JP6913338B2 - Drawing support device and program - Google Patents

Description

The present invention relates to a device and a program that support a process of drawing a scene in which an object existing in a real space is simulated by a plurality of cubes.

In order to realize autonomous control, automatic driving or semi-automatic driving of moving objects such as robots, automobiles, ships and aircraft, passages (roads, bridges, etc.) where the moving objects can move or obstacles (roads, bridges, etc.) where the moving objects cannot pass ( Information on buildings, structures, central separation zones, street lights, trees, etc., or other moving objects) is required to be stored in a database in advance so that the moving objects can move along an appropriate route.

The latitude and longitude of the current position of the moving object are grasped using GPS (Global Positioning System), the current position is shown on the map, and passages (roads) and buildings within a certain distance from the current position are shown. A car navigation system that displays information such as the above is known (see, for example, Patent Document 1 below). However, off-the-shelf car navigation systems only have vector data (vector image data) as map image data for screen display to be visually recognized by passengers, and autonomous control of moving objects, automatic driving, and semi-automatic. It is not always useful for driving.

If you try to accurately digitize and store the positions and shapes of passages and / or obstacles that exist in the real space, the amount of data will be enormous, and the data will be used to grasp the distance and direction from the moving body. There is a concern that the processing for this will become unnecessarily complicated, the amount of calculation will increase, and the processing will be delayed. As a means to solve this problem, the present inventor has already applied for a patent application for a method of expressing information on passages and / or obstacles in the form of lightweight and easy-to-use data (see Patent Documents 2 to 4 below). ). Specifically, the space is divided into grids of a certain latitude and a certain longitude, and the coordinates of the positions of one or more grids that overlap with objects, that is, passages or obstacles existing in the space are stored in a database. That is. Furthermore, by adding the height dimension information of the object overlapping the grid to the coordinate information of the position of each grid, the object existing in the space can be made into a set of one or more rectangular parallelepiped cubes. It is possible to express.

Japanese Unexamined Patent Publication No. 2005-339101 Japanese Patent Application No. 2015-171620 Japanese Patent Application No. 2015-238754 Japanese Patent Application No. 2016-0183333

The present invention preferably supports a process of drawing a scene in which an object existing in a real space is simulated by a plurality of cubes.

In the present invention, a cube information storage unit for storing information on the latitude and longitude indicating the existence position of each of a plurality of cubes simulating an object existing in the real space, their plane dimensions and height dimensions, and a given viewpoint. Search for one or more cubes that exist within the required viewing angle (viewing angle) based on the latitude, longitude and altitude indicating the position, and the azimuth and elevation / depression angle (elevation angle, depression angle) indicating the direction of the line of sight. A cube search unit that reads out information on latitude and longitude and its plane dimension and height dimension from the cube information storage unit, and information read from the cube information storage unit for each of one or more cubes searched by the cube search unit. A projection information calculation unit that calculates the position coordinates of each vertex on the screen when each vertex of the cube is projected onto a screen orthogonal to the line-of-sight direction, and the cube calculated by the projection information calculation unit. A drawing support device including a projection information output unit that outputs information on the position coordinates of each of the vertices on the screen is configured.

Here, "given" the position of the viewpoint and the direction of the line of sight means reading from the main memory or the auxiliary storage device, accepting the input via the input device, or receiving from an external device or computer. In addition, "outputting" information means writing it out to the main memory or auxiliary storage device, or transmitting it to an external device or computer, and in particular, the direction of the line of sight given from the position of a given viewpoint. It means passing the position coordinates and other information of each vertex of the cube on the screen to the program that draws the scene of seeing one or more cubes as three-dimensional graphics along.

The program according to the present invention is a cube information storage unit that stores information on the latitude and longitude indicating the position of each of a plurality of cubes simulating an object existing in the real space, and the plane dimension and height dimension thereof. , Search for one or more cubes existing within the required viewing angle based on the latitude, longitude and altitude indicating the position of the given viewpoint, and the azimuth and elevation / depression angles indicating the direction of the line of sight, and the latitude and longitude as well. The cube search unit that reads out the information of the plane dimension and the height dimension from the cube information storage unit, and the cube based on the information read from the cube information storage unit for each of one or a plurality of cubes searched by the cube search unit. A projection information calculation unit that calculates the position coordinates of each vertex on the screen when each vertex of is projected onto a screen orthogonal to the line-of-sight direction, and each vertex of the cube calculated by the projection information calculation unit. It functions as a projection information output unit that outputs information on the position coordinates on the screen.

Thus, for each cube, the projection information calculator compares the distance on the screen of two adjacent vertices in the cube with a threshold value, so that one or two of those two vertices It is preferable that it is determined whether or not the ridge line (side) connecting the vertices should be drawn, and the projection information output unit also outputs the information of the determination result by the projection information calculation unit.

According to the present invention, it is possible to preferably support a process of drawing a scene in which an object existing in a real space is simulated by a plurality of cubes.

The figure which shows the hardware resource which the drawing support apparatus of one Embodiment of this invention has. The functional block diagram of the drawing support device of the same embodiment. The figure which illustrates the content of the information stored in the cube information storage part in the same embodiment. The figure which illustrates the object existing in the space and the cube which simulates it in the same embodiment. The figure which shows the vertex and the ridge line of the cube which simulates an object in the same embodiment. The perspective view which shows typically the relationship between the viewpoint position, the line-of-sight direction, the screen and the viewing angle in the same embodiment. A plan view schematically showing the relationship between the viewpoint position, the line-of-sight direction, the screen, and the viewing angle in the same embodiment. A side view schematically showing the relationship between the viewpoint position, the line-of-sight direction, the screen, and the viewing angle in the same embodiment. The figure which illustrates the content of the information output by the drawing information output part in the same embodiment.

An embodiment of the present invention will be described with reference to the drawings. The drawing support device of the present embodiment is mounted and operated on a moving body 1 such as a robot or an automobile, for example. This drawing support device is mainly composed of a computer. As shown in FIG. 1, the computer includes hardware resources such as a CPU (Central Processing Unit) 1a, a main memory 1b, an auxiliary storage device 1c, a video codec 1d, an audio codec 1e, a communication interface 1f, and an input device 1g. These are controlled by a controller (system controller, I / O controller, etc.) 1h and cooperate with each other.

The auxiliary storage device 1c is a flash memory, a hard disk drive, an optical disk drive, or the like. The video codec 1d temporarily stores GPU (Graphics Processing Unit), which generates a screen to be displayed based on a drawing instruction received from the CPU 1a and sends the screen signal to the display 1i, and screen and image data. The video memory etc. to be stored is used as an element. The audio codec 1e decodes the encoded voice data and outputs the voice from the voice output device 1j. The video codec 1d and the audio codec 1e can be implemented as software instead of hardware, respectively. The communication interface 1f is a device for the computer to exchange information with an external device or a computer. The communication interface 1f may include a wireless transceiver or a wired connection interface for carrying out information communication via a telecommunication line such as the Internet, a mobile phone network, a WiMAX network, or a LAN (Local Area Network). The input device 1g is a touch panel (which may be superimposed on the display 1i) operated by the user, a push button, a mouse, a keyboard, or the like, or a voice input device in which the user inputs a command by voice.

Further, the computer may control the operation of the mobile body 1. In that case, the moving body 1 includes a known steering device 1k capable of changing the direction of the traveling wheels, a known engine or motor serving as a drive source 1l for rotationally driving the wheels, and the movement of the moving body 1. A camera sensor (may be a panoramic camera), a radar sensor, or an objective distance (distance measuring) sensor as a sensor 1 m for detecting a lane marking line laid on the road surface of the route or an object around the moving body 1. (Laser radar, ultrasonic radar, infrared radar, etc.), passive infrared sensor (human sensor), etc., and navigation signal receiver 1n of navigation satellite system (satellite positioning system) such as GPS and QZSS (Quasi-Zenith Satellite System). To be equipped. Then, the computer knows the existence of surrounding objects and the latitude and longitude of its own current position through the sensors 1m and the navigation signal receiving device 1n, and controls the steering device 1k and the drive source 1l to move the moving body. 1 will be moved along an appropriate movement path.

In the computer, the program to be executed by the CPU 1a is stored in the auxiliary storage device 1c, and when the program is executed, the program is read from the auxiliary storage device 1c into the main memory 1b and decoded by the CPU 1a. The computer operates the hardware resources according to the program, and exerts functions as the cube information storage unit 101, the cube search unit 102, the projection information calculation unit 103, and the projection information output unit 104 shown in FIG.

The cube information storage unit 101 uses the required storage area of the main memory 1b or the auxiliary storage device 1c, and has latitude and longitude indicating the existence positions of each of the plurality of cubes C simulating an object existing in the real space. In addition, information on its plane dimension and height dimension is stored.

As a premise, in the present embodiment, a virtual grid G having a size of a constant latitude and a constant longitude is partitioned by a grid of a constant latitude and a constant longitude interval in a real space in which the moving body 1 is operated. Divide into. The grid G is an abstract representation (LLQuad (Latitude Longitude Quadrangle)) of the position of an object existing in the real space. As illustrated in FIG. 3, the plan-view shapes of various objects existing in space are represented as a set of one or a plurality of grids G for each object. One grid G is a square (quadrilateral. It has a substantially rectangular shape, but is not strictly a rectangle) having predetermined dimensions in the latitude direction and the longitude direction, respectively. Then, at least one position coordinate is given to one grid G in order to represent one grid G. The position coordinates are the latitude and longitude of any point in the target grid G, for example, a point such as a corner (southwest angle, southeast angle, northeast angle or northwest angle) or center of the grid G. Each of these latitudes and longitudes shall be the value of the required number of digits. For example, when the number of significant digits of latitude and longitude is up to 6 digits after the decimal point, that is, the position coordinates [latitude, longitude] of the grid G (southwest angle) are set to [35.675126 ° N] as data representing a certain grid G. , 139.752472 ° E]
The position coordinates to be given to the grid G adjacent to the north of the grid G (at the southwest corner of the grid G) are obtained by adding 0.000001 ° to the north latitude [35.675127 ° N, 139. .752472 ° E]
The position coordinates (at the southwest corner of the grid G) to be given to the grid G adjacent to the west of the grid G are obtained by subtracting 0.000001 ° from the east longitude [35.675126 ° N, 139.752471 ° E].
Will be.

When the number of significant digits of the latitude and longitude of the position coordinates is up to 6 digits after the decimal point, one grid G is a square having dimensions of 0.000001 ° in the latitude direction and the longitude direction, respectively. Not all grids G have uniform planar dimensions because their specific size is affected by latitude and longitude. That is, the closer to the North Pole or the South Pole, the smaller the distance in the longitude (east-west) direction per unit longitude, and the slightly larger the dimension in the latitude (north-south) direction per unit latitude. When the number of significant digits of latitude and longitude is up to 6 digits after the decimal point, in Japan, the latitude dimension of one grid G is about 0.11 m from north to south, and the longitude dimension is about 0.09 m from east to west. Become. However, since the Japanese archipelago extends from north to south, the expansion and contraction of dimensions depending on the latitude of the location should not be ignored.

When the number of significant digits of the latitude and longitude of the position coordinates is up to 5 digits after the decimal point, the latitude dimension of one grid G is about 1.1 m, and the longitude dimension is about 0.9 m. If the number of significant digits is up to 4 digits after the decimal point, the latitude dimension of one grid G is about 11 m, and the longitude dimension is about 9 m. In short, the number of significant digits of latitude and longitude defines the plane dimension of the grid G, that is, the dimension in the latitude direction and the dimension in the longitude direction. The number of significant digits of latitude and longitude can be arbitrarily set according to the application and the dimensions of each object. If it is intended to apply as few grids as possible to an object having a large area such as a large building, it is effective to set a small number of significant digits of latitude and longitude related to the grid G.

On top of that, in the present embodiment, as shown in FIG. 3, a substantially rectangular parallelepiped whose bottom surface is equal to the grid G and which stands upright from the grid G (as described above, the shape of the bottom surface G is not strictly rectangular). Based on the idea of a shaped cube (LLCube (Lattide Rectangle Cube) C) C, various objects existing in the real space are simulated by one or a plurality of cubes C, respectively. Then, as shown in FIG. 4, the cube information storage unit 101 includes the position coordinates [latitude, longitude] of the grid G and the number of significant digits thereof for each grid G, and the cube C located in the grid G. Stores height information. The height of the cube C represents the height position of the upper surface of the object or the part of the object existing on the grid G in the real space, that is, the object or the part of the object simulated by the cube C. When expressing an object existing at a position lower than the ground or the floor surface on which the moving body 1 exists, for example, a ditch or a hole, a river, a lake, or the sea, a negative value is given to the height information. It is also possible to express something like a gutter by a cube C given a predetermined value (for example, −0.1 m) as a height.

Furthermore, it is also conceivable to give information on the ground clearance to each cube C. The ground clearance of the cube C represents the height position of an object existing on the grid G in the real space or the lower surface of the object. When expressing an object floating from the ground or floor on which the moving body 1 exists, such as a bridge girder, a beam, a gate, etc., a positive value is given to the ground clearance. For many objects that are in contact with the ground or floor, the ground clearance is 0 m.

In addition, information such as the color of an object simulated by the cube C or a portion thereof may be additionally added to each cube C.

The object to be simulated by one or more cubes C is, for example, a passage (which may be a road) through which the moving body 1 can pass, a real estate such as a building or a tree, or the movement or movement of the moving body 1. Various obstacles that can interfere, or other mobiles 1. As already mentioned, each of these objects can be represented in the form of one or more cubes C that are approximately equal to the area occupied by the object in space. That is, the object can be converted into data as a set of values of the position coordinates and height (furthermore, ground clearance, color, etc.) of the cube C that represents the object. A passage with a total length of 100 m and a width of 3 m is a set of about 30,000 cubes C (depending on the direction of the passage), assuming that the number of significant digits of the latitude and longitude of the position coordinates of the grid G is 6 digits after the decimal point. It can be regarded as a body and can be converted into data as a set of the same number of position coordinates and height values. In addition, a building with a building area of 400 m ² can be regarded as an aggregate of about 400 cubes C if the number of significant digits of the latitude and longitude of the position coordinates of the grid G is 5 digits after the decimal point, and the same number of positions. It can be converted into data as a set of coordinate and height values.

The latitude and longitude of the eight vertices P0, P1, P2, P3, P4, P5, P6, and P7 shown in FIG. 5 for each cube C existing in the space according to the information stored in the cube information storage unit 101. And the height position is fixed. For example, the position coordinates [latitude, longitude] of the vertices P0 and P4 located at the southwest corner of the cube C are [35.675126 ° N, 139.752472 ° E].
When the number of significant digits is up to 6 digits after the decimal point, the position coordinates [latitude, longitude] of the vertices P1 and P5 located at the southeast corner of the cube C are [35.675126 ° N, 139.752473 °. E]
The position coordinates [latitude, longitude] of the vertices P2 and P6 located at the northeast corner of the cube C are [35.675127 ° N, 139.752473 ° E].
The position coordinates [latitude, longitude] of the vertices P3 and P7 located at the northwest corner of the cube C are [35.675127 ° N, 139.752472 ° E].
Is. The height positions of the four vertices P4, P5, P6, and P7 on the top surface side of the cube C are equal to the height of the top surface of the cube C, and the four vertices P0, P1, P2, and P3 on the bottom surface side. The height position is equal to the height of the lower surface of the cube C, that is, the ground clearance. Two adjacent vertices in cube C are connected by the ridgeline of cube C. One cube C has eight vertices P0, P1, P2, P3, P4, P5, P6, P7 and twelve ridges L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, It has L10 and L11.

The cube search unit 102 is within the range of the required viewing angles α and β when the virtual space in which a large number of cubes C simulating a real object are arranged is viewed from a certain viewpoint position V along a certain line-of-sight direction S. Search for one or more cubes C that exist in. That is, the cube search unit 102 plays a role of selecting the cube C to be drawn when executing the process of drawing the scene in which the real object is simulated by the cube C.

Values that define the position V of the viewpoint include its latitude and longitude, and the height position from the ground or floor surface. The values that define the direction S of the line of sight include the azimuth angle and the elevation / depression angle of the vector of the direction S viewed from the position V of the viewpoint. The position V [latitude, longitude, height] of the viewpoint and the direction S [azimuth, elevation / depression angle] of the line of sight may be given in advance and stored in the main memory 1b or the auxiliary storage device 1c, or may be input. The input may be accepted via the device 1g. Alternatively, it may be received from an external device or computer that is communicably connected via a telecommunication line.

As shown in FIGS. 6 to 8, when the cube search unit 102 sees the given line-of-sight direction S from the given viewpoint position V, the cube search unit 102 has a finite size screen F orthogonal to the line-of-sight direction S. Information relating to one or more cubes C that can be projected onto the cubes C is extracted from the cube information storage unit 101. The dimensions of the screen F, in other words, the sizes of the viewing angles α and β are set to, for example, up to ± 20 ° in the vertical and horizontal directions orthogonal to the direction of the line of sight (that is, 2α = 2β = 40 °). However, the magnitudes of the viewing angles α and β are arbitrary, and may be indefinite as given in the same manner as the viewpoint position V and the line-of-sight direction S.

Further, when the cube search unit 102 searches for the cube C, it is of course possible to search from the viewpoint position V to the cube C located at infinity, but more preferably, the distance to be searched from the viewpoint position V. Set the range R to finite. For example, only the cube C existing in the range from the viewpoint position V to 10 km or the range up to 100 km is searched, and the cube C located farther than that is excluded from the search. This is because the cube C (the object simulated by) far away from the viewpoint V is actually invisible or does not need to be visually recognized, and such a cube C does not have to be the object of drawing. The range R of the search distance from the viewpoint position V may always be constant, or may be an indefinite one given in the same manner as the viewpoint position V and the line-of-sight direction S.

The cube search unit 102 reads out information such as the position coordinates of each cube C existing in the space, the number of significant digits thereof, the height, and the ground height from the cube information storage unit 101. And first, of the cubes C existing in the space
(I) When looking at the given line-of-sight direction S [azimuth] from the given viewpoint position V [latitude, longitude], the apex (or center) of the southwest, southeast, northeast or northwest corners of cube C Etc.) Cube C such that at least one position [latitude, longitude] is within the required viewing angle α
(Ii) Moreover, at least one of the given viewpoint position V [latitude, longitude] and the apex (or center, etc.) of the southwest angle, southeast angle, northeast angle, or northwest angle of the cube [latitude]. , Longitude] and the horizontal distance (distance ignoring the altitude difference) is within the range of the required search distance R.
Is extracted. According to the example shown in FIG. 7, since the vertex PA of a certain cube C is located outside the range of the viewing angle α along the left-right direction of the screen F, the cube C having this vertex PA is a search condition. Does not match (i). On the other hand, the vertices PB and PC of the other cubes C are both located within the range of the viewing angle α along the left-right direction of the screen F, but the distance from the viewpoint position V of the vertex PC is the search distance R. The cube C having the vertex PC does not meet the search condition (ii) because it is out of range, that is, too far from the viewpoint V. As a result, the cube C having the vertex PB matches the search conditions (i) and (ii).

Further, the cube search unit 102 is among the cubes C that meet the above search conditions (i) and (ii).
(Iii) When looking at the given line-of-sight direction S [elevation / depression angle] from the given viewpoint position V [latitude, longitude, height], any vertex (or center, etc.) on the top surface side of the cube C. The position [latitude, longitude, height] is located above the lower limit of the required viewing angle, and the position [latitude, longitude, etc.] of any apex (or center, etc.) on the bottom surface side of the cube C. Cube C whose height] is located below the upper limit of the same viewing angle
Is extracted. According to the example shown in FIG. 8, the apex PD on the top surface side of a certain cube C is located below the lower limit of the viewing angle β along the vertical direction of the screen F. The cube C to have does not meet the search condition (iii). Further, since the apex PE on the bottom surface side of the other cube C is located above the upper limit of the viewing angle β along the vertical direction of the screen F, the cube C having this apex PE is also included in the search condition (iii). Does not match. On the other hand, since the vertex PB of another cube C is located within the range of the viewing angle β along the vertical direction of the screen F, the cube C having this vertex PB matches the search condition (iii). Become.

The cube C that satisfies all of the above conditions (i), (ii), and (iii) is the cube C to be drawn. The cube search unit 102 selects such one or a plurality of cubes C, and the information necessary for drawing the cube C, that is, the position coordinates and the number of significant digits, the height and the ground clearance of the cube C. Information such as colors is read from the cube information storage unit 101 and acquired.

In order to judge the success or failure of each of the above conditions (i), (ii), and (iii), the distance between two points whose position coordinates are represented by latitude and longitude, and one of the points It is necessary to calculate the azimuth when looking at the other point. Here, a specific example of the geodesic length, which is the distance between two points, and the calculation method of the azimuth angle when the other point is viewed from one point is shown. The calculation method described below is introduced on the Geospatial Information Authority of Japan website (http://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2stf.html).

Let the latitude of _one point be φ 1 and the longitude be L ₁ , the latitude of the other point be φ ₂ , and the longitude be L ₂ . However, the north latitude is positive, the south latitude is negative, the east longitude is positive, and the west longitude is (360 ° -longitude). When L = L _2- L ₁ is a negative value, the latitude of one point is φ ₂ , the longitude is L ₂ , the latitude of the other point is φ ₁ , and the longitude is L _1. Make it positive. Let a be the semimajor axis of the earth ellipsoid (reference ellipsoid) and f be the flattening.
L = L _2- L ₁ ; L'= 180 ° -L (however, 0 ° ≤ L ≤ 180 °)
Δ ＝ φ _{2 −} φ ₁ ； Σ ＝ φ ₁ ＋ φ ₂
u ₁ = tan ^-1 [(1-f) tan φ ₁ ]; u ₂ = tan ^-1 [(1-f) tan φ ₂ ]
Σ'= u ₁ + u ₂ ; Δ'= u ₂ -u ₁ (however, -180 ° ≤ Σ'≤ 180 °, -180 ° ≤ Δ'≤ 180 °)
ξ = cos (Σ'/2);ξ'= sin (Σ'/2)
η = sin (Δ'/2);η'= cos (Δ'/2)
x = sine ₁ sine ₂ ; y = cosu ₁ cosu ₂
c = ycosL + x
ε = [f (2-f)] / [(1-f) ² ]
After that, some calculation formulas differ depending on the value of c, and zone 1, when c ≧ 0 holds, zone 2, c <-cos when _{0> c ≧ −cos (3 ° cosu 1) holds.} The case where (3 ° cosu ₁ ) is satisfied is defined as zone 3.
The initial value of θ θ _(0), and in zone _{1 θ (0) = L (} 1 + fy), Zone 2, θ ₍₀₎ = a L '.
In zone 3, the calculation method is divided into zone 3 (a) where Σ = 0 and zone 3 (b) where Σ ≠ 0.
R = fπcos ² u ₁ [1- (1/4) f (1 + f) sin ² u ₁ + (3/16) f ² sin ⁴ u ₁ ]
d ₁ = L'cosu ₁ −R; d ₂ = | Σ'| + R
q = L'/ (fπ); f ₁ = (1/4) f [1 + (1/2) f]; γ ₀ = q + f ₁ q−f ₁ q ³
The calculation _{of θ (0)} in zone 3 (a) is
A ₀ = tan ^-1 (d ₁ / d ₂ ) (However, -90 ° ≤ A ₀ ≤ 90 °)
B ₀ = sin ^-1 [R / √ (d ₁ ² + d ₂ ² )] (However, 0 ° ≤ B ₀ ≤ 90 °)
ψ = A ₀ + B ₀ ; j = γ ₀ / cosu ₁
k = (1 + f ₁ ) | Σ'| (1-fy) / (fπy); j ₁ = j / (1 + ksecψ)
ψ'= sin ^-1 j ₁ (however, 0 ° ≤ ψ'≤ 90 °)
ψ'' = sin ^-1 (j ₁ cosu ₁ / cosu ₂ ) (However, 0 ° ≤ ψ'' ≤ 90 °)
θ ₍₀₎ = 2 ^{tan -1} {tan [(ψ'+ ψ'') / 2] sin (| Σ'| / 2) / cos (Δ'/2)}
On the other hand, in zone 3 (b), when d ₁ > 0, θ ₍₀₎ = L'is set. The calculation of the geodesic line length and the azimuth angle when _{d 1} ≤ 0 in zone 3 (b) will be described separately.

_{(Except when d 1} ≤ 0 in zone 3 (b)) In the calculation of θ below, θ _(n) ≡ _{θ (0)} is set in the first operation, and θ _{(n + 1) is set in the second and subsequent operations. )} ≡ θ _(n) .
In zone 1, g = √ [η ² cos ² (θ _(n) / 2) + ξ ² sin ² (θ _(n) / 2)]
Other than zone 1, g = √ [η ² sin ² (θ _(n) / 2) + ξ ² cos ² (θ _(n) / 2)]
In zone 1, h = √ [η ' 2 cos 2 (θ (n) / 2) + ξ' 2 sin 2 (θ (n) / 2)]
In addition zone ^{1, h = √ [η '2} sin 2 (θ (n) / 2) + ξ' 2 cos 2 (θ (n) / 2)]
σ = 2tan ^-1 (g / h); J = 2gh; K = h ^2- g ²
γ = (y / J) sinθ _(n) ; Γ = 1-γ ² ; ζ = ΓK-2x; ζ'= ζ + x
D = (1/4) f (1 + f)-(3/16) f ² Γ
E = (1-DΓ) fγ {σ + DJ [ζ + DK (2ζ ^{2 −} Γ ² )]}
In zone 1, F = θ _(n) −LE
Other than zone 1, F = θ _(n) −L'+ E
G = fγ ² (1-2DΓ) + fζ'(σ / J) [1-DΓ + (1/2) fγ ² ] + (1/4) f ² ζζ'
θ _{(n + 1)} = θ _(n) −F / (1-G)
By repeating the above for the required number of times, θ is obtained. The iterative calculation is preferably continued until | F | <10 ^-15.

_{(Except when d 1} ≤ 0 in zone 3 (b)) The geodesic length s is
n ₀ = εΓ / [√ (1 + εΓ) +1] ² ; A = (1 + n ₀ ) [1+ (5/4) n ₀ ² ]
B = ε [1- (3/8) n ₀ ² ] / [√ (1 + εΓ) +1] ²
s = (1-f) aA (σ-BJ {ζ- ^{(1/4) B [K (Γ 2 -2ζ 2} ) − (1/6) Bζ (1-4K ² ) (3Γ ² -4ζ ² ) ]}))
_{(Except when d 1} ≤ 0 in zone 3 (b)) The azimuth angle α of the target position as seen from the position of the moving body 1 is
In zone 1, α = tan ^-1 [ξtan (θ / 2) / η] −tan ^-1 [ξ'tan (θ / 2) / η']
Other than zone 1, α = tan ^-1 [η'tan (θ / 2) / ξ'] − tan ^-1 [η tan (θ / 2) / ξ]
However, if the latitude and longitude of one point is (φ ₂ , L ₂ ) and the latitude and longitude of the other point is (φ ₁ , L ₁ ), then
In zone 1, α = 180 ° + tan ^-1 [ξtan (θ / 2) / η] + tan ^-1 [ξ'tan (θ / 2) / η']
In addition zone ^{1, α = 360 ° -tan -1 [} η'tan (θ / 2) / ξ '] - tan -1 [ηtan (θ / 2) / ξ]
The geodesic length s and the azimuth angle α when _{d 1} = 0 in zone 3 (b) are
Γ = sin ² u ₁
n ₀ = εΓ / [√ (1 + εΓ) +1] ² ; A = (1 + n ₀ ) [1+ (5/4) n ₀ ² ]
s = (1-f) aAπ
α = 90 °
However, if the latitude and longitude of one point is (φ ₂ , L ₂ ) and the latitude and longitude of the other point is (φ ₁ , L ₁ ), α = 270 °.
Further, the geodesic length s and the azimuth angle α when _{d 1} <0 in zone 3 (b) are calculated according to the following. In the first operation, γ _(n) ≡γ _(0), and in the second and subsequent operations, γ _{(n + 1)} ≡γ _(n) .
Γ = 1-γ _(n) ² ; D = (1/4) f (1 + f)-(3/16) f ² Γ
γ _{(n + 1)} = q / (1-DΓ)
By repeating the above for the required number of times, Γ and D are obtained. The iterative operation is preferably continued until _{| γ (n)} −γ _(n-1) | <10 ^-15. and,
n ₀ = εΓ / [√ (1 + εΓ) +1] ² ; A = (1 + n ₀ ) [1+ (5/4) n ₀ ² ]
s = (1-f) aAπ
m = 1-qsecu ₁ ; n = DΓ / (1-DΓ); w = mn + mn
When w ≦ 0, α = 90 °
When w> 0, α = 90 ° -2 sin ^-1 √ (w / 2)
However, if the latitude and longitude of one point is (φ ₂ , L ₂ ) and the latitude and longitude of the other point is (φ ₁ , L ₁ ), then
When w ≦ 0, α = 270 °
When w> 0, α = 270 ° + 2 sin ^-1 √ (w / 2)
Needless to say, the calculation method of the geodesic line length and the azimuth angle is not limited to the above. Vincenty's formula, Hubney's formula, and the like are known as simpler calculation methods (the amount of calculation is small, but errors can occur), and these may be adopted. Alternatively, the latitude dimension per unit latitude and the longitude dimension per unit longitude at the position V [latitude, longitude] of the given viewpoint are obtained, and the plane dimension of one grid G, that is, the cube C (location of each cube C). It may be uniquely determined (regardless of the position). For example, when the viewpoint V is placed in Japan, the geodesic length and azimuth can be calculated after defining that the latitude 0.000001 ° is 0.11 m and the longitude 0.000001 ° is 0.09 m. Conceivable.

The projection information calculation unit 103 describes each of the vertices P0 of the cube C based on the information read from the cube information storage unit 101 for each of the one or more cubes C selected by the cube search unit 102 as the object to be drawn. Positional coordinates of each vertex P0, P1, P2, P3, P4, P5, P6, P7 on the screen F when P1, P2, P3, P4, P5, P6, P7 are projected on the screen F [horizontal direction] Position X, vertical position Y] is calculated.

According to the example shown in FIG. 7, when the vertex PB of the cube C to be drawn is projected onto the screen F, the position coordinates along the left-right direction on the screen F are parallel to the vertical plane and An angle X formed by a line segment extending from the viewpoint V along the line-of-sight direction S and a line segment extending from the viewpoint V toward the apex PB in a state (in a plan view) viewed from a direction orthogonal to the line-of-sight direction S. Is required as. This angle X is the difference between the azimuth angle of the line-of-sight direction S seen from the viewpoint position V and the azimuth angle in the direction of the apex PB seen from the same viewpoint V position.

Further, according to the example shown in FIG. 8, when the vertex PB of the cube C to be drawn is projected onto the screen F, the position coordinates along the vertical direction on the screen F are parallel to the horizontal plane. The angle formed by the line segment extending from the viewpoint V along the line-of-sight direction S and the line segment extending from the viewpoint V toward the apex PB when viewed from a direction orthogonal to the line-of-sight direction S (side view). Obtained as Y. This angle Y is the difference between the elevation / depression angle in the direction S of the line of sight viewed from the position V of the viewpoint and the elevation / depression angle in the direction of the apex PB viewed from the position V of the same viewpoint. The projection information calculation unit 103 calculates the position coordinates [X, Y] of each vertex of the cube C to be drawn on the same screen F.

Not only that, the projection information calculation unit 103, for each of the cubes C to be drawn, has the cube C among the eight vertices P0, P1, P2, P3, P4, P5, P6, and P7 of the cube C. It determines the vertices that cannot be seen from the viewpoint V because they are hidden behind themselves, that is, they do not need to be drawn. Specifically, from the viewpoint position V [latitude, longitude, height], the positions of the eight vertices P0, P1, P2, P3, P4, P5, P6, and P7 of the cube C [latitude, longitude, height]. Calculate the oblique distance (the literal distance including the altitude difference). Then, it is determined that the apex having the farthest oblique distance from the viewpoint V is the apex hidden behind the cube C itself and cannot be seen.

Further, the position coordinates [X, Y] on the screen F of the vertex having the farthest oblique distance from the viewpoint V and the position coordinates [X, Y] on the screen F of the vertex having the second farthest oblique distance from the viewpoint V. If the distance to [Y] is calculated and the distance between the two is closer than the threshold on the screen F, the vertex with the second farthest oblique distance from the viewpoint V is also hidden behind the cube C itself. Judge that it is an invisible vertex. This threshold is set so that the angle between the line segment connecting the viewpoint V and the farthest vertex of the former and the line segment connecting the viewpoint V and the second farthest vertex of the latter is about 0.5 °. Set.

In addition, the position coordinates [X, Y] on the screen F of the vertex with the farthest diagonal distance from the viewpoint V and the position coordinates [X] on the screen F of the vertex with the third farthest diagonal distance from the viewpoint V. , Y], and if the distance between them is closer than the threshold on the screen F, the apex with the third farthest oblique distance from the viewpoint V and the oblique distance from the viewpoint V are It is determined that the fourth distant vertex is also an invisible vertex hidden behind the cube C itself. This threshold is set so that the angle between the line segment connecting the viewpoint V and the farthest vertex of the former and the line segment connecting the viewpoint V and the third farthest vertex of the latter is about 0.5 °. Set.

Of the twelve ridges L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, and L11 of the cube C to be drawn, they are hidden behind the cube C itself and cannot be seen. The ridgeline connecting to the apex is still hidden behind the cube C and cannot be seen. Such ridges are ridges that do not need to be drawn.

Further, the projection information calculation unit 103 has, for each of the cubes C to be drawn, the twelve ridgelines L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, which the cube C has. Of L11, a ridge line that does not need to be drawn because it is far away from the viewpoint V and is extremely short and small when viewed from the viewpoint V is determined. Specifically, the distance between the position coordinates [X, Y] on one screen F of the two ridges connected by the ridge and the position coordinates [X, Y] on the other screen F. If the distance between the two is closer than the threshold on the screen F, it is determined that the ridge line connecting the two vertices does not need to be drawn. This threshold value is set to a value such that the angle formed by the line segment connecting the viewpoint V and one vertex and the line segment connecting the viewpoint V and the other vertex is about 0.5 °.

Moreover, for each of the cubes C to be drawn, the projection information calculation unit 103 is far away from the viewpoint V among the eight vertices P0, P1, P2, P3, P4, P5, P6, and P7 of the cube C. It is difficult to distinguish each vertex from the viewpoint V, so the vertices that do not need to be drawn are determined. Specifically, the distance between the position coordinates [X, Y] on one screen F of the two adjacent vertices and the position coordinates [X, Y] on the other screen F is obtained. If the distance between the two vertices is closer than the threshold value on the screen F, it is determined that one of the two vertices does not need to be drawn. This threshold value is set to a value such that the angle formed by the line segment connecting the viewpoint V and one vertex and the line segment connecting the viewpoint V and the other vertex is about 0.05 °. This threshold is small compared to the other thresholds described above.

Eight vertices P0, P1, P2, P3, P4, P5, P6, P7 and twelve ridges L0, L1, L2, L3, L4, L5, L6, L7, L8, which the cube C to be drawn has. Not all L9, L10, and L11 are within the dimensions of the screen F, that is, within the viewing angles α and β. The projection information calculation unit 103 determines that the vertices whose position coordinates [X, Y] on the screen F deviate outside the dimensions of the screen F are vertices that do not need to be drawn. Then, when both of the two vertices connected by one ridgeline are located outside the dimension of the screen F, it is determined that the ridgeline does not need to be drawn.

The projection information output unit 104 has at least the position coordinates of the vertices P0, P1, P2, P3, P4, P5, P6, and P7 of the cube C to be drawn calculated by the projection information calculation unit 103 on the screen F. [X, Y] Output other information. The projection information output unit 104 is used for drawing a scene in which one or a plurality of cubes C are viewed along the direction S of the given line of sight from the position V of the given viewpoint as three-dimensional graphics. It provides the information needed for. As shown in FIG. 9, the information output by the projection information output unit 104 includes eight vertices P0, P1, P2, which are possessed by each of the one or a plurality of cubes C selected as drawing targets. Is it necessary to draw the position coordinates [X, Y] of each of P3, P4, P5, P6, and P7 on the screen F, and each vertex P0, P1, P2, P3, P4, P5, P6, and P7? , It is necessary to draw each of the twelve ridges L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11 connecting two adjacent vertices, or the cube C. Color, etc. are included. The projection information output unit 104 writes these information to the main memory 1b or the auxiliary storage device 1c, or transmits the information to an external device or computer communicably connected via a telecommunication line.

The three-dimensional graphics drawing program that has acquired the information output by the projection information output unit 104 draws one or more cubes C viewed from the viewpoint position V with reference to the information, and displays the information on the screen of the display 1i. indicate. For a single cube C, the projection information output unit 104 has vertices P0, P1, P2, P3, P4, P5, P6, P7 and ridges L0, L1, L2, L3, L4, L5, L6, Information indicating which of L7, L8, L9, L10, and L11 does not need to be drawn is output. By referring to this information, it is possible to execute the hidden line processing of one cube C in the drawing program. On the other hand, the drawing program itself does not allow the overlapping of the plurality of cubes C, that is, a part or all of the cubes distant from the viewpoint V being hidden behind the cube C in front of the viewpoint V. It is necessary to judge and process the hidden part.

In the present embodiment, the cube information storage unit 101 for storing the latitude and longitude indicating the existence position of each of the plurality of cubes C simulating an object existing in the real space, and the information on the plane dimension and the height dimension thereof is given. Search for one or more cubes C existing within the required viewing angles α and β with reference to the latitude, longitude and altitude indicating the position V of the viewpoint to be observed, and the azimuth angle and elevation / depression angle indicating the direction S of the line of sight. The cube search unit 102 that reads out information on the latitude and longitude and the plane dimension and height dimension thereof from the cube information storage unit 101, and the cube information storage unit for each of the one or more cubes C searched by the cube search unit 102. Based on the information read from 101, the vertices P0, P1, P2, P3, P4, P5, P6, and P7 of the cube C are projected onto the screen F orthogonal to the line-of-sight direction S. The projection information calculation unit 103 that calculates the position coordinates [X, Y] of P2, P3, P4, P5, P6, and P7 on the same screen F, and the vertices of the cube C calculated by the projection information calculation unit 103. A drawing support device including a projection information output unit 104 that outputs information on the position coordinates [X, Y] on the screen F of P0, P1, P2, P3, P4, P5, P6, and P7 is configured.

According to the present embodiment, a plurality of real objects are stored in a database used for detecting an object existing around the moving body 1 and controlling the operation of the moving body 1, that is, information stored in the cube information storage unit 101. It can be used for the process of drawing a simulated scene by the cube C.

The present invention is not limited to the embodiments described in detail above. The specific configuration of each part, the processing procedure, and the like can be variously modified without departing from the spirit of the present invention.

101 ... Cube information storage unit 102 ... Cube search unit 103 ... Projection information calculation unit 104 ... Projection information output unit C ... Cube F ... Screen L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, L10 , L11 ... Ridge line P0, P1, P2, P3, P4, P5, P6, P7 ... Vertex S ... Line-of-sight direction V ... Viewpoint position X, Y ... Position coordinates of the vertex on the screen α, β ... Viewing angle

Claims (2)

A cube information storage unit that stores information on the latitude and longitude indicating the position of each of a plurality of rectangular parallelepiped cubes that simulate an object existing in the real space, and their plane and height dimensions.
Search for one or more cubes existing within the required viewing angle based on the latitude, longitude and altitude indicating the position of a given viewpoint, and the azimuth and elevation / depression angles indicating the direction of the line of sight, and search for the latitude and longitude and their latitude and longitude and their latitudes and longitudes. A cube search unit that reads out information on plane dimensions and height dimensions from the cube information storage unit, and
The same screen of each vertex when each vertex of the cube is projected onto a screen orthogonal to the line-of-sight direction based on the information read from the cube information storage unit for each of one or a plurality of cubes searched by the cube search unit. The projection information calculation unit that calculates the position coordinates above,
It is provided with a projection information output unit that outputs information on the position coordinates of each vertex of the cube calculated by the projection information calculation unit on the screen.
The projection information calculation unit connects one or two of the two vertices of each cube by comparing the distance of two adjacent vertices in the cube on the screen with the threshold value. Determine if the ridge should be drawn and
The projection information output unit is a drawing support device that also outputs information on the result of determination by the projection information calculation unit. Computer,
A cube information storage unit that stores information on the latitude and longitude indicating the position of each of a plurality of rectangular parallelepiped cubes that simulate an object existing in the real space, and their plane and height dimensions.
Search for one or more cubes existing within the required viewing angle based on the latitude, longitude and altitude indicating the position of a given viewpoint, and the azimuth and elevation / depression angles indicating the direction of the line of sight, and search for the latitude and longitude and their latitude and longitude and their latitudes and longitudes. Cube search unit that reads information on plane dimensions and height dimensions from the cube information storage unit,
The same screen of each vertex when each vertex of the cube is projected onto a screen orthogonal to the line-of-sight direction based on the information read from the cube information storage unit for each of one or a plurality of cubes searched by the cube search unit. Projection information calculation unit that calculates the position coordinates above, and
It functions as a projection information output unit that outputs information on the position coordinates of each vertex of the cube calculated by the projection information calculation unit on the screen .
The projection information calculation unit connects one or two of the two vertices of each cube by comparing the distance of two adjacent vertices in the cube on the screen with the threshold value. Determine if the ridge should be drawn and
The projection information output unit is a program that also outputs information on the result of determination by the projection information calculation unit.

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