JP5245606B2 - Driving support apparatus and driving support method using prediction simulator - Google Patents

Description

  The present invention relates to a driving support apparatus and a driving support method using a prediction simulator that predicts a future driving situation based on process data.

  Based on the measured value of the sensor set in the plant, the set value of the controller, etc., the current state of the plant is simulated and estimated, and the tracking simulator and the state prediction simulator are used as means for predicting the future state of the plant. It has been.

  The tracking simulator is a process simulator that represents a process as a model in accordance with the laws of physics and chemistry. The tracking simulator is a simulator that completely simulates an actual plant by acquiring process values (hereinafter referred to as “actually measured values”) from the plant and sequentially updating internal parameters of the tracking simulator.

  The state prediction simulator derives a predicted value (hereinafter referred to as “predicted value”) that predicts the future operating state of the plant by calculating faster than real time based on the process data input from the tracking simulator. Further, by inputting a virtual operation from the virtual operation input interface to the state prediction simulator, a predicted value for the virtual operation (hereinafter referred to as “case study value”) can be derived.

The measured value of the plant, the predicted value derived from the state prediction simulator, and the time series data of the case study value are stored in the data storage device. The stored data can be displayed on the display screen as a trend graph showing data values in time series. The operator can operate the plant while referring to the trend graph on the display screen.
JP 2005-332360 A Yokogawa Technique Vol. 52 no. 1 (2008) P.I. 35-P. 38

  In the conventional system, an operator who refers to the trend graph must determine whether the predicted value and the case study value are safe values based on his own rule of thumb. Further, when the case study value does not indicate a satisfactory value, the operator needs to search for an optimum operation input by repeating the operation of inputting again the virtual operation input value that the operator determines to be appropriate.

  An object of the present invention is to provide a driving support device and a driving support method that can reduce the burden on the operator's judgment and operation.

The driving support device of the present invention is a driving support device using a prediction simulator that predicts a future driving situation based on process data. An input means for sequentially inputting the input value to the prediction simulator while changing a virtual operation input value; Prediction result acquisition means for acquiring a prediction result by the prediction simulator based on the virtual operation input value input by the means in association with the virtual operation input value, and an allowable range for specifying a range that can be input as the operation input value An operation for selecting a specific operation input value from the operation input values specified by the specifying unit and the allowable range specifying unit as an inputable range is received, and the selected specific operation input value is entered into an actual process. A table for graphically displaying the prediction result acquired by the setting means for setting and the prediction result acquisition means on the display screen; And an input value instruction accepting means for accepting an operation for instructing the virtual operation input value on the display screen, wherein the allowable range specifying means is configured such that the prediction result acquired by the prediction result acquiring means When it is within the allowable range, it is determined that the value of the virtual operation input value associated with the prediction result is in a range that can be input as the operation input value, and the display means is the input value instruction receiving means The prediction result associated with the virtual operation input value instructed via is selected from the prediction results acquired by the prediction result acquisition means and displayed on the display screen, and the setting means The specific operation on the display screen on which the prediction result selected by the display means is displayed, the virtual operation input value corresponding to the prediction result as the specific operation input value Accepted as an operation, of selecting Te, the input value instruction receiving means, and displays the operation unit for accepting an instruction of the virtual operation input value to the display screen, accepts an operation to the operating unit, the operating The position of the unit is associated with the virtual operation input value, the movable range of the operation unit is associated with the input possible range specified by the allowable range specifying unit, and the input value instruction receiving unit is An instruction of the virtual operation input value corresponding to the position of the operation unit displayed on the display screen is received .
According to this driving support device, the virtual operation input value is sequentially input to the prediction simulator, and the prediction result by the prediction simulator is acquired in association with the virtual operation input value, which is useful for the operator's judgment and operation. Can provide information.

The driving support method of the present invention is a driving support method using a prediction simulator that predicts a future driving situation based on process data. An input step of sequentially inputting to the prediction simulator while changing a virtual operation input value; A prediction result acquisition step for acquiring a prediction result by the prediction simulator based on the virtual operation input value input in step in association with the virtual operation input value, and an allowable range for specifying a range that can be input as the operation input value An operation for selecting a specific operation input value from the operation input values specified by the specifying step and the allowable range specifying step as an inputable range is accepted, and the selected specific operation input value is entered into an actual process. A setting step for setting and a prediction result acquired by the prediction result acquiring step are displayed on a display screen. A display step for graphical display above, and an input value instruction accepting step for accepting an operation for instructing the virtual operation input value on the display screen, wherein the allowable range specifying step is obtained by the prediction result obtaining step When the predicted result is within an allowable range, it is determined that the value of the virtual operation input value associated with the prediction result is in a range that can be input as the operation input value. The prediction result associated with the virtual operation input value instructed through the input value instruction reception step is selected from the prediction results acquired in the prediction result acquisition step and displayed on the display screen In the setting step, a specific operation on the display screen on which the prediction result selected in the display step is displayed is displayed. The accepts the virtual operation input value corresponding to the predicted result as the operation, of selecting as said specific operation input value, the input value instruction receiving step receives an instruction of the virtual operation input value on the display screen An operation unit for displaying the operation unit, accepting an operation to the operation unit, the position of the operation unit is associated with the virtual operation input value, and the movable range of the operation unit is specified by the allowable range specifying step. The input value instruction accepting step is associated with the input possible range, and the virtual operation input value instruction corresponding to the position of the operation unit displayed on the display screen is accepted .
According to this driving support method, the virtual operation input value is sequentially input to the prediction simulator, and the prediction result by the prediction simulator is acquired in association with the virtual operation input value, which is useful for the operator's judgment and operation. Can provide information.

  According to the driving support device of the present invention, the virtual operation input value is sequentially input to the prediction simulator, and the prediction result by the prediction simulator is acquired in association with the virtual operation input value. Can provide useful information.

  According to the driving support method of the present invention, the virtual operation input value is sequentially input to the prediction simulator, and the prediction result by the prediction simulator is acquired in association with the virtual operation input value. Can provide useful information.

  Hereinafter, with reference to FIGS. 1-3, one Embodiment of the driving assistance device by this invention is described.

  FIG. 1 is a block diagram illustrating a configuration of the driving support apparatus of the present embodiment.

  In FIG. 1, the plant 1 is controlled by a control device 2. An operation input value is given to the control device 2 via the operation input interface 3. The control device 2 gives a control value corresponding to the operation input value to the plant 1 to control the plant 1. As shown in FIG. 1, the operation input value is given to the control device 2 and at the same time inputted to the tracking simulator 4 as a part of the process value.

  The tracking simulator 4 is a process simulator that represents a process as a model in accordance with the laws of physics and chemistry. The tracking simulator 4 is a simulator that completely simulates the plant 1 by acquiring process values (hereinafter referred to as “actually measured values”) including operation input values from the plant 1 and the like, and updating internal parameters of the sequential tracking simulator 4. is there.

  The state prediction simulator 5 shown in FIG. 1 calculates a predicted value (hereinafter, “predicted value”) that predicts the future operating state of the plant 1 by calculating faster than real time based on the process data input from the tracking simulator 4. )). Further, by inputting a virtual operation to the state prediction simulator 5, a predicted value for the virtual operation (hereinafter referred to as “case study value”) can be derived.

  The driving support apparatus 10 of this embodiment is an apparatus for performing driving support of an operator using the prediction result of the state prediction simulator 5.

  As shown in FIG. 1, the driving support device 10 includes an input unit 11 that sequentially inputs a virtual operation input value to the prediction simulator 5 while changing the virtual operation input value, and a prediction simulator 5 that is based on the virtual operation input value input by the input unit 11. A prediction result acquisition unit 12 that acquires the prediction result in association with the virtual operation input value, an allowable range specification unit 13 that specifies a range that can be input as the operation input value, and an allowable range specification unit 13 that can input the prediction result. An operation for selecting a specific operation input value from among the operation input values specified by the above is received by the setting means 14 for setting the selected specific operation input value in the actual process and the prediction result acquisition means 12 Display means 15 for graphically displaying the predicted results and input value instruction receiving means 16 for receiving an operation for instructing a virtual operation input value. To.

  FIG. 2 is a flowchart showing the operation of the driving support device 10.

  Steps S <b> 1 to S <b> 12 indicate processing for specifying a range that can be input as an operation input value by the allowable range specifying unit 13.

  In step S1 of FIG. 2, the current state of the plant 1 is fetched from the tracking simulator 4 as an initial state, and the initial value of the virtual operation variable is set as the current value of the operation input value.

  Next, in step S <b> 2, the current virtual operation variable is input to the state prediction simulator 5.

The virtual manipulated variable M (m ₀ , m ₁ ,..., M _n ) is
Virtual operation variable m _k = m ₀ (1 + kΔ)
The value is determined by.

Here, m ₀ is an initial value (step S1) of the virtual operation variable, and Δ is an increase / decrease width of the virtual operation variable. For example, the virtual manipulated variable that increases or decreases by 20% with respect to m0 is
m _k = m ₀ (1 + 0.2k) (where k is an integer)
It becomes.

  Next, in step S3, the state prediction simulator 5 causes the calculation based on the virtual operation variable input in step S2 to be executed, and the calculation result (prediction result) is input to the state prediction simulator via the prediction result acquisition unit 12. Get from 5.

  Next, in step S4, based on the prediction result acquired from the state prediction simulator 5, it is determined whether or not the current virtual operation variable is within an allowable range. Here, for example, a predicted value indicated as a prediction result by the state prediction simulator 5 is compared with a predefined alarm value.

Hereinafter, for example, processing when an upper limit value A _max and a lower limit value A _min are defined as alarm values will be described.

The prediction time (the time from the present to the longest prediction target time) is 3600 seconds, the case study value derived at a certain scheduled time T is V _T (T = 1, 2,..., 3600), and V _T When the maximum value is V _Tmax and the minimum value of VT is V _Tmin ,
(1) When _{"V Tmin} is not less than _{A min,} and _{V Tmax} is equal to or less than _{A max",} it determines that the allowable range _{P normal,}
(2) When “V _Tmin is less than A _min and V _Tmax is equal to or less than A _max ”, it is determined that P _Amin is outside the allowable range,
(3) When “V _Tmin is greater than or _equal to A _min and V _Tmax is greater than A _max ”, it is determined that P _Amax is outside the allowable range,
(4) When “V _Tmin is less than A _min and V _Tmax is greater than A _max ”, it is determined that P _{Amax min} is outside the allowable range.

In step S4, the current virtual manipulated variable can be input as the operation input value when the determination of the P _normal within the allowable range is obtained for all the case study values V _T obtained by the calculation in the state prediction simulator 5. It is determined to be a value.

  If the determination in step S4 is affirmative, the process proceeds to step S5, and if the determination is negative, the process proceeds to step S7.

  In step S5, the case study value VT obtained by the calculation in the state prediction simulator 5 is stored in the storage device 6 in association with the virtual operation variable. The virtual operation variable is stored in the storage device 6 as a value that can be input as an operation input value.

  Next, in step S6, Δ is added to the virtual operation variable, and the process returns to step S2.

As described above, in step S1 to step S6, the virtual manipulated variable is incremented by Δ from the initial value m0, and the range in which the determination of the P _normal within the allowable range is obtained for all the case study values V _T is automatically searched. doing.

Next, in step S7, a value m ₀ −Δ obtained by subtracting Δ from the initial value of the virtual operation variable is set as the current virtual operation variable.

  Next, in step S8, the current virtual manipulated variable is input to the state prediction simulator 5.

  Next, in step S9, the state prediction simulator 5 causes the calculation based on the virtual operation variable input in step S2 to be executed, and the calculation result (prediction result) is input to the state prediction simulator via the prediction result acquisition unit 12. Get from 5.

Next, in step S10, based on the prediction result acquired from the state prediction simulator 5, it is determined whether or not the current virtual operation variable is within an allowable range. Here, when the same process as step S4 is executed and the determination of the P _normal within the allowable range is obtained for all of the case study values VT obtained by the calculation in the state prediction simulator 5, the current virtual manipulated variable is It is determined that the value can be input as the operation input value.

  If the determination in step S10 is affirmed, the process proceeds to step S11, and if the determination is negative, the process ends.

  In step S11, the case study value VT obtained by the calculation in the state prediction simulator 5 is stored in the storage device 6 in association with the virtual operation variable. The virtual operation variable is stored in the storage device 6 as a value that can be input as an operation input value.

  Next, in step S12, Δ is subtracted from the virtual operation variable, and the process returns to step S8.

As described above, in steps S7 to S12, the initial value of the virtual manipulated variable is set to m ₀ −Δ (step S7), the virtual manipulated variable is decreased by Δ, and all the case study values V _T are within the allowable range. The range in which the determination of P _normal can be obtained is automatically searched.

  As described above, the allowable range of the operation input value can be grasped by increasing or decreasing the virtual operation variable from the operation input value in the actual plant 1 and performing the simulation up to a value exceeding the allowable range.

  The algorithm for searching the allowable range of the operation input value is not limited to the above procedure, and any procedure can be applied.

  FIG. 3 is a diagram illustrating a display example of the prediction result by the display unit 15.

As shown in FIG. 3, a trend graph 71 is displayed on the display screen 7 by the display means 15, and a past trend based on the measured value of the plant 1 is to the left of the current time. Indicates a predicted trend based on the case study value V _T stored in the storage device 6.

As shown in FIG. 3, the display area of the predicted trend includes an operable range 72 indicating the spread of the case study value _VT group stored in the storage device 6 as a two-dimensional area, and an area located above and below the operable range 72. Inoperable ranges 73a and 73b are displayed.

In addition, an operation amount change interface 74 is displayed on the display screen 7. Position of the knob 74a to be displayed on the operation amount changing interface 74 corresponds to the virtual manipulated variable, it is possible to select a case displayed on the operation range 72 by moving the knob 74a studies value V _T .

  Steps S <b> 21 to S <b> 23 in FIG. 2 indicate processing for reflecting an operation on the operation amount change interface 74 on the screen display.

In step S21, the input value instruction accepting unit 16, based on the current position data and the knob 74a of the stored in the storage device 6 Case Study value V _T, the virtual manipulated variable corresponding to the current position of the knob 74a get. Next, in step S <b> 22, the display unit 15 acquires the case study value V _T associated with the virtual operation variable acquired by the input value instruction receiving unit 16 from the storage device 6. Next, in step S23, the display unit 15, a graph 72A of the case studies value _{V T} is drawn on the trend graph 71 of the display screen 7, the flow returns to step S21.

By repeating such processing, the knob with the virtual manipulated variable corresponding to the position of 74a are obtained in real time, the graph 72A of case studies value V _T corresponding to the virtual manipulated variable at that time is on the trend graph 71 Displayed in real time.

  Steps S <b> 31 to S <b> 33 in FIG. 2 indicate processing in the setting unit 14.

  In step S31 in FIG. 2, the process proceeds to step S32 after waiting for the change execution operation button 75 on the display screen 7 to be operated. In step S32, a virtual operation variable corresponding to the current position of the knob 74a is acquired from the input value instruction receiving means 16.

  Next, in step S33, the acquired virtual operation variable is given to the control device 2 and the tracking simulator 4 as an operation input value, and the process returns to step S31.

  As described above, according to the driving support device of the present embodiment, the allowable range of the operation input value can be grasped on the display screen 7, and therefore the trial (prediction simulation) for knowing the appropriate operation input value is repeated. There is no need.

  Further, by operating the change execution operation button 75, the virtual operation variable acquired by the input value receiving means 16 is reflected in the plant 1 as the operation input value, so that the operator can obtain an appropriate graph 72A on the display screen 7. As described above, it is possible to set a desired operation input value simply by operating the knob 74a and operating the change execution operation button 75 in this state.

  In the embodiment described above, the case where there is one virtual operation variable has been described. However, by using a plurality of virtual operation variables, an allowable range of values of a combination of a plurality of operation input values may be automatically searched.

  As described above, according to the driving support device and driving support method of the present invention, the virtual operation input value is sequentially input to the prediction simulator while the prediction result by the prediction simulator is associated with the virtual operation input value. Since it is acquired, it is possible to provide information useful for the judgment and operation of the operator.

  The scope of application of the present invention is not limited to the above embodiment. The present invention can be widely applied to a driving support device and a driving support method using a prediction simulator that predicts a future driving situation based on process data.

The block diagram which shows the structure of the driving assistance device of one Embodiment. The flowchart which shows operation | movement of a driving assistance device. The figure which shows the example of a display of the prediction result by a display means.

Explanation of symbols

5 (state prediction simulator) prediction simulator 10 driving support device 11 input means 12 prediction result acquisition means 13 tolerance range specifying means 14 setting means 15 display means 16 input value instruction receiving means

Claims (2)

In the driving support device using the prediction simulator that predicts the future driving situation based on the process data,
Input means for sequentially inputting to the prediction simulator while changing a virtual operation input value;
Prediction result acquisition means for acquiring a prediction result by the prediction simulator based on the virtual operation input value input by the input means in association with the virtual operation input value;
Tolerable range specifying means for specifying a range that can be input as an operation input value;
Setting means for accepting an operation for selecting a specific operation input value from the operation input values specified by the allowable range specifying means as an inputable range, and setting the selected specific operation input value in an actual process When,
Display means for graphically displaying the prediction result acquired by the prediction result acquisition means on a display screen;
Input value instruction accepting means for accepting an operation for instructing the virtual operation input value on the display screen;
With
When the prediction result acquired by the prediction result acquisition unit is within the allowable range, the allowable range specifying unit inputs a value of the virtual operation input value associated with the prediction result as the operation input value. Determine that it is in the possible range,
The display means selects the prediction result associated with the virtual operation input value instructed via the input value instruction reception means from the prediction results acquired by the prediction result acquisition means, and Displayed on the display screen,
The setting means performs a specific operation on the display screen on which the prediction result selected by the display means is displayed, and the virtual operation input value corresponding to the prediction result is the specific operation input value. As an operation to select, accept as ,
The input value instruction receiving means displays an operation unit for receiving an instruction of the virtual operation input value on the display screen, and receives an operation to the operation unit,
The position of the operation unit is associated with the virtual operation input value, and the movable range of the operation unit is associated with the input possible range specified by the allowable range specifying unit,
The driving support apparatus, wherein the input value instruction receiving means receives an instruction of the virtual operation input value corresponding to a position of an operation unit displayed on the display screen . In the driving support method using the prediction simulator that predicts the future driving situation based on the process data,
An input step for sequentially inputting to the prediction simulator while changing a virtual operation input value;
A prediction result acquisition step of acquiring a prediction result by the prediction simulator based on the virtual operation input value input in the input step in association with the virtual operation input value;
An allowable range specifying step for specifying a range that can be input as an operation input value;
A setting step of accepting an operation for selecting a specific operation input value from the operation input values specified by the allowable range specifying step as an inputable range, and setting the selected specific operation input value in an actual process When,
A display step of graphically displaying the prediction result acquired by the prediction result acquisition step on a display screen;
An input value instruction accepting step for accepting an operation for instructing the virtual operation input value on the display screen;
With
In the allowable range specifying step, when the prediction result acquired in the prediction result acquiring step is within the allowable range, the value of the virtual operation input value associated with the prediction result is input as the operation input value. Determine that it is in the possible range,
In the display step, the prediction result associated with the virtual operation input value instructed through the input value instruction reception step is selected from the prediction results acquired in the prediction result acquisition step, and Displayed on the display screen,
In the setting step, a specific operation on the display screen on which the prediction result selected in the display step is displayed, a virtual operation input value corresponding to the prediction result is set as the specific operation input value As an operation to select, accept as,
In the input value instruction receiving step, an operation unit for receiving an instruction of the virtual operation input value is displayed on the display screen, and an operation to the operation unit is received.
The position of the operation unit is associated with the virtual operation input value, and the movable range of the operation unit is associated with the input possible range specified by the allowable range specifying step.
In the input value instruction receiving step, an instruction for the virtual operation input value corresponding to the position of the operation unit displayed on the display screen is received .

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