a road network as an example below. The case will be described.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing the simplest configuration of a moving body simulation apparatus according to the present invention. The moving body simulation apparatus includes, for example, a computer including an information processing unit 1, a display unit 2, and an input operation unit 3, and a database 4 connected thereto. The database 4 includes road network data for a road network in which intersections are represented by nodes and roads connecting the intersections are represented by links, distance data of each road, and speed limit data, which are used in processing described later. Road network information, nodes and links indicating the route of movement on the road network for each moving object, planned route data expressed at the destination, and position data of a stationary moving object or object on the road network , Moving model information having a preset configuration (driving pattern) for moving the moving body to determine the next simulation time, and following model information in the following state , Road event information related to events occurring on the road network related to the moving body, and the like are stored.

  The information processing unit 1 inputs instructions and data input from the input operation unit 3 and various types of information stored in the database 4, and performs a behavior simulation of the moving object according to a program built in its own memory (not shown). The simulation state can be displayed on the display unit 2. The information processing unit 1 can be represented by functional blocks of Δt determination means 1a and behavior simulation means 1b.

  Note that the information stored in the database 4 may be obtained from other computers linked by a network or the like as needed. Further, the information processing unit in FIG. 1 may be configured by a plurality of computers linked by a network and perform parallel processing.

  FIG. 2 shows an example in which the logical time step width Δt is increased by utilizing the planned route data of each moving body in the present invention. The road network has intersections as nodes (N-1, N-2...), Roads as links (R-1, R-2...), And destinations as destinations (D-1, D-2). It is expressed with. When only the moving bodies A and B exist on the road network and the respective planned roads at the present time are as follows, the meeting possibility point of both is the nearest N-2 among the common points.

Planned path of the moving object A: <R-9, N-6, R-6, (N-2), R-3, N-3, D-1>
Planned path of the moving body B: <R-13, N-7, R-10, N-5, R-5, N-1, R-2, (N-2), R-3, N-3, R-4, N-4, D-2>

  Next, it is necessary to calculate the logical time interval Δt for determining the next simulation time of each mobile unit based on the meeting possibility point (current simulation position, current simulation time). However, it is very difficult to calculate which mobile body first passes through the meeting possibility point N-2. In the example of FIG. 2, there are only two moving objects, and the behavior of signals based on road event information is known. Therefore, the calculation can be performed relatively easily. This calculation is very difficult when there is a meeting possibility point other than the mobile object C and the N-2 point. This is because when the moving body operates following another moving body, the moving body operates while accelerating and decelerating, making it difficult to calculate the time of arrival at the meeting point and the moving distance.

  In general, a traveling model of a moving body based on traveling model information can be classified into three states: a constant acceleration state, a constant speed state, and a following (acceleration and deceleration) state. FIG. 3 shows an example of a travel model having a predetermined speed pattern. The moving body has a forward search range, and if there is no obstacle such as a moving body or a stationary body in this range, an equal acceleration motion is started. However, when the speed limit (or maximum speed) is reached, the vehicle keeps running at this speed so as not to exceed that speed. Note that the forward search range (distance range where the moving object being processed looks forward) is increased in proportion to the speed of the moving object being processed at that time. If the obstacle exists in the forward search range, a follow-up motion is started. In these motions, the state (position) after the next δt is determined by obtaining the acceleration / deceleration speed a at a minimum Δt = δt interval.

  The following equation (1) is an example of a follow-up model for determining the acceleration a at the next δt during the follow-up motion.

a _s (t + δt) = c × [{v _f (t) −v _s (t)} / {X _f (t) −X _s (t)} ^m ] (1)

here,
t: Time δt: Minimum Δt
c, m: constant X: moving body position coordinate a: moving body acceleration v: moving body speed s: own moving body f: forward moving body a _s : own moving body acceleration v _f (t): forward moving body speed v _s (t): Own moving body speed X _f (t): Forward moving body position coordinate X _s (t): Own moving body position coordinate

  From the above, when there is a certain distance to the front obstacle, the vehicle travels as in the traveling model example 1 shown in FIG. 3A, and when the distance to the front obstacle becomes short, As shown in the traveling model example 2 shown, the traveling model has only the equal acceleration state and the following state without reaching the speed limit. When the vehicle is already in the following state, a travel model such as the travel model example 3 shown in FIG.

  In the present invention, when there is a potential meeting point with another moving body on the planned road of the moving body, and there is no obstacle up to that point, a traveling model in which the speed is zero at that point is first created. . Then, the next simulation time (current simulation time + Δt) is determined with Δt as the time until the tracking state is entered.

  FIG. 4 shows this Δt calculation example, and the hatched area in the travel model shown in FIG. 4A is the travel distance between the Δt. Further, when in the following state, it cannot be taken as large as Δt, and is simulated at a minimum interval of Δt = δt. Then, assuming that the speed V = 0 at the meeting possibility point (N-2), a travel model is created based on the speed limit (Vmax) and the current speed of the moving body, and Δt and the follow-up motion section L0 are set. calculate.

4B is described in terms of distance. When the distance from the mobile body to the meeting possibility point is d and the follow-up motion section which is the meeting possibility section is L0, The simulation is performed as follows.
In the case of L0 ≧ d, the simulation is performed with the minimum δt every hour by the following motion.
In the case of L0 <d, a large δt is taken and simulation is performed as Δt until the tracking motion section is entered.
Therefore, in the case of L0 <d, Δt can be made large, and the movement distance can be collectively calculated by obtaining the hatched area (FIG. 4A), so that the execution performance can be improved.

  FIG. 5 is an operation flowchart showing an example of an operation for calculating the next logical time step Δt for each moving body in the Δt determining means 1a shown in FIG.

  The operation will be described with reference to FIG. 5. Based on the moving body information, road network information, road event information, an obstacle composed of the nearest moving body or stationary body based on the planned route data of itself (moving body being processed), Alternatively, the distance d1 to the destination is calculated (step S1). Next, the planned road data of the own mobile body and other mobile bodies are compared (step S2). Then, the presence / absence of a meeting possibility point is determined (step S3).

  If there is a meeting possibility point in step S3, the distance to the meeting possibility point is set to d2, and the distance d2 and the distance d1 which is the smaller of the distances d1 are set to d, and based on the travel model information and the road network information, A travel model in which the speed is 0 at the point is created (step S4).

  On the other hand, if there is no meeting possibility point in step S3, a travel model in which the speed is 0 is created based on the travel model information and the road network information with the distance d1 as d (step S5).

  Then, a follow-up motion section L0, which is a meeting possibility section, is calculated based on the created travel model (step S6). Then, the determined d is compared with the following movement section L0 (step S7). If the following movement section L0 is equal to or greater than d, the next logical time interval Δt is set to the minimum value δt (step S8). On the other hand, if the follow-up motion section L0 is less than d, the time required to enter the follow-up motion section is set to the next Δt (step S9).

  In addition, there is a signal at the intersection of N-6 in Fig. 4 (b), and the state (red, blue, yellow) change is unknown, or it moves to a point before the meeting possibility point on the planned road Even when a body exists, a traveling model in which the speed is 0 at that point is created, and the same processing as described above is performed.

  In addition, this invention is applicable only while the planned road of each mobile body does not change. When a change occurs, the meeting possibility point is again obtained based on the updated planned road data, and the next It is necessary to recalculate the logical time interval Δt and the simulation time (current simulation time + Δt or δt).

Embodiment 2. FIG.
FIG. 6 shows an example of calculating Δt in the second embodiment of the present invention. As shown in Fig. 6, even if there is a meeting possibility point on the planned road, if there is a moving body at the nearest point in front of it, the front moving body performs the maximum deceleration process (rapid braking) at that time Assuming that the travel model is created, a travel model is created, Δt is calculated in the same manner as in the first embodiment, and the next simulation time is calculated. By creating such a travel model, there is an advantage that Δt can be increased when a moving body is present at the nearest point on the planned road.

  That is, assuming that the forward moving body has started to decelerate from that time, a traveling model is created based on the point where the speed V = 0, and Δt and the following movement section L0 are calculated. Δt can be set larger than that when the traveling model is created so that the moving body has a speed of 0 at the time point.

Embodiment 3 FIG.
FIG. 7 shows an example of calculating Δt in the third embodiment of the present invention. As shown in FIG. 7, even if there is a meeting possibility point on the planned road, if there is a stationary object at the nearest point in front of it, the stationary object will not move within the target time. It is possible to set Δt to be large including the exercise section. That is, a traveling model is created based on the speed limit (Vmax) and the current speed of the moving body so that the speed V = 0 at the front stationary body, and Δt is calculated. Therefore, the area value of the hatched portion in the travel model of FIG. 7 is the distance that can be moved during the Δt.

Embodiment 4 FIG.
FIG. 8 is a diagram for explaining the simulation in the fourth embodiment of the present invention. (A) of FIG. 8 shows an example of the road condition of the road network in this embodiment, and (b) shows an example of the planned road data of each mobile unit A, B, C, D on the road network of (a). Indicates. When the planned road data of the mobile bodies A, B, C, and D are known as shown in the illustrated planned road data, from the meeting possibility point between the mobile bodies, the pair (every two mobile bodies) The meeting possibility time is calculated. Then, as shown in (c), an event list is created and registered in chronological order, and the corresponding moving body group is simulated in order of close time.

In this case, the possibility of meeting between mobile bodies is N-3, N-4, N-6, N-7, and the destinations of each mobile are D-1, D- 2, D-3, D-4, but as shown in (c) of FIG. 8, in the initial state shown in (a), at the meeting possibility point that becomes the next simulation time determination factor of the own mobile body Only the meeting possibility time and the mobile object to be simulated are registered in the event list. Then, as the time progresses, the meeting possibility point that becomes the next simulation time determination factor and the target mobile object also change to the next candidate, so the event of the unconfirmed candidate shown in the frame of the unconfirmed candidate in (c) It is newly registered in the list and executed. For example, T _{BC (N-6)} indicates the possibility of meeting of the mobile bodies B and C at the N-6 point. When this time is reached, the mobile bodies B and C are simulated.

FIG. 9 shows an example of calculating the moving body simulation time registered in the event list shown in FIG. FIG. 9 (a) shows an example of deriving the simulated time of the mobile bodies B and C. For both mobile bodies, a travel model up to the meeting possibility point N-6 based on the above-described method is shown. Create and set Δt until the tracking motion starts. Delta] t for the associative potential point N-6 of the mobile B is _{T B} → _C, Delta] t for the associative potential point N-6 of the mobile C is _{T C} → _B. Then, the smaller time of T _B → _C and T _C → _B is set as T _BC . Thereby, the next simulation time (= T _BC ) of the mobile bodies B and C can be set to a time at which no contradiction occurs in the causal relationship.

FIG. 9B shows an example of the next simulation time derivation of the mobile bodies B and D. In this case, the moving body B needs to pass through the meeting possibility point N-6 with the moving body C before reaching the meeting possibility point N-7 with the moving body D. Even in such a case, the mobile unit B creates a travel model up to the meeting possibility point N-7 shown in (b) and calculates Δt (= T _B → _D ). And compared to Δt mobile D and B, the smaller value is set to T _BD.

Embodiment 5 FIG.
FIG. 10 is a diagram for explaining the simulation in the fifth embodiment of the present invention. (A) of FIG. 10 shows an example of the road condition of the road network in this embodiment, (b) shows an example of the planned road data of each mobile unit A, B, C, D in (a), (c) Shows an example of an event list before application of the present invention, and (d) shows an example of an event list after application of the present invention. In the fifth embodiment, for example, as shown in FIG. 10 (a), the meeting possibility time T _{AC (N-3)} at the meeting possibility point N-3 of the moving object A with respect to the moving object C is very high. If the meeting possibility time _{TBD (N-7)} at the meeting possibility point N-7 for the moving body D with respect to the moving body B is very small, _{TAC (N -3)} and T _{BD (N-7)} are registered in the event list at a time closer than T _{BC (N-6)} , and mobile C is at time T _{AC (N-3)} , and mobile B is At time _{TBD (N-7)} , a simulation that is clearly meaningless will be performed.

In order to solve this problem, instead of simulating all the mobile bodies of the corresponding set extracted from the list, for any mobile body (mobile body A) in the set, the other mobile bodies The mobile body (mobile body A) is changed to be simulated only when it is a meeting possibility target. Thereby, as shown in (d), it is possible to omit the simulation of the moving object C at the time _{TAC (N-3)} and the simulation of the moving object B at the time _{TBC (N-7)} .

Embodiment 6 FIG.
FIG. 11 is a diagram for explaining a simulation in the sixth embodiment of the present invention. (A) of FIG. 11 shows an example of an event list, (b) and (c) show travel models, and (d) shows event deletion conditions. As a further improvement of the fourth and fifth embodiments, for example, at the meeting possibility point N of the two mobile bodies A and B, the time of passing through the point is so far as not to affect the simulation result of each other. In this case, it is possible to delete the event T _{AB (N)} related to the simulation of these moving objects from the event list. That is, for example, as shown in FIG. 8, if the time when the mobile bodies A and C pass through the meeting possibility point N-3 is so far as not to affect the simulation results of each other (if they are separated on the time axis). As shown in FIG. 11A, the event _{TAC (N-3)} for that purpose is deleted.

Whether or not the event _{TAC (N-3)} can be deleted is determined by the following process.
(1) As shown in FIG. 11 (b), a traveling model is created for the case where the moving object A takes the longest time and the earliest time to reach the N-3 point, and the time required for both cases (T _{As (N-3)} , _{TAf (N-3)} ) are calculated.
(2) Next, as shown in FIG. 11C, the required time (TC _{-s (N-3)} , TC _{-f (N-3) in} both cases is similarly applied to the moving object C. ) Is calculated.
(3) Then, as shown in FIG. 11 (d), the time zones that may reach the N-3 point are compared between the two moving objects, and if they do not overlap, for example, the event _{TAC (N -3)} can be deleted (upper diagram), and if it overlaps, the event _{TAC (N-3)} cannot be deleted (lower diagram).

  Note that the time required when the time is required, calculated in (1) and (2), is determined by each meeting possibility point (the meeting possibility point existing before reaching the target meeting possibility point). Calculated based on the travel model shown in the upper diagrams of (b) and (c). In addition, the time required to reach the earliest is the same acceleration movement and the like regardless of each meeting possibility point (including the meeting possibility point) existing until the target meeting possibility point is reached. The required time is calculated based on the travel model shown in the lower diagrams of (b) and (c), assuming that the vehicle travels to the N-3 point by the fast motion (Vmax).

  Even when three or more mobiles share the same meeting possibility point, it may be determined whether or not the event can be deleted by the same method. In addition, when the meeting possibility point based on the planned route data is shared by only one point between the moving bodies, the processing of this embodiment can be applied. However, as shown in FIG. In the case of being shared by N-2, R-3, and N-3), the possibility of becoming a follow-up state is determined and applied.

  In addition, if the travel model is recreated as the simulation progresses, the reachability time at the meeting possibility point can be improved with high accuracy, so the possibility of deleting the event is increased. I can go.

  As described above, the present invention can be applied to all simulations in which a moving body composed of an aircraft, a ship, a vehicle, and the like moves on a route network (air route network, route route network, road network). In the planned road data at that time, the intersection is expressed as a node, the route connecting the intersections is expressed as a link, and the event information on the road becomes event information on the route.

It is a block diagram which shows an example of a structure of the moving body simulation apparatus by this invention. It is a figure for demonstrating the example in the case of enlarging logical time interval width (DELTA) t using the plan road data of each moving body in this invention. It is a figure for demonstrating an example of the travel model in this invention. It is a figure for demonstrating an example of (DELTA) t calculation in this invention. It is an operation | movement flowchart which shows an example of operation | movement of the (DELTA) t determination means of the moving body simulation apparatus by this invention. It is a figure for demonstrating the calculation example of (DELTA) t in Embodiment 2 of this invention. It is a figure for demonstrating the calculation example of (DELTA) t in Embodiment 3 of this invention. It is a figure for demonstrating the simulation in Embodiment 4 of this invention. It is a figure for demonstrating the calculation example of the mobile body simulation time registered into the event list of (c) of FIG. It is a figure for demonstrating the simulation in Embodiment 5 of this invention. It is a figure for demonstrating the simulation in Embodiment 6 of this invention. It is a figure for demonstrating the basic concept of a dynamic time step control system. It is a figure for demonstrating the case where a dynamic time step control system is applied simply to a mobile body simulation.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Information processing part, 1a (DELTA) t determination means, 1b Behavior simulation means, 2 Display part, 3 Input operation part, 4 Database.

Claims (11)

A mobile simulation device based on a time step method of setting a logical time step Δt and advancing simulation time,
The route network information that the route network is represented by the node and the link, and the mobile route information including the planned route data that the movement route on the route network for each mobile unit is represented by the node and the link are input, and the route network According to the planned route data of the mobile unit of the vehicle, according to the position where the node or the link matches, from the current simulated position to the position where the other mobile unit can be recognized corresponding to the position where the other mobile unit may be recognized Δt determining means for determining a logical time step width Δt based on the travel time;
Action simulation means for simulating a moving body by dynamic time step control for advancing the simulation time based on the determined logical time step width Δt;
Equipped with a,
In the Δt determination means, traveling model information having a preset configuration for moving the moving body to obtain the logical time step width Δt is input, and the meeting target when determining the next logical time step width Δt of the moving body Is a moving object or a meeting possibility point with another moving object, the speed becomes 0 at the position of the moving object or the meeting possibility point based on the traveling model information, and is accelerated from the current simulation position. Create a running model consisting of movement, constant speed movement, and follow-up movement that is the meeting possibility section, and any one between the current simulation time and the time from the time when the following movement is entered until the speed becomes zero A moving body simulation apparatus characterized in that a logical time step width Δt is set up to the time .   2. The movement according to claim 1, wherein the Δt determining means searches for another moving body in a forward search range and changes the size of the forward search range in accordance with a traveling speed of the moving body being processed. Body simulation device. If the meeting target when determining the next logical time step Δt of the moving object is a moving object, it is assumed that the moving object has started decelerating from that point, and the traveling model is based on the point where the speed becomes zero. The moving body simulation apparatus according to claim 1 or 2, wherein the time period from the current simulation time to the time when the follow-up motion starts is defined as a logical time interval Δt. When the meeting object when determining the next logical time step Δt of the moving object is a stationary object, a traveling model is created so that the speed becomes 0 at the point of this stationary object, and this traveling model is changed from the current simulation time to this traveling model. 3. The moving body simulation apparatus according to claim 1, wherein the time until the speed becomes zero is set as a logical time step size Δt. Based on the planned route data of each mobile unit, for all the mobile unit groups that are likely to meet, the mobile unit group of the set is assigned the time closest to the meeting possibility time calculated for each mobile unit in each group. 5. The list registered in chronological order as the next simulated time is created, and the target mobile body group is simulated from the list in order of close time. 6. Mobile object simulation device. A mobile simulation device based on a time step method of setting a logical time step Δt and advancing simulation time,
  The route network information that the route network is represented by the node and the link, and the mobile route information including the planned route data that the movement route on the route network for each mobile unit is represented by the node and the link are input, and the route network According to the planned route data of the mobile unit of the vehicle, according to the position where the node or the link matches, from the current simulated position to the position where the other mobile unit can be recognized corresponding to the position where the other mobile unit may be recognized Δt determining means for determining a logical time step width Δt based on the travel time;
  Action simulation means for simulating a moving body by dynamic time step control for advancing the simulation time based on the determined logical time step width Δt;
  With
  Based on the planned route data of each mobile unit, for all the mobile unit groups that are likely to meet, the mobile unit group of the set is assigned the time closest to the meeting possibility time calculated for each mobile unit in each group. A moving body simulation apparatus that creates a list registered in chronological order as the next simulation time and simulates a target moving body group from the list in the order of time. The movement according to claim 6, wherein the Δt determining means searches for another moving body in the forward search range and changes the size of the forward search range in accordance with the traveling speed of the moving body being processed. Body simulation device. When simulating a group of mobiles that are grouped in chronological order from the list, for any mobile in the set, only if other mobiles in the same group are targets for the next meeting 8. The moving body simulation apparatus according to claim 5, wherein the moving body is simulated. If the mobile unit group of each group has a meeting possibility point and the time passing through the point is far enough on the time axis so as not to affect the simulation result of each other, the registration related to the group is deleted from the list The moving body simulation apparatus according to any one of claims 5 to 7, A moving body simulation method based on a time step method of setting a logical time step Δt to advance a simulation time,
  The route network information that the route network is represented by the node and the link, and the mobile route information including the planned route data that the movement route on the route network for each mobile unit is represented by the node and the link are input, and the route network According to the planned route data of the mobile unit of the vehicle, according to the position where the node or the link matches, from the current simulated position to the position where the other mobile unit can be recognized corresponding to the position where the other mobile unit may be recognized Determining a logical time step size Δt based on travel time;
  A step of simulating the moving body by dynamic time step control that advances the simulation time based on the determined logical time step size Δt;
  With
  In the step of determining Δt, when the meeting target when determining the next logical time step width Δt of the mobile body is a mobile body or a potential meeting point with another mobile body, the logical time step width Δt is set. Based on the traveling model information having a preset configuration for moving the mobile body to obtain the speed becomes 0 at the position of the mobile body or the meeting possibility point, the constant acceleration motion from the current simulation position, the constant speed motion, Create a travel model composed of the following movement that is the meeting possibility section, and logical time from the current simulation time to any time between the time when the following movement is entered and the time when the speed becomes zero A moving body simulation method, characterized in that the step width Δt is set. A moving body simulation method based on a time step method of setting a logical time step Δt to advance a simulation time,
  The route network information that the route network is represented by the node and the link, and the mobile route information including the planned route data that the movement route on the route network for each mobile unit is represented by the node and the link are input, and the route network According to the planned route data of the mobile unit of the vehicle, according to the position where the node or the link matches, from the current simulated position to the position where the other mobile unit can be recognized corresponding to the position where the other mobile unit may be recognized Determining a logical time step size Δt based on travel time;
  A step of simulating the moving body by dynamic time step control that advances the simulation time based on the determined logical time step size Δt;
  With
  Based on the planned route data of each mobile unit, for all the mobile unit groups that are likely to meet, the mobile unit group of the set is assigned the time closest to the meeting possibility time calculated for each mobile unit in each group. A moving body simulation method characterized in that a list registered in chronological order as the next simulated time is created, and a target mobile body group is simulated from the list in order of close time.

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