JP5064363B2 - CG display control system and method for driving simulator - Google Patents

Description

  The present invention relates to a CG display control system and method for displaying a landscape from a cab of a virtual vehicle in a vehicle travel simulator.

  In the conventional vehicle driving simulator, the sense of reality is reproduced by moving the viewpoint position in the virtual space according to the input operation operated on the cab.

  An example of such a system can be found in US Pat.

JP-A-9-311619

  When a conventional vehicle driving simulator is used to realize a vehicle driving simulator that feels more like a real vehicle, a vehicle motion calculation device that calculates acceleration, speed, and position taking into account vehicle motion characteristics has been added. is doing. Then, it is necessary to accurately transmit speed information and the like based on driving operation without delay to a display device that calculates acceleration, speed, and position in real time and reproduces an image that can be seen from the cab of the vehicle.

  In the conventional vehicle driving simulator, if there is insufficient calculation accuracy on the CG display control device side, communication delay or error from the cab system side to the CG display control device side, the original vehicle position based on the driving operation, There is a problem that the vehicle position for the landscape display is shifted.

  The object of the present invention is to improve the matching accuracy between the current position of the vehicle based on the driving operation and the current position of the vehicle that is the viewpoint of the landscape displayed on the CG display device, and to enable CG display without making the trainee feel uncomfortable. It is to provide a vehicle driving simulator.

  In one aspect of the present invention, operating means that is installed in a driver's cab and inputs a command related to acceleration / deceleration of the moving body, and speed information and current position information (hereinafter referred to as the moving body) based on the command input from the operating means. A vehicle motion calculation processing device that calculates first current position information), a CG display control device coupled to the vehicle motion calculation processing device and communication means, and a moving object calculated by the vehicle motion calculation processing device Means for transmitting the speed information to the CG display control device through the communication means, and current position information (hereinafter referred to as a second current position) of the moving body that moves according to the speed information received by the CG display control device. In a CG display control system of a driving simulator comprising a CG display device that displays a landscape image of a virtual space created by CG from the viewpoint of information) Not only the speed information generated by the arithmetic processing device but also the first current position information of the moving body is transmitted to the CG display control device through the communication means, and the control of the CG display is backed up. It is characterized by.

  In a preferred embodiment of the present invention, as the backup, the first current position information of the moving body is compared, and the second current position information for moving the landscape video is compared based on the comparison result. It is characterized by feeding back to the control system to be calculated.

  In another preferred embodiment of the present invention, as the backup, the speed information of the moving body is equal to or higher than a predetermined speed, and the first current position information received by the CG display control device has a predetermined change. When it does not exist, an abnormality of the communication means is detected.

  In another preferred embodiment of the present invention, when the CG display control device stores the speed information received in the previous transmission cycle and detects a communication abnormality, the stored previous communication cycle is stored. The virtual current position for CG display is calculated on the basis of the received speed information, and video connection for displaying the CG landscape video is performed based on the virtual current position.

  According to a preferred embodiment of the present invention, an image at a point having a high degree of coincidence in speed, position, and real time at a certain time generated as a result of physical operation according to the operation from the cab and the traveling environment of the vehicle, A landscape closer to the feeling of actual driving can be expressed on the virtual screen.

  Further, according to a preferred embodiment of the present invention, it is possible to realize a driving simulator capable of continuing a CG landscape display with a high degree of coincidence with an operation on the cab even when a communication abnormality occurs.

  Hereinafter, a driving simulator CG display control system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic configuration diagram of a CG display control system for a driving simulator according to an embodiment of the present invention. The driving simulator includes a driver's cab 1 on which a trainee performs a driving operation, a vehicle motion calculation processing device 2 that converts information of the operation, a communication device 3, a CG display control device 4 that displays a landscape image corresponding to the vehicle motion, and It is comprised with the display apparatus 5 which shows a virtual landscape to a trainee.

  The cab 1 has operation means 11 for performing notch operation in a railway train, accelerator and brake operation in an automobile, and a trainer (driver) 12 handles this operation means.

  The vehicle motion calculation processing device 2 includes a vehicle speed calculation device 21 that calculates the vehicle speed in accordance with an acceleration / deceleration torque command Tα based on the operation of the operation means 11 of the cab 1 and a first vehicle position calculation device. Current position calculation device 22 is provided. For this calculation, the cab system includes an external environment database 23 that provides external environment data for calculation by the vehicle speed calculation device 21, an automatic vehicle control device (ATC) 24, and the like.

  Usually, the calculated vehicle speed information and the first current position information are used for meter display of the driver's seat.

  In the present invention, not only the conventional vehicle speed information but also the current position information is transmitted to the CG display control device 4 through the communication device 3.

  The communication device 3 includes a transmission device 31 and a reception device 32.

  The CG display control device 4 mainly includes a speed command calculation device 41 that calculates a speed command for moving a landscape image, a second current position calculation device 42 that calculates the current position of the vehicle based on the speed command, and a CG. A display calculation device 43 is provided. Other devices will be described later.

  The display device 5 displays a landscape image viewed from the driver's seat at the second current position, which moves according to the speed command, to the trainee.

  Next, the operation of each device in FIG. 1 will be described. First, the trainer 12 sits on the cab 1 and operates the operation means 11 for inputting the vehicle acceleration / deceleration torque command Tα. The operating means 11 converts the input level into an electric signal from a human operation using a lever or pedal, and transmits the signal to the vehicle motion calculation processing device 2. When the vehicle travels on the track, this acceleration / deceleration torque command Tα becomes the main input signal. It is assumed that the input corresponding to the branching of the track, the switchback, or the like is shared by the device corresponding to the input corresponding thereto by the conventional technology, and only the input of the acceleration / deceleration torque command Tα will be described here.

  For the acceleration / deceleration torque command Tα signal input according to the setting angle of the cab lever and the amount of accelerator depression, the vehicle motion is the inclination of the track, the performance of the vehicle engine and motor, the mass of the vehicle and the load, Acceleration is determined by wind, air, road resistance, etc. The vehicle acceleration is calculated by substituting these parameters into the equation of motion. From this acceleration, the vehicle speed calculation device 21 can calculate the speed of the vehicle at each time. The first current position calculation device 22 calculates the position of the vehicle at a certain time by integrating the speed at each time.

  The database 23 stores data such as the gradient at each point of the track, the curvature of the curve, the friction coefficient of the road surface, the wind speed according to the time and the track position, the weather, and the mass change of the load. Data is extracted from this database using the track position and time as reference values, the resistance force and acceleration force applied to the vehicle at that time are calculated, and the acceleration, speed, and position of the vehicle at that time and track position are calculated.

  As described above, not only the vehicle speed information at each time but also the data of the first current position of the vehicle is transmitted from the vehicle motion calculation processing device 2 to the transmission device 31. In this embodiment, since the vehicle travels on a track, both the speed and the position are scalar quantities and are transmitted as two numerical values.

  Data sent to the transmission device 31 is transmitted to the reception device 32.

  FIG. 2 is a control block diagram showing detailed processing of data sent to the receiving device 32 on the CG display control device 4 side in FIG.

  First, based on the received vehicle speed information, a speed command for moving the landscape image is calculated by the speed command calculation device 41, the current vehicle position is calculated by the second position calculation device 42, The point that the display device 5 is controlled by the CG display calculation device 43 is the same as the conventional one.

  In the present embodiment, the current position information of the vehicle is also transmitted from the vehicle motion calculation processing device 2 on the cab system side, and the received first current position data of the vehicle and the CG display control device 4 The second current position data calculated by the second position calculation device 42 and presently displayed are compared. According to the error of the first and second current position data obtained by the position comparison calculation device 44, there is provided correction means for feeding back to the control system for calculating the second current position information for moving the landscape image. . In FIG. 2, feedback is performed to the speed command calculation device 41 so as to correct the speed command value for landscape movement. In this way, a landscape of the virtual position in the CG display control device 4 that coincides with the first current position information with high accuracy calculated by a computer having sufficient computing power on the cab system side is displayed on the display device 5. be able to.

  The first current position information calculated with high precision on the cab system side and the second current position information in the CG display control device 4 coincide with each other with high precision, so that the acceleration sensation on the slope and the stop for the signal The sensation, the unevenness of the road surface and the sensation of the vibration of the vehicle body can be matched to realize more realistic training.

  FIG. 3 is a schematic configuration diagram of a CG display control system for a driving simulator according to the second embodiment of the present invention, which is suitable when a communication abnormality occurs.

  Only points different from FIG. 2 will be described to avoid duplication.

  The output of the previous position data storage device 45 received in the previous transmission cycle and the position data received this time are constantly compared by the data comparison device 46. The speed determination unit 47 monitors the current speed data, and gives an input to the AND logic circuit 48 if it is in a speed state. If the vehicle is in a speed state, the previous vehicle position and the current vehicle position should naturally be different. If there is no difference between them, the output of the AND logic circuit 48 is generated, and the communication error determination device 49 A communication error is detected. The “connection command” that is the output of the communication error determination device 49 prompts the virtual position calculation device 410 to output. The virtual position calculation device 410 receives the speed information of the previous speed data storage device 411 that stores the speed information received in the previous transmission cycle, and calculates the virtual current position based on this speed information. And output to the CG display calculation device 43. There is no significant difference in vehicle speed during one transmission cycle for an extremely short time, and there is no significant difference in landscape images. Therefore, regarding a communication abnormality for a very short time, the trainer does not feel uncomfortable and returns to normal within the next transmission cycle.

  When a long communication failure occurs over a number of transmission cycles, it is desirable to detect this by continuously determining communication errors, announce it to the trainer, and terminate the CG display.

  As described above, according to this embodiment, since a mechanism for calculating a virtual position command value based on the speed immediately before the communication disconnection is prepared, even if a short-term communication failure occurs, the CG The movement of the landscape in the display control device 4 is continued. For this reason, feedback based on the position error when communication is restored works to correct the position of the cab range and the position of the CG landscape image, so that even if there is a communication failure, training can be performed without losing a sense of reality. effective.

  FIG. 4 is a schematic configuration diagram of a CG display control system of a driving simulator according to an embodiment of the present invention when a vehicle moves on a two-dimensional (2D) plane like an automobile.

  In the case of the vehicle 2D motion calculation processing device 6 in the case of a vehicle (such as a car or a ship) that travels on a plane, the control input is two of acceleration / deceleration torque Tα and steering command angle φ because the vehicle travels on a plane. The position and orientation of the vehicle after a minute time are determined by the steering angle and the speed vector every moment.

  With respect to the setting angle of the cab lever and the signal input by the accelerator and the steering angle signal input by the steering machine, the movement of the vehicle is the performance of the engine and motor of the vehicle, the mass of the vehicle and the load, The acceleration and traveling direction are determined by wind, air, road surface, sea surface resistance, and the like. The vehicle 2D velocity vector calculation device 61 calculates the vehicle acceleration vector by substituting these parameters into the equation of motion, and can calculate the vehicle velocity vector at each time using this acceleration vector. Further, the first 2D current position calculation device 62 calculates the first 2D current position and direction of the vehicle at a certain time by integrating the velocity vectors at each time.

  The database 63 stores data such as the gradient at each point on the plane, the friction coefficient of the road surface, the wind speed according to the time and the track position, the weather, and the mass change of the load. From this database 63, data is extracted using the position and time on the plane as reference values, and the resistance force and acceleration force applied to the vehicle at that time are calculated, and the acceleration vector, velocity vector of the vehicle at that time, position on the plane, Determine the position on the plane.

  Similarly, the CG2D display control device 7 also performs calculation / control using a two-dimensional vector.

  FIG. 5 is a schematic configuration diagram of a CG display control system of a driving simulator according to an embodiment of the present invention in the case of a moving body that moves in a three-dimensional (3D) space according to a driver's operation, such as an airplane. is there. In the case of a moving body that moves in a three-dimensional space, in addition to the case of a vehicle that moves on the plane described above, a three-dimensional (in accordance with a 3D command to which an acceleration vector in the vertical direction perpendicular to the plane is added. 3D) A velocity vector in space based on the equation of motion is determined.

  In the case of FIG. 4, since the velocity and position move in the plane, both the x and y components are transmitted as four numerical values. However, in the case of FIG. 5, the position and velocity are Each has three (3D) components and is transmitted as six numbers. In response to this, the 3D speed vector calculation device 81 of the vehicle in the 3D motion calculation processing device 8 calculates the 3D acceleration vector of the moving body by substituting these parameters into the motion equation. Calculate the velocity vector of the moving object at the time. The first 3D current position calculation device 82 also calculates the first 3D current position and orientation of the moving body at a certain time by integrating the 3D velocity vector at each time.

  As described above, according to the CG display control system of the driving simulator of the present embodiment, the speed, position, and actual result at a certain time generated as a result of the operation from the cab and the physical motion according to the traveling / flight environment of the moving body. The CG can be controlled so as to always display the video of the point coincident with time. Therefore, it is possible to express the feeling of actual driving as it is on the virtual screen.

It is a schematic block diagram of the CG display control system of the driving simulator by one Example of this invention. FIG. 2 is a control block diagram showing detailed processing of data sent to a receiving device 32 on the CG display control device 4 side in FIG. 1. It is a schematic block diagram of the CG display control system of the driving simulator by the 2nd Example of this invention suitable when communication abnormality arises. It is a schematic block diagram of the CG display control system of the driving simulator by one Example of this invention when a vehicle moves on a two-dimensional (2D) plane. It is a schematic block diagram of the CG display control system of the driving simulator by the Example of this invention in the case of the mobile body which moves in the three-dimensional (3D) space according to a driver | operator's operation.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driver's cab, 11 ... Operating means, 12 ... Trainer, 2 ... Vehicle motion calculation processing device, 21 ... Vehicle speed calculation device, 22 ... First current position calculation device, 3 ... Communication device, 31 ... Transmission device, 32 ... receiver, 4 ... CG display controller, 41 ... speed command calculator, 42 ... second current position calculator, 43 ... CG display calculator, 44 ... position comparison calculator, 45 ... previous position data Storage device 46 ... Data comparison device 47 ... Speed determination unit 48 ... AND logic circuit 49 ... Communication error determination device 410 ... Virtual position calculation device 411 ... Previous speed data storage device 5 ... Display device 6 ... Vehicle 2D motion calculation processing device, 7 ... CG2D display control device, 8 ... 3D motion calculation processing device, 9 ... CG3D display control device.

Claims (9)

An operation unit that is installed on the cab and inputs a command related to acceleration / deceleration of the moving body, and a vehicle motion calculation that calculates speed information and first current position information of the moving body based on the command input from the operation unit. A processing device, a CG display control device coupled to the vehicle motion calculation processing device by communication means, and the speed information of the moving body generated by the vehicle motion calculation processing device to the CG display control device through the communication means. CG display for displaying a landscape image of a virtual space created by CG at a viewpoint from the second current position information of a moving body that moves according to the speed information received by the CG display control device In a CG display control system of a driving simulator provided with a device,
Means for transmitting the first current position information of the moving object generated by the vehicle motion calculation processing device to the CG display control device through the communication means; and the first current position received by the CG display control device. A driving simulator CG display control system comprising backup means for backing up control of CG display using position information.   2. The control system according to claim 1, wherein the backup unit is configured to compare the first current position information of the moving body with the second current position information for moving the landscape image based on the comparison result. A driving simulator CG display control system, comprising a correction means for feeding back to the driving simulator.   3. The backup unit according to claim 1, wherein the speed information of the moving body is equal to or higher than a predetermined speed, and the first current position information received by the CG display control device does not have a predetermined change. A CG display control system for a driving simulator, comprising communication abnormality detection means for detecting an abnormality of the communication means.   The means for storing the speed information received in the previous transmission cycle by the CG display control device according to claim 1 or 2, and the speed received in the previous communication cycle stored when a communication abnormality is detected. CG display of a driving simulator characterized by comprising a virtual position calculation device for calculating a virtual current position for CG display based on information and a video connecting means for moving a CG landscape video using this virtual current position Control system.   The CG display control system for a driving simulator according to any one of claims 1 to 4, wherein the input command by the operation means, the speed information, and the current position information are two-dimensional or three-dimensional information. An operation unit that is installed on the cab and inputs a command related to acceleration / deceleration of the moving body, and a vehicle motion calculation that calculates speed information and first current position information of the moving body based on the command input from the operation unit. A processing device, a CG display control device coupled to the vehicle motion calculation processing device by communication means, and the speed information of the moving body generated by the vehicle motion calculation processing device to the CG display control device through the communication means. CG display for displaying a landscape image of a virtual space created by CG at a viewpoint from the second current position information of a moving body that moves according to the speed information received by the CG display control device In a CG display control method of a driving simulator provided with a device,
Transmitting the first current position information of the moving object generated by the vehicle motion calculation processing device to the CG display control device through the communication means; and the first current position received by the CG display control device. A driving simulator CG display control method comprising a backup step of backing up control of CG display using position information.   7. The control system according to claim 6, wherein the backup step includes a step of comparing the first and second current position information of a moving body and a result of the comparison, and the second current position information for moving a landscape image. A driving simulator CG display control method comprising a feedback step for feeding back to the driving simulator.   8. The backup step according to claim 6, wherein the speed information of the moving body is equal to or higher than a predetermined speed, and the first current position information received by the CG display control device does not have a predetermined change. A CG display control method for a driving simulator, comprising a communication abnormality detection step for detecting an abnormality of the communication means.   8. The step of storing speed information received in the previous transmission cycle in the CG display control device according to claim 6 or 7, and the speed received in the previous communication cycle stored when a communication abnormality is detected. CG display of a driving simulator comprising a virtual position calculating step for calculating a virtual current position for CG display based on information, and a video connecting step for moving a CG landscape image using the virtual current position Control method.

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